mirror of
https://github.com/eddyem/small_tel.git
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445 lines
16 KiB
C
445 lines
16 KiB
C
/**
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* This file is part of the teldaemon project.
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* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdatomic.h>
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#include <inttypes.h>
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#include <pthread.h>
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#include <string.h>
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#include "commands.h"
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#include "header.h"
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#include "socket.h"
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#include "term.h"
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typedef enum{
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CMD_OPEN,
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CMD_CLOSE,
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CMD_FOCSTOP,
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CMD_COOLERON,
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CMD_COOLEROFF,
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CMD_HEATERON,
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CMD_HEATEROFF,
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CMD_NONE
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} tel_commands_t;
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typedef struct{
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int focuserpos; // focuser position
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char status[STATBUF_SZ]; // device status
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double stattime; // time of last status
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int cooler; // cooler's status
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int heater; // heater's status
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double mirrortemp; // T mirror, degC
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double ambienttemp; // T ambient, degC
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tel_commands_t cmd; // deferred command
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tel_commands_t errcmd; // command ended with error
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pthread_mutex_t mutex;
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} tel_t;
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static tel_t telescope = {0};
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// external signal "deny/allow"
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static atomic_bool ForbidObservations = 0; // ==1 if all is forbidden -> close dome and not allow to open
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static sl_sock_t *locksock = NULL; // local server socket
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// args of absolute/relative focus move commands
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static sl_sock_int_t Absmove = {0};
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static sl_sock_int_t Relmove = {0};
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void stopserver(){
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if(locksock) sl_sock_delete(&locksock);
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}
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/**
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* @brief get_telescope_data - copy local `telescope` to `t`
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* @param t (i) - pointer to your struct
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* @return true if observations are permitted and false if forbidden
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*/
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bool get_telescope_data(telstatus_t *t){
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if(!t) return false;
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pthread_mutex_lock(&telescope.mutex);
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*t = *((telstatus_t*)&telescope);
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pthread_mutex_unlock(&telescope.mutex);
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return ForbidObservations;
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}
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// send "measuret=..."
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static void sendtmeasured(sl_sock_t *client, double t){
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char buf[256];
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snprintf(buf, 255, "measuret=%.3f\n", t);
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sl_sock_sendstrmessage(client, buf);
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}
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static sl_sock_hresult_e dtimeh(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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char buf[32];
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snprintf(buf, 31, "UNIXT=%.3f\n", sl_dtime());
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sl_sock_sendstrmessage(client, buf);
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return RESULT_SILENCE;
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}
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#define CHKALLOWED() do{if(ForbidObservations){pthread_mutex_unlock(&telescope.mutex); return RESULT_FAIL;}}while(0)
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static sl_sock_hresult_e openh(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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pthread_mutex_lock(&telescope.mutex);
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CHKALLOWED();
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telescope.cmd = CMD_OPEN;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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static sl_sock_hresult_e closeh(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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pthread_mutex_lock(&telescope.mutex);
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telescope.cmd = CMD_CLOSE;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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static sl_sock_hresult_e fstoph(_U_ sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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pthread_mutex_lock(&telescope.mutex);
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CHKALLOWED();
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telescope.cmd = CMD_FOCSTOP;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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static sl_sock_hresult_e statush(sl_sock_t *client, _U_ sl_sock_hitem_t *item, _U_ const char *req){
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char buf[256];
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double t = NAN, mirt, ambt;
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tel_commands_t lastecmd;
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pthread_mutex_lock(&telescope.mutex);
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if(!*telescope.status || sl_dtime() - telescope.stattime > 3.*T_INTERVAL) snprintf(buf, 255, "%s=unknown\n", item->key);
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else{
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snprintf(buf, 255, "%s=%s\n", item->key, telescope.status);
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t = telescope.stattime;
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}
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mirt = telescope.mirrortemp;
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ambt = telescope.ambienttemp;
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lastecmd = telescope.errcmd;
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pthread_mutex_unlock(&telescope.mutex);
