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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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160
Daemons/teldaemon_astrosib/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"
@@ -37,6 +38,7 @@ typedef enum{
typedef struct{
tel_commands_t cmd; // deferred command
tel_commands_t errcmd; // command ended with error
int focuserpos; // focuser position
char *status; // device status
int statlen; // size of `status` buffer
@@ -54,7 +56,6 @@ static tel_t telescope = {0};
static atomic_bool ForbidObservations = 0; // ==1 if all is forbidden -> close dome and not allow to open
static sl_sock_t *locksock = NULL; // local server socket
static sl_ringbuffer_t *rb = NULL; // incoming serial data
// args of absolute/relative focus move commands
static sl_sock_int_t Absmove = {0};
@@ -62,7 +63,6 @@ static sl_sock_int_t Relmove = {0};
void stopserver(){
if(locksock) sl_sock_delete(&locksock);
if(rb) sl_RB_delete(&rb);
}
// send "measuret=..."
@@ -106,20 +106,37 @@ static sl_sock_hresult_e fstoph(_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;
double t = NAN, mirt, ambt;
tel_commands_t lastecmd;
pthread_mutex_lock(&telescope.mutex);
if(!*telescope.status || sl_dtime() - telescope.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key);
else{
snprintf(buf, 255, "%s=%s\n", item->key, telescope.status);
t = telescope.stattime;
}
mirt = telescope.mirrortemp;
ambt = telescope.ambienttemp;
lastecmd = telescope.errcmd;
pthread_mutex_unlock(&telescope.mutex);
sl_sock_sendstrmessage(client, buf);
if(!isnan(t)) sendtmeasured(client, t);
snprintf(buf, 255, "mirrortemp=%.1f\n", telescope.mirrortemp);
snprintf(buf, 255, "mirrortemp=%.1f\n", mirt);
sl_sock_sendstrmessage(client, buf);
snprintf(buf, 255, "ambienttemp=%.1f\n", telescope.ambienttemp);
snprintf(buf, 255, "ambienttemp=%.1f\n", ambt);
sl_sock_sendstrmessage(client, buf);
pthread_mutex_unlock(&telescope.mutex);
if(lastecmd != CMD_NONE){
const char *tcmd;
switch(lastecmd){
case CMD_OPEN: tcmd = "open"; break;
case CMD_CLOSE: tcmd = "close"; break;
case CMD_FOCSTOP: tcmd = "focstop"; break;
case CMD_COOLERON: case CMD_COOLEROFF: tcmd = "cooler"; break;
default: tcmd = "unknown";
}
snprintf(buf, 255, "errored_command=%s\n", tcmd);
sl_sock_sendstrmessage(client, buf);
}
if(ForbidObservations) sl_sock_sendstrmessage(client, "FORBIDDEN\n");
return RESULT_SILENCE;
}
@@ -192,13 +209,6 @@ static sl_sock_hresult_e defhandler(struct sl_sock *s, const char *str){
}
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
{sl_sock_inthandler, "focrel", "relative focus move", (void*)&Relmove},
{sl_sock_inthandler, "focabs", "absolute focus move", (void*)&Absmove},
{foch, "focpos", "current focuser position", NULL},
@@ -211,74 +221,54 @@ static sl_sock_hitem_t handlers[] = {
{NULL, NULL, NULL, NULL}
};
static void serial_parser(){
char line[256];
int l = 0;
do{
l = read_term(line, 256);
if(l > 0){
if(l != (int)sl_RB_write(rb, (uint8_t*) line, l)) break;
