fix encoders

Auxiliary_utils/LibSidServo/serial.c

@@ -20,6 +20,7 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <math.h>
+#include <poll.h>
 #include <pthread.h>
 #include <signal.h>
 #include <stdint.h>
@@ -64,14 +65,12 @@ void getXspeed(){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
-    pthread_mutex_lock(&datamutex);
     double dt = timediff0(&mountdata.encXposition.t);
     double speed = LS_calc_slope(ls, mountdata.encXposition.val, dt);
     if(fabs(speed) < 1.5 * Xlimits.max.speed){
         mountdata.encXspeed.val = speed;
         mountdata.encXspeed.t = mountdata.encXposition.t;
     }
-    pthread_mutex_unlock(&datamutex);
     //DBG("Xspeed=%g", mountdata.encXspeed.val);
 }
 void getYspeed(){
@@ -80,14 +79,12 @@ void getYspeed(){
         ls = LS_init(Conf.EncoderSpeedInterval / Conf.EncoderReqInterval);
         if(!ls) return;
     }
-    pthread_mutex_lock(&datamutex);
     double dt = timediff0(&mountdata.encYposition.t);
     double speed = LS_calc_slope(ls, mountdata.encYposition.val, dt);
     if(fabs(speed) < 1.5 * Ylimits.max.speed){
         mountdata.encYspeed.val = speed;
         mountdata.encYspeed.t = mountdata.encYposition.t;
     }
-    pthread_mutex_unlock(&datamutex);
 }
 
 /**
@@ -136,13 +133,12 @@ static void parse_encbuf(uint8_t databuf[ENC_DATALEN], struct timespec *t){
     DBG("Got positions X/Y= %.6g / %.6g", mountdata.encXposition.val, mountdata.encYposition.val);
     mountdata.encXposition.t = *t;
     mountdata.encYposition.t = *t;
-    pthread_mutex_unlock(&datamutex);
-    //if(t - lastXenc.t > Conf.EncoderSpeedInterval) getXspeed();
-    //if(t - lastYenc.t > Conf.EncoderSpeedInterval) getYspeed();
     getXspeed(); getYspeed();
+    pthread_mutex_unlock(&datamutex);
     //DBG("time = %zd+%zd/1e6, X=%g deg, Y=%g deg", tv->tv_sec, tv->tv_usec, mountdata.encposition.X*180./M_PI, mountdata.encposition.Y*180./M_PI);
 }
 
+#if 0
 /**
  * @brief getencval - get uint64_t data from encoder
  * @param fd - encoder fd
@@ -211,6 +207,8 @@ static int getencval(int fd, double *val, struct timespec *t){
     if(t){ if(!curtime(t)){ DBG("Can't get time"); return 0; }}
     return got;
 }
+#endif
+
 // try to read 1 byte from encoder; return -1 if nothing to read or -2 if device seems to be disconnected
 static int getencbyte(){
     if(encfd[0] < 0) return -1;
@@ -322,65 +320,130 @@ static void *encoderthread1(void _U_ *u){
     return NULL;
 }
 
