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This commit is contained in:
Edward Emelianov 2025-06-04 10:35:30 +03:00
parent ef2c86675e
commit a888b42eb6
5 changed files with 264 additions and 12 deletions
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32
Daemons/domedaemon-astrosib/dome.c
View File

@ -150,10 +150,25 @@ static int runcmd(const char *cmd, const char *par){
// check current state and turn on/off relay if need // check current state and turn on/off relay if need
static void chkrelay(){ static void chkrelay(){
static dome_state_t oldstate = DOME_S_MOVING;
static double t0 = 0.;
if(state != DOME_S_MOVING) return; if(state != DOME_S_MOVING) return;
if(dome_status.coverstate[0] == COVER_INTERMEDIATE || if(dome_status.coverstate[0] == COVER_INTERMEDIATE ||
dome_status.coverstate[1] == COVER_INTERMEDIATE) return; // still moving dome_status.coverstate[1] == COVER_INTERMEDIATE){ // still moving
// OK, we are on place - turn off motors' power oldstate = DOME_S_MOVING;
return;
}
DBG("state=%d, oldstate=%d", state, oldstate);
// OK, we are on place - turn off motors' power after 5 seconds
if(oldstate == DOME_S_MOVING){ // just stopped - fire pause
t0 = sl_dtime();
oldstate = DOME_S_IDLE;
DBG("START 5s pause");
return;
}else{ // check pause
if(sl_dtime() - t0 < POWER_STOP_TIMEOUT) return;
}
DBG("5s out -> turn off power");
char buf[128]; char buf[128];
snprintf(buf, 127, "%s%d,%d", ASIB_CMD_RELAY, MOTRELAY_NO, MOTRELAY_OFF); snprintf(buf, 127, "%s%d,%d", ASIB_CMD_RELAY, MOTRELAY_NO, MOTRELAY_OFF);
if(serial_write(buf, buf, 128) && check_status()){ if(serial_write(buf, buf, 128) && check_status()){
@ -161,6 +176,7 @@ static void chkrelay(){
if(dome_status.relay[MOTRELAY_NO-1] == MOTRELAY_OFF){ if(dome_status.relay[MOTRELAY_NO-1] == MOTRELAY_OFF){
DBG("OK state->IDLE"); DBG("OK state->IDLE");
state = DOME_S_IDLE; state = DOME_S_IDLE;
oldstate = DOME_S_MOVING;
} }
} }
} }
@ -222,23 +238,23 @@ dome_state_t dome_poll(dome_cmd_t cmd, int par){
case DOME_CLOSE: case DOME_CLOSE:
if(!runcmd(ASIB_CMD_CLOSE, NULL)) goto ret; if(!runcmd(ASIB_CMD_CLOSE, NULL)) goto ret;
break; break;
case DOME_OPEN_ONE: case DOME_OPEN_ONE: // due to bug in documentation, 0 - OPEN
if(par < 1 || par > 2) goto ret; if(par < 1 || par > 2) goto ret;
snprintf(buf, 127, "%d 90", par); snprintf(buf, 127, "%d,0", par-1);
if(!runcmd(ASIB_CMD_MOVEONE, buf)) goto ret; if(!runcmd(ASIB_CMD_MOVEONE, buf)) goto ret;
break; break;
case DOME_CLOSE_ONE: case DOME_CLOSE_ONE: // due to bug in documentation, 90 - CLOSE
if(par < 1 || par > 2) goto ret; if(par < 1 || par > 2) goto ret;
snprintf(buf, 127, "%d 0", par); snprintf(buf, 127, "%d,90", par-1);
if(!runcmd(ASIB_CMD_MOVEONE, buf)) goto ret; if(!runcmd(ASIB_CMD_MOVEONE, buf)) goto ret;
break; break;
case DOME_RELAY_ON: case DOME_RELAY_ON:
if(par < 1 || par > 3) goto ret; if(par < NRELAY_MIN || par > NRELAY_MAX) goto ret;
snprintf(buf, 127, "%d,1", par); snprintf(buf, 127, "%d,1", par);
if(!runcmd(ASIB_CMD_RELAY, buf)) goto ret; if(!runcmd(ASIB_CMD_RELAY, buf)) goto ret;
break; break;
case DOME_RELAY_OFF: case DOME_RELAY_OFF:
if(par < 1 || par > 3) goto ret; if(par < NRELAY_MIN || par > NRELAY_MAX) goto ret;
snprintf(buf, 127, "%d,0", par); snprintf(buf, 127, "%d,0", par);
if(!runcmd(ASIB_CMD_RELAY, buf)) goto ret; if(!runcmd(ASIB_CMD_RELAY, buf)) goto ret;
break; break;

