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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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12
.gitignore vendored
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@@ -1,3 +1,8 @@
# executables
*
!*.*
!*/
# Prerequisites # Prerequisites
*.d *.d
@@ -26,3 +31,10 @@
# build dirs # build dirs
mk/ mk/
build/ build/
# diff
*.log
*.tgz
*.tar.gz
*.7z
*.zip

58
Daemons/10micron_stellarium/10micron_readme.koi8-r
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@@ -1,58 +0,0 @@
# - очистить принимающий буфер
:shutdown# - выключить монтировку
:U2# - установить наивысшую точность
Состояние гидирования (ACK): команда 0x06, ответ L/P - вкл/выкл
:AL# - выключить ведение (без ответа)
:AP# - включить
GPS:
:gtg# - возвращает 1, если часы синхронизированы с GPS
наведение на цель
:MS# - двигаться на цель, возврат: 0, если все в порядке, либо текст с ошибкой
:SrHH:MM:SS.SS# - установить RA цели (возврат 1 если ОК)
:SdsDD*MM:SS.S# - установить DECL цели (возврат 1 если ОК)
:D# - статус наведения, возврат: 0x7f, если в процессе, либо #
:NUDGEsXXX,sYYY# - скорректировать положение по RA/DEC на N угловых секунд
:STOP# - останов (:AP# - для возобновления гидирования)
:Gstat# - состояние монтировки
:GT# - частота для гидирования (60.1643377745 по звездам)
:AL# - выкл. гидирование
:AP# - вкл
:Gpgc# - состояние гидирования
:GSC# - коррекция скорости гидирования на косинус h
:GTTRK# - возможно ли наведение на текущий объект
:pS# - с какой стороны монтировки телескоп (для перекладывания?)
:FLIP# - переложить монтировку
:GVP# - название монтировки
:GTMP@# (@ - номер датчика) - температура датчика
:GREF# - состояние коррекции на рефракцию
:GA# - высота телескопа над горизонтом
:GZ# - азимут
:GC# - дата
:GD# - склонение
:GR# - восхождение
:GJD# - юлианская дата (GJD1 - с наивысшей точностью)
:GLDT# - местные дата и время
:GS# - звездное время
парковка: стр. 20
ехать:
:Q# - прекратить наведение (а еще :Qe# - east и пр.)
:D# - состояние наведения
:NUDGEsXXXX,sYYYY# - коррекция положения на XXX/YYY секунд (RA/Dec)
:MA# - по введенным горизонтальным координатам цели
:MS# - ехать на цель
:Me$=#, :Mw#, :Mn#, :Ms# - движение в данную сторону
:MeXXX#, :MnXXX# и др. стороны - коррекция на XXX миллисекунд скорости гида
модель наведения - стр. 44
после определения центра изображения ввести его командами :Sr# и :Sd# и добавить точку командой :CMS#

2
Daemons/10micron_stellarium/telescope.h
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@@ -29,7 +29,7 @@
// make datetime/pressure/temperature corrections each CORRECTIONS_TIMEDIFF seconds // make datetime/pressure/temperature corrections each CORRECTIONS_TIMEDIFF seconds
#define CORRECTIONS_TIMEDIFF (3600) #define CORRECTIONS_TIMEDIFF (3600)
#define TELESCOPE_NAME "'Astrosib-500 (1)'" #define TELESCOPE_NAME "'Astrosib-500 (2)'"
// telescope statuses // telescope statuses
typedef enum{ typedef enum{

2
Daemons/10micron_stellarium/usefull_macro.c
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@@ -274,7 +274,7 @@ int mygetchar(){ // getchar() without need of pressing ENTER
/******************************************************************************\ /******************************************************************************\
* TTY with select() * TTY with select()
\******************************************************************************/ \******************************************************************************/
static struct termio oldtty, tty; // TTY flags static struct termios oldtty, tty; // TTY flags
static int comfd = -1; // TTY fd static int comfd = -1; // TTY fd
// run on exit: // run on exit:

3
Daemons/10micron_stellarium/usefull_macro.h
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@@ -33,6 +33,8 @@
#include <errno.h> #include <errno.h>
#include <err.h> #include <err.h>
#include <locale.h> #include <locale.h>
#include <sys/ioctl.h>
#if defined GETTEXT_PACKAGE && defined LOCALEDIR #if defined GETTEXT_PACKAGE && defined LOCALEDIR
/* /*
* GETTEXT * GETTEXT
@@ -47,7 +49,6 @@
#endif #endif
#include <stdlib.h> #include <stdlib.h>
#include <termios.h> #include <termios.h>
#include <termio.h>
#include <sys/time.h> #include <sys/time.h>
#include <time.h> #include <time.h>
#include <sys/types.h> #include <sys/types.h>

2
Daemons/domedaemon_baader/.qtcreator/baader_dome.creator.user
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject> <!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 19.0.0, 2026-03-22T21:14:01. --> <!-- Written by QtCreator 19.0.0, 2026-03-24T22:16:27. -->
<qtcreator> <qtcreator>
<data> <data>
<variable>EnvironmentId</variable> <variable>EnvironmentId</variable>

1
Daemons/domedaemon_baader/baader_dome.files
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@@ -1,3 +1,4 @@
commands.h
main.c main.c
socket.c socket.c
socket.h socket.h