+#define XYBUFSZ     (128)
+typedef struct{
+    char buf[XYBUFSZ+1];
+    int len;
+} buf_t;
+
+// write to buffer next data portion; return FALSE in case of error
+static int readstrings(buf_t *buf, int fd){
+    FNAME();
+    if(!buf){DBG("Empty buffer"); return FALSE;}
+    int L = XYBUFSZ - buf->len;
+    if(L == 0){
+        DBG("buffer  overfull: %d!", buf->len);
+        char *lastn = strrchr(buf->buf, '\n');
+        if(lastn){
+            fprintf(stderr, "BUFOVR: _%s_", buf->buf);
+            ++lastn;
+            buf->len = XYBUFSZ - (lastn - buf->buf);
+            DBG("Memmove %d", buf->len);
+            memmove(lastn, buf->buf, buf->len);
+            buf->buf[buf->len] = 0;
+        }else buf->len = 0;
+        L = XYBUFSZ - buf->len;
+    }
+    int got = read(fd, &buf->buf[buf->len], L);
+    if(got < 0){
+        DBG("read()");
+        return FALSE;
+    }else if(got == 0){ DBG("NO data"); return TRUE; }
+    buf->len += got;
+    buf->buf[buf->len] = 0;
+    DBG("buf[%d]: %s", buf->len, buf->buf);
+    return TRUE;
+}
+
+// return TRUE if got, FALSE if no data found
+static int getdata(buf_t *buf, long *out){
+    if(!buf || buf->len < 1) return FALSE;
+    // read record between last '\n' and previous (or start of string)
+    char *last = &buf->buf[buf->len - 1];
+    //DBG("buf: _%s_", buf->buf);
+    if(*last != '\n') return FALSE;
+    *last = 0;
+    //DBG("buf: _%s_", buf->buf);
+    char *prev = strrchr(buf->buf, '\n');
+    if(!prev) prev = buf->buf;
+    else{
+        fprintf(stderr, "MORETHANONE: _%s_", buf->buf);
+        ++prev; // after last '\n'
+    }
+    if(out) *out = atol(prev);
+    // clear buffer
+    buf->len = 0;
+    return TRUE;
+}
+
+// try to write '\n' asking new data portion; return FALSE if failed
+static int asknext(int fd){
+    FNAME();
+    if(fd < 0) return FALSE;
+    int i = 0;
+    for(; i < 5; ++i){
+        int l = write(fd, "\n", 1);
+        //DBG("l=%d", l);
+        if(1 == l) return TRUE;
+        usleep(100);
+    }
+    DBG("5 tries... failed!");
+    return FALSE;
+}
+
 // main encoder thread for separate encoders as USB devices /dev/encoder_X0 and /dev/encoder_Y0
 static void *encoderthread2(void _U_ *u){
     if(Conf.SepEncoder != 2) return NULL;
     DBG("Thread started");
+    struct pollfd pfds[2];
+    pfds[0].fd = encfd[0]; pfds[0].events = POLLIN;
+    pfds[1].fd = encfd[1]; pfds[1].events = POLLIN;
+    double t0[2], tstart;
+    buf_t strbuf[2];
+    long msrlast[2]; // last encoder data
+    double mtlast[2]; // last measurement time
+    asknext(encfd[0]); asknext(encfd[1]);
+    t0[0] = t0[1] = tstart = timefromstart();
     int errctr = 0;
-    double t0 = timefromstart();
-    const char *req = "\n";
-    int need2ask = 0; // need or not to ask encoder for new data
-    while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR){
-        struct timespec t;
-        if(need2ask){
-            //DBG("ASK for new data, tfs=%.6g", timefromstart());
-            if(1 != write(encfd[0], req, 1)) { ++errctr; continue; }
-            else if(1 != write(encfd[1], req, 1)) { ++errctr; continue; }
-            //DBG("OK");
-            need2ask = 0;
-            usleep(100);
+    do{ // main cycle
+        if(poll(pfds, 2, 0) < 0){
+            DBG("poll()");
+            break;
         }
-        if(!curtime(&t)){
-            DBG("Where is time?");
-            continue;
-        }
-        double v;
-        if(getencval(encfd[0], &v, &t)){
-            pthread_mutex_lock(&datamutex);
-            mountdata.encXposition.val = Xenc2rad(v);
-            mountdata.encXposition.t = t;
-            pthread_mutex_unlock(&datamutex);
-            //DBG("MDXpos: %.10g/%g (xez=%d, xesr=%.10g), tfs=%.6g", v, mountdata.encXposition.val, X_ENC_ZERO, X_ENC_STEPSPERREV, timefromstart());
-            getXspeed();
-            if(getencval(encfd[1], &v, &t)){
-                pthread_mutex_lock(&datamutex);
-                mountdata.encYposition.val = Yenc2rad(v);
-                mountdata.encYposition.t = t;
-                pthread_mutex_unlock(&datamutex);
-                //DBG("MDYpos: %.10g/%g (yez=%d, yesr=%.10g)", v, mountdata.encYposition.val, Y_ENC_ZERO, Y_ENC_STEPSPERREV);
-                getYspeed();
-                errctr = 0;
-                need2ask = 0;
-                //DBG("tgot=%.6g", timefromstart());
-                while(timefromstart() - t0 < Conf.EncoderReqInterval){ usleep(50); }
-                t0 = timefromstart();
-            }else{
-                DBG("NO Y DATA!!!");
-                /*if(need2ask) ++errctr;
-                else need2ask = 1;
-                continue;*/
-                ++errctr;
-                need2ask = 1;
+        int got = 0;
+        for(int i = 0; i < 2; ++i){
+            if(pfds[i].revents && POLLIN){
+                if(!readstrings(&strbuf[i], encfd[i])){
+                    ++errctr;
+                    break;
+                }
+            }
+            double curt = timefromstart();
+            if(getdata(&strbuf[i], &msrlast[i])) mtlast[i] = curt;
+            if(curt - t0[i] >= Conf.EncoderReqInterval){ // get last records
+                if(curt - mtlast[i] < 1.5*Conf.EncoderReqInterval){
+                    pthread_mutex_lock(&datamutex);
+                    if(i == 0){
+                        mountdata.encXposition.val = Xenc2rad((double)msrlast[i]);
+                        curtime(&mountdata.encXposition.t);
+                        getXspeed();
+                    }else{
+                        mountdata.encYposition.val = Yenc2rad((double)msrlast[i]);
+                        curtime(&mountdata.encYposition.t);
+                        getYspeed();
+                    }
+                    pthread_mutex_unlock(&datamutex);
+                }
+                if(!asknext(encfd[i])){
+                    ++errctr;
+                    break;
+                }
+                t0[i] = (curt - t0[i] < 2.*Conf.EncoderReqInterval) ? t0[i] + Conf.EncoderReqInterval : curt;
+                ++got;
             }
-        }else{ // no data - ask for new
-            //DBG("Need new, tfs=%.6g", timefromstart());
-            /*if(need2ask) ++errctr;
-            else need2ask = 1;
-            continue;*/
-            ++errctr;
-            need2ask = 1;
         }
-    }
+        if(got == 2) errctr = 0;
+    }while(encfd[0] > -1 && encfd[1] > -1 && errctr < MAX_ERR_CTR);
     DBG("\n\nEXIT: ERRCTR=%d", errctr);
     for(int i = 0; i < 2; ++i){
         if(encfd[i] > -1){
@@ -463,8 +526,8 @@ static void *mountthread(void _U_ *u){
             }else mountdata.millis = oldmillis;
             chkModStopped(&Xprev, c.X, &xcnt, &mountdata.Xstate);
             chkModStopped(&Yprev, c.Y, &ycnt, &mountdata.Ystate);
-            pthread_mutex_unlock(&datamutex);
             getXspeed(); getYspeed();
+            pthread_mutex_unlock(&datamutex);
             while(timefromstart() - t0 < Conf.EncoderReqInterval) usleep(50);
             t0 = timefromstart();
         }

