# domedaemon‑astrosib **domedaemon‑astrosib** is a daemon that controls an [**Astrosib**](https://astrosib.ru/) all‑sky dome via a serial line. It provides a TCP/UNIX socket interface for clients, integrates with a weather proxy to enforce safety rules, and generates a FITS‑style header file with current dome status. --- ## Features - **Dome open/close** – fully open or close the dome - **Stop movement** – immediately stop any ongoing dome motion - **Independent cover control** – open or close only the northern or southern cover - **Relay control** – switch three auxiliary relays (power, light, etc.) - **Status reporting** – cover states, encoder angles, relay states, rain sensor, motor currents, temperatures - **Weather integration** – automatically closes the dome and prevents opening when weather is bad or data is stale - **Manual override** – via `SIGUSR1` (forbid) / `SIGUSR2` (allow) signals - **FITS header file** – writes current dome state into a FITS‑style header file (e.g., for later use by image processing pipelines) - **Network interface** – supports both INET (TCP) and UNIX domain sockets - **Daemon mode** – forks, writes PID file, restarts child on crash --- ## Command‑line options | Option | Argument | Default | Description | |----------------------|-------------------|-----------------------------------|-------------------------------------------------------------------| | `-h`, `--help` | – | – | Show help | | `-d`, `--device` | *path* | – | Full path to serial device (e.g. `/dev/ttyUSB0`) | | `-n`, `--node` | *string* | `55555` | Node specification: port number for TCP, or path for UNIX socket | | `-l`, `--logfile` | *path* | – | Full path to log file | | `-u`, `--unix` | – | 0 | Use UNIX socket instead of TCP | | `-v`, `--verbose` | – | 0 | Increase verbosity (each `-v` adds 1 level) | | `-p`, `--pidfile` | *path* | `/tmp/domedaemon.pid` | PID file path | | `-H`, `--headerfile` | *path* | `/tmp/dome.fits` | Output file for FITS‑style header | | `-N`, `--domename` | *name* | `Astrosib` | Dome name inserted into the header | --- ## Socket protocol The daemon listens for text‑based commands on the configured socket. Each command returns one or more lines of output, terminated by newline (`\n`). ### Commands | Command | Description | Example | |---------------------------------|----------------------------------------------------------------------------|----------------------------------------------| | `unixt` | Return server’s current UNIX time (seconds with two decimal places) | `unixt` → `unixt=1704067200.12` | | `status` | Get dome status in old format (four numbers) | `status` → `status=3,3,0,0` | | `statust` | Get dome status in human‑readable format | `statust` → (see example below) | | `relay1` … `relay3` | Get/set relay state (0 = off, 1 = on) | `relay1` → `relay1=1` (if queried without argument) | | `open` | Fully open dome (only if weather permits and observations not forbidden) | `open` | | `close` | Fully close dome | `close` | | `stop` | Immediately stop dome movement | `stop` | | `half1` … `half2` | Get/set state of a single cover (0 = closed, 1 = opened) | `half1 0` | Each setter returns an `OK` answer in case of success or error code like `BADVAL` for bad value of setter. ### Example `statust` response ``` status=3,3,0,0 operations=permitted cover1=closed cover2=closed angle1=0 angle2=0 relay1=0 relay2=0 relay3=0 reqtime=1779087731.049449921 ``` - `operations` can be `permitted` or `forbidden` (manual override). - `cover1` / `cover2` report `closed`, `opened` or `intermediate`. - `angle1` / `angle2` are encoder values (degrees). - `relay1` … `relay3` show the current state of each relay. - `reqtime` is the time when the status was last read from the hardware. --- ## Weather integration The daemon retrieves weather data via the **weather_proxy** shared memory interface (`get_weather_data()`). Safety rules: - If `weather.forceoff`, `weather.rain`, or `weather.weather > WEATHER_BAD` → dome is closed and opening is blocked. - If the weather data is older than **300 seconds** (`WEATHER_LOST`) → treated as lost communication → dome is closed and blocked. - When weather becomes good again, the daemon automatically resets the `BadWeather` flag and allows normal operation. The weather is polled every **5 seconds** (`WEATH_POLL`). --- ## Signal handling | Signal | Effect (in child process) | |----------|------------------------------------------------------| | `SIGUSR1`| Forbid observations – close dome and block open | | `SIGUSR2`| Allow observations – remove manual block | | `SIGTERM`| Stop the daemon and remove PID file | | `SIGINT` | Same as `SIGTERM` | | `SIGHUP` | Same as `SIGTERM` | --- ## FITS header file The daemon writes a text file (default `/tmp/dome.fits`) with **FITS‑like** keyword/value pairs. The file is updated every polling cycle (every 5 seconds) and can be used by external pipelines to record dome state. Example content: ``` DOME = 'Astrosib' / Dome manufacturer/name DOMESTAT= 'idle' / Dome status DOMECVR1= 'closed' / Dome cover 1 status DOMECVR2= 'closed' / Dome cover 2 status DOMEANG1= 0 / Dome cover 1 angle DOMEANG2= 0 / Dome cover 2 angle DOMERLY1= 0 / Dome relay1 state DOMERLY2= 0 / Dome relay2 state DOMERLY3= 0 / Dome relay3 state TDOMMEAS= 1779090474.704 / Measurement time: 2026-05-18 10:47:54 ``` The file is created atomically using `mkstemp()` + `rename()`. --- ## Building and dependencies ### Dependencies - [libusefull_macros](https://github.com/eddyem/snippets_library) – common macros and helpers - [libweather_proxy](https://github.com/eddyem/small_tel/tree/master/Daemons/weather_proxy) – shared memory weather data - `pthread`, `libc` ### Build ```bash git clone --depth=1 https://github.com/eddyem/small_tel.git cd small_tel/Daemons/domedaemon-astrosib mkdir build cd build cmake .. make ``` The resulting binary is `domedaemon`. ### Installation Copy the binary to a suitable location (e.g. `/usr/local/bin`) or run `sudo make install`. It is recommended to run the daemon as a system service (using init script, e.g. in `/etc/local.d/`) so that it starts automatically at boot. --- ## Usage example Start the daemon with a UNIX socket and weather‑aware header: ```bash domedaemon -vv -d /dev/ttyS3 -l /var/log/telescope/domedaemon.log ``` Connect to the socket using `socat`, `nc` or my [`tty_term`](https://github.com/eddyem/tty_term): ```bash nc localhost 55555 > statust ``` Send `SIGUSR1` to forbid observations (e.g. before maintenance): ```bash killall -USR1 domedaemon ``` --- ## Notes - The serial protocol is specific to Astrosib hardware (commands like `STATUS`, `OPENDOME`, `CLOSEDOME`, `STOPDOME`, `SHUTTERMOVEDEG`, `SWITCHTOGGILE` are hard‑coded). - Encoder values are reported as raw integers; interpretation depends on the physical setup. - The daemon polls the dome every **5 seconds** (`T_INTERVAL`). During that interval it also processes client requests and checks weather. - If the serial device becomes unresponsive, the status will return an error and the header will not be updated. --- ## License **GNU General Public License v3.0** or later. See the `LICENSE` file in repository's root directory or for details.