eddy/zeiss_utils
1
0
Fork 0
mirror of https://github.com/eddyem/zeiss_utils.git synced 2025-12-06 02:35:15 +03:00
Code Issues Packages Projects Releases Wiki Activity

some fixes

Browse Source
This commit is contained in:
Edward Emelianov 2024-10-08 16:38:27 +03:00
parent abe934338b
commit d9124740ec
10 changed files with 254 additions and 522 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
Z1000_focus/DS406_canopen.h
View File

@ -37,6 +37,16 @@
#define DS406_SENSOR_AMPLITUDE 0x2200 #define DS406_SENSOR_AMPLITUDE 0x2200
#define DS406_TARG_FREQ_DEVIAT 0x2201 #define DS406_TARG_FREQ_DEVIAT 0x2201
// Configuration parameters
// subindex=1 - Safety code sequence (uint16) - 0 for CW, 1 for CCW
// 2 - Safety preset value (uint32)
// 3 - Inverted safety preset value (uint32)
#define DS406_CONF_PARAMETERS 0x5000
#define DS406_CONF_VALID 0x50FE
#define DS406_CONF_VALID_VALID 0xA5
#define DS406_CONF_CHECKSUM 0x50FF
#define DS406_OPER_PARAMS 0x6000 #define DS406_OPER_PARAMS 0x6000
#define DS406_MEAS_UNITS_PERREV 0x6001 #define DS406_MEAS_UNITS_PERREV 0x6001
#define DS406_TOT_MEAS_RANGE 0x6002 #define DS406_TOT_MEAS_RANGE 0x6002

13
Z1000_focus/HW_dependent.h
View File

@ -23,7 +23,7 @@
#include "motor_cancodes.h" #include "motor_cancodes.h"
// On lowest speeds Taccelerated = 0.22s, so wait no more than 0.25s when motor starts // On lowest speeds Taccelerated = 0.22s, so wait no more than 0.25s when motor starts
#define TACCEL (0.25) #define TACCEL (0.50)
// max amount of cycles when motor stalled // max amount of cycles when motor stalled
#define STALL_MAXCTR (50) #define STALL_MAXCTR (50)
@ -45,7 +45,7 @@
// rev/min to raw speed value // rev/min to raw speed value
#define RAWSPEED(x) (x*5) #define RAWSPEED(x) (x*5)
// max/min speed (rev/min) // max/min speed (rev/min)
#define MAXSPEED (1200) #define MAXSPEED (1550)
#define MINSPEED (350) #define MINSPEED (350)
// encoder differences (if larger) for speed (MAXSPEED, MAXSPEED/2 and MAXSPEED/3) select // encoder differences (if larger) for speed (MAXSPEED, MAXSPEED/2 and MAXSPEED/3) select
#define ENCODER_DIFF_SPEED1 (1500) #define ENCODER_DIFF_SPEED1 (1500)
@ -57,9 +57,12 @@
#define MOVING_TIMEOUT (300) #define MOVING_TIMEOUT (300)
// correction parameters: steps after stopping = CORR0 + (CORR1 + CORR2*rs)*rs) // correction parameters: steps after stopping = CORR0 + (CORR1 + CORR2*rs)*rs)
// where rs is raw speed // where rs is raw speed
#define CORR0 (-46.0) //#define CORR0 (-38.919)
#define CORR1 (4.2857e-3) //#define CORR1 (-4.3223e-3)
#define CORR2 (1.5714e-5) //#define CORR2 (1.6549e-5)
#define CORR0 (6.7704)
#define CORR1 (6.1857e-3)
#define CORR2 (1.1271e-5)
// constants for focus conversion: foc_mm = (foc_raw - FOCRAW_0) / FOCSCALE_MM // constants for focus conversion: foc_mm = (foc_raw - FOCRAW_0) / FOCSCALE_MM

12
Z1000_focus/Makefile
View File

@ -1,18 +1,24 @@
# run `make DEF="-D... -D..."` to add extra defines # run `make DEF="-D... -D..."` to add extra defines
PROGRAM := can_phocus PROGRAM := can_focus
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all -pthread LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all -pthread
SRCS := $(wildcard *.c) SRCS := $(wildcard *.c)
DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111 DEFINES := $(DEF) -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
OBJDIR := mk OBJDIR := mk
CFLAGS += -O2 -Wall -Werror -Wextra -Wno-trampolines -std=gnu99 CFLAGS += -O2 -std=gnu99 -Wall -Wextra
#ifneq (,$(findstring DEBUG, $(DEF)))
# CFLAGS += -Werror
# $(info Warnings considered as errors)
#endif
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o)) OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d) DEPS := $(OBJS:.o=.d)
CC ?= gcc CC ?= gcc
$(info GCC is: ${CC})
#CXX = g++ #CXX = g++
all : $(OBJDIR) $(PROGRAM) all : $(OBJDIR) $(PROGRAM)
debug: CFLAGS += -DEBUG -Werror
debug: all
$(PROGRAM) : $(OBJS) $(PROGRAM) : $(OBJS)
@echo -e "\t\tLD $(PROGRAM)" @echo -e "\t\tLD $(PROGRAM)"
$(CC) $(LDFLAGS) $(OBJS) -o $(PROGRAM) $(CC) $(LDFLAGS) $(OBJS) -o $(PROGRAM)