Daemons/weatherdaemon_multimeteo/CMakeLists.txt

@@ -1,11 +1,11 @@
-cmake_minimum_required(VERSION 3.20)
+cmake_minimum_required(VERSION 4.0)
 set(PROJ weatherdaemon)
+set(PROJLIB senslib)
 set(MAJOR_VERSION "0")
 set(MID_VERSION "0")
 set(MINOR_VERSION "1")
 
 aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
-#set(SOURCES main.c cmdlnopts.c sensors.c)
 
 set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
 project(${PROJ} VERSION ${VERSION} LANGUAGES C)
@@ -16,9 +16,8 @@ option(DEBUG "Compile in debug mode" OFF)
 option(DUMMY "Dummy device plugin" ON)
 option(FDEXAMPLE "Example of file descriptor plugin" ON)
 
-
 # default flags
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -W -Wextra -fno-builtin-strlen")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -W -Wextra -pedantic-errors -fPIC")
 
 message("Install dir prefix: ${CMAKE_INSTALL_PREFIX}")
 
@@ -42,7 +41,7 @@ endif()
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
 find_package(PkgConfig REQUIRED)
-pkg_check_modules(${PROJ} REQUIRED usefull_macros>=0.3.2)
+pkg_check_modules(${PROJ} REQUIRED usefull_macros>=0.3.5)
 
 #include(FindOpenMP)
 #if(OPENMP_FOUND)
@@ -51,12 +50,17 @@ pkg_check_modules(${PROJ} REQUIRED usefull_macros>=0.3.2)
 #    add_definitions(-DOMP_FOUND)
 #endif()
 
-# exe & lib files
+# static lib for sensors
+set(LIBSRC "weathlib.c")
+set(LIBHEADER "weathlib.h")
+add_library(${PROJLIB} STATIC ${LIBSRC})
+set_target_properties(${PROJLIB} PROPERTIES VERSION ${VERSION})
+
+# exe & deps files
 add_executable(${PROJ} ${SOURCES})
-target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES} -lm ${CMAKE_DL_LIBS})
+target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES} ${PROJLIB} -lm ${CMAKE_DL_LIBS})
 target_include_directories(${PROJ} PUBLIC ${${PROJ}_INCLUDE_DIRS} .)
 target_link_directories(${PROJ} PUBLIC ${${PROJ}_LIBRARY_DIRS} )
-set_target_properties(${PROJLIB} PROPERTIES VERSION ${VERSION})
 
 include(GNUInstallDirs)
 # Installation of the program

Daemons/weatherdaemon_multimeteo/fd.c

@@ -83,7 +83,7 @@ static int opensocket(char *path, sl_socktype_e type){
     struct addrinfo ai = {0}, *res = &ai;
     struct sockaddr_un unaddr = {0};
     char *node = path, *service = NULL;
-    ai.ai_socktype = SOCK_STREAM;
+    ai.ai_socktype = 0; // try to get socket type from `getaddrinfo`
     switch(type){
     case SOCKT_UNIX:
         {
@@ -95,12 +95,10 @@ static int opensocket(char *path, sl_socktype_e type){
         memcpy(unaddr.sun_path, str, 106);
         FREE(str);
         ai.ai_family = AF_UNIX;
-        //ai.ai_socktype = SOCK_SEQPACKET;
         }
         break;
     case SOCKT_NET:
     case SOCKT_NETLOCAL:
-        //ai.ai_socktype = SOCK_DGRAM;
         ai.ai_family = AF_INET;
         char *delim = strchr(path, ':');
         if(delim){

