Index: trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc (revision 2516) +++ trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc (revision 2517) @@ -11,66 +11,75 @@ } +bool MCeCoCom::InterpreteReport(TString &str) +{ + int y, m, d, h, min, s, ms, len; + + int n=sscanf(str.Data(), + "%02d %04d %02d %02d %02d %02d %02d %03d %n", + &fCCStatus, &y, &m, &d, &h, &min, &s, &ms, &len); + if (n!=8) + { + cout << "Communication Problem: Wrong number of arguments" << endl; + fComStat = kComProblem; + return false; + } + str.Remove(0, len); + + fT.SetTimer(y, m, d, h, min, s, ms/1000.); + + // Remove the 30 tokens of the subsystem status + // table 12.1 p59 + for (int i=0; i<30; i++) + str.Remove(0, str.First(' ')+1); + + // skip solar_irr_Wm2, wind_speed, UPS + float zd, az, dec, ra, temp, solar, wind, hum; + n=sscanf(str.Data(), + "%f %f %f %f %f %f %f %f %*f %*f %n", + &zd, &az, &dec, &ra, &temp, &solar, &wind, &hum, &len); + if (n!=8) + { + cout << "Communication Problem: Wrong number of arguments" << endl; + fComStat = kComProblem; + return false; + } + str.Remove(0, len); + + if (str!=(TString)"OVER") + { + cout << "Communication Problem: Termination (OVER) too far away." << endl; + fComStat = kComProblem; + return false; + } + + cout << "Zd/Az: " << zd << "/" << az << " "; + cout << "Ra/Dec: " << ra << "/" << dec << " "; + cout << "Temp: " << temp << "'C "; + cout << "Hum: " << hum << "% "; + cout << "SolRad: " << solar << "W/m² "; + cout << "Wind: " << wind << "km/h" << endl; + + fHumidity = hum; + fTemperature = temp; + fSolarRadiation = solar; + fWindSpeed = wind; + + fComStat = kCmdReceived; + return true; +} + bool MCeCoCom::InterpreteStr(TString str) { const Ssiz_t tok = str.First(' '); - const TString cmd = str(0, tok); - str.Remove(0, tok+1); + const TString cmd = tok<0 ? str : str(0, tok); + if (tok<0) + str = ""; + else + str.Remove(0, tok+1); if (cmd==(TString)"CC-REPORT" && str.EndsWith("OVER")) - { - cout << cmd << ": " << str << endl; - int y, m, d, h, min, s, ms, len; + return InterpreteReport(str); - int n=sscanf(str.Data(), - "%02d %04d %02d %02d %02d %02d %02d %03d %n", - &fCCStatus, &y, &m, &d, &h, &min, &s, &ms, &len); - if (n!=8) - { - cout << "Communication Problem: Wrong number of arguments" << endl; - fComStat = kComProblem; - return false; - } - str.Remove(0, len+1); - - fT.SetTimer(y, m, d, h, min, s, ms/1000.); - - // Remove the 29 tokens of the subsystem status - // table 12.1 p59 - for (int i=0; i<29; i++) - str.Remove(0, str.First(' ')+1); - - // skip solar_irr_Wm2, wind_speed, UPS - float zd, az, dec, ra, temp, hum; - n=sscanf(str.Data(), - "%f %f %f %f %f %*f %*f %f %*f %n", - &zd, &az, &dec, &ra, &temp, &hum, &len); - if (n!=6) - { - cout << "Communication Problem: Wrong number of arguments" << endl; - fComStat = kComProblem; - return false; - } - str.Remove(0, len); - - if (str!=(TString)"OVER") - { - cout << "Communication Problem: Termination (OVER) not found." << endl; - fComStat = kComProblem; - return false; - } - - cout << "Zd/Az: " << zd << "/" << az << " "; - cout << "Ra/Dec: " << ra << "/" << dec << " "; - cout << "Temp: " << temp << "'C "; - cout << "Hum: " << hum << "%" << endl; - - fHumidity = hum; - fTemperature = temp; - - fComStat = kCmdReceived; - return true; - } - - const bool rc = InterpreteCmd(cmd, str); + const bool rc = InterpreteCmd(cmd, str.Strip(TString::kBoth)); fComStat = rc ? kCmdReceived : kComProblem; return rc; Index: trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 2516) +++ trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 2517) @@ -31,9 +31,12 @@ ComStatus_t fComStat; // communication status - Float_t fHumidity; // [%] - Float_t fTemperature; // degrees celsius + Float_t fHumidity; // [%] + Float_t fTemperature; // [deg] celsius + Float_t fWindSpeed; // [km/h] + Float_t fSolarRadiation; // [W/m^2] IR-Radiation virtual bool InterpreteCmd(TString cmd, TString str); + bool InterpreteReport(TString &str); bool InterpreteStr(TString str); Index: trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 2516) +++ trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 2517) @@ -5,31 +5,126 @@ #include "coord.h" #include "Slalib.h" +#include "MCosy.h" using namespace std; +bool MDriveCom::ReadAngle(TString &str, Double_t &ret) +{ + Char_t sgn; + Int_t d, len; + UInt_t m; + Float_t s; + + // Skip whitespaces before %c and after %f + int n=sscanf(str.Data(), " %c %d %d %f %n", &sgn, &d, &m, &s, &len); + + if (n!=4 || (sgn!='+' && sgn!