8
Z1000_focus/can_encoder.c
View File

@ -32,6 +32,8 @@ static uint8_t encoderRDY = 0, motorRDY = 0;
// printf when -v // printf when -v
extern int verbose(const char *fmt, ...); extern int verbose(const char *fmt, ...);
extern bool emerg_stop;
// CAN bus IDs: for motor's functions (PI ID [F=4] == PO ID[F=3] + 1) and parameters // CAN bus IDs: for motor's functions (PI ID [F=4] == PO ID[F=3] + 1) and parameters
static unsigned long motor_id = 0, motor_p_id = 0;//, bcast_id = 1; static unsigned long motor_id = 0, motor_p_id = 0;//, bcast_id = 1;
// current motor position (RAW) // current motor position (RAW)
@ -422,7 +424,8 @@ static canstatus can_send_chk(unsigned char *buf, unsigned char *obuf){
SINGLEWARN(WARN_CANSEND); SINGLEWARN(WARN_CANSEND);
return CAN_CANTSEND; return CAN_CANTSEND;
}else clrwarnsingle(WARN_CANSEND); }else clrwarnsingle(WARN_CANSEND);
int I, rxpnt, idr, dlen; int I, rxpnt, dlen;
canid_t idr;
double rxtime; double rxtime;
unsigned char rdata[8]; unsigned char rdata[8];
can_clean_recv(&rxpnt, &rxtime); can_clean_recv(&rxpnt, &rxtime);
@ -463,7 +466,8 @@ static canstatus can_send_chk(unsigned char *buf, unsigned char *obuf){
static canstatus can_send_param(unsigned char *buf, unsigned char *obuf){ static canstatus can_send_param(unsigned char *buf, unsigned char *obuf){
if(!motorRDY) return CAN_NOANSWER; if(!motorRDY) return CAN_NOANSWER;
const int l = 8; // frame length const int l = 8; // frame length
int I, rxpnt, idr, dlen; int I, rxpnt, dlen;
canid_t idr;
double rxtime; double rxtime;
unsigned char rdata[8]; unsigned char rdata[8];
/* /*

2
Z1000_focus/can_encoder.h
View File

@ -50,7 +50,7 @@ typedef enum{
} sysstatus; } sysstatus;
int init_encoder(int encnode, int reset); int init_encoder(int encnode, int reset);
void returnPreOper(); void returnPreOper(long long presetval);
int getPos(double *pos); int getPos(double *pos);
double curPos(); double curPos();
int init_motor_ids(int addr); int init_motor_ids(int addr);