}
}while(l > 0);
pthread_mutex_lock(&telescope.mutex); // prepare user buffers
// read ringbuffer, run parser and change buffers in `telescope`
while((l = sl_RB_readto(rb, '\r', (uint8_t*)line, sizeof(line))) > 0){
line[l-1] = 0; // substitute '\r' with 0
DBG("IN: %s", line);
if(strncmp(line, TXT_ANS_STATUS, strlen(TXT_ANS_STATUS)) == 0){
DBG("Got status ans");
telescope.stattime = sl_dtime();
char *s = line + strlen(TXT_ANS_STATUS);
if(strncmp(s, "0,0,0,0,0", 9) == 0) snprintf(telescope.status, telescope.statlen, "closed");
else if(strncmp(s, "1,1,1,1,1", 9) == 0) snprintf(telescope.status, telescope.statlen, "opened");
else snprintf(telescope.status, telescope.statlen, "intermediate");
}else if(strncmp(line, TXT_ANS_COOLERSTAT, strlen(TXT_ANS_COOLERSTAT)) == 0){
DBG("Got cooler status");
int s;
if(sscanf(line + strlen(TXT_ANS_COOLERSTAT), "%d", &s) == 1){
telescope.cooler = s;
}
}else if(strncmp(line, TXT_ANS_COOLERT, strlen(TXT_ANS_COOLERT)) == 0){
DBG("Got weather ans");
float m, a;
if(sscanf(line + strlen(TXT_ANS_COOLERT), "%f,%f", &m, &a) == 2){
telescope.ambienttemp = a;
telescope.mirrortemp = m;
}
}else if(strncmp(line, TXT_ANS_FOCPOS, strlen(TXT_ANS_FOCPOS)) == 0){
DBG("Got focuser position");
int p;
if(sscanf(line + strlen(TXT_ANS_FOCPOS), "%d", &p) == 1){
telescope.focuserpos = p;
}
}else{
DBG("Unknown answer: %s", line);
}
}
pthread_mutex_unlock(&telescope.mutex);
}
// dome polling; @return TRUE if all OK
static int poll_device(){
static const char *reqcmds[] = {TXT_FOCGET, TXT_STATUS, TXT_COOLERT, TXT_COOLERSTAT, NULL};
for(const char **cmd = reqcmds; *cmd; ++cmd){
if(write_cmd(*cmd)){
LOGWARN("Can't write command %s", *cmd);
DBG("Can't write command %s", *cmd);
return FALSE;
}
serial_parser();
char ans[ANSLEN];
char *data;
int I;
if(!(data = term_cmdwans(TXT_FOCGET, TXT_ANS_FOCPOS, ans))) return FALSE;
DBG("\nGot focuser position");
if(sscanf(data, "%d", &I) == 1){
pthread_mutex_lock(&telescope.mutex);
telescope.focuserpos = I;
pthread_mutex_unlock(&telescope.mutex);
}
if(!(data = term_cmdwans(TXT_STATUS, TXT_ANS_STATUS, ans))) return FALSE;
DBG("\nGot status");
pthread_mutex_lock(&telescope.mutex);
telescope.stattime = sl_dtime();
if(strncmp(data, "0,0,0,0,0", 9) == 0) snprintf(telescope.status, telescope.statlen, "closed");
else if(strncmp(data, "1,1,1,1,1", 9) == 0) snprintf(telescope.status, telescope.statlen, "opened");
else snprintf(telescope.status, telescope.statlen, "intermediate");
pthread_mutex_unlock(&telescope.mutex);
if(!(data = term_cmdwans(TXT_COOLERT, TXT_ANS_COOLERT, ans))) return FALSE;
DBG("\nGot weather ans");
float m, a;
if(sscanf(data, "%f,%f", &m, &a) == 2){
pthread_mutex_lock(&telescope.mutex);
telescope.ambienttemp = a;
telescope.mirrortemp = m;
pthread_mutex_unlock(&telescope.mutex);
}
if(!(data = term_cmdwans(TXT_COOLERSTAT, TXT_ANS_COOLERSTAT, ans))) return FALSE;
DBG("\nGot cooler status");
if(sscanf(data, "%d", &I) == 1){
pthread_mutex_lock(&telescope.mutex);
telescope.cooler = I;