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sl_sock_sendstrmessage(client, buf);
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if(!isnan(t)) sendtmeasured(client, t);
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snprintf(buf, 255, "mirrortemp=%.1f\n", mirt);
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sl_sock_sendstrmessage(client, buf);
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snprintf(buf, 255, "ambienttemp=%.1f\n", ambt);
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sl_sock_sendstrmessage(client, buf);
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if(lastecmd != CMD_NONE){
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const char *tcmd;
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switch(lastecmd){
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case CMD_OPEN: tcmd = "open"; break;
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case CMD_CLOSE: tcmd = "close"; break;
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case CMD_FOCSTOP: tcmd = "focstop"; break;
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case CMD_COOLERON: case CMD_COOLEROFF: tcmd = "cooler"; break;
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default: tcmd = "unknown";
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}
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snprintf(buf, 255, "errored_command=%s\n", tcmd);
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sl_sock_sendstrmessage(client, buf);
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}
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if(ForbidObservations) sl_sock_sendstrmessage(client, "FORBIDDEN\n");
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return RESULT_SILENCE;
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}
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static sl_sock_hresult_e coolerh(sl_sock_t *client, sl_sock_hitem_t *item, const char *req){
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char buf[256];
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if(req){ // getter
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int onoff;
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if(!sl_str2i(&onoff, req)) return RESULT_BADVAL;
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pthread_mutex_lock(&telescope.mutex);
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if(onoff) telescope.cmd = CMD_COOLERON;
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else telescope.cmd = CMD_COOLEROFF;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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// getter
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pthread_mutex_lock(&telescope.mutex);
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snprintf(buf, 255, "%s=%d\n", item->key, telescope.cooler);
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pthread_mutex_unlock(&telescope.mutex);
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sl_sock_sendstrmessage(client, buf);
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return RESULT_SILENCE;
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}
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static sl_sock_hresult_e heaterh(sl_sock_t *client, sl_sock_hitem_t *item, const char *req){
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char buf[256];
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if(req){ // getter
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int onoff;
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if(!sl_str2i(&onoff, req)) return RESULT_BADVAL;
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pthread_mutex_lock(&telescope.mutex);
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if(onoff) telescope.cmd = CMD_HEATERON;
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else telescope.cmd = CMD_HEATEROFF;
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pthread_mutex_unlock(&telescope.mutex);
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return RESULT_OK;
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}
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// getter
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pthread_mutex_lock(&telescope.mutex);
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snprintf(buf, 255, "%s=%d\n", item->key, telescope.heater);
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pthread_mutex_unlock(&telescope.mutex);
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sl_sock_sendstrmessage(client, buf);
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return RESULT_SILENCE;
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}
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// focuser getter
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static sl_sock_hresult_e foch(sl_sock_t *client, sl_sock_hitem_t *item, _U_ const char *req){
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char buf[256];
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pthread_mutex_lock(&telescope.mutex);
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snprintf(buf, 255, "%s=%d\n", item->key, telescope.focuserpos);
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pthread_mutex_unlock(&telescope.mutex);
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sl_sock_sendstrmessage(client, buf);
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return RESULT_SILENCE;
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}
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// Too much clients handler
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static void toomuch(int fd){
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const char m[] = "Try later: too much clients connected\n";
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send(fd, m, sizeof(m)-1, MSG_NOSIGNAL);
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shutdown(fd, SHUT_WR);
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DBG("shutdown, wait");
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double t0 = sl_dtime();
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uint8_t buf[8];
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while(sl_dtime() - t0 < 11.){
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if(sl_canread(fd)){
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ssize_t got = read(fd, buf, 8);
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DBG("Got=%zd", got);
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if(got < 1) break;
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}
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}
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DBG("Disc after %gs", sl_dtime() - t0);
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LOGWARN("Client fd=%d tried to connect after MAX reached", fd);
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}
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// new connections handler (return FALSE to reject client)
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static int connected(sl_sock_t *c){
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if(c->type == SOCKT_UNIX) LOGMSG("New client fd=%d connected", c->fd);
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else LOGMSG("New client fd=%d, IP=%s connected", c->fd, c->IP);
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return TRUE;
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}
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// disconnected handler
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static void disconnected(sl_sock_t *c){
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if(c->type == SOCKT_UNIX) LOGMSG("Disconnected client fd=%d", c->fd);
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else LOGMSG("Disconnected client fd=%d, IP=%s", c->fd, c->IP);
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}
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// default (unknown key) handler
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static sl_sock_hresult_e defhandler(struct sl_sock *s, const char *str){
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if(!s || !str) return RESULT_FAIL;