636
Z1000_focus/can_io.c
View File

@ -1,15 +1,6 @@
/* CAN I/O library (to use as a process) /* CAN I/O library (for compatibility with the old one, */
* usage: /* but through the new SocketCAN interface) */
* first: fork() + start_can_io(NULL) - start CAN Rx-buffering process
* then: fork() + Control_1(....) - start process that uses recv/send functions
* ...........................
* then: fork() + Control_N(....)
*
* note: use init_can_io() at the begining of every Control process
* BUT DON't USE it in main() before Control process start
* ^^^^^^^^^^^^^
* (c) vsher@sao.ru
*/
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <unistd.h> #include <unistd.h>
@ -17,495 +8,219 @@
#include <signal.h> #include <signal.h>
#include <string.h> #include <string.h>
#include <time.h> #include <time.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <fcntl.h> #include <fcntl.h>
#include <sys/file.h> #include <sys/time.h>
#include <sys/shm.h> #include <net/if.h>
#include <sys/ipc.h> #include <sys/ioctl.h>
#include <sys/msg.h> #include <sys/socket.h>
#include <linux/sockios.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <poll.h>
#include "usefull_macros.h"
#include "canmsg.h"
#include "can_io.h" #include "can_io.h"
#include "checkfile.h"
char can_dev[40] = "/dev/can0"; char can_dev[40] = "/dev/can0";/* for compatibility (only "can0" needs) */
int can_fd=-1; static int can_sck = -1; /* can raw socket */
char can_lck[40] = "/tmp/dev_can0.lock"; static struct timeval start_tv, tv;
int can_lk=-1; static double start_time;
static int server_mode=0;
static int my_uid;
#define CAN_SHM_SIZE ((sizeof(int)*4)+CAN_CTLR_SIZE+(CAN_RX_SIZE*sizeof(canmsg_t))) void set_sending_mode(int x) {return;}
int can_sending_mode() {return(0);}
union ShMkey { void *init_can_io() {
char name[5]; struct sockaddr_can addr;
key_t code; struct canfd_frame frame;
} can_shm_key; struct ifreq ifr;
int can_shm_id=-1; /* open socket */
char *can_shm_addr = NULL; if ((can_sck = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("CAN socket");
#define can_pid (*(((int *)can_shm_addr)+0)) /* PID of CAN I/O process */ can_exit(0);
#define can_open (*(((int *)can_shm_addr)+1)) /* file descr.of CAN-driver */
#define rx_buff_pntr (*(((int *)can_shm_addr)+2)) /* from 0 till CAN_RX_SIZE-1 */
#define can_mode (*(((int *)can_shm_addr)+3)) /* CAN server/client mode flags */
#define CAN_SEND_SERVER 1 /* clients should try to send frames through CAN-server or directly to CAN-driver otherwise */
void *can_ctrl_addr = NULL; /* shm area reserved for control process purpose*/
canmsg_t *rx_buff; /* rx ring buffer: CAN_RX_SIZE*sizeof(canmsg_t)*/
struct CMD_Queue { /* ÏÐÉÓÁÎÉÅ ÏÞÅÒÅÄÉ (ËÁÎÁÌÁ) ËÏÍÁÎÄ */
union{
char name[5]; /* ËÌÀÞ ÉÄÅÎÔÅÆÉËÁÃÉÉ ÏÞÅÒÅÄÉ */
key_t code;
} key;
int mode; /* ÒÅÖÉÍ ÄÏÓÔÕÐÁ (rwxrwxrwx) */
int side; /* ÔÉÐ ÐÏÄÓÏÅÄÉÎÅÎÉÑ: ëÌÉÅÎÔ/óÅÒ×ÅÒ (Sender/Receiver)*/
int id; /* ÄÅÓËÒÉÐÔÏÒ ÐÏÄÓÏÅÄÉÎÅÎÉÑ */
unsigned int acckey; /* ËÌÀÞ ÄÏÓÔÕÐÁ (ÄÌÑ ÐÅÒÅÄÁÞÉ ëÌÉÅÎÔ->óÅÒ×ÅÒ) */
};
/* ËÁÎÁÌ ËÏÍÁÎÄ ÉÓÐÏÌØÚÕÅÍ ÄÌÑ ÐÅÒÅÄÁÞÉ CAN-ÆÒÅÊÍÏ× */
static struct CMD_Queue canout = {.key.name = {'C','A','N',0,0},0200,0,-1,0};
/* ÓÔÒÕËÔÕÒÁ ÓÏÏÂÝÅÎÉÑ */
struct my_msgbuf {
unsigned long mtype; /* type of message */
unsigned long acckey; /* ËÌÀÞ ÄÏÓÔÕÐÁ ËÌÉÅÎÔÁ */
unsigned long src_pid; /* ÎÏÍÅÒ ÐÒÏÃÅÓÓÁ ÉÓÔÏÞÎÉËÁ */
unsigned long src_ip; /* IP-ÁÄÒ. ÉÓÔÏÞÎÉËÁ, =0 - ÌÏËÁÌØÎÁÑ ËÏÍÁÎÄÁ */
char mtext[100]; /* message text */
};
static void can_abort(int sig);
void set_server_mode(int mode) {server_mode=mode;}
int can_server() {return(server_mode);}
void set_sending_mode(int to_server) {
if(to_server) can_mode |= CAN_SEND_SERVER;
else can_mode &= ~CAN_SEND_SERVER;
}
int can_sending_mode() {return(can_mode&CAN_SEND_SERVER);}
int can_card() {return(can_fd>0);}
int can_gate() {return(0);}
double can_gate_time_offset() {return(0.0);}
void setup_can_net(_U_ unsigned long ipaddr, _U_ int port, _U_ unsigned long acckey) {return;}
unsigned long get_acckey() {return(0);}
static int shm_created=0;
/* to use _AFTER_ process forking */
void *init_can_io() { /* returns shared area addr. for client control process*/
int new_shm=0;
char *p, msg[256];
my_uid=geteuid();
if(!can_shm_addr){
if((p = strrchr(can_dev,'/'))){
memcpy(&can_lck[9], p+1, 4);
memcpy(can_shm_key.name, p+1, 4);
can_shm_key.name[4]='\0';
}else{
ERRX("Wrong CAN device name: %s\n", can_dev);
}
can_shm_id = shmget(can_shm_key.code, CAN_SHM_SIZE, 0644);
if(can_shm_id<0 && errno==EACCES)
can_shm_id = shmget(can_shm_key.code, CAN_SHM_SIZE, 0444);
if(can_shm_id<0 && errno==ENOENT && server_mode) {
can_shm_id = shmget(can_shm_key.code, CAN_SHM_SIZE, IPC_CREAT|IPC_EXCL|0644);
new_shm = shm_created = 1;
}
if(can_shm_id<0){
can_prtime(stderr);
if(new_shm)
ERR("Can't create shm CAN buffer '%s'",can_shm_key.name);
else if(server_mode)
ERR("CAN-I/O: Can't find shm segment for CAN buffer '%s'",can_shm_key.name);
else
ERR("Can't find shm segment for CAN buffer '%s' (maybe no CAN-I/O process?)",can_shm_key.name);
}
can_shm_addr = shmat(can_shm_id, NULL, 0);
if(can_shm_addr == (void*)-1 && errno == EACCES)
