fixed deadlock

Auxiliary_utils/LibSidServo/examples/goto.c

@@ -65,8 +65,12 @@ void signals(int sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
     }
+    DBG("Stop!");
+    Mount.stop();
+    usleep(10000);
     DBG("Quit");
     Mount.quit();
+    usleep(10000);
     DBG("close");
     if(fcoords) fclose(fcoords);
     exit(sig);

Auxiliary_utils/LibSidServo/libsidservo.creator.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 18.0.0, 2026-03-23T09:21:54. -->
+<!-- Written by QtCreator 18.0.0, 2026-04-03T10:35:41. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

Auxiliary_utils/LibSidServo/movingfilter.c-

@@ -1,46 +0,0 @@
-#include <math.h>
-#include <stdio.h>
-#include <stdlib.h>
-
-#define NFILT	(5)
-
-static double filterK[NFILT];
-
-static void buildFilter(){
-	filterK[NFILT-1] = 1.;
-	double sum = 1.;
-	for(int i = NFILT-2; i > -1; --i){
-		filterK[i] = (filterK[i+1] + 1.) * 1.1;
-		sum += filterK[i];
-	}
-	for(int i = 0; i < NFILT; ++i){
-		filterK[i] /= sum;
-		fprintf(stderr, "%d: %g\n", i, filterK[i]);
-	}
-}
-
-static double filter(double val){
-	static int ctr = 0;
-	static double lastvals[NFILT] = {0.};
-	for(int i = NFILT-1; i > 0; --i) lastvals[i] = lastvals[i-1];
-	lastvals[0] = val;
-	double r = 0.;
-	if(ctr < NFILT){
-		++ctr;
-		return val;
-	}
-	for(int i = 0; i < NFILT; ++i) r += filterK[i] * lastvals[i];
-	return r;
-}
-
-int main(int argc, char **argv){
-	buildFilter();
-	printf("Signal\tNoiced\tFiltered\n");
-	for(int i = 0; i < 100; ++i){
-		double di = (double)i;
-		double sig = di * di / 1e5 + sin(i * M_PI / 1500.);
-		double noiced = sig + 0.1 * (drand48() - 0.5);
-		printf("%.3f\t%.3f\t%.3f\n", sig, noiced, filter(noiced));
-	}
-	return 0;
-}

Auxiliary_utils/LibSidServo/serial.c

@@ -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");

Auxiliary_utils/LibSidServo/ssii.c

@@ -44,39 +44,6 @@ uint16_t SScalcChecksum(uint8_t *buf, int len){
     return checksum;
 }
 
-// Next three functions runs under locked mountdata_t mutex and shouldn't call locked 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");
-        setStat(Xstat, Ystat);
-    }
-}
-
 /**
  * @brief SSconvstat - convert stat from SSII format to human
  * @param s (i) - just read data
@@ -87,7 +54,6 @@ void SSconvstat(const SSstat *s, mountdata_t *m, struct timespec *t){
     if(!s || !m || !t) return;
     m->motXposition.val = X_MOT2RAD(s->Xmot);
     m->motYposition.val = Y_MOT2RAD(s->Ymot);
-    ChkStopped(s, m);
     m->motXposition.t = m->motYposition.t = *t;
     // fill encoder data from here, as there's no separate enc thread
     if(!Conf.SepEncoder){