31
Daemons/domedaemon_baader/commands.h Normal file
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@@ -0,0 +1,31 @@
/*
* This file is part of the baader_dome project.
* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// text commands and answers
#define TXT_GETWARN "d#warning"
#define TXT_OPENDOME "d#opendom"
#define TXT_CLOSEDOME "d#closdom"
#define TXT_STOPDOME "d#stopdom"
#define TXT_GETSTAT "d#get_dom"
#define TXT_GETWEAT "d#ask_wea"
#define TXT_ANS_MSGOK "d#gotmess"
#define TXT_ANS_WEAT "d#wea"
#define TXT_ANS_STAT "d#pos"
#define TXT_ANS_ERR "d#erro"

7
Daemons/domedaemon_baader/main.c
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@@ -41,7 +41,8 @@ typedef struct{
static parameters G = { static parameters G = {
.maxclients = 2, .maxclients = 2,
.serspeed = 9600 .serspeed = 9600,
.sertmout = 5000
}; };
static sl_option_t cmdlnopts[] = { static sl_option_t cmdlnopts[] = {
@@ -77,7 +78,7 @@ void signals(int sig){
DBG("Stop server"); DBG("Stop server");
stopserver(); stopserver();
DBG("Close terminal"); DBG("Close terminal");
close_term(); term_close();
DBG("Exit"); DBG("Exit");
exit(sig); exit(sig);
} }
@@ -94,7 +95,7 @@ int main(int argc, char **argv){
if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1; if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
if(G.logfile) OPENLOG(G.logfile, lvl, 1); if(G.logfile) OPENLOG(G.logfile, lvl, 1);
LOGMSG("Started"); LOGMSG("Started");
if(!open_term(G.termpath, G.serspeed, G.sertmout)){ if(!term_open(G.termpath, G.serspeed, G.sertmout)){
LOGERR("Can't open %s", G.termpath); LOGERR("Can't open %s", G.termpath);
ERRX("Fatal error"); ERRX("Fatal error");
} }

187
Daemons/domedaemon_baader/socket.c
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@@ -21,6 +21,7 @@
#include <pthread.h> #include <pthread.h>
#include <string.h> #include <string.h>
#include "commands.h"
#include "socket.h" #include "socket.h"
#include "term.h" #include "term.h"
@@ -33,6 +34,7 @@ typedef enum{
typedef struct{ typedef struct{
dome_commands_t cmd; dome_commands_t cmd;
dome_commands_t erroredcmd; // command didn't run - waiting or stalled
int errcode; // error code int errcode; // error code
char *status; // device status char *status; // device status
int statlen; // size of `status` buffer int statlen; // size of `status` buffer
@@ -56,24 +58,6 @@ void stopserver(){
if(rb) sl_RB_delete(&rb); 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=..." // send "measuret=..."
static void sendtmeasured(sl_sock_t *client, double t){ static void sendtmeasured(sl_sock_t *client, double t){
char buf[256]; 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){ static sl_sock_hresult_e statush(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
char buf[256]; char buf[256];
double t = NAN; double t = NAN;
int ecode; int ecode, lastecmd;
pthread_mutex_lock(&Dome.mutex); pthread_mutex_lock(&Dome.mutex);
if(!*Dome.status || sl_dtime() - Dome.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key); if(!*Dome.status || sl_dtime() - Dome.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key);
else{ else{
snprintf(buf, 255, "%s=%s\n", item->key, Dome.status); snprintf(buf, 255, "%s=%s\n", item->key, Dome.status);
t = Dome.stattime; t = Dome.stattime;
} }
ecode = Dome.errcode;
lastecmd = Dome.erroredcmd;
pthread_mutex_unlock(&Dome.mutex);
sl_sock_sendstrmessage(client, buf); sl_sock_sendstrmessage(client, buf);
if(!isnan(t)) sendtmeasured(client, t); if(!isnan(t)) sendtmeasured(client, t);
ecode = Dome.errcode;
pthread_mutex_unlock(&Dome.mutex);
if(ecode){ if(ecode){
int l = snprintf(buf, 255, "error=closed"); int l = snprintf(buf, 255, "error=closed");
if(ecode > 99){ 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); sl_sock_sendstrmessage(client, buf);
} }
if(ForbidObservations) sl_sock_sendstrmessage(client, "FORBIDDEN\n"); 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; 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"); sl_sock_sendstrmessage(s, "\n```\nTry \"help\"\n");
return RESULT_SILENCE; 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[] = { 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}, {openh, "open", "open dome", NULL},
{closeh, "close", "close dome", NULL}, {closeh, "close", "close dome", NULL},
{statush, "status", "get dome status", NULL}, {statush, "status", "get dome status", NULL},
@@ -251,68 +211,49 @@ static sl_sock_hitem_t handlers[] = {
// dome polling; @return TRUE if all OK // dome polling; @return TRUE if all OK
static int poll_device(){ static int poll_device(){
char line[256]; char ans[ANSLEN];
if(write_cmd(TXT_GETWARN)){ char *data;
DBG("Can't write command warning"); if(!(data = term_cmdwans(TXT_GETWARN, TXT_ANS_ERR, ans))) return FALSE;
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)){ if(!(data = term_cmdwans(TXT_GETSTAT, TXT_ANS_STAT, ans))) return FALSE;
DBG("Can't write command getstat"); DBG("Got status ans");
return FALSE; 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)){ if(!(data = term_cmdwans(TXT_GETWEAT, TXT_ANS_WEAT, ans))) return FALSE;
DBG("Can't write command getweath"); DBG("Got weather ans");
return FALSE; 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; return TRUE;
} }
void runserver(int isunix, const char *node, int maxclients){ void runserver(int isunix, const char *node, int maxclients){
int forbidden = 0; int forbidden = 0;
char ans[ANSLEN];
if(locksock) sl_sock_delete(&locksock); if(locksock) sl_sock_delete(&locksock);
if(rb) sl_RB_delete(&rb); if(rb) sl_RB_delete(&rb);
rb = sl_RB_new(BUFSIZ); rb = sl_RB_new(BUFSIZ);
@@ -335,11 +276,14 @@ void runserver(int isunix, const char *node, int maxclients){
while(locksock && locksock->connected){ while(locksock && locksock->connected){
if(ForbidObservations){ if(ForbidObservations){
if(!forbidden){ if(!forbidden){
if(0 == write_cmd(TXT_CLOSEDOME)) forbidden = 1; if(term_cmdwans(TXT_CLOSEDOME, TXT_ANS_MSGOK, ans)) forbidden = 1;
pthread_mutex_lock(&Dome.mutex);
Dome.cmd = CMD_NONE;
pthread_mutex_unlock(&Dome.mutex);
} }
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; }else forbidden = 0;
usleep(1000); usleep(1000);
if(!locksock->rthread){ if(!locksock->rthread){
@@ -347,28 +291,31 @@ void runserver(int isunix, const char *node, int maxclients){
LOGERR("Server handlers thread is dead"); LOGERR("Server handlers thread is dead");
break; break;
} }
if(sl_dtime() - tgot > T_INTERVAL){ double tnow = sl_dtime();
if(poll_device()) tgot = sl_dtime(); if(tnow - tgot > T_INTERVAL){
if(poll_device()) tgot = tnow;
} }
if(ForbidObservations) continue;
pthread_mutex_lock(&Dome.mutex); pthread_mutex_lock(&Dome.mutex);
if(Dome.cmd != CMD_NONE){ if(Dome.cmd != CMD_NONE){
switch(Dome.cmd){ switch(Dome.cmd){
case CMD_OPEN: case CMD_OPEN:
DBG("received command: 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; break;
case CMD_CLOSE: case CMD_CLOSE:
DBG("received command: 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; break;
case CMD_STOP: case CMD_STOP:
DBG("received command: 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; break;
default: default:
DBG("WTF?"); DBG("WTF?");
} }
} }
Dome.erroredcmd = Dome.cmd; // if command didn't run last time, it will store here
pthread_mutex_unlock(&Dome.mutex); pthread_mutex_unlock(&Dome.mutex);
} }
stopserver(); stopserver();