Daemons/weatherdaemon_multimeteo/plugins/CMakeLists.txt

@@ -6,8 +6,8 @@ find_package(PkgConfig REQUIRED)
 pkg_check_modules(PLUGINS REQUIRED usefull_macros)
 
 include_directories(${PLUGINS_INCLUDE_DIRS} ..)
-link_directories(${PLUGINS_LIBRARY_DIRS})
-link_libraries(${$PLUGINS_LIBRARIES} -fPIC)
+link_directories(${PLUGINS_LIBRARY_DIRS} ..)
+link_libraries(${$PLUGINS_LIBRARIES} ${PROJLIB} -fPIC)
 
 set(LIBS "")
 

Daemons/weatherdaemon_multimeteo/plugins/dummy.c

@@ -16,94 +16,72 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-// dummy meteostation sending data each `dt` seconds
-
-#include <pthread.h>
-#include <signal.h>
-#include <usefull_macros.h>
+// dummy meteostation sending data each `tpoll` seconds
 
 #include "weathlib.h"
 
 #define NS (6)
 
 extern sensordata_t sensor;
-static double dt = 1.;
 
-static void (*freshdatahandler)(const struct sensordata_t* const) = NULL; // do nothing with fresh data
-static pthread_t thread;
-
-static val_t values[NS] = { // fields `name` and `comment` have no sense until value meaning is `IS_OTHER`
-    {.name = "WIND", .comment = "wind speed, m/s", .sense = VAL_OBLIGATORY, .type = VALT_FLOAT, .meaning = IS_WIND},
-    {.name = "WINDDIR", .comment = "wind direction azimuth (from south over west), deg", .sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_WINDDIR},
-    {.name = "EXTTEMP", .comment = "external temperature, degC", .sense = VAL_OBLIGATORY, .type = VALT_FLOAT, .meaning = IS_AMB_TEMP},
-    {.name = "PRESSURE", .comment = "atmospheric pressure, hPa", .sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_PRESSURE},
-    {.name = "HUMIDITY", .comment = "air relative humidity, %%", .sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_HUMIDITY},
-    {.name = "PRECIP", .comment = "precipitations flag (0 - no, 1 - yes)", .sense = VAL_OBLIGATORY, .type = VALT_UINT, .meaning = IS_PRECIP},
+static const val_t values[NS] = { // fields `name` and `comment` have no sense until value meaning is `IS_OTHER`
+    {.sense = VAL_OBLIGATORY, .type = VALT_FLOAT, .meaning = IS_WIND},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_WINDDIR},
+    {.sense = VAL_OBLIGATORY, .type = VALT_FLOAT, .meaning = IS_AMB_TEMP},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_PRESSURE},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_HUMIDITY},
+    {.sense = VAL_OBLIGATORY, .type = VALT_UINT, .meaning = IS_PRECIP},
 };
 
 static void *mainthread(void _U_ *U){
     FNAME();
     double t0 = sl_dtime();
     while(1){
-        float f = values[0].value.f + (drand48() - 0.5) / 2.;
-        if(f >= 0.) values[0].value.f = f;
-        f = values[1].value.f + (drand48() - 0.5) * 4.;
-        if(f > 160. && f < 200.) values[1].value.f = f;
-        f = values[2].value.f + (drand48() - 0.5) / 20.;
-        if(f > 13. && f < 21.) values[2].value.f = f;
-        f = values[3].value.f + (drand48() - 0.5) / 100.;
-        if(f > 585. && f < 615.) values[3].value.f = f;
-        f = values[4].value.f + (drand48() - 0.5) / 10.;
-        if(f > 60. && f <= 100.) values[4].value.f = f;
-        values[5].value.u = (f > 98.) ? 1 : 0;
+        float f = sensor.values[0].value.f + (drand48() - 0.5) / 2.;
+        if(f >= 0.) sensor.values[0].value.f = f;
+        f = sensor.values[1].value.f + (drand48() - 0.5) * 4.;
+        if(f > 160. && f < 200.) sensor.values[1].value.f = f;
+        f = sensor.values[2].value.f + (drand48() - 0.5) / 20.;
+        if(f > 13. && f < 21.) sensor.values[2].value.f = f;
+        f = sensor.values[3].value.f + (drand48() - 0.5) / 100.;
+        if(f > 585. && f < 615.) sensor.values[3].value.f = f;
+        f = sensor.values[4].value.f + (drand48() - 0.5) / 10.;
+        if(f > 60. && f <= 100.) sensor.values[4].value.f = f;
+        sensor.values[5].value.u = (f > 98.) ? 1 : 0;
         time_t cur = time(NULL);
-        for(int i = 0; i < NS; ++i) values[i].time = cur;
-        if(freshdatahandler) freshdatahandler(&sensor);
-        while(sl_dtime() - t0 < dt) usleep(500);
+        for(int i = 0; i < NS; ++i) sensor.values[i].time = cur;
+        if(sensor.freshdatahandler) sensor.freshdatahandler(&sensor);
+        while(sl_dtime() - t0 < sensor.tpoll) usleep(500);
         t0 = sl_dtime();
     }
     return NULL;
 }
 
