dome_script.cpp

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/*******************************************************************************
 Copyright(c) 2016 CloudMakers, s. r. o.. All rights reserved.
 
 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Library General Public
 License version 2 as published by the Free Software Foundation.
 
 This library 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
 Library General Public License for more details.
 
 You should have received a copy of the GNU Library General Public License
 along with this library; see the file COPYING.LIB.  If not, write to
 the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
 Boston, MA 02110-1301, USA.
 *******************************************************************************/
 
#include "dome_script.h"
 
#include "indicom.h"
 
#include <cmath>
#include <memory>
#include <cstring>
#include <unistd.h>
#include <sys/wait.h>
#include <errno.h>
 
#define MAXARGS 20
 
typedef enum
{
    SCRIPT_FOLDER = 0,
    SCRIPT_CONNECT,
    SCRIPT_DISCONNECT,
    SCRIPT_STATUS,
    SCRIPT_OPEN,
    SCRIPT_CLOSE,
    SCRIPT_PARK,
    SCRIPT_UNPARK,
    SCRIPT_GOTO,
    SCRIPT_MOVE_CW,
    SCRIPT_MOVE_CCW,
    SCRIPT_ABORT,
    SCRIPT_COUNT
} scripts;
 
static std::unique_ptr<DomeScript> scope_script(new DomeScript());
 
DomeScript::DomeScript()
{
    SetDomeCapability(DOME_CAN_PARK | DOME_CAN_ABORT | DOME_CAN_ABS_MOVE | DOME_HAS_SHUTTER);
}
 
const char *DomeScript::getDefaultName()
{
    return (const char *)"Dome Scripting Gateway";
}
 
bool DomeScript::initProperties()
{
    INDI::Dome::initProperties();
    SetParkDataType(PARK_AZ);
#if defined(__APPLE__)
    IUFillText(&ScriptsT[SCRIPT_FOLDER], "SCRIPT_FOLDER", "Folder", "/usr/local/share/indi/scripts");
#else
    IUFillText(&ScriptsT[SCRIPT_FOLDER], "SCRIPT_FOLDER", "Folder", "/usr/share/indi/scripts");
#endif
    IUFillText(&ScriptsT[SCRIPT_CONNECT], "SCRIPT_CONNECT", "Connect script", "connect.py");
    IUFillText(&ScriptsT[SCRIPT_DISCONNECT], "SCRIPT_DISCONNECT", "Disconnect script", "disconnect.py");
    IUFillText(&ScriptsT[SCRIPT_STATUS], "SCRIPT_STATUS", "Get status script", "status.py");
    IUFillText(&ScriptsT[SCRIPT_OPEN], "SCRIPT_OPEN", "Open shutter script", "open.py");
    IUFillText(&ScriptsT[SCRIPT_CLOSE], "SCRIPT_CLOSE", "Close shutter script", "close.py");
    IUFillText(&ScriptsT[SCRIPT_PARK], "SCRIPT_PARK", "Park script", "park.py");
    IUFillText(&ScriptsT[SCRIPT_UNPARK], "SCRIPT_UNPARK", "Unpark script", "unpark.py");
    IUFillText(&ScriptsT[SCRIPT_GOTO], "SCRIPT_GOTO", "Goto script", "goto.py");
    IUFillText(&ScriptsT[SCRIPT_MOVE_CW], "SCRIPT_MOVE_CW", "Move clockwise script", "move_cw.py");
    IUFillText(&ScriptsT[SCRIPT_MOVE_CCW], "SCRIPT_MOVE_CCW", "Move counter clockwise script", "move_ccw.py");
    IUFillText(&ScriptsT[SCRIPT_ABORT], "SCRIPT_ABORT", "Abort motion script", "abort.py");
    IUFillTextVector(&ScriptsTP, ScriptsT, SCRIPT_COUNT, getDefaultName(), "SCRIPTS", "Scripts", OPTIONS_TAB, IP_RW, 60,
                     IPS_IDLE);
 
    setDefaultPollingPeriod(2000);
    return true;
}
 
bool DomeScript::saveConfigItems(FILE *fp)
{
    INDI::Dome::saveConfigItems(fp);
    IUSaveConfigText(fp, &ScriptsTP);
    return true;
}
 