2
Daemons/domedaemon_baader/socket.h
View File

@@ -23,7 +23,7 @@
// size of weather/status buffers // size of weather/status buffers
#define STATBUF_SZ 256 #define STATBUF_SZ 256
// dome polling interval (clear watchdog & get status) // dome polling interval (clear watchdog & get status)
#define T_INTERVAL (1.0) #define T_INTERVAL (5.0)
void runserver(int isunix, const char *node, int maxclients); void runserver(int isunix, const char *node, int maxclients);
void stopserver(); void stopserver();

155
Daemons/domedaemon_baader/term.c
View File

@@ -16,15 +16,17 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <pthread.h>
#include <string.h> #include <string.h>
#include <usefull_macros.h> #include <usefull_macros.h>
#include "term.h" #include "term.h"
static sl_tty_t *dev = NULL; // shoul be global to restore if die static sl_tty_t *dev = NULL; // shoul be global to restore if die
static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
// close serial device // close serial device
void close_term(){ void term_close(){
if(dev) sl_tty_close(&dev); if(dev) sl_tty_close(&dev);
} }
@@ -35,19 +37,19 @@ void close_term(){
* @param usec - timeout (us), if < 1e-6 - leave default * @param usec - timeout (us), if < 1e-6 - leave default
* @return FALSE if failed * @return FALSE if failed
*/ */
int open_term(char *path, int speed, double usec){ int term_open(char *path, int speed, double usec){
pthread_mutex_lock(&mutex);
if(dev) sl_tty_close(&dev); if(dev) sl_tty_close(&dev);
LOGMSG("Try to open serial %s at speed %d", path, speed); LOGMSG("Try to open serial %s at speed %d", path, speed);
DBG("Open serial"); DBG("Init serial");
dev = sl_tty_new(path, speed, 4096); dev = sl_tty_new(path, speed, 4096);
DBG("Open serial");
if(dev) dev = sl_tty_open(dev, 1); if(dev) dev = sl_tty_open(dev, 1);
if(!dev){ if(!dev) goto rtn;
LOGERR("Can't open %s with speed %d. Exit.", path, speed); DBG("Opened");
return FALSE;
}
if(usec >= 1e-6){ if(usec >= 1e-6){
DBG("set timeout to %gus", usec); DBG("set timeout to %gus", usec);
if(!sl_tty_tmout(usec)){ if(sl_tty_tmout(usec) < 0){
LOGWARN("Can't set timeout to %gus", usec); LOGWARN("Can't set timeout to %gus", usec);
WARNX("Can't set timeout to %gus", usec); WARNX("Can't set timeout to %gus", usec);
} }
@@ -56,60 +58,129 @@ int open_term(char *path, int speed, double usec){
LOGWARN("Can't set exact speed! Opened %s at speed %d", dev->portname, dev->speed); LOGWARN("Can't set exact speed! Opened %s at speed %d", dev->portname, dev->speed);
WARNX("Can't set speed %d (try %d)", speed, dev->speed); WARNX("Can't set speed %d (try %d)", speed, dev->speed);
} }
pthread_mutex_unlock(&mutex);
rtn:
if(dev) return TRUE; if(dev) return TRUE;
LOGERR("Can't open %s with speed %d. Exit.", path, speed);
return FALSE; return FALSE;
} }
/** /**
* @brief read_term - read data from serial terminal * @brief nonblk_read - internal read
* @param buf - buffer for data * @param ans (o) - buffer for data
* @param length - size of `buf` * @return NULL if failed or `ans`
* @return amount of data read
*/ */
int read_term(char *buf, int length){ static char *nonblk_read(char ans[ANSLEN]){
static char *bufptr = NULL; // last message, if it was longer than `length` static char *bufptr = NULL; // last message, if it was longer than `length`
static int lastL = 0; static int lastL = 0;
if(!dev || !buf || length < 1) return 0; FNAME();
if(!dev) return NULL;
int length = ANSLEN - 1;
DBG("ok");
if(!ans){ // clear
DBG("clr");
while(sl_tty_read(dev) > 0);
bufptr = NULL;
lastL = 0;
return NULL;
}
if(bufptr && lastL){ if(bufptr && lastL){
if(length > lastL) length = lastL; if(length > lastL) length = lastL;
DBG("got %d bytes from old record", length); memcpy(ans, bufptr, length);
memcpy(buf, bufptr, length);
if((lastL -= length) < 1){ if((lastL -= length) < 1){
lastL = 0; bufptr = NULL; lastL = 0; bufptr = NULL;
} }
return length; ans[length] = 0;
DBG("got %d bytes from old record: '%s'", length, ans);
return ans;
} }
if(!sl_tty_read(dev)) return 0; int totlen = 0;
DBG("Got from serial %zd bytes", dev->buflen); while(length > 0 && sl_tty_read(dev) > 0){
LOGDBG("Got from serial: %zd bytes", dev->buflen); int lmax = length;
if(length >= (int)dev->buflen){ if(lmax >= (int)dev->buflen){
DBG("Full buffer can be copied"); DBG("Full buffer can be copied");
length = (int)dev->buflen; lmax = (int)dev->buflen;
bufptr = NULL; }else{ // store part of data in buffer
lastL = 0; lastL = dev->buflen - lmax;
}else{ // store part of data in buffer DBG("Store %d bytes for next read", lastL);
lastL = dev->buflen - length; bufptr = dev->buf + lmax;
DBG("Store %d bytes for next read", lastL); }
bufptr = dev->buf + length; memcpy(ans + totlen, dev->buf, lmax);
length -= lmax;
totlen += lmax;
ans[totlen] = 0;
} }
memcpy(buf, dev->buf, length); DBG("totlen: %d", totlen);
return length; if(totlen == 0) return NULL;
DBG("copied %d: '%s'", totlen, ans);
return ans;
} }
/** /**
* @brief write_term - write data * @brief nonblk_write - internal write
* @param buf - buffer * @param buf (i) - data to write
* @param length - its length * @param length - its length
* @return 0 if OK and 1 if failed * @return 0 if failed or `length`
*/ */
int write_term(const char *buf, int length){ static int nonblk_write(const char *buf, int length){
if(!dev || !buf || length < 1) return 0; if(!buf || length < 1) return 0;
return sl_tty_write(dev->comfd, buf, length); if(0 == sl_tty_write(dev->comfd, buf, length)) return length;
return 0;
} }
// write string command /**
int write_cmd(const char *buf){ * @brief term_read - read string from terminal
if(!buf || !*buf) return 0; * @param ans (o) - buffer or NULL to clear last data
DBG("Ask to write %s", buf); * @return NULL or pointer to zero-terminated `ans`
return write_term(buf, strlen(buf)); */
char *term_read(char ans[ANSLEN]){
pthread_mutex_lock(&mutex);
char *ret = nonblk_read(ans);
pthread_mutex_unlock(&mutex);
DBG("read: '%s'", ret);
return ret;
}
/**
* @brief term_write - write data and got answer
* @param str (i) - zero-terminated string to write
* @param ans (o) - NULL to clear incoming data or buffer to read
* @return
*/
char *term_write(const char *str, char ans[ANSLEN]){
if(!str || !*str) return NULL;
DBG("Send cmd '%s'", str);
char *ret = NULL;
pthread_mutex_lock(&mutex);
if(nonblk_write(str, strlen(str))){
usleep(USLEEP_BEFORE_READ);
ret = nonblk_read(ans);
}
pthread_mutex_unlock(&mutex);
DBG("read: '%s'", ret);
return ret;
}
/**
* @brief term_cmdwans - write command and get answer
* @param str (i) - command to write
* @param prefix (i) - prefix of answer (string should begin with this text)
* @param ans (o) - buffer for answer (non-NULL!!!)
* @return pointer to data just after `prefix` in `ans` or NULL if no `prefix` found
*/
char *term_cmdwans(const char *str, const char *prefix, char ans[ANSLEN]){
if(!str || !prefix || !ans) return NULL;
DBG("Send cmd '%s'", str);
char *ret = NULL;
pthread_mutex_lock(&mutex);
if(nonblk_write(str, strlen(str))){
usleep(USLEEP_BEFORE_READ);
ret = nonblk_read(ans);
}
pthread_mutex_unlock(&mutex);
int l = strlen(prefix);
DBG("compare %s with %s", ret ? (ret) : "null", prefix);
if(!ret || strncmp(ans, prefix, l)) return NULL; // no answer or not found
DBG("found");
return ans + l;
} }