-static int init(int N, time_t pollt, int _U_ fd){
+static int init(struct sensordata_t* s, int N, time_t pollt, int _U_ fd){
     FNAME();
-    values[0].value.f = 1.;
-    values[1].value.f = 180.;
-    values[2].value.f = 17.;
-    values[3].value.f = 600.;
-    values[4].value.f = 80.;
-    values[5].value.u = 0;
-    if(pthread_create(&thread, NULL, mainthread, NULL)) return 0;
+    if(pthread_create(&s->thread, NULL, mainthread, NULL)) return 0;
+    if(pollt) s->tpoll = pollt;
+    s->values = MALLOC(val_t, NS);
+    for(int i = 0; i < NS; ++i) s->values[i] = values[i];
+    sensor.values[0].value.f = 1.;
+    sensor.values[1].value.f = 180.;
+    sensor.values[2].value.f = 17.;
+    sensor.values[3].value.f = 600.;
+    sensor.values[4].value.f = 80.;
+    sensor.values[5].value.u = 0;
     sensor.PluginNo = N;
-    if(pollt) dt = (double) pollt; // refresh each `pollt` seconds
     return NS;
 }
 
-static int onrefresh(void (*handler)(const struct sensordata_t* const)){
-    FNAME();
-    if(!handler) return FALSE;
-    freshdatahandler = handler;
-    return TRUE;
-}
-
-static void die(){
-    FNAME();
-    if(0 == pthread_kill(thread, 9)){
-        DBG("Killed, join");
-        pthread_join(thread, NULL);
-        DBG("Done");
-    }
-}
-
 /**
  * @brief getval - value's getter
  * @param o (o) - value
  * @param N - it's index
  * @return FALSE if failed
  */
-static int getval(val_t *o, int N){
+static int getval(struct sensordata_t* s, val_t *o, int N){
     if(N < 0 || N >= NS) return FALSE;
-    if(o) *o = values[N];
+    if(o) *o = s->values[N];
     return TRUE;
 }
 
@@ -111,7 +89,7 @@ sensordata_t sensor = {
     .name = "Dummy weatherstation",
     .Nvalues = NS,
     .init = init,
-    .onrefresh = onrefresh,
+    .onrefresh = common_onrefresh,
     .get_value = getval,
-    .die = die,
+    .kill = common_kill,
 };

Daemons/weatherdaemon_multimeteo/plugins/fdexample.c

@@ -16,11 +16,8 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <pthread.h>
-#include <signal.h> // pthread_kill
 #include <string.h>
 #include <time.h>
-#include <usefull_macros.h>
 
 #include "weathlib.h"
 
@@ -28,19 +25,13 @@
 
 #define NS (4)
 
-static time_t Tpoll = 10;
 extern sensordata_t sensor;
-static int fdes = -1;
-static sl_ringbuffer_t *rb;
-static pthread_t thread;
-static void (*freshdatahandler)(const struct sensordata_t* const) = NULL;
-static void die();
 
-static val_t values[NS] = { // fields `name` and `comment` have no sense until value meaning is `IS_OTHER`
-    {.name = "WIND",     .sense = VAL_OBLIGATORY,  .type = VALT_FLOAT, .meaning = IS_WIND},
-    {.name = "EXTTEMP",  .sense = VAL_OBLIGATORY,  .type = VALT_FLOAT, .meaning = IS_AMB_TEMP},
-    {.name = "PRESSURE", .sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_PRESSURE},
-    {.name = "HUMIDITY", .sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_HUMIDITY},
+static const val_t values[NS] = { // fields `name` and `comment` have no sense until value meaning is `IS_OTHER`
+    {.sense = VAL_OBLIGATORY,  .type = VALT_FLOAT, .meaning = IS_WIND},
+    {.sense = VAL_OBLIGATORY,  .type = VALT_FLOAT, .meaning = IS_AMB_TEMP},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_PRESSURE},
+    {.sense = VAL_RECOMMENDED, .type = VALT_FLOAT, .meaning = IS_HUMIDITY},
 };
 