pthread_mutex_unlock(&telescope.mutex);
}
return TRUE;
}
void runserver(int isunix, const char *node, int maxclients){
char ans[ANSLEN];
int forbidden = 0;
if(locksock) sl_sock_delete(&locksock);
if(rb) sl_RB_delete(&rb);
rb = sl_RB_new(BUFSIZ);
telescope.cmd = CMD_NONE;
telescope.errcmd = telescope.cmd = CMD_NONE;
FREE(telescope.status);
telescope.statlen = STATBUF_SZ;
telescope.status = MALLOC(char, STATBUF_SZ);
@@ -294,7 +284,7 @@ void runserver(int isunix, const char *node, int maxclients){
while(locksock && locksock->connected){
if(ForbidObservations){
if(!forbidden){
if(0 == write_cmd(TXT_CLOSE)) forbidden = 1;
if(term_cmdwans(TXT_CLOSE, TXT_ANS_OK, ans)) forbidden = 1;
pthread_mutex_lock(&telescope.mutex);
telescope.cmd = CMD_NONE;
pthread_mutex_unlock(&telescope.mutex);
@@ -310,33 +300,38 @@ void runserver(int isunix, const char *node, int maxclients){
if(tnow - tgot > T_INTERVAL){
if(poll_device()) tgot = tnow;
}
if(ForbidObservations) continue;
pthread_mutex_lock(&telescope.mutex);
if(telescope.cmd != CMD_NONE){
switch(telescope.cmd){
tel_commands_t tcmd = telescope.cmd;
pthread_mutex_unlock(&telescope.mutex);
if(tcmd != CMD_NONE){
switch(tcmd){
case CMD_OPEN:
DBG("received command: open");
if(0 == write_cmd(TXT_OPEN)) telescope.cmd = CMD_NONE;
if(term_cmdwans(TXT_OPEN, TXT_ANS_OK, ans)) tcmd = CMD_NONE;
break;
case CMD_CLOSE:
DBG("received command: close");
if(0 == write_cmd(TXT_CLOSE)) telescope.cmd = CMD_NONE;
if(term_cmdwans(TXT_CLOSE, TXT_ANS_OK, ans)) tcmd = CMD_NONE;
break;
case CMD_FOCSTOP:
DBG("received command: stop focus");
if(0 == write_cmd(TXT_FOCSTOP)) telescope.cmd = CMD_NONE;
term_write(TXT_FOCSTOP, ans); tcmd = CMD_NONE; // erroreous thing: no answer for this command
break;
case CMD_COOLEROFF:
DBG("received command: cooler off");
if(0 == write_cmd(TXT_COOLEROFF)) telescope.cmd = CMD_NONE;
if(term_cmdwans(TXT_COOLEROFF, TXT_ANS_OK, ans)) tcmd = CMD_NONE;
break;
case CMD_COOLERON:
DBG("received command: cooler on");
if(0 == write_cmd(TXT_COOLERON)) telescope.cmd = CMD_NONE;
if(term_cmdwans(TXT_COOLERON, TXT_ANS_OK, ans)) tcmd = CMD_NONE;
break;
default:
DBG("WTF?");
}
}
pthread_mutex_lock(&telescope.mutex);
telescope.cmd = telescope.errcmd = tcmd;
pthread_mutex_unlock(&telescope.mutex);
// check abs/rel move
char buf[256];
@@ -345,7 +340,7 @@ void runserver(int isunix, const char *node, int maxclients){
if(Absmove.val < FOC_MINPOS || Absmove.val > FOC_MAXPOS) Absmove.timestamp = 0.; // reset wrong data
else{
snprintf(buf, 255, "%s%d\r", TXT_FOCUSABS, (int)Absmove.val);
if(0 == write_cmd(buf)){
if(term_cmdwans(buf, TXT_ANS_OK, ans)){
DBG("STARTED absmove");
Absmove.timestamp = 0.;
}
@@ -360,13 +355,12 @@ void runserver(int isunix, const char *node, int maxclients){
DBG("pos=%d", pos);
if(pos < 0){ cmd = TXT_FOCUSIN; pos = -pos; }
snprintf(buf, 255, "%s%d\r", cmd, pos);
if(0 == write_cmd(buf)){
if(term_cmdwans(buf, TXT_ANS_OK, ans)){
DBG("STARTED relmove");
Relmove.timestamp = 0.;
}
}
}
serial_parser();
}
stopserver();
}