27
Daemons/domedaemon_baader/term.h
View File

@@ -18,19 +18,16 @@
#pragma once #pragma once
// text commands and answers #include <stdint.h>
#define TXT_GETWARN "d#warning\n"
#define TXT_OPENDOME "d#opendom\n"
#define TXT_CLOSEDOME "d#closdom\n"
#define TXT_STOPDOME "d#stopdom\n"
#define TXT_GETSTAT "d#get_dom\n"
#define TXT_GETWEAT "d#ask_wea\n"
#define TXT_ANS_WEAT "d#wea"
#define TXT_ANS_STAT "d#pos"
#define TXT_ANS_ERR "d#erro"
int open_term(char *path, int speed, double usec); // pause before reading answer: for stupid baader = 50ms
void close_term(); #define USLEEP_BEFORE_READ 50000
int read_term(char *buf, int length);
int write_term(const char *buf, int length); // length of answer (including terminating zero)
int write_cmd(const char *buf); #define ANSLEN 128
int term_open(char *path, int speed, double usec);
void term_close();
char *term_read(char ans[ANSLEN]);
char *term_write(const char *str, char ans[ANSLEN]);
char *term_cmdwans(const char *str, const char *prefix, char ans[ANSLEN]);

42
Daemons/teldaemon_astrosib/commands.h Normal file
View File

@@ -0,0 +1,42 @@
/*
* This file is part of the teldaemon project.
* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// text commands and answers
#define TXT_FOCUSABS "FOCUSERGO?"
#define TXT_FOCUSIN "FOCUSERI?"
#define TXT_FOCUSOUT "FOCUSERO?"
#define TXT_FOCSTOP "FOCUSERSTOP?\r"
#define TXT_FOCGET "FOCUSERGPOS?\r"
#define TXT_OPEN "SHUTTEROPEN?1,1,1,1,1\r"
#define TXT_CLOSE "SHUTTERCLOSE?1,1,1,1,1\r"
#define TXT_STATUS "SHUTTERSTATUS?\r"
#define TXT_COOLERON "COOLERON?100\r"
#define TXT_COOLEROFF "COOLEROFF?\r"
#define TXT_COOLERT "COOLERT?\r"
#define TXT_COOLERSTAT "COOLERSTATUS?\r"
#define TXT_PING "PING?\r"
#define TXT_ANS_OK "OK"
#define TXT_ANS_COOLERSTAT "OK\rCOOLERPWM?"
#define TXT_ANS_COOLERT "OK\rCOOLERT?"
#define TXT_ANS_STATUS "OK\rSHUTTERS?"
#define TXT_ANS_FOCPOS "OK\rFOCUSERPOS?"
#define FOC_MINPOS 0
#define FOC_MAXPOS 65000

7
Daemons/teldaemon_astrosib/main.c
View File

@@ -41,7 +41,8 @@ typedef struct{
static parameters G = { static parameters G = {
.maxclients = 2, .maxclients = 2,
.serspeed = 9600 .serspeed = 9600,
.sertmout = 1000.,
}; };
static sl_option_t cmdlnopts[] = { static sl_option_t cmdlnopts[] = {
@@ -77,7 +78,7 @@ void signals(int sig){
DBG("Stop server"); DBG("Stop server");
stopserver(); stopserver();
DBG("Close terminal"); DBG("Close terminal");
close_term(); term_close();
DBG("Exit"); DBG("Exit");
exit(sig); exit(sig);
} }
@@ -94,7 +95,7 @@ int main(int argc, char **argv){
if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1; if(lvl >= LOGLEVEL_AMOUNT) lvl = LOGLEVEL_AMOUNT - 1;
if(G.logfile) OPENLOG(G.logfile, lvl, 1); if(G.logfile) OPENLOG(G.logfile, lvl, 1);
LOGMSG("Started"); LOGMSG("Started");
if(!open_term(G.termpath, G.serspeed, G.sertmout)){ if(!term_open(G.termpath, G.serspeed, G.sertmout)){
LOGERR("Can't open %s", G.termpath); LOGERR("Can't open %s", G.termpath);
ERRX("Fatal error"); ERRX("Fatal error");
} }