 static int format_values(char *buf){
@@ -52,8 +43,8 @@ static int format_values(char *buf){
         DBG("TOKEN: %s", token);
         if(sl_str2d(&v, token)){
             DBG("next value: %g", v);
-            values[gotvals].value.f = (float) v;
-            values[gotvals].time = tnow;
+            sensor.values[gotvals].value.f = (float) v;
+            sensor.values[gotvals].time = tnow;
             ++gotvals;
         }
         token = strtok(NULL, ",");
@@ -91,32 +82,34 @@ static void *mainthread(void _U_ *U){
     time_t task = 0;
     const char begging[] = "Enter comma-separated data: wind, exttemp, pressure, humidity\n";
     char buf[128];
-    while(fdes > -1){
+    while(sensor.fdes > -1){
         time_t tnow = time(NULL);
-        int canread = sl_canread(fdes);
+        int canread = sl_canread(sensor.fdes);
         if(canread < 0){
-            WARNX("Disconnected fd %d", fdes);
+            WARNX("Disconnected fd %d", sensor.fdes);
             break;
         }else if(canread == 1){
-            ssize_t got = read(fdes, buf, 128);
+            ssize_t got = read(sensor.fdes, buf, 128);
             if(got > 0){
-                sl_RB_write(rb, (uint8_t*)buf, got);
+                sl_RB_write(sensor.ringbuffer, (uint8_t*)buf, got);
             }else if(got < 0){
                 DBG("Disconnected?");
                 break;
             }
         }
-        if(sl_RB_readline(rb, buf, 127) > 0){
-            if(NS == format_values(buf) && freshdatahandler)
-                freshdatahandler(&sensor);
+        if(sl_RB_readline(sensor.ringbuffer, buf, 127) > 0){
+            if(NS == format_values(buf) && sensor.freshdatahandler)
+                sensor.freshdatahandler(&sensor);
         }
-        if(tnow >= task){
-            DBG("write %s", begging);
-            ssize_t got = writedata(fdes, begging, sizeof(begging)-1);
-            if(got > 0) task = tnow + Tpoll;
-            else if(got < 0){
-                close(fdes);
-                fdes = -1;
+        if(sensor.tpoll){
+            if(tnow >= task){
+                DBG("write %s", begging);
+                ssize_t got = writedata(sensor.fdes, begging, sizeof(begging)-1);
+                if(got > 0) task = tnow + sensor.tpoll;
+                else if(got < 0){
+                    close(sensor.fdes);
+                    sensor.fdes = -1;
+                }
             }
         }
     }
@@ -124,55 +117,35 @@ static void *mainthread(void _U_ *U){
     return NULL;
 }
 
-static int init(int N, time_t pollt, int fd){
+static int init(struct sensordata_t *s, int N, time_t pollt, int fd){
     FNAME();
-    if(!(rb = sl_RB_new(BUFSIZ))){
-        WARNX("Can't init ringbuffer!");
-        return 0;
-    }
-    if(pthread_create(&thread, NULL, mainthread, NULL)) return 0;
+    if(!s) return -1;
+    s->fdes = fd;
+    if(s->fdes < 0) return -1;
     sensor.PluginNo = N;
-    if(pollt) Tpoll = pollt;
-    fdes = fd;
-    if(fdes < 0) return -1;
+    if(pollt) s->tpoll = pollt;
+    if(pthread_create(&s->thread, NULL, mainthread, NULL)) return -1;
+    s->values = MALLOC(val_t, NS);
+    // don't use memcpy, as `values` could be aligned
+    for(int i = 0; i < NS; ++i) s->values[i] = values[i];
+    if(!(s->ringbuffer = sl_RB_new(BUFSIZ))){
+        WARNX("Can't init ringbuffer!");
+        return -1;
+    }
     return NS;
 }
 
-static int onrefresh(void (*handler)(const struct sensordata_t* const)){
-    FNAME();
-    if(!handler) return FALSE;
-    freshdatahandler = handler;
+static int getval(struct sensordata_t *s, val_t *o, int N){
+    if(!s || N < 0 || N >= NS) return FALSE;
+    if(o) *o = s->values[N];
     return TRUE;
 }
 
-
-static int getval(val_t *o, int N){
-    if(N < 0 || N >= NS) return FALSE;
-    if(o) *o = values[N];
-    return TRUE;
-}
-
-static void die(){
-    FNAME();
-    if(0 == pthread_kill(thread, -9)){
-        DBG("Killed, join");
-        pthread_join(thread, NULL);
-        DBG("Done");
-    }
-    DBG("Delete RB");
-    sl_RB_delete(&rb);
-    if(fdes > -1){
-        close(fdes);
-        DBG("FD closed");
-    }
-    DBG("FDEXAMPLE: died");
-}
-
 sensordata_t sensor = {
     .name = "Dummy socket or serial device weatherstation",
     .Nvalues = NS,
     .init = init,
-    .onrefresh = onrefresh,
+    .onrefresh = common_onrefresh,
     .get_value = getval,
-    .die = die,
+    .kill = common_kill,
 };

