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new baader-dome & astrosib-telescope daemons

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This commit is contained in:
Edward Emelianov
2026-03-24 23:52:07 +03:00
parent 9f2e893f1a
commit 734e36a85d
20 changed files with 497 additions and 400 deletions
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187
Daemons/domedaemon_baader/socket.c
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@@ -21,6 +21,7 @@
#include <pthread.h>
#include <string.h>
#include "commands.h"
#include "socket.h"
#include "term.h"
@@ -33,6 +34,7 @@ typedef enum{
typedef struct{
dome_commands_t cmd;
dome_commands_t erroredcmd; // command didn't run - waiting or stalled
int errcode; // error code
char *status; // device status
int statlen; // size of `status` buffer
@@ -56,24 +58,6 @@ void stopserver(){
if(rb) sl_RB_delete(&rb);
}
#if 0
// flags for standard handlers
static sl_sock_int_t iflag = {0};
static sl_sock_double_t dflag = {0};
static sl_sock_string_t sflag = {0};
static uint32_t bitflags = 0;
static sl_sock_hresult_e show(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
if(locksock && locksock->type != SOCKT_UNIX){
if(*client->IP){
printf("Client \"%s\" (fd=%d) ask for flags:\n", client->IP, client->fd);
}else printf("Can't get client's IP, flags:\n");
}else printf("Socket fd=%d asks for flags:\n", client->fd);
printf("\tiflag=%" PRId64 ", dflag=%g\n", iflag.val, dflag.val);
return RESULT_OK;
}
#endif
// send "measuret=..."
static void sendtmeasured(sl_sock_t *client, double t){
char buf[256];
@@ -116,17 +100,18 @@ static sl_sock_hresult_e stoph(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item,
static sl_sock_hresult_e statush(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
char buf[256];
double t = NAN;
int ecode;
int ecode, lastecmd;
pthread_mutex_lock(&Dome.mutex);
if(!*Dome.status || sl_dtime() - Dome.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key);
else{
snprintf(buf, 255, "%s=%s\n", item->key, Dome.status);
t = Dome.stattime;
}
ecode = Dome.errcode;
lastecmd = Dome.erroredcmd;
pthread_mutex_unlock(&Dome.mutex);
sl_sock_sendstrmessage(client, buf);
if(!isnan(t)) sendtmeasured(client, t);
ecode = Dome.errcode;
pthread_mutex_unlock(&Dome.mutex);
if(ecode){
int l = snprintf(buf, 255, "error=closed");
if(ecode > 99){
@@ -147,6 +132,17 @@ static sl_sock_hresult_e statush(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _
sl_sock_sendstrmessage(client, buf);
}
if(ForbidObservations) sl_sock_sendstrmessage(client, "FORBIDDEN\n");
if(lastecmd != CMD_NONE){
const char *tcmd;
switch(lastecmd){
case CMD_OPEN: tcmd = "open"; break;
case CMD_CLOSE: tcmd = "close"; break;
case CMD_STOP: tcmd = "stop"; break;
default: tcmd = "unknown";
}
snprintf(buf, 255, "errored_command=%s\n", tcmd);
sl_sock_sendstrmessage(client, buf);
}
return RESULT_SILENCE;
}
@@ -202,44 +198,8 @@ static sl_sock_hresult_e defhandler(struct sl_sock *s, const char *str){
sl_sock_sendstrmessage(s, "\n```\nTry \"help\"\n");
return RESULT_SILENCE;
}
#if 0
// if we use this macro, there's no need to run `sl_sock_keyno_init` later