160
Daemons/teldaemon_astrosib/socket.c
View File

@@ -21,6 +21,7 @@
#include <pthread.h> #include <pthread.h>
#include <string.h> #include <string.h>
#include "commands.h"
#include "socket.h" #include "socket.h"
#include "term.h" #include "term.h"
@@ -37,6 +38,7 @@ typedef enum{
typedef struct{ typedef struct{
tel_commands_t cmd; // deferred command tel_commands_t cmd; // deferred command
tel_commands_t errcmd; // command ended with error
int focuserpos; // focuser position int focuserpos; // focuser position
char *status; // device status char *status; // device status
int statlen; // size of `status` buffer 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 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_sock_t *locksock = NULL; // local server socket
static sl_ringbuffer_t *rb = NULL; // incoming serial data
// args of absolute/relative focus move commands // args of absolute/relative focus move commands
static sl_sock_int_t Absmove = {0}; static sl_sock_int_t Absmove = {0};
@@ -62,7 +63,6 @@ static sl_sock_int_t Relmove = {0};
void stopserver(){ void stopserver(){
if(locksock) sl_sock_delete(&locksock); if(locksock) sl_sock_delete(&locksock);
if(rb) sl_RB_delete(&rb);
} }
// send "measuret=..." // 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){ static sl_sock_hresult_e statush(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
char buf[256]; char buf[256];
double t = NAN; double t = NAN, mirt, ambt;
tel_commands_t lastecmd;
pthread_mutex_lock(&telescope.mutex); pthread_mutex_lock(&telescope.mutex);
if(!*telescope.status || sl_dtime() - telescope.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key); if(!*telescope.status || sl_dtime() - telescope.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key);
else{ else{
snprintf(buf, 255, "%s=%s\n", item->key, telescope.status); snprintf(buf, 255, "%s=%s\n", item->key, telescope.status);
t = telescope.stattime; t = telescope.stattime;
} }
mirt = telescope.mirrortemp;
ambt = telescope.ambienttemp;
lastecmd = telescope.errcmd;
pthread_mutex_unlock(&telescope.mutex);
sl_sock_sendstrmessage(client, buf); sl_sock_sendstrmessage(client, buf);
if(!isnan(t)) sendtmeasured(client, t); 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); 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); 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"); if(ForbidObservations) sl_sock_sendstrmessage(client, "FORBIDDEN\n");
return RESULT_SILENCE; 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[] = { 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, "focrel", "relative focus move", (void*)&Relmove},
{sl_sock_inthandler, "focabs", "absolute focus move", (void*)&Absmove}, {sl_sock_inthandler, "focabs", "absolute focus move", (void*)&Absmove},
{foch, "focpos", "current focuser position", NULL}, {foch, "focpos", "current focuser position", NULL},
@@ -211,74 +221,54 @@ static sl_sock_hitem_t handlers[] = {
{NULL, NULL, NULL, NULL} {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 // dome polling; @return TRUE if all OK
static int poll_device(){ static int poll_device(){
static const char *reqcmds[] = {TXT_FOCGET, TXT_STATUS, TXT_COOLERT, TXT_COOLERSTAT, NULL}; char ans[ANSLEN];
for(const char **cmd = reqcmds; *cmd; ++cmd){ char *data;
if(write_cmd(*cmd)){ int I;
LOGWARN("Can't write command %s", *cmd);
DBG("Can't write command %s", *cmd); if(!(data = term_cmdwans(TXT_FOCGET, TXT_ANS_FOCPOS, ans))) return FALSE;
return FALSE; DBG("\nGot focuser position");
} if(sscanf(data, "%d", &I) == 1){
serial_parser(); 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; return TRUE;
} }
void runserver(int isunix, const char *node, int maxclients){ void runserver(int isunix, const char *node, int maxclients){
char ans[ANSLEN];
int forbidden = 0; int forbidden = 0;
if(locksock) sl_sock_delete(&locksock); if(locksock) sl_sock_delete(&locksock);
if(rb) sl_RB_delete(&rb); telescope.errcmd = telescope.cmd = CMD_NONE;
rb = sl_RB_new(BUFSIZ);
telescope.cmd = CMD_NONE;
FREE(telescope.status); FREE(telescope.status);
telescope.statlen = STATBUF_SZ; telescope.statlen = STATBUF_SZ;
telescope.status = MALLOC(char, 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){ while(locksock && locksock->connected){
if(ForbidObservations){ if(ForbidObservations){
if(!forbidden){ 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); pthread_mutex_lock(&telescope.mutex);
telescope.cmd = CMD_NONE; telescope.cmd = CMD_NONE;
pthread_mutex_unlock(&telescope.mutex); pthread_mutex_unlock(&telescope.mutex);
@@ -310,33 +300,38 @@ void runserver(int isunix, const char *node, int maxclients){
if(tnow - tgot > T_INTERVAL){ if(tnow - tgot > T_INTERVAL){
if(poll_device()) tgot = tnow; if(poll_device()) tgot = tnow;
} }
if(ForbidObservations) continue;
pthread_mutex_lock(&telescope.mutex); pthread_mutex_lock(&telescope.mutex);
if(telescope.cmd != CMD_NONE){ tel_commands_t tcmd = telescope.cmd;
switch(telescope.cmd){ pthread_mutex_unlock(&telescope.mutex);
if(tcmd != CMD_NONE){
switch(tcmd){
case CMD_OPEN: case CMD_OPEN:
DBG("received command: 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; break;
case CMD_CLOSE: case CMD_CLOSE:
DBG("received command: 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; break;
case CMD_FOCSTOP: case CMD_FOCSTOP:
DBG("received command: stop focus"); 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; break;
case CMD_COOLEROFF: case CMD_COOLEROFF:
DBG("received command: cooler off"); 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; break;
case CMD_COOLERON: case CMD_COOLERON:
DBG("received command: cooler on"); 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; break;
default: default:
DBG("WTF?"); DBG("WTF?");
} }
} }
pthread_mutex_lock(&telescope.mutex);
telescope.cmd = telescope.errcmd = tcmd;
pthread_mutex_unlock(&telescope.mutex); pthread_mutex_unlock(&telescope.mutex);
// check abs/rel move // check abs/rel move
char buf[256]; 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 if(Absmove.val < FOC_MINPOS || Absmove.val > FOC_MAXPOS) Absmove.timestamp = 0.; // reset wrong data
else{ else{
snprintf(buf, 255, "%s%d\r", TXT_FOCUSABS, (int)Absmove.val); 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"); DBG("STARTED absmove");
Absmove.timestamp = 0.; Absmove.timestamp = 0.;
} }
@@ -360,13 +355,12 @@ void runserver(int isunix, const char *node, int maxclients){
DBG("pos=%d", pos); DBG("pos=%d", pos);
if(pos < 0){ cmd = TXT_FOCUSIN; pos = -pos; } if(pos < 0){ cmd = TXT_FOCUSIN; pos = -pos; }
snprintf(buf, 255, "%s%d\r", cmd, 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"); DBG("STARTED relmove");
Relmove.timestamp = 0.; Relmove.timestamp = 0.;
} }
} }
} }
serial_parser();
} }
stopserver(); stopserver();
} }