void DomeScript::ISGetProperties(const char *dev)
{
    INDI::Dome::ISGetProperties(dev);
    defineProperty(&ScriptsTP);
    loadConfig(true, "SCRIPTS");
}
 
bool DomeScript::ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        if (strcmp(name, ScriptsTP.name) == 0)
        {
            IUUpdateText(&ScriptsTP, texts, names, n);
            ScriptsTP.s = IPS_OK;
            IDSetText(&ScriptsTP, nullptr);
            return true;
        }
    }
    return Dome::ISNewText(dev, name, texts, names, n);
}
 
bool DomeScript::RunScript(int script, ...)
{
    char tmp[256];
    strncpy(tmp, ScriptsT[script].text, sizeof(tmp));
 
    char **args = (char **)malloc(MAXARGS * sizeof(char *));
    int arg     = 1;
    char *p     = tmp;
    args[0] = p;
    while (arg < MAXARGS)
    {
        char *pp = strstr(p, " ");
        if (pp == nullptr)
            break;
        *pp++       = 0;
        args[arg++] = pp;
        p           = pp;
    }
    va_list ap;
    va_start(ap, script);
    while (arg < MAXARGS)
    {
        char *pp    = va_arg(ap, char *);
        args[arg++] = pp;
        if (pp == nullptr)
            break;
    }
    va_end(ap);
    char path[1024];
    snprintf(path, sizeof(path), "%s/%s", ScriptsT[0].text, tmp);
 
    if (access(path, F_OK | X_OK) != 0)
    {
        LOGF_ERROR("Cannot use script [%s], %s", path, strerror(errno));
        return false;
    }
    if (isDebug())
    {
        char dbg[8 * 1024];
        snprintf(dbg, sizeof(dbg), "execvp('%s'", path);
        for (int i = 0; args[i]; i++)
        {
            strcat(dbg, ", '");
            strcat(dbg, args[i]);
            strcat(dbg, "'");
        }
        strcat(dbg, ", nullptr)");
        LOG_DEBUG(dbg);
    }
 
    int pid = fork();
    if (pid == -1)
    {
        LOG_ERROR("Fork failed");
        return false;
    }
    else if (pid == 0)
    {
        execvp(path, args);
        LOG_ERROR("Failed to execute script");
        exit(1);
    }
    else
    {
        int status;
        waitpid(pid, &status, 0);
        LOGF_DEBUG("Script %s returned %d", ScriptsT[script].text, status);
        return status == 0;
    }
}
 
bool DomeScript::updateProperties()
{
    INDI::Dome::updateProperties();
    if (isConnected())
    {
        if (InitPark())
        {
            SetAxis1ParkDefault(0);
        }
        else
        {
            SetAxis1Park(0);
            SetAxis1ParkDefault(0);
        }
        TimerHit();
    }
    return true;
}
 
void DomeScript::TimerHit()
{
    if (!isConnected())
        return;
    char tmpfile[] = "/tmp/indi_dome_script_status_XXXXXX";
    int fd = mkstemp(tmpfile);
    if (fd == -1)
    {
        LOGF_ERROR("Temp file %s creation for status script failed, %s", tmpfile, strerror(errno));
        unlink(tmpfile);
        return;
    }
    close(fd);
    bool status = RunScript(SCRIPT_STATUS, tmpfile, nullptr);
    if (status)
    {
        int parked = 0, shutter = 0;
        float az   = 0;
        FILE *file = fopen(tmpfile, "r");
        int rc = fscanf(file, "%d %d %f", &parked, &shutter, &az);
        INDI_UNUSED(rc);
        fclose(file);
        unlink(tmpfile);
        DomeAbsPosN[0].value = az = round(range360(az) * 10) / 10;
        if (parked != 0)
        {
            if (getDomeState() == DOME_PARKING || getDomeState() == DOME_UNPARKED)
            {
                SetParked(true);
                TargetAz = az;
                LOG_INFO("Park successfully executed");
            }
        }
        else
        {
            if (getDomeState() == DOME_UNPARKING || getDomeState() == DOME_PARKED)
            {
                SetParked(false);
                TargetAz = az;
                LOG_INFO("Unpark successfully executed");
            }
        }
        if (std::round(az * 10) != std::round(TargetAz * 10))
        {
            LOGF_INFO("Moving %g -> %g %d", std::round(az * 10) / 10, std::round(TargetAz * 10) / 10, getDomeState());
            IDSetNumber(&DomeAbsPosNP, nullptr);
        }
        else if (getDomeState() == DOME_MOVING)
        {
            setDomeState(DOME_SYNCED);
            IDSetNumber(&DomeAbsPosNP, nullptr);
        }
        if (m_ShutterState == SHUTTER_OPENED)
        {
            if (shutter == 0)
            {
                m_ShutterState    = SHUTTER_CLOSED;
                DomeShutterSP.s = IPS_OK;
                IDSetSwitch(&DomeShutterSP, nullptr);
                LOG_INFO("Shutter was successfully closed");
            }
        }
        else
        {
            if (shutter == 1)
            {
                m_ShutterState    = SHUTTER_OPENED;
                DomeShutterSP.s = IPS_OK;
                IDSetSwitch(&DomeShutterSP, nullptr);
                LOG_INFO("Shutter was successfully opened");
            }
        }
    }
    else
    {
        LOG_ERROR("Failed to read status");
    }
    SetTimer(getCurrentPollingPeriod());
    if (!isParked() && TimeSinceUpdate++ > 4)
    {
        TimeSinceUpdate = 0;
        UpdateMountCoords();
    }
}
 