can_shm_addr = shmat(can_shm_id, NULL, SHM_RDONLY);
if(can_shm_addr == (void*)-1){
shmctl(can_shm_id, IPC_RMID, NULL);
ERR("Can't attach shm CAN buffer '%s'",can_shm_key.name);
}
} }
can_ctrl_addr = (canmsg_t *)(can_shm_addr+sizeof(int)*4);
rx_buff = (canmsg_t *)(can_ctrl_addr+CAN_CTLR_SIZE);
if(can_fd < 0 && canout.id < 0){ strncpy(ifr.ifr_name, &can_dev[5], IFNAMSIZ - 1);
int flags = (server_mode)? O_RDWR : O_WRONLY; ifr.ifr_name[IFNAMSIZ - 1] = '\0';
if(server_mode){ ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
if(( can_fd = open(can_dev, flags)) < 0 ){ if (!ifr.ifr_ifindex) {
sprintf(msg,"CAN-I/O: Error opening CAN device %s", can_dev); perror("if_nametoindex");
can_prtime(stderr); can_exit(0);
perror(msg);
shmctl(can_shm_id, IPC_RMID, NULL);
exit(errno);
}
}else{
can_fd = open(can_dev, flags);
canout.id = msgget(canout.key.code, canout.mode);
if(can_fd < 0 && canout.id < 0) {
WARNX("Error opening CAN device(%s) or CAN output queue '%s' (maybe no CANqueue server process?)",can_dev,canout.key.name);
}
}
} }
if(can_lk > 0) close(can_lk); memset(&addr, 0, sizeof(addr));
if(( can_lk = open(can_lck, O_RDWR|O_CREAT, S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP|S_IROTH|S_IWOTH )) < 0 ){ addr.can_family = AF_CAN;
shmctl(can_shm_id, IPC_RMID, NULL); addr.can_ifindex = ifr.ifr_ifindex;
close(can_fd);
ERR("Error opening CAN device lock-file %s", can_lck); if(bind(can_sck, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
} perror("bind CAN socket");
fchmod(can_lk, S_IRUSR|S_IWUSR|S_IRGRP|S_IWGRP|S_IROTH|S_IWOTH); can_exit(0);
if(new_shm){
struct timeval tmv;
struct timezone tz;
gettimeofday(&tmv,&tz);
if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
can_pid = 0;
can_open = -1;
rx_buff_pntr = 0;
for(int i = 0; i < CAN_RX_SIZE; ++i){
rx_buff[i].id = 0;
rx_buff[i].timestamp = tmv;
}
if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
} }
gettimeofday(&start_tv, NULL);
start_time = (double)start_tv.tv_sec + (double)start_tv.tv_usec/1e6;
tv.tv_sec = tv.tv_usec = 0;
signal(SIGHUP, can_exit); signal(SIGHUP, can_exit);
signal(SIGINT, can_exit); signal(SIGINT, can_exit);
signal(SIGQUIT,can_exit); signal(SIGQUIT,can_exit);
signal(SIGTERM,can_exit); signal(SIGTERM,can_exit);
return(can_ctrl_addr);
return(&can_dev[5]);
} }
/* CAN "Rx to buff" process */
void *start_can_io(_U_ void *arg){
set_server_mode(1);
init_can_io();
if(can_io_ok()){
can_prtime(stderr);
fprintf(stderr,"CAN I/O process(%d) already running!\n",can_pid);
sleep(1);
can_prtime(stderr);
fprintf(stderr,"New CAN I/O process(%d) exiting...!\n",getpid());
exit(0);
}
if(can_fd < 0){
can_prtime(stderr);
fprintf(stderr,"Error opening CAN device %s\n", can_dev);
shmctl(can_shm_id, IPC_RMID, NULL);
exit(0);
}
can_pid = getpid();
can_open = can_fd;
can_mode = 0;
signal(SIGHUP, can_abort);
signal(SIGINT, can_abort);
signal(SIGQUIT,can_abort);
signal(SIGFPE, can_abort);
signal(SIGPIPE,can_abort);
signal(SIGSEGV,can_abort);
signal(SIGALRM, SIG_IGN);
signal(SIGTERM,can_abort);
if(shmctl(can_shm_id, SHM_LOCK, NULL) < 0)
perror("CAN I/O: can't prevents swapping of Rx-buffer area");
while(1){
int n;
canmsg_t rx;
if(!can_io_shm_ok()){can_delay(0.3); continue;}
n = can_wait(can_fd, 0.3);
if(n < 0) sleep(1);
if(n <= 0) continue;
do{
//static struct timeval tm = {0,0};
n = read(can_fd, &rx, sizeof(struct canmsg_t));
if(n < 0){
perror("CAN Rx error");
} else if(n > 0) {
if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
rx_buff[rx_buff_pntr] = rx;
rx_buff_pntr = (rx_buff_pntr + 1) % CAN_RX_SIZE;
if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
}
} while(n>0);
}
}
/* put CAN-frame to recv-buffer */
void can_put_buff_frame(double rtime, int id, int length, unsigned char data[]) {
int i;
canmsg_t rx;
int sec = (int)rtime;
if(!server_mode) return;
if(length<0) length=0;
if(length>8) length=8;
rx.id = id&((id&CAN_EXT_FLAG)? 0x1fffffff : 0x7ff);
rx.cob=0;
rx.flags = ((id&CAN_RTR_FLAG)?MSG_RTR:0)|((id&CAN_EXT_FLAG)?MSG_EXT:0);
rx.length=length;
for(i=0; i<length; i++) rx.data[i]=data[i];
rx.timestamp.tv_sec = sec;
rx.timestamp.tv_usec = (int)((rtime-sec)*1000000.);
if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
rx_buff[rx_buff_pntr] = rx;
rx_buff_pntr = (rx_buff_pntr + 1) % CAN_RX_SIZE;
if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
}
/* ÷ÓÅ ÎÏÒÍÁÌØÎÏ Ó SHM-ÂÕÆÅÒÏÍ CAN-I/O ÐÒÏÃÅÓÓÁ */
int can_io_shm_ok(){
return(can_pid>0 && can_open>0);
}
/* ÷ÓÅ ÎÏÒÍÁÌØÎÏ Ó CAN-I/O ÐÒÏÃÅÓÓÏÍ */
/* (ÎÏ ÎÁÄÏ ÂÙÔØ ÓÕÐÅÒ-ÀÚÅÒÏÍ!) */
int can_io_ok(){
return(can_io_shm_ok() && (my_uid!=0||kill(can_pid, 0)==0));
}
/* ÷ÏÚÍÏÖÎÁ ÒÁÂÏÔÁ c CAN ÄÌÑ ËÌÉÅÎÔÁ */
int can_ok() { int can_ok() {
return(can_io_shm_ok()); return(can_sck>0);
} }
/* wait for CAN-frame */ /* wait for CAN-frame */
int can_wait(int fd, double tout){ int can_wait(int fd, double tout)
{
int nfd,width; int nfd,width;
struct timeval tv;
fd_set readfds; fd_set readfds;
if(fd==0 && tout>=0.01){ if(fd==0 && tout>=0.01) {
double dt = can_dsleep(tout); double dt = can_dsleep(tout);
if(dt>0.) can_dsleep(dt); if(dt>0.) can_dsleep(dt);
return(0); return(0);
} }
if(fd<0) fd=can_fd; if(fd<0) fd=can_sck;
