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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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4
Auxiliary_utils/LibSidServo/examples/goto.c
View File

@@ -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);

2
Auxiliary_utils/LibSidServo/libsidservo.creator.user
View File

@@ -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>

46
Auxiliary_utils/LibSidServo/movingfilter.c-
View File

@@ -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;
}

42
Auxiliary_utils/LibSidServo/serial.c
View File

@@ -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");

34
Auxiliary_utils/LibSidServo/ssii.c
View File

@@ -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){