Daemons/weatherdaemon_multimeteo/sensors.c

@@ -46,15 +46,14 @@ int set_pollT(time_t t){
 }
 
 /**
- * @brief get_plugin - get copy of opened plugin
+ * @brief get_plugin - get link to opened plugin
  * @param o (o) - plugin with given index
  * @param N - index in `allplugins`
- * @return TRUE if OK
+ * @return NULL if failed or pointer
  */
-int get_plugin(sensordata_t *o, int N){
-    if(!o || N < 0 || N >= nplugins) return FALSE;
-    *o = *allplugins[N];
-    return TRUE;
+sensordata_t *get_plugin(int N){
+    if(N < 0 || N >= nplugins) return NULL;
+    return allplugins[N];
 }
 
 void *open_plugin(const char *name){
@@ -74,7 +73,7 @@ void *open_plugin(const char *name){
 
 #ifdef EBUG
 // in release this function can be used for meteo logging
-static void dumpsensors(const struct sensordata_t* const station){
+static void dumpsensors(struct sensordata_t* station){
     FNAME();
     if(!station || !station->get_value || station->Nvalues < 1) return;
     char buf[FULL_LEN+1];
@@ -82,7 +81,7 @@ static void dumpsensors(const struct sensordata_t* const station){
     int N = (nplugins > 1) ? station->PluginNo : -1;
     for(int i = 0; i < station->Nvalues; ++i){
         val_t v;
-        if(!station->get_value(&v, i)) continue;
+        if(!station->get_value(station, &v, i)) continue;
         if(0 < format_sensval(&v, buf, FULL_LEN+1, N)){
             printf("%s\n", buf);
             ++nsum; Tsum += v.time;
@@ -128,11 +127,11 @@ int openplugins(char **paths, int N){
             }
             int fd = -1;
             if(colon) fd = getFD(colon);
-            int ns = S->init(nplugins, poll_interval, fd); // here nplugins is index in array
+            int ns = S->init(S, nplugins, poll_interval, fd); // here nplugins is index in array
             if(ns < 1) WARNXL("Can't init plugin %s", paths[i]);
             else{
 #ifdef EBUG
-                if(!S->onrefresh(dumpsensors)) WARNXL("Can't init refresh funtion");
+                if(!S->onrefresh(S, dumpsensors)) WARNXL("Can't init refresh funtion");
 #endif
                 LOGMSG("Plugin %s nave %d sensors", paths[i], ns);
                 allplugins[nplugins++] = S;
@@ -149,7 +148,7 @@ int openplugins(char **paths, int N){
 void closeplugins(){
     if(!allplugins || nplugins < 1) return;
     for(int i = 0; i < nplugins; ++i){
-        if(allplugins[i]->die) allplugins[i]->die();
+        if(allplugins[i]->kill) allplugins[i]->kill(allplugins[i]);
     }
     FREE(allplugins);
     nplugins = 0;

Daemons/weatherdaemon_multimeteo/sensors.h

@@ -25,7 +25,7 @@
 
 int openplugins(char **paths, int N);
 void closeplugins();
-int get_plugin(sensordata_t *o, int N);
+sensordata_t *get_plugin(int N);
 int get_nplugins();
 int format_sensval(const val_t *v, char *buf, int buflen, int Np);
 int format_msrmttm(time_t t, char *buf, int buflen);

Daemons/weatherdaemon_multimeteo/server.c

@@ -45,10 +45,10 @@ static sl_sock_hresult_e listhandler(sl_sock_t *client, _U_ sl_sock_hitem_t *ite
     char buf[256];
     int N = get_nplugins();
     if(N < 1) return RESULT_FAIL;
-    sensordata_t d;
+    sensordata_t *d = NULL;
     for(int i = 0; i < N; ++i){
-        if(!get_plugin(&d, i)) continue;
-        snprintf(buf, 255, "PLUGIN[%d]=%s\nNVALUES[%d]=%d\n", i, d.name, i, d.Nvalues);
+        if(!(d = get_plugin(i))) continue;
+        snprintf(buf, 255, "PLUGIN[%d]=%s\nNVALUES[%d]=%d\n", i, d->name, i, d->Nvalues);
         sl_sock_sendstrmessage(client, buf);
     }
     return RESULT_SILENCE;
@@ -63,8 +63,8 @@ static sl_sock_hresult_e listhandler(sl_sock_t *client, _U_ sl_sock_hitem_t *ite
 static void showdata(sl_sock_t *client, int N, int showidx){
     char buf[FULL_LEN+1];
     val_t v;
-    sensordata_t s;
-    if(!get_plugin(&s, N) || (s.Nvalues < 1)){
+    sensordata_t *s = NULL;
+    if(!(s = get_plugin(N)) || (s->Nvalues < 1)){
         snprintf(buf, FULL_LEN, "Can't get plugin[%d]\n", N);
         sl_sock_sendstrmessage(client, buf);
         return;
@@ -72,8 +72,8 @@ static void showdata(sl_sock_t *client, int N, int showidx){
     if(!showidx || get_nplugins() == 1) N = -1; // only one -> don't show indexes
     time_t oldest = time(NULL) - oldest_interval;
     uint64_t Tsum = 0; int nsum = 0;
-    for(int i = 0; i < s.Nvalues; ++i){
-        if(!s.get_value(&v, i)) continue;
+    for(int i = 0; i < s->Nvalues; ++i){
+        if(!s->get_value(s, &v, i)) continue;
         if(v.time < oldest) continue;
         if(1 > format_sensval(&v, buf, FULL_LEN+1, N)) continue;
         DBG("formatted: '%s'", buf);