if(fd>0){ if(fd>0) {
FD_ZERO(&readfds); FD_ZERO(&readfds);
FD_SET(fd, &readfds); FD_SET(fd, &readfds);
width = fd+1; width = fd+1;
} else width = 0; } else
width = 0;
tv.tv_sec = (int)tout; tv.tv_sec = (int)tout;
tv.tv_usec = (int)((tout - tv.tv_sec)*1000000.+0.9); tv.tv_usec = (int)((tout - tv.tv_sec)*1000000.+0.9);
slipping:
if(fd>0 && can_fd>0) if(fd>0 && can_sck>0)
nfd = select(width, &readfds, (fd_set *)NULL, (fd_set *)NULL, &tv); nfd = select(width, &readfds, (fd_set *)NULL, (fd_set *)NULL, &tv);
else else
nfd = select(0, (fd_set *)NULL, (fd_set *)NULL, (fd_set *)NULL, &tv); nfd = select(0, (fd_set *)NULL, (fd_set *)NULL, (fd_set *)NULL, &tv);
if(nfd < 0){ if(nfd < 0) {
if(errno == EINTR) if(errno != EINTR)
goto slipping; perror("Error in can_wait(){ select() }");
perror("Error in can_wait(){ select() }"); return(-1);
return(-1);
} else if(nfd == 0) /* timeout! */ } else if(nfd == 0) /* timeout! */
return(0); return(0);
if(fd>0 && FD_ISSET(fd, &readfds)) /* Rx frame! */ if(fd>0 && FD_ISSET(fd, &readfds)) /* Rx frame! */
return(1); return(1);
return(0); return(0);
} }
/* cleanup recv-buffer in client process */ /* for compatibility with my old can-library */
void can_clean_recv(int *pbuf, double *rtime) { void can_clean_recv(int *psock, double *rtime) {
struct timeval tmv; struct timeval tmv;
struct timezone tz; struct timezone tz;
gettimeofday(&tmv,&tz); gettimeofday(&tmv,&tz);
*pbuf = rx_buff_pntr;
*rtime = tmv.tv_sec + (double)tmv.tv_usec/1000000.; *rtime = tmv.tv_sec + (double)tmv.tv_usec/1000000.;
*psock = can_sck;
if(can_sck>0) {
int n=0;
struct can_frame frame;
fcntl(can_sck, F_SETFL, O_NONBLOCK);
do {
n=recv(can_sck, &frame, sizeof(struct can_frame),0);
} while(n>0);
if(n<0 && errno != EAGAIN) {
perror("recv from CAN-socket"); fflush(stderr);
}
}
} }
/* find next rx-frame in recv-buffer for client process */ int can_recv_frame(int *psock, double *rtime,
int can_recv_frame(int *pbuf, double *rtime, canid_t *id, int *length, unsigned char data[]) {
int *id, int *length, unsigned char data[]){ int i,n=0;
return(can_get_buff_frame(pbuf, rtime, id, length, data)); struct can_frame frame;
} struct pollfd pfd;
int can_get_buff_frame(int *pbuf, double *rtime, if(*psock > 0) {
int *id, int *length, unsigned char data[]) { pfd.fd = *psock;
while(*pbuf != rx_buff_pntr){ pfd.events=POLLIN;
canmsg_t *rx = &rx_buff[*pbuf]; pfd.revents=0;
struct timeval *tv = &rx->timestamp; if((n=poll(&pfd,1,1))<0) {
double t_rx; perror("CAN-socket poll() error"); fflush(stderr);
return(0);
if(flock(can_lk, LOCK_EX)<0) perror("locking CAN"); }
if(n==0) return(0);
t_rx = tv->tv_sec + (double)tv->tv_usec/1000000.; n=recv(*psock, &frame, sizeof(struct can_frame),0);
if(t_rx+1. >= *rtime){ if(n<0 && errno != EAGAIN) {
int i; perror("recv frame from CAN-socket"); fflush(stderr);
*id = rx->id | ((rx->flags&MSG_RTR)? CAN_RTR_FLAG:0); } else if(n>0) {
*length = rx->length; if(frame.len>8) frame.len=8; // no CAN FD frames in our systems!
for(i = 0; i < *length; i++) *id = frame.can_id;
data[i] = rx->data[i]; *length = frame.len;
*rtime = t_rx; for(i = 0; i < frame.len; i++)
*pbuf = (*pbuf + 1) % CAN_RX_SIZE; data[i] = frame.data[i];
if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN"); if(ioctl(*psock, SIOCGSTAMP, &tv)<0) {
return(1); perror("ioctl(to get frame timestamp)"); fflush(stderr);
} } else
*pbuf = (*pbuf + 1) % CAN_RX_SIZE; *rtime = tv.tv_sec + (double)tv.tv_usec/1000000.;
return(1);
if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN"); }
} }
return(0); return(0);
} }
/* send tx-frame from client process */ /* send tx-frame from client process */
/* to CAN-driver or to output queue */ int can_send_frame(canid_t id, int length, unsigned char data[]) {
int can_send_frame(unsigned long id, int length, unsigned char data[]) {
int i, ret=1; int i, ret=1;
if(can_fd<0 && canout.id<0) struct can_frame frame;
return(0); if(can_sck<0)
return(-1);
if(length>8) length=8; if(length>8) length=8;
if(length<0) length=0; if(length<0) length=0;
if(!server_mode && (can_mode&CAN_SEND_SERVER) && canout.id>=0 ) memset(&frame, 0, sizeof(struct can_frame)); /* init CAN frame, e.g. LEN = 0 */
goto send2server; frame.can_id = id;
if(can_fd >= 0){ frame.len = length;
canmsg_t tx; for(i=0;i<length;i++) frame.data[i]=data[i];
tx.id = id&((id&CAN_EXT_FLAG)? 0x1fffffff : 0x7ff); if(send(can_sck, &frame, sizeof(struct can_frame),0)<0) {
tx.cob=0; perror("send frame to CAN-socket"); fflush(stderr);
tx.flags = ((id&CAN_RTR_FLAG)?MSG_RTR:0)|((id&CAN_EXT_FLAG)?MSG_EXT:0);
tx.length=length;
for(i=0;i<length;i++) tx.data[i]=data[i];
if(flock(can_lk, LOCK_EX)<0) perror("locking CAN");
//fprintf(stderr,"write(id=%02x,flag=%1x,len=%d)\n",tx.id,tx.flags,tx.length);fflush(stderr);
ret = write(can_fd, &tx, sizeof(struct canmsg_t));
if(flock(can_lk, LOCK_UN)<0) perror("unlocking CAN");
if(server_mode)
/* copy tx CAN-frame back to recv-buffer */
can_put_buff_frame(can_dtime(), id, length, data);
} else if(canout.id >= 0){
struct my_msgbuf mbuf;
send2server:
mbuf.src_pid = getpid();
mbuf.src_ip = 0;
mbuf.acckey = canout.acckey;
mbuf.mtype = id+1;