='-')) + return false; + + str.Remove(0, len); + + ret = Slalib::Dms2Deg(d, m, s, sgn); + return true; +} + +bool MDriveCom::ReadPosition(TString &str, Double_t &d1, Double_t &d2) +{ + if (!ReadAngle(str, d1)) + return false; + + if (!ReadAngle(str, d2)) + return false; + + return true; +} + +bool MDriveCom::CommandRADEC(TString &str) +{ + Double_t ra, dec; + if (!ReadPosition(str, ra, dec)) + { + cout << "ERROR - Reading position from RADEC" << endl; + return false; + } + if (!str.IsNull()) + { + cout << "ERROR - Too many bytes in command RADEC" << endl; + return false; + } + + cout << "CC-COMMAND: Track " << ra << "h " << dec << "deg '" << str << "'" << endl; + + ra *= 15; // h -> deg + + RaDec rd[2] = { RaDec(ra, dec), RaDec(ra, dec) }; + + cout << "MDriveCom - TRACK... start." << endl; + fQueue->PostMsg(WM_TRACK, &rd, sizeof(rd)); + cout << "MDriveCom - TRACK... done." << endl; + return true; +} + +bool MDriveCom::CommandZDAZ(TString &str) +{ + Double_t zd, az; + if (!ReadPosition(str, zd, az)) + { + cout << "ERROR - Reading position from ZDAZ" << endl; + return false; + } + + if (!str.IsNull()) + { + cout << "ERROR - Too many bytes in command ZDAZ" << endl; + return false; + } + + cout << "CC-COMMAND: Move " << zd << "deg " << az << "deg" << endl; + + ZdAz za(zd, az); + + cout << "MDriveCom - POSITION... start." << endl; + fQueue->PostMsg(WM_POSITION, &za, sizeof(za)); + cout << "MDriveCom - POSITION... done." << endl; + return true; +} + bool MDriveCom::InterpreteCmd(TString cmd, TString str) { - if (cmd==(TString)"STOP!") + if (cmd==(TString)"WAIT" && str.IsNull()) { - cout << "Stop! " << str << endl; + cout << "MDriveCom - WAIT... start." << endl; + fQueue->PostMsg(WM_WAIT); + cout << "MDriveCom - WAIT... done." << endl; + return true; + } + + if (cmd==(TString)"STOP!" && str.IsNull()) + { + cout << "MDriveCom - STOP!... start." << endl; + fQueue->PostMsg(WM_STOP); + cout << "MDriveCom - STOP!... done." << endl; return true; } if (cmd==(TString)"RADEC") + return CommandRADEC(str); + + if (cmd==(TString)"ZDAZ") + return CommandZDAZ(str); + + if (cmd==(TString)"PREPS") { - cout << "RaDec: " << str << endl; + cout << "Prepos: " << str << endl; return true; } - if (cmd==(TString)"ZDAZ") + + if (cmd.IsNull() && str.IsNull()) { - cout << "ZdAz: " << str << endl; - return true; + cout << "Empty command (single '\\n') received." << endl; + return false; } - if (cmd==(TString)"PREPS") - { - cout << "Preposs: " << str << endl; - return true; - } - cout << "Unknown Command: " << cmd << str << endl; + + cout << "Unknown Command: '" << cmd << "':'" << str << "'" << endl; return false; } Index: trunk/MagicSoft/Cosy/tcpip/MDriveCom.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 2516) +++ trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 2517) @@ -8,10 +8,19 @@ class RaDec; class ZdAz; +class MsgQueue; class MDriveCom : public MCeCoCom { private: + MsgQueue *fQueue; + + bool ReadAngle(TString &str, Double_t &d); + bool ReadPosition(TString &str, Double_t &d1, Double_t &d2); + bool InterpreteCmd(TString cmd, TString str); void Print(TString &str, Double_t deg) const; + + bool CommandRADEC(TString &str); + bool CommandZDAZ(TString &str); public: @@ -25,5 +34,5 @@ }; - MDriveCom(MLog &out=gLog) : MCeCoCom("DRIVE-REPORT", out) {} + MDriveCom(MsgQueue *q, MLog &out=gLog) : MCeCoCom("DRIVE-REPORT", out), fQueue(q) {} bool SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er); Index: trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 2516) +++ trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 2517) @@ -40,10 +40,19 @@ MTcpIpIO::~MTcpIpIO() { - cout << "Delete TxSocket..." << flush; + // + // Make sure, that no loop waiting for connection + // is running anymore! + // + Stop(); + + // + // Now delete all TCP/IP objects + // + cout << "Delete TxSocket " << fTxSocket << "..." << flush; delete fTxSocket; cout << "Done." << endl; if (fServSock) { - cout << "Delete ServSock..." << flush; + cout << "Delete ServSock " << fServSock << "..." << flush; delete fServSock; cout << "Done." << endl; @@ -51,5 +60,5 @@ if (fRxSocket) { - cout << "Delete RxSocket..." << flush; + cout << "Delete RxSocket " << fRxSocket << "..." << flush; delete fRxSocket; cout << "Done." << endl; @@ -123,6 +132,10 @@ if (fRxSocket==0) cout << "Error: TServerSock::Accept" << endl; - usleep(1); - } + usleep(10); + } + + // Can happen in case of HasStopFlag() + if (fRxSocket==(void*)-1) + fRxSocket=NULL; if (fRxSocket==NULL) Index: trunk/MagicSoft/Cosy/tcpip/Makefile =================================================================== --- trunk/MagicSoft/Cosy/tcpip/Makefile (revision 2516) +++ trunk/MagicSoft/Cosy/tcpip/Makefile (revision 2517) @@ -20,5 +20,5 @@ # @endcode -INCLUDES = -I. -I../base -I../catalog +INCLUDES = -I. -I../base -I../catalog -I../main -I../candrv -I../incl # @code