static sl_sock_keyno_t kph_number = SL_SOCK_KEYNO_DEFAULT;
// handler for key with optional parameter number
static sl_sock_hresult_e keyparhandler(struct sl_sock *s, sl_sock_hitem_t *item, const char *req){
if(!item->data) return RESULT_FAIL;
char buf[1024];
int no = sl_sock_keyno_check((sl_sock_keyno_t*)item->data);
long long newval = -1;
if(req){
if(!sl_str2ll(&newval, req) || newval < 0 || newval > 0xffffffff) return RESULT_BADVAL;
}
printf("no = %d\n", no);
if(no < 0){ // flags as a whole
if(req) bitflags = (uint32_t)newval;
snprintf(buf, 1023, "flags = 0x%08X\n", bitflags);
sl_sock_sendstrmessage(s, buf);
}else if(no < 32){ // bit access
int bitmask = 1 << no;
if(req){
if(newval) bitflags |= bitmask;
else bitflags &= ~bitmask;
}
snprintf(buf, 1023, "flags[%d] = %d\n", no, bitflags & bitmask ? 1 : 0);
sl_sock_sendstrmessage(s, buf);
}else return RESULT_BADKEY;
return RESULT_SILENCE;
}
#endif
static sl_sock_hitem_t handlers[] = {
#if 0
{sl_sock_inthandler, "int", "set/get integer flag", (void*)&iflag},
{sl_sock_dblhandler, "dbl", "set/get double flag", (void*)&dflag},
{sl_sock_strhandler, "str", "set/get string variable", (void*)&sflag},
{keyparhandler, "flags", "set/get bit flags as whole (flags=val) or by bits (flags[bit]=val)", (void*)&kph_number},
{show, "show", "show current flags @ server console", NULL},
#endif
{openh, "open", "open dome", NULL},
{closeh, "close", "close dome", NULL},
{statush, "status", "get dome status", NULL},
@@ -251,68 +211,49 @@ static sl_sock_hitem_t handlers[] = {
// dome polling; @return TRUE if all OK
static int poll_device(){
char line[256];
if(write_cmd(TXT_GETWARN)){
DBG("Can't write command warning");
return FALSE;
char ans[ANSLEN];
char *data;
if(!(data = term_cmdwans(TXT_GETWARN, TXT_ANS_ERR, ans))) return FALSE;
DBG("Got status errno");
int I;
if(sscanf(data, "%d", &I) == 1){
pthread_mutex_lock(&Dome.mutex);
Dome.errcode = I;
pthread_mutex_unlock(&Dome.mutex);
DBG("errcode: %d", I);
}
if(write_cmd(TXT_GETSTAT)){
DBG("Can't write command getstat");
return FALSE;
if(!(data = term_cmdwans(TXT_GETSTAT, TXT_ANS_STAT, ans))) return FALSE;
DBG("Got status ans");
if(sscanf(data, "%d", &I) == 1){
pthread_mutex_lock(&Dome.mutex);
if(I == 1111)
snprintf(Dome.status, Dome.statlen, "opened");
else if(I == 2222)
snprintf(Dome.status, Dome.statlen, "closed");
else
snprintf(Dome.status, Dome.statlen, "intermediate");
Dome.stattime = sl_dtime();
pthread_mutex_unlock(&Dome.mutex);
}
if(write_cmd(TXT_GETWEAT)){
DBG("Can't write command getweath");
return FALSE;
if(!(data = term_cmdwans(TXT_GETWEAT, TXT_ANS_WEAT, ans))) return FALSE;
DBG("Got weather ans");
if(sscanf(data, "%d", &I) == 1){
pthread_mutex_lock(&Dome.mutex);
if(I == 0)
snprintf(Dome.weather, Dome.weathlen, "good");
else if (I == 1)
snprintf(Dome.weather, Dome.weathlen, "rain/clouds");
else
snprintf(Dome.weather, Dome.weathlen, "unknown");
Dome.weathtime = sl_dtime();
pthread_mutex_unlock(&Dome.mutex);
}
int l = 0;
do{
l = read_term(line, 256);
if(l > 0) sl_RB_write(rb, (uint8_t*) line, l);
}while(l > 0);