for(i=0;i<length;i++) mbuf.mtext[i]=data[i];
msgsnd( canout.id, (struct msgbuf *)&mbuf, length+12, IPC_NOWAIT);
} }
return(ret); return(ret);
} }
static void can_abort(int sig) {
char ss[10];
struct shmid_ds buf;
if(sig) signal(sig,SIG_IGN);
if(!server_mode) can_exit(sig);
switch(sig){
case 0 : strcpy(ss," "); break;
case SIGHUP : strcpy(ss,"SIGHUP -"); break;
case SIGINT : strcpy(ss,"SIGINT -"); break;
case SIGQUIT: strcpy(ss,"SIGQUIT -"); break;
case SIGFPE : strcpy(ss,"SIGFPE -"); break;
case SIGPIPE: strcpy(ss,"SIGPIPE -"); break;
case SIGSEGV: strcpy(ss,"SIGSEGV -"); break;
case SIGTERM: strcpy(ss,"SIGTERM -"); break;
default: sprintf(ss,"SIG_%d -",sig); break;
}
switch(sig){
default:
case SIGHUP :
case SIGINT :
can_prtime(stderr);
fprintf(stderr,"CAN I/O: %s Ignore .....\n",ss);
fflush(stderr);
signal(sig, can_abort);
return;
case SIGPIPE:
case SIGQUIT:
case SIGFPE :
case SIGSEGV:
case SIGTERM:
signal(SIGALRM, can_abort);
alarm(2);
can_prtime(stderr);
fprintf(stderr,"CAN I/O: %s process should stop after 2sec delay...\n",ss);
fflush(stderr);
close(can_fd);
can_fd = can_open = -1;
return;
case SIGALRM:
can_prtime(stderr);
fprintf(stderr,"CAN I/O: process stop!\n");
fflush(stderr);
close(can_lk);
can_lk = -1;
can_pid = 0;
shmdt(can_shm_addr);
shmctl(can_shm_id, IPC_STAT, &buf);
if(buf.shm_nattch == 0){
shmctl(can_shm_id, SHM_UNLOCK, NULL);
shmctl(can_shm_id, IPC_RMID, NULL);
}
exit(sig);
}
}
void can_exit(int sig) { void can_exit(int sig) {
char ss[16]; int ret;
char ss[12];
struct shmid_ds buf;
if(sig) signal(sig,SIG_IGN); if(sig) signal(sig,SIG_IGN);
putlog("Received signal %d\n", sig);
if(server_mode) can_abort(sig);
switch (sig) { switch (sig) {
case 0 : strcpy(ss,"Exiting - "); break; case 0 : strcpy(ss,"Exiting -"); break;
case SIGHUP : strcpy(ss,"SIGHUP -"); break; case SIGHUP : strcpy(ss,"SIGHUP -"); break;
case SIGINT : strcpy(ss,"SIGINT -"); break; case SIGINT : strcpy(ss,"SIGINT -"); break;
case SIGQUIT: strcpy(ss,"SIGQUIT -"); break; case SIGQUIT: strcpy(ss,"SIGQUIT -"); break;
case SIGFPE : strcpy(ss,"SIGFPE -"); break; case SIGFPE : strcpy(ss,"SIGFPE -"); break;
case SIGPIPE: strcpy(ss,"SIGPIPE -"); break; case SIGPIPE: strcpy(ss,"SIGPIPE -"); break;
case SIGSEGV: strcpy(ss,"SIGSEGV -"); break; case SIGSEGV: strcpy(ss,"SIGSEGV -"); break;
case SIGTERM: strcpy(ss,"SIGTERM -"); break; case SIGTERM: strcpy(ss,"SIGTERM -"); break;
default: sprintf(ss,"SIG_%d -",sig); break; default: sprintf(ss,"SIG_%d -",sig); break;
} }
switch (sig) { switch (sig) {
default: default:
case SIGHUP : case SIGHUP :
can_prtime(stderr); can_prtime(stderr);
fprintf(stderr,"%s Ignore .....\n", ss); fprintf(stderr,"%s Ignore .....\n",ss);
fflush(stderr); fflush(stderr);
signal(sig, can_exit); signal(sig, can_exit);
return; return;
case 0: case 0:
case SIGINT : case SIGINT :
case SIGPIPE: case SIGPIPE:
case SIGQUIT: case SIGQUIT:
case SIGFPE : case SIGFPE :
case SIGSEGV: case SIGSEGV:
case SIGTERM: case SIGTERM:
if(can_fd>=0) close(can_fd); if(can_sck>=0) close(can_sck);
can_prtime(stderr); can_prtime(stderr);
fprintf(stderr,"%s process stop!\n", ss); fprintf(stderr,"%s process stop!\n",ss);
fflush(stderr); fflush(stderr);
close(can_lk); exit(sig);
shmdt(can_shm_addr);
shmctl(can_shm_id, IPC_STAT, &buf);
if(buf.shm_nattch == 0)
shmctl(can_shm_id, IPC_RMID, NULL);
unlink_pidfile();
exit(sig);
} }
} }
char *time2asc(double t){ char *time2asc(double t)
static char stmp[10][20]; {
static int itmp=0; static char stmp[10][20];
static int itmp=0;
char *lin = stmp[itmp]; char *lin = stmp[itmp];
int h, min; int h, min;
double sec; double sec;
@ -519,30 +234,31 @@ char *time2asc(double t){
} }
double can_dsleep(double dt) { double can_dsleep(double dt) {
struct timespec ts,tsr; struct timespec ts,tsr;
ts.tv_sec = (time_t)dt; ts.tv_sec = (time_t)dt;
ts.tv_nsec = (long)((dt-ts.tv_sec)*1e9); ts.tv_nsec = (long)((dt-ts.tv_sec)*1e9);
nanosleep(&ts,&tsr); nanosleep(&ts,&tsr);
return((double)ts.tv_sec + (double)ts.tv_nsec/1e9); return((double)ts.tv_sec + (double)ts.tv_nsec/1e9);
} }
double can_dtime() { double can_dtime() {
struct timeval ct; struct timeval ct;
struct timezone tz; struct timezone tz;
gettimeofday(&ct, &tz); gettimeofday(&ct, &tz);
return ((double)ct.tv_sec + (double)ct.tv_usec/1e6); return ((double)ct.tv_sec + (double)ct.tv_usec/1e6);
} }
char *can_atime() {return(time2asc(can_dtime()));} char *can_atime() {return(time2asc(can_dtime()));}
void can_prtime(FILE *fd) { void can_prtime(FILE *fd) {
static double otime=0.0; static double otime=0.0;
double ntime=can_dtime(); double ntime=can_dtime();
time_t itime = (int)ntime; time_t itime = (int)ntime;
if(otime==0.0) tzset(); if(otime==0.0) tzset();
ntime -= (double)timezone; ntime -= (double)timezone;
if((((int)ntime)%(24*3600) < ((int)otime)%(24*3600)) || otime==0.0) if((((int)ntime)%(24*3600) < ((int)otime)%(24*3600)) || otime==0.0)
fprintf(fd,"========================\n%s",ctime(&itime)); fprintf(fd,"========================\n%s",ctime(&itime));
fprintf(fd,"%s ",time2asc(ntime)); fprintf(fd,"%s ",time2asc(ntime));
otime=ntime; otime=ntime;
} }