2
Daemons/teldaemon_astrosib/socket.h
View File

@@ -23,7 +23,7 @@
// size of weather/status buffers // size of weather/status buffers
#define STATBUF_SZ 256 #define STATBUF_SZ 256
// dome polling interval (clear watchdog & get status) // dome polling interval (clear watchdog & get status)
#define T_INTERVAL (1.0) #define T_INTERVAL (2.0)
void runserver(int isunix, const char *node, int maxclients); void runserver(int isunix, const char *node, int maxclients);
void stopserver(); void stopserver();

1
Daemons/teldaemon_astrosib/teldaemon.files
View File

@@ -1,3 +1,4 @@
commands.h
main.c main.c
socket.c socket.c
socket.h socket.h

157
Daemons/teldaemon_astrosib/term.c
View File

@@ -1,5 +1,5 @@
/* /*
* This file is part of the teldaemon project. * This file is part of the baader_dome project.
* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>. * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
* *
* This program is free software: you can redistribute it and/or modify * This program is free software: you can redistribute it and/or modify
@@ -16,15 +16,17 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <pthread.h>
#include <string.h> #include <string.h>
#include <usefull_macros.h> #include <usefull_macros.h>
#include "term.h" #include "term.h"
static sl_tty_t *dev = NULL; // shoul be global to restore if die static sl_tty_t *dev = NULL; // shoul be global to restore if die
static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
// close serial device // close serial device
void close_term(){ void term_close(){
if(dev) sl_tty_close(&dev); if(dev) sl_tty_close(&dev);
} }
@@ -35,19 +37,19 @@ void close_term(){
* @param usec - timeout (us), if < 1e-6 - leave default * @param usec - timeout (us), if < 1e-6 - leave default
* @return FALSE if failed * @return FALSE if failed
*/ */
int open_term(char *path, int speed, double usec){ int term_open(char *path, int speed, double usec){
pthread_mutex_lock(&mutex);
if(dev) sl_tty_close(&dev); if(dev) sl_tty_close(&dev);
LOGMSG("Try to open serial %s at speed %d", path, speed); LOGMSG("Try to open serial %s at speed %d", path, speed);
DBG("Open serial"); DBG("Init serial");
dev = sl_tty_new(path, speed, 4096); dev = sl_tty_new(path, speed, 4096);
DBG("Open serial");
if(dev) dev = sl_tty_open(dev, 1); if(dev) dev = sl_tty_open(dev, 1);
if(!dev){ if(!dev) goto rtn;
LOGERR("Can't open %s with speed %d. Exit.", path, speed); DBG("Opened");
return FALSE;
}
if(usec >= 1e-6){ if(usec >= 1e-6){
DBG("set timeout to %gus", usec); DBG("set timeout to %gus", usec);
if(!sl_tty_tmout(usec)){ if(sl_tty_tmout(usec) < 0){
LOGWARN("Can't set timeout to %gus", usec); LOGWARN("Can't set timeout to %gus", usec);
WARNX("Can't set timeout to %gus", usec); WARNX("Can't set timeout to %gus", usec);
} }
@@ -56,60 +58,129 @@ int open_term(char *path, int speed, double usec){
LOGWARN("Can't set exact speed! Opened %s at speed %d", dev->portname, dev->speed); LOGWARN("Can't set exact speed! Opened %s at speed %d", dev->portname, dev->speed);
WARNX("Can't set speed %d (try %d)", speed, dev->speed); WARNX("Can't set speed %d (try %d)", speed, dev->speed);
} }
pthread_mutex_unlock(&mutex);
rtn:
if(dev) return TRUE; if(dev) return TRUE;
LOGERR("Can't open %s with speed %d. Exit.", path, speed);
return FALSE; return FALSE;
} }
/** /**
* @brief read_term - read data from serial terminal * @brief nonblk_read - internal read
* @param buf - buffer for data * @param ans (o) - buffer for data
* @param length - size of `buf` * @return NULL if failed or `ans`
* @return amount of data read
*/ */
int read_term(char *buf, int length){ static char *nonblk_read(char ans[ANSLEN]){
static char *bufptr = NULL; // last message, if it was longer than `length` static char *bufptr = NULL; // last message, if it was longer than `length`
static int lastL = 0; static int lastL = 0;
if(!dev || !buf || length < 1) return 0; FNAME();