bool DomeScript::Connect()
{
    if (isConnected())
        return true;
 
    bool status = RunScript(SCRIPT_CONNECT, nullptr);
    if (status)
    {
        LOG_INFO("Successfully connected");
    }
    else
    {
        LOG_WARN("Failed to connect");
    }
    return status;
}
 
bool DomeScript::Disconnect()
{
    bool status = RunScript(SCRIPT_DISCONNECT, nullptr);
    if (status)
    {
        LOG_INFO("Successfully disconnected");
    }
    else
    {
        LOG_WARN("Failed to disconnect");
    }
    return status;
}
 
IPState DomeScript::Park()
{
    bool status = RunScript(SCRIPT_PARK, nullptr);
    if (status)
    {
        return IPS_BUSY;
    }
    LOG_ERROR("Failed to park");
    return IPS_ALERT;
}
 
IPState DomeScript::UnPark()
{
    bool status = RunScript(SCRIPT_UNPARK, nullptr);
    if (status)
    {
        return IPS_BUSY;
    }
    LOG_ERROR("Failed to unpark");
    return IPS_ALERT;
}
 
IPState DomeScript::ControlShutter(ShutterOperation operation)
{
    if (RunScript(operation == SHUTTER_OPEN ? SCRIPT_OPEN : SCRIPT_CLOSE, nullptr))
    {
        return IPS_BUSY;
    }
    LOGF_ERROR("Failed to %s shutter", operation == SHUTTER_OPEN ? "open" : "close");
    return IPS_ALERT;
}
 
IPState DomeScript::MoveAbs(double az)
{
    char _az[16];
    snprintf(_az, 16, "%f", round(az * 10) / 10);
    bool status = RunScript(SCRIPT_GOTO, _az, nullptr);
    if (status)
    {
        TargetAz = az;
        return IPS_BUSY;
    }
    LOG_ERROR("Failed to MoveAbs");
    return IPS_ALERT;
}
 
IPState DomeScript::Move(DomeDirection dir, DomeMotionCommand operation)
{
    if (operation == MOTION_START)
    {
        if (RunScript(dir == DOME_CW ? SCRIPT_MOVE_CW : SCRIPT_MOVE_CCW, nullptr))
        {
            DomeAbsPosNP.s = IPS_BUSY;
            TargetAz       = -1;
        }
        else
        {
            DomeAbsPosNP.s = IPS_ALERT;
        }
    }
    else
    {
        if (RunScript(SCRIPT_ABORT, nullptr))
        {
            DomeAbsPosNP.s = IPS_IDLE;
        }
        else
        {
            DomeAbsPosNP.s = IPS_ALERT;
        }
    }
    IDSetNumber(&DomeAbsPosNP, nullptr);
    return ((operation == MOTION_START) ? IPS_BUSY : IPS_OK);
}
 
bool DomeScript::Abort()
{
    bool status = RunScript(SCRIPT_ABORT, nullptr);
    if (status)
    {
        LOG_INFO("Successfully aborted");
    }
    else
    {
        LOG_WARN("Failed to abort");
    }
    return status;
}