pthread_mutex_lock(&Dome.mutex); // prepare user buffers
// read ringbuffer, run parser and change buffers in `Dome`
while(sl_RB_readline(rb, line, sizeof(line)) > 0){
if(strncmp(line, TXT_ANS_STAT, strlen(TXT_ANS_STAT)) == 0){
DBG("Got status ans");
int stat;
Dome.stattime = sl_dtime();
if(sscanf(line + strlen(TXT_ANS_STAT), "%d", &stat) == 1){
if(stat == 1111)
snprintf(Dome.status, Dome.statlen, "opened");
else if(stat == 2222)
snprintf(Dome.status, Dome.statlen, "closed");
else
snprintf(Dome.status, Dome.statlen, "intermediate");
}
}else if(strncmp(line, TXT_ANS_ERR, strlen(TXT_ANS_ERR)) == 0){
DBG("Got status errno");
int ecode;
if(sscanf(line + strlen(TXT_ANS_ERR), "%d", &ecode) == 1){
Dome.errcode = ecode;
DBG("errcode: %d", ecode);
}
}else if(strncmp(line, TXT_ANS_WEAT, strlen(TXT_ANS_WEAT)) == 0){
DBG("Got weather ans");
int weather;
Dome.weathtime = sl_dtime();
if(sscanf(line + strlen(TXT_ANS_WEAT), "%d", &weather) == 1){
if(weather == 0)
snprintf(Dome.weather, Dome.weathlen, "good weather");
else if (weather == 1)
snprintf(Dome.weather, Dome.weathlen, "rain or clouds");
else
snprintf(Dome.weather, Dome.weathlen, "unknown");
}
}else{
DBG("Unknown answer: %s", line);
}
}
pthread_mutex_unlock(&Dome.mutex);
return TRUE;
}
void runserver(int isunix, const char *node, int maxclients){
int forbidden = 0;
char ans[ANSLEN];
if(locksock) sl_sock_delete(&locksock);
if(rb) sl_RB_delete(&rb);
rb = sl_RB_new(BUFSIZ);
@@ -335,11 +276,14 @@ void runserver(int isunix, const char *node, int maxclients){
while(locksock && locksock->connected){
if(ForbidObservations){
if(!forbidden){
if(0 == write_cmd(TXT_CLOSEDOME)) forbidden = 1;
pthread_mutex_lock(&Dome.mutex);
Dome.cmd = CMD_NONE;
pthread_mutex_unlock(&Dome.mutex);
if(term_cmdwans(TXT_CLOSEDOME, TXT_ANS_MSGOK, ans)) forbidden = 1;
}
pthread_mutex_lock(&Dome.mutex);
if(Dome.cmd != CMD_NONE){
Dome.erroredcmd = Dome.cmd;
Dome.cmd = CMD_NONE;
}
pthread_mutex_unlock(&Dome.mutex);
}else forbidden = 0;
usleep(1000);
if(!locksock->rthread){
@@ -347,28 +291,31 @@ void runserver(int isunix, const char *node, int maxclients){
LOGERR("Server handlers thread is dead");
break;
}
if(sl_dtime() - tgot > T_INTERVAL){
if(poll_device()) tgot = sl_dtime();
double tnow = sl_dtime();
if(tnow - tgot > T_INTERVAL){
if(poll_device()) tgot = tnow;
}
if(ForbidObservations) continue;
pthread_mutex_lock(&Dome.mutex);
if(Dome.cmd != CMD_NONE){
switch(Dome.cmd){
case CMD_OPEN:
DBG("received command: open");
if(0 == write_cmd(TXT_OPENDOME)) Dome.cmd = CMD_NONE;
if(term_cmdwans(TXT_OPENDOME, TXT_ANS_MSGOK, ans)) Dome.cmd = CMD_NONE;
break;
case CMD_CLOSE:
DBG("received command: close");
if(0 == write_cmd(TXT_CLOSEDOME)) Dome.cmd = CMD_NONE;
if(term_cmdwans(TXT_CLOSEDOME, TXT_ANS_MSGOK, ans)) Dome.cmd = CMD_NONE;
break;
case CMD_STOP:
DBG("received command: stop");
if(0 == write_cmd(TXT_STOPDOME)) Dome.cmd = CMD_NONE;
if(term_cmdwans(TXT_STOPDOME, TXT_ANS_MSGOK, ans)) Dome.cmd = CMD_NONE;
break;
default:
DBG("WTF?");
}
}
Dome.erroredcmd = Dome.cmd; // if command didn't run last time, it will store here
pthread_mutex_unlock(&Dome.mutex);
}
stopserver();