if(!dev) return NULL;
int length = ANSLEN - 1;
DBG("ok");
if(!ans){ // clear
DBG("clr");
while(sl_tty_read(dev) > 0);
bufptr = NULL;
lastL = 0;
return NULL;
}
if(bufptr && lastL){ if(bufptr && lastL){
if(length > lastL) length = lastL; if(length > lastL) length = lastL;
DBG("got %d bytes from old record", length); memcpy(ans, bufptr, length);
memcpy(buf, bufptr, length);
if((lastL -= length) < 1){ if((lastL -= length) < 1){
lastL = 0; bufptr = NULL; lastL = 0; bufptr = NULL;
} }
return length; ans[length] = 0;
DBG("got %d bytes from old record: '%s'", length, ans);
return ans;
} }
if(!sl_tty_read(dev)) return 0; int totlen = 0;
DBG("Got from serial %zd bytes", dev->buflen); while(length > 0 && sl_tty_read(dev) > 0){
LOGDBG("Got from serial: %zd bytes", dev->buflen); int lmax = length;
if(length >= (int)dev->buflen){ if(lmax >= (int)dev->buflen){
DBG("Full buffer can be copied"); DBG("Full buffer can be copied");
length = (int)dev->buflen; lmax = (int)dev->buflen;
bufptr = NULL; }else{ // store part of data in buffer
lastL = 0; lastL = dev->buflen - lmax;
}else{ // store part of data in buffer DBG("Store %d bytes for next read", lastL);
lastL = dev->buflen - length; bufptr = dev->buf + lmax;
DBG("Store %d bytes for next read", lastL); }
bufptr = dev->buf + length; memcpy(ans + totlen, dev->buf, lmax);
length -= lmax;
totlen += lmax;
ans[totlen] = 0;
} }
memcpy(buf, dev->buf, length); DBG("totlen: %d", totlen);
return length; if(totlen == 0) return NULL;
DBG("copied %d: '%s'", totlen, ans);
return ans;
} }
/** /**
* @brief write_term - write data * @brief nonblk_write - internal write
* @param buf - buffer * @param buf (i) - data to write
* @param length - its length * @param length - its length
* @return 0 if OK and 1 if failed * @return 0 if failed or `length`
*/ */
int write_term(const char *buf, int length){ static int nonblk_write(const char *buf, int length){
if(!dev || !buf || length < 1) return 0; if(!buf || length < 1) return 0;
return sl_tty_write(dev->comfd, buf, length); if(0 == sl_tty_write(dev->comfd, buf, length)) return length;
return 0;
} }
// write string command /**
int write_cmd(const char *buf){ * @brief term_read - read string from terminal
if(!buf || !*buf) return 0; * @param ans (o) - buffer or NULL to clear last data
DBG("Ask to write %s", buf); * @return NULL or pointer to zero-terminated `ans`
return write_term(buf, strlen(buf)); */
char *term_read(char ans[ANSLEN]){
pthread_mutex_lock(&mutex);
char *ret = nonblk_read(ans);
pthread_mutex_unlock(&mutex);
DBG("read: '%s'", ret);
return ret;
}
/**
* @brief term_write - write data and got answer
* @param str (i) - zero-terminated string to write
* @param ans (o) - NULL to clear incoming data or buffer to read
* @return
*/
char *term_write(const char *str, char ans[ANSLEN]){
if(!str || !*str) return NULL;
DBG("Send cmd '%s'", str);
char *ret = NULL;
pthread_mutex_lock(&mutex);
if(nonblk_write(str, strlen(str))){
usleep(USLEEP_BEFORE_READ);
ret = nonblk_read(ans);
}
pthread_mutex_unlock(&mutex);
DBG("read: '%s'", ret);
return ret;
}
/**
* @brief term_cmdwans - write command and get answer
* @param str (i) - command to write
* @param prefix (i) - prefix of answer (string should begin with this text)
* @param ans (o) - buffer for answer (non-NULL!!!)
* @return pointer to data just after `prefix` in `ans` or NULL if no `prefix` found
*/
char *term_cmdwans(const char *str, const char *prefix, char ans[ANSLEN]){
if(!str || !prefix || !ans) return NULL;
DBG("Send cmd '%s'", str);
char *ret = NULL;
pthread_mutex_lock(&mutex);
if(nonblk_write(str, strlen(str))){
usleep(USLEEP_BEFORE_READ);
ret = nonblk_read(ans);
}
pthread_mutex_unlock(&mutex);
int l = strlen(prefix);
DBG("compare %s with %s", ret ? (ret) : "null", prefix);
if(!ret || strncmp(ans, prefix, l)) return NULL; // no answer or not found
DBG("found");
return ans + l;
} }

