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fixed deadlock

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This commit is contained in:
Edward Emelianov
2026-04-03 10:39:14 +03:00
parent 9d58bf1694
commit cc870491f5
5 changed files with 45 additions and 83 deletions
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42
Auxiliary_utils/LibSidServo/serial.c
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@@ -481,6 +481,41 @@ static void chkModStopped(double *prev, double cur, int *nstopped, axis_status_t
*prev = cur;
}
// Next two functions runs under locked mountdata_t mutex and shouldn't lock it again!!
static axis_status_t chkstopstat(int32_t *prev, int32_t cur, int32_t tag, int *nstopped, axis_status_t stat){
if(*prev == INT32_MAX){
stat = AXIS_STOPPED;
DBG("START");
}else if(stat == AXIS_GONNASTOP || (stat != AXIS_STOPPED && cur == tag)){ // got command "stop" or motor is on target
if(*prev == cur){
DBG("Test for stop, nstopped=%d", *nstopped);
if(++(*nstopped) > MOTOR_STOPPED_CNT){
stat = AXIS_STOPPED;
DBG("AXIS stopped");
}
}else *nstopped = 0;
}else if(*prev != cur){
DBG("AXIS moving");
*nstopped = 0;
}
*prev = cur;
return stat;
}
// check for stopped/pointing states
static void ChkStopped(const SSstat *s, mountdata_t *m){
static int32_t Xmot_prev = INT32_MAX, Ymot_prev = INT32_MAX; // previous coordinates
static int Xnstopped = 0, Ynstopped = 0; // counters to get STOPPED state
axis_status_t Xstat, Ystat;
Xstat = chkstopstat(&Xmot_prev, s->Xmot, m->Xtarget, &Xnstopped, m->Xstate);
Ystat = chkstopstat(&Ymot_prev, s->Ymot, m->Ytarget, &Ynstopped, m->Ystate);
if(Xstat != m->Xstate || Ystat != m->Ystate){
DBG("Status changed");
mountdata.Xstate = Xstat;
mountdata.Ystate = Ystat;
}
}
// main mount thread
static void *mountthread(void _U_ *u){
int errctr = 0;
@@ -552,6 +587,7 @@ static void *mountthread(void _U_ *u){
pthread_mutex_lock(&datamutex);
// now change data
SSconvstat(status, &mountdata, &tcur);
ChkStopped(status, &mountdata);
pthread_mutex_unlock(&datamutex);
// allow writing & getters
do{
@@ -585,11 +621,12 @@ static int ttyopen(const char *path, speed_t speed){
tty.c_lflag = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
tty.c_iflag = 0; // don't do any changes in input stream
tty.c_oflag = 0; // don't do any changes in output stream
tty.c_cflag = BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
// wihthout "HUPCL" it doesn't disconnects
tty.c_cflag = HUPCL | BOTHER | CS8 | CREAD | CLOCAL; // other speed, 8bit, RW, ignore line ctrl
tty.c_ispeed = speed;
tty.c_ospeed = speed;
tty.c_cc[VMIN] = 0; // non-canonical mode
tty.c_cc[VTIME] = 5;
tty.c_cc[VTIME] = 0;
if(ioctl(fd, TCSETS2, &tty)){
DBG("Can't set TTY settings");
close(fd);
@@ -674,6 +711,7 @@ create_thread:
// close all opened serial devices and quit threads
void closeSerial(){
GlobExit = 1;
pthread_mutex_unlock(&datamutex);
DBG("Give 100ms to proper close");
usleep(100000);
DBG("Force closed all devices");