7
Daemons/domedaemon-astrosib/dome.h
View File

@ -22,6 +22,9 @@
#define NRELAY_MIN 1 #define NRELAY_MIN 1
#define NRELAY_MAX 3 #define NRELAY_MAX 3
// pause to clear power after stop - 5 seconds
#define POWER_STOP_TIMEOUT (5.)
// dome finite state machine state // dome finite state machine state
typedef enum{ typedef enum{
DOME_S_IDLE, // idle, motors disabled DOME_S_IDLE, // idle, motors disabled
@ -43,13 +46,13 @@ typedef enum{
// cover states // cover states
enum{ enum{
COVER_INTERMEDIATE = 1, COVER_INTERMEDIATE = 0,
COVER_OPENED = 2, COVER_OPENED = 2,
COVER_CLOSED = 3 COVER_CLOSED = 3
}; };
typedef struct{ typedef struct{
int coverstate[2]; // north/south covers state (3 - closed, 2 - opened, 1 - intermediate) int coverstate[2]; // north/south covers state (3 - closed, 2 - opened, 0 - intermediate)
int encoder[2]; // encoders values int encoder[2]; // encoders values
float Tin; // temperatures (unavailable) float Tin; // temperatures (unavailable)
float Tout; float Tout;

184
Daemons/domedaemon-astrosib/domedaemon-astrosib.creator.user Normal file
View File

@ -0,0 +1,184 @@
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2
Daemons/domedaemon-astrosib/main.c
View File

@ -110,5 +110,5 @@ int main(int argc, char **argv){
sl_tty_tmout(DEFAULT_SERTMOUT); sl_tty_tmout(DEFAULT_SERTMOUT);
server_run(type, G.node, serial); server_run(type, G.node, serial);
LOGERR("Unreacheable code reached!"); LOGERR("Unreacheable code reached!");
return 0; return 1;
} }