39
Daemons/teldaemon_astrosib/term.h
View File

@@ -1,5 +1,5 @@
/* /*
* This file is part of the teldaemon project. * This file is part of the baader_dome project.
* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>. * Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
* *
* This program is free software: you can redistribute it and/or modify * This program is free software: you can redistribute it and/or modify
@@ -18,31 +18,16 @@
#pragma once #pragma once
// text commands and answers #include <stdint.h>
#define TXT_FOCUSABS "FOCUSERGO?"
#define TXT_FOCUSIN "FOCUSERI?"
#define TXT_FOCUSOUT "FOCUSERO?"
#define TXT_FOCSTOP "FOCUSERSTOP?\r"
#define TXT_FOCGET "FOCUSERGPOS?\r"
#define TXT_OPEN "SHUTTEROPEN?1,1,1,1,1\r"
#define TXT_CLOSE "SHUTTERCLOSE?1,1,1,1,1\r"
#define TXT_STATUS "SHUTTERSTATUS?\r"
#define TXT_COOLERON "COOLERON?100\r"
#define TXT_COOLEROFF "COOLEROFF?\r"
#define TXT_COOLERT "COOLERT?\r"
#define TXT_COOLERSTAT "COOLERSTATUS?\r"
#define TXT_PING "PING?\r"
#define TXT_ANS_OK "OK"
#define TXT_ANS_COOLERSTAT "COOLERPWM?"
#define TXT_ANS_COOLERT "COOLERT?"
#define TXT_ANS_STATUS "SHUTTERSTATUS?"
#define TXT_ANS_FOCPOS "FOCUSERPOS?"
#define FOC_MINPOS 0 // pause before reading answer: for stupid baader = 50ms
#define FOC_MAXPOS 65000 #define USLEEP_BEFORE_READ 50000
int open_term(char *path, int speed, double usec); // length of answer (including terminating zero)
void close_term(); #define ANSLEN 128
int read_term(char *buf, int length);
int write_term(const char *buf, int length); int term_open(char *path, int speed, double usec);
int write_cmd(const char *buf); void term_close();
char *term_read(char ans[ANSLEN]);
char *term_write(const char *str, char ans[ANSLEN]);
char *term_cmdwans(const char *str, const char *prefix, char ans[ANSLEN]);