52
Z1000_focus/can_io.h
View File

@ -1,47 +1,29 @@
// (c) vsher@sao.ru /* CAN I/O library (for compatibility with the old one, */
/* but through the new SocketCAN interface) */
#pragma once #include <linux/can.h>
#ifndef CAN_IO_H__ #ifndef CAN_RTR_FLAG
#define CAN_IO_H__ #define CAN_RTR_FLAG 0x40000000 /* frame as Remote Transmission Request */
#endif
#include <stdio.h> #ifndef CAN_EFF_FLAG
#define CAN_EFF_FLAG 0x80000000 /* frame with extended 29-bit ID, 11-bit otherwise */
#define _U_ __attribute__((__unused__)) #endif
#define CAN_EXT_FLAG CAN_EFF_FLAG
#define CAN_CTLR_SIZE 1024 /* size of client process shared area */
#define CAN_RX_SIZE 1000 /* max. # frames in Rx-buffer */
#define CAN_RTR_FLAG 0x20000000 /* send frame as Remote Transmission Request */
#define CAN_EXT_FLAG 0x40000000 /* send frame with extended 29-bit ID, 11-bit otherwise */
int can_wait(int fd, double tout); int can_wait(int fd, double tout);
#define can_delay(Tout) can_wait(0, Tout) #define can_delay(Tout) can_wait(0, Tout)
void set_server_mode(int mode);
int can_server();
void set_sending_mode(int to_server);
int can_sending_mode();
int can_card();
int can_gate();
double can_gate_time_offset();
void setup_can_net(unsigned long ipaddr, int port, unsigned long acckey);
unsigned long get_acckey();
void *init_can_io(); void *init_can_io();
void *start_can_io(void *arg);
void can_put_buff_frame(double rtime, int id, int length, unsigned char data[]);
int can_io_ok();
int can_io_shm_ok();
int can_ok(); int can_ok();
void can_clean_recv(int *pbuf, double *rtime); #define can_io_ok() can_ok()
int can_get_buff_frame(int *pbuf, double *rtime, void can_clean_recv(int *psock, double *rtime);
int *id, int *length, unsigned char data[]); int can_recv_frame(int *psock, double *rtime,
int can_recv_frame(int *pbuf, double *rtime, canid_t *id, int *length, unsigned char data[]);
int *id, int *length, unsigned char data[]); int can_send_frame(canid_t id, int length, unsigned char data[]);
int can_send_frame(unsigned long id, int length, unsigned char data[]);
void can_exit(int sig); void can_exit(int sig);
char *time2asc(double t); char *time2asc(double t);
double can_dsleep(double dt); double can_dsleep(double dt);
double can_dtime(); double can_dtime();
char *can_atime();
void can_prtime(FILE *fd); void can_prtime(FILE *fd);
#endif // CAN_IO_H__ void set_sending_mode(int);
int can_sending_mode();

1
Z1000_focus/main.c
View File

@ -16,6 +16,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdio.h>
#include <math.h> // fabs #include <math.h> // fabs
#include <sys/wait.h> #include <sys/wait.h>
#include <sys/prctl.h> #include <sys/prctl.h>