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sl_sock_sendstrmessage(s, "You entered wrong command:\n```\n");
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sl_sock_sendstrmessage(s, str);
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sl_sock_sendstrmessage(s, "\n```\nTry \"help\"\n");
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return RESULT_SILENCE;
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}
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static sl_sock_hitem_t handlers[] = {
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{sl_sock_inthandler, "focrel", "relative focus move", (void*)&Relmove},
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{sl_sock_inthandler, "focabs", "absolute focus move", (void*)&Absmove},
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{foch, "focpos", "current focuser position", NULL},
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{openh, "open", "open shutters", NULL},
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{closeh, "close", "close shutters", NULL},
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{statush, "status", "get shutters' status and temperatures", NULL},
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{fstoph, "focstop", "stop focuser moving", NULL},
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{coolerh, "cooler", "get/set cooler status", NULL},
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{heaterh, "heater", "get/set heater status", NULL},
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{dtimeh, "dtime", "get server's UNIX time for all clients connected", NULL},
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{NULL, NULL, NULL, NULL}
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};
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// dome polling; @return TRUE if all OK
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static int poll_device(){
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char ans[ANSLEN];
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char *data;
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int I;
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if(!(data = term_cmdwans(TXT_FOCGET, TXT_ANS_FOCPOS, ans))) return FALSE;
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DBG("\nGot focuser position");
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if(sscanf(data, "%d", &I) == 1){
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pthread_mutex_lock(&telescope.mutex);
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telescope.focuserpos = I;
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pthread_mutex_unlock(&telescope.mutex);
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}
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if(!(data = term_cmdwans(TXT_STATUS, TXT_ANS_STATUS, ans))) return FALSE;
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DBG("\nGot status");
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pthread_mutex_lock(&telescope.mutex);
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telescope.stattime = sl_dtime();
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if(strncmp(data, "0,0,0,0,0", 9) == 0) snprintf(telescope.status, STATBUF_SZ-1, "closed");
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else if(strncmp(data, "1,1,1,1,1", 9) == 0) snprintf(telescope.status, STATBUF_SZ-1, "opened");
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else snprintf(telescope.status, STATBUF_SZ-1, "intermediate");
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pthread_mutex_unlock(&telescope.mutex);
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if(!(data = term_cmdwans(TXT_COOLERT, TXT_ANS_COOLERT, ans))) return FALSE;
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DBG("\nGot weather ans");
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float m, a;
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if(sscanf(data, "%f,%f", &m, &a) == 2){
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pthread_mutex_lock(&telescope.mutex);
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telescope.ambienttemp = a;
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telescope.mirrortemp = m;
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pthread_mutex_unlock(&telescope.mutex);
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}
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if(!(data = term_cmdwans(TXT_COOLERSTAT, TXT_ANS_COOLERSTAT, ans))) return FALSE;
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DBG("\nGot cooler status");
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if(sscanf(data, "%d", &I) == 1){
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pthread_mutex_lock(&telescope.mutex);
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telescope.cooler = I;
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pthread_mutex_unlock(&telescope.mutex);
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}
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if(!(data = term_cmdwans(TXT_HEATSTAT, TXT_ANS_HEATSTAT, ans))) return FALSE;
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DBG("\nGot heater status");
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if(sscanf(data, "%d", &I) == 1){
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pthread_mutex_lock(&telescope.mutex);
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telescope.heater = I;
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pthread_mutex_unlock(&telescope.mutex);
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}
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return TRUE;
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}
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void runserver(int isunix, const char *node, int maxclients){
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char ans[ANSLEN];
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int forbidden = 0;
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if(locksock) sl_sock_delete(&locksock);
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telescope.errcmd = telescope.cmd = CMD_NONE;
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pthread_mutex_init(&telescope.mutex, NULL);
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sl_socktype_e type = (isunix) ? SOCKT_UNIX : SOCKT_NET;
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locksock = sl_sock_run_server(type, node, -1, handlers);
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sl_sock_changemaxclients(locksock, maxclients);
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sl_sock_maxclhandler(locksock, toomuch);
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sl_sock_connhandler(locksock, connected);
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sl_sock_dischandler(locksock, disconnected);
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sl_sock_defmsghandler(locksock, defhandler);
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double tgot = 0.;
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while(locksock && locksock->connected){
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if(ForbidObservations){
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if(!forbidden){
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if(term_cmdwans(TXT_CLOSE, TXT_ANS_OK, ans)) forbidden = 1;
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pthread_mutex_lock(&telescope.mutex);
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telescope.cmd = CMD_NONE;
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pthread_mutex_unlock(&telescope.mutex);
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}
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}else forbidden = 0;
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usleep(1000);
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if(!locksock->rthread){
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WARNX("Server handlers thread is dead");
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LOGERR("Server handlers thread is dead");
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break;
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}
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double tnow = sl_dtime();