Daemons/weatherdaemon_multimeteo/weatherdaemon.files

@@ -1,9 +1,14 @@
+CMakeLists.txt
 cmdlnopts.c
 cmdlnopts.h
+fd.c
+fd.h
 main.c
 plugins/dummy.c
+plugins/fdexample.c
 sensors.c
 sensors.h
 server.c
 server.h
+weathlib.c
 weathlib.h

Daemons/weatherdaemon_multimeteo/weathlib.c

@@ -0,0 +1,66 @@
+/*
+ * This file is part of the weatherdaemon 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/>.
+ */
+
+// Some common functions and handlers for sensors
+
+#include "weathlib.h"
+
+/**
+ * @brief sensor_alive - test if sensor's thread isn't dead
+ * @param s - sensor
+ * @return FALSE if thread is dead
+ */
+int sensor_alive(sensordata_t *s){
+    if(!s) return FALSE;
+    if(pthread_kill(s->thread, 0)) return FALSE;
+    return TRUE;
+}
+
+/**
+ * @brief common_onrefresh - common `change onrefresh handler`
+ * @param s - sensor
+ * @return FALSE if failed
+ */
+int common_onrefresh(sensordata_t *s, void (*handler)(sensordata_t *)){
+    FNAME();
+    if(!s || !handler) return FALSE;
+    s->freshdatahandler = handler;
+    return TRUE;
+}
+
+/**
+ * @brief common_kill - common `die` function
+ * @param s - sensor
+ */
+void common_kill(sensordata_t *s){
+    FNAME();
+    if(!s) return;
+    if(0 == pthread_kill(s->thread, -9)){
+        DBG("%s main thread killed, join", s->name);
+        pthread_join(s->thread, NULL);
+        DBG("Done");
+    }
+    DBG("Delete RB");
+    sl_RB_delete(&s->ringbuffer);
+    if(s->fdes > -1){
+        close(s->fdes);
+        DBG("FD closed");
+    }
+    FREE(s->values);
+    DBG("Sensor %s killed", s->name);
+}

Daemons/weatherdaemon_multimeteo/weathlib.h

@@ -18,8 +18,11 @@
 
 #pragma once
 
+#include <pthread.h>
+#include <signal.h> // pthread_kill
 #include <stdint.h>
 #include <time.h>
+#include <usefull_macros.h>
 
 // length (in symbols) of key, value and comment
 #define KEY_LEN         (8)
@@ -81,12 +84,25 @@ typedef struct{
 } val_t;
 
 // all sensor's data
+// all functions have `this` as first arg
 typedef struct sensordata_t{
     char name[NAME_LEN+1];  // max 31 symbol of sensor's name (e.g. "rain sensor")
     int Nvalues;            // amount of values
     int PluginNo;           // plugin number in array (if several)
-    int (*init)(int, time_t, int); // init meteostation with given PluginNo, poll_interval and fd; return amount of parameters found
-    int (*onrefresh)(void (*handler)(const struct sensordata_t* const)); // handler of new data; return TRUE if OK
-    int (*get_value)(val_t *, int); // getter of Nth value
-    void (*die)();          // close everything and die
+    int (*init)(struct sensordata_t*, int, time_t, int); // init meteostation with given PluginNo, poll_interval and fd; return amount of parameters found or -1 if error
+    int (*onrefresh)(struct sensordata_t*, void (*handler)(struct sensordata_t*)); // handler of new data; return TRUE if OK
+    int (*get_value)(struct sensordata_t*, val_t*, int); // getter of Nth value
+    void (*kill)(struct sensordata_t*); // close everything and remove sensor
+    // private members:
+    val_t *values;          // array of values
+    pthread_t thread;       // main thread
+    void (*freshdatahandler)(struct sensordata_t*); // handler of fresh data
+    int fdes;               // file descriptor of device/socket
+    sl_ringbuffer_t *ringbuffer; // ringbuffer for device reading
+    time_t tpoll;           // forced polling time for sensor
 } sensordata_t;
+
+// library functions and other
+int common_onrefresh(sensordata_t*, void (*handler)(sensordata_t*));
+void common_kill(sensordata_t *s);
+int sensor_alive(sensordata_t *s);