38
Z1000_focus/socket.c
View File

@ -45,7 +45,7 @@ extern glob_pars *G;
/** /**
* wait for answer from socket * wait for answer from socket
* @param sock - socket fd * @param sock - socket fd
* @return 0 in case of error or timeout, 1 in case of socket ready * @return 0 in case of timeout, -1 if error, 1 in case of socket ready
*/ */
static int waittoread(int sock){ static int waittoread(int sock){
fd_set fds; fd_set fds;
@ -60,7 +60,7 @@ static int waittoread(int sock){
if(rc < 0){ if(rc < 0){
if(errno != EINTR){ if(errno != EINTR){
WARN("select()"); WARN("select()");
return 0; return -1;
} }
continue; continue;
} }
@ -98,16 +98,18 @@ static int send_data(int sock, int webquery, char *buf){
"Access-Control-Allow-Credentials: true\r\n" "Access-Control-Allow-Credentials: true\r\n"
"Content-type: text/plain\r\nContent-Length: %zd\r\n\r\n", Len); "Content-type: text/plain\r\nContent-Length: %zd\r\n\r\n", Len);
if(L < 0){ if(L < 0){
WARN("sprintf()"); WARN("sprintf: L=%zd", L);
return 0; return 0;
} }
if(L != write(sock, tbuf, L)){ ssize_t W = write(sock, tbuf, L);
WARN("write"); if(L != W){
WARN("write header: %zd instead of %zd", W, L);
return 0; return 0;
} }
} }
if(Len != write(sock, buf, Len)){ ssize_t W = write(sock, buf, Len);
WARN("write()"); if(Len != W){
WARN("write data: %zd instead of %zd", W, Len);
return 0; return 0;
} }
return 1; return 1;
@ -204,9 +206,12 @@ static void *handle_socket(void *asock){
} }
double t0 = dtime(); double t0 = dtime();
while(dtime() - t0 < SOCKET_TIMEOUT){ while(dtime() - t0 < SOCKET_TIMEOUT){
if(!waittoread(sock)){ // no data incoming int w = waittoread(sock);
if(w == 0){ // no data incoming
//DBG("no incoming data"); //DBG("no incoming data");
continue; continue;
}else if(w < 0){ // socket closed -> go out
break;
} }
if((rd = read(sock, buff, BUFLEN-1)) < 1){ if((rd = read(sock, buff, BUFLEN-1)) < 1){
//DBG("socket closed. Exit"); //DBG("socket closed. Exit");
@ -298,7 +303,7 @@ static void *handle_socket(void *asock){
sprintf(buff, "%s", msg); sprintf(buff, "%s", msg);
}else sprintf(buff, S_ANS_ERR); }else sprintf(buff, S_ANS_ERR);
if(!send_data(sock, webquery, buff)){ if(!send_data(sock, webquery, buff)){
WARNX("can't send data, some error occured"); WARNX("can't send data to %s, some error occured", peerIP);
} }
} }
FREE(peerIP); FREE(peerIP);
@ -319,7 +324,9 @@ static void *server(void *asock){
socklen_t size = sizeof(struct sockaddr_in); socklen_t size = sizeof(struct sockaddr_in);
struct sockaddr_in their_addr; struct sockaddr_in their_addr;
int newsock; int newsock;
if(!waittoread(sock)) continue; int w = waittoread(sock);
if(w == 0) continue;
else if(w < 0) break;
newsock = accept(sock, (struct sockaddr*)&their_addr, &size); newsock = accept(sock, (struct sockaddr*)&their_addr, &size);
if(newsock <= 0){ if(newsock <= 0){
WARN("accept() failed"); WARN("accept() failed");
@ -339,6 +346,7 @@ static void *server(void *asock){
} }
} }
putlog("UNREACHABLE CODE REACHED!"); putlog("UNREACHABLE CODE REACHED!");
return NULL;
} }
// refresh file with focus value // refresh file with focus value
@ -352,7 +360,7 @@ static void subst_file(char *name){
fchmod(fd, 0644); fchmod(fd, 0644);
FILE *f = fdopen(fd, "w"); FILE *f = fdopen(fd, "w");
if(!f) goto ret; if(!f) goto ret;
fprintf(f, "FOCUS = %.2f\n", curPos()); fprintf(f, "FOCUS = %.3f\n", curPos());
fclose(f); fclose(f);
rename(aname, name); rename(aname, name);
ret: ret:
@ -364,7 +372,7 @@ static void daemon_(int sock){
if(sock < 0) return; if(sock < 0) return;
pthread_t sock_thread; pthread_t sock_thread;
double oldpos = curPos(); double oldpos = curPos();
subst_file(G->focfilename); if(G->focfilename) subst_file(G->focfilename);
DBG("create server() thread"); DBG("create server() thread");
if(pthread_create(&sock_thread, NULL, server, (void*) &sock)){ if(pthread_create(&sock_thread, NULL, server, (void*) &sock)){
ERR("pthread_create() failed"); ERR("pthread_create() failed");
@ -387,7 +395,7 @@ static void daemon_(int sock){
getoutESW(); getoutESW();
} }
} }
if(G->focfilename && (fabs(oldpos - curPos()) > 0.01)){ // position changed -> change it in file if(G->focfilename && (fabs(oldpos - curPos()) > 0.001)){ // position changed -> change it in file
oldpos = curPos(); oldpos = curPos();
subst_file(G->focfilename); subst_file(G->focfilename);
} }
@ -474,7 +482,9 @@ void sock_send_data(const char *host, const char *port, const char *data){
if(send(sock, data, L, 0) != (ssize_t)L){ WARN("send"); return;} if(send(sock, data, L, 0) != (ssize_t)L){ WARN("send"); return;}
double t0 = dtime(); double t0 = dtime();
while(dtime() - t0 < SOCKET_TIMEOUT){ while(dtime() - t0 < SOCKET_TIMEOUT){
if(!waittoread(sock)) continue; int w = waittoread(sock);
if(w == 0) continue;
else if(w < 0) break;
char buff[32]; char buff[32];
int n = read(sock, buff, 31); int n = read(sock, buff, 31);
if(n > 0){ if(n > 0){

4
Z1000_focus/socket.h
View File

@ -27,7 +27,7 @@
#include "stdbool.h" #include "stdbool.h"
// timeout for socket closing // timeout for socket closing
#define SOCKET_TIMEOUT (5.0) #define SOCKET_TIMEOUT (10.0)
// default port number (strinig) // default port number (strinig)
#define DEFPORT "4444" #define DEFPORT "4444"
@ -53,7 +53,7 @@
#define S_STATUS_FORBIDDEN "Error: motion in forbidden position" #define S_STATUS_FORBIDDEN "Error: motion in forbidden position"
#define S_STATUS_DAMAGE "Error: damaged state, call engineer" #define S_STATUS_DAMAGE "Error: damaged state, call engineer"
bool emerg_stop; //bool emerg_stop;
void daemonize(const char *port); void daemonize(const char *port);
void sock_send_data(const char *host, const char *port, const char *data); void sock_send_data(const char *host, const char *port, const char *data);