rotctl: actually quit when receiving the quit message

Since gpredict doesn't have a park button or anything, this will just
automatically park the antenna when the gpredict rotator controller
disconnects. This may or may not actually be a good idea. We will see.

src/Config.zig

@@ -92,7 +92,7 @@ pub fn validate(self: Config, err_writer: anytype) !void {
 rotctl: RotControlConfig = .{
     .listen_address = "127.0.0.1",
     .listen_port = 4533,
-    .autopark = false,
+    .autopark = true,
 },
 labjack: LabjackConfig = .{
     .device