51
Daemons/domedaemon-astrosib/server.c
View File

@ -33,6 +33,10 @@
#define CMD_STATUS "status" #define CMD_STATUS "status"
#define CMD_STATUST "statust" #define CMD_STATUST "statust"
#define CMD_RELAY "relay" #define CMD_RELAY "relay"
#define CMD_OPEN "open"
#define CMD_CLOSE "close"
#define CMD_STOP "stop"
#define CMD_HALF "half"
// main socket // main socket
static sl_sock_t *s = NULL; static sl_sock_t *s = NULL;
@ -81,7 +85,6 @@ static sl_sock_hresult_e statusth(sl_sock_t *c, _U_ sl_sock_hitem_t *item, _U_ c
} }
// relay on/off // relay on/off
static sl_sock_hresult_e relays(int Nrelay, int Stat){ static sl_sock_hresult_e relays(int Nrelay, int Stat){
if(Nrelay < NRELAY_MIN|| Nrelay > NRELAY_MAX) return RESULT_BADKEY;
dome_cmd_t cmd = Stat ? DOME_RELAY_ON : DOME_RELAY_OFF; dome_cmd_t cmd = Stat ? DOME_RELAY_ON : DOME_RELAY_OFF;
if(DOME_S_ERROR == dome_poll(cmd, Nrelay)) return RESULT_FAIL; if(DOME_S_ERROR == dome_poll(cmd, Nrelay)) return RESULT_FAIL;
return RESULT_OK; return RESULT_OK;
@ -89,6 +92,7 @@ static sl_sock_hresult_e relays(int Nrelay, int Stat){
static sl_sock_hresult_e relay(sl_sock_t *c, sl_sock_hitem_t *item, const char *req){ static sl_sock_hresult_e relay(sl_sock_t *c, sl_sock_hitem_t *item, const char *req){
char buf[128]; char buf[128];
int N = item->key[sizeof(CMD_RELAY) - 1] - '0'; int N = item->key[sizeof(CMD_RELAY) - 1] - '0';
if(N < NRELAY_MIN|| N > NRELAY_MAX) return RESULT_BADKEY;
if(!req || !*req){ // getter if(!req || !*req){ // getter
dome_status_t dome_status; dome_status_t dome_status;
double lastt = get_dome_status(&dome_status); double lastt = get_dome_status(&dome_status);
@ -100,6 +104,46 @@ static sl_sock_hresult_e relay(sl_sock_t *c, sl_sock_hitem_t *item, const char *
int Stat = *req - '0'; int Stat = *req - '0';
return relays(N, Stat); return relays(N, Stat);
} }
// dome open/close/stop
static sl_sock_hresult_e domecmd(dome_cmd_t cmd){
if(DOME_S_ERROR == dome_poll(cmd, 0)) return RESULT_FAIL;
return RESULT_OK;
}
static sl_sock_hresult_e opendome(_U_ sl_sock_t *c, _U_ sl_sock_hitem_t *item, _U_ const char *req){
return domecmd(DOME_OPEN);
}
static sl_sock_hresult_e closedome(_U_ sl_sock_t *c, _U_ sl_sock_hitem_t *item, _U_ const char *req){
return domecmd(DOME_CLOSE);
}
static sl_sock_hresult_e stopdome(_U_ sl_sock_t *c, _U_ sl_sock_hitem_t *item, _U_ const char *req){
return domecmd(DOME_STOP);
}
// half open/close
static sl_sock_hresult_e halfmove(sl_sock_t *c, sl_sock_hitem_t *item, const char *req){
char buf[128];
int N = item->key[sizeof(CMD_HALF) - 1] - '0';
if(N < 1 || N > 2) return RESULT_BADKEY;
if(!req || !*req){ // getter
dome_status_t dome_status;
double lastt = get_dome_status(&dome_status);
if(sl_dtime() - lastt > STATUS_MAX_AGE) return RESULT_FAIL;
int s = dome_status.coverstate[N-1];
int S = -1;
switch(s){
case COVER_OPENED: S = 1; break;
case COVER_CLOSED: S = 0; break;
default: break;
}
snprintf(buf, 127, "%s=%d\n", item->key, S);
sl_sock_sendstrmessage(c, buf);
return RESULT_SILENCE;
}
int Stat = *req - '0';
dome_cmd_t cmd = Stat ? DOME_OPEN_ONE : DOME_CLOSE_ONE;
green("\n\nstat=%d, cmd=%d, N=%d\n\n", Stat, cmd, N);
if(DOME_S_ERROR == dome_poll(cmd, N)) return RESULT_FAIL;
return RESULT_OK;
}
// and all handlers collection // and all handlers collection
static sl_sock_hitem_t handlers[] = { static sl_sock_hitem_t handlers[] = {
@ -109,6 +153,11 @@ static sl_sock_hitem_t handlers[] = {
{relay, CMD_RELAY "1", "turn on/off (=1/0) relay 1", NULL}, {relay, CMD_RELAY "1", "turn on/off (=1/0) relay 1", NULL},
{relay, CMD_RELAY "2", "turn on/off (=1/0) relay 2", NULL}, {relay, CMD_RELAY "2", "turn on/off (=1/0) relay 2", NULL},
{relay, CMD_RELAY "3", "turn on/off (=1/0) relay 3", NULL}, {relay, CMD_RELAY "3", "turn on/off (=1/0) relay 3", NULL},
{opendome, CMD_OPEN, "open dome", NULL},
{closedome, CMD_CLOSE, "close dome", NULL},
{stopdome, CMD_STOP, "stop moving", NULL},
{halfmove, CMD_HALF "1", "open/close (=1/0) north half of dome", NULL},
{halfmove, CMD_HALF "2", "open/close (=1/0) south half of dome", NULL},
{NULL, NULL, NULL, NULL} {NULL, NULL, NULL, NULL}
}; };