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if(tnow - tgot > T_INTERVAL){
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if(poll_device()){
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tgot = tnow;
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write_header();
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}
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}
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if(ForbidObservations) continue;
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pthread_mutex_lock(&telescope.mutex);
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tel_commands_t tcmd = telescope.cmd;
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pthread_mutex_unlock(&telescope.mutex);
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if(tcmd != CMD_NONE){
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switch(tcmd){
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case CMD_OPEN:
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DBG("received command: open");
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if(term_cmdwans(TXT_OPEN, TXT_ANS_OK, ans)){
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LOGMSG("Open dome");
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tcmd = CMD_NONE;
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}
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break;
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case CMD_CLOSE:
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DBG("received command: close");
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if(term_cmdwans(TXT_CLOSE, TXT_ANS_OK, ans)){
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LOGMSG("Close dome");
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tcmd = CMD_NONE;
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}
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break;
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case CMD_FOCSTOP:
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DBG("received command: stop focus");
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LOGMSG("Stop focus");
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term_write(TXT_FOCSTOP, ans); tcmd = CMD_NONE; // erroreous thing: no answer for this command
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break;
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case CMD_COOLEROFF:
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DBG("received command: cooler off");
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if(term_cmdwans(TXT_COOLEROFF, TXT_ANS_OK, ans)){
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LOGMSG("Cooler off");
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tcmd = CMD_NONE;
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}
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break;
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case CMD_COOLERON:
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DBG("received command: cooler on");
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if(term_cmdwans(TXT_COOLERON, TXT_ANS_OK, ans)){
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LOGMSG("Cooler on");
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tcmd = CMD_NONE;
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}
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break;
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case CMD_HEATERON:
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DBG("received command: heater on");
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if(term_cmdwans(TXT_HEATON, TXT_ANS_OK, ans)){
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LOGMSG("Heater on");
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tcmd = CMD_NONE;
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}
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break;
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case CMD_HEATEROFF:
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DBG("received command: heater off");
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if(term_cmdwans(TXT_HEATOFF, TXT_ANS_OK, ans)){
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LOGMSG("Heater off");
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tcmd = CMD_NONE;
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}
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break;
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default:
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DBG("WTF?");
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}
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}
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pthread_mutex_lock(&telescope.mutex);
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telescope.cmd = telescope.errcmd = tcmd;
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pthread_mutex_unlock(&telescope.mutex);
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// check abs/rel move
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char buf[256];
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double dt = tnow - Absmove.timestamp;
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if(dt < 3. * T_INTERVAL){
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if(Absmove.val < FOC_MINPOS || Absmove.val > FOC_MAXPOS) Absmove.timestamp = 0.; // reset wrong data
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else{
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snprintf(buf, 255, "%s%d\r", TXT_FOCUSABS, (int)Absmove.val);
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if(term_cmdwans(buf, TXT_ANS_OK, ans)){
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DBG("STARTED absmove");
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Absmove.timestamp = 0.;
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}
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}
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}
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dt = tnow - Relmove.timestamp;
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if(dt < 3. * T_INTERVAL){
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if(Relmove.val < -FOC_MAXPOS || Relmove.val > FOC_MAXPOS) Relmove.timestamp = 0.;
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else{ // "in" < 0, "out" > 0
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char *cmd = TXT_FOCUSOUT;
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int pos = (int)Relmove.val;
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DBG("pos=%d", pos);
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if(pos < 0){ cmd = TXT_FOCUSIN; pos = -pos; }
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snprintf(buf, 255, "%s%d\r", cmd, pos);
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if(term_cmdwans(buf, TXT_ANS_OK, ans)){
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DBG("STARTED relmove");
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Relmove.timestamp = 0.;
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}
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}
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}
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}
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stopserver();
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}
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void forbid_observations(int forbid){
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if(forbid){
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ForbidObservations = true;
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LOGWARN("Got forbidden signal");
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}else{
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ForbidObservations = false;
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LOGWARN("Got allowed signal");
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}
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DBG("Change ForbidObservations=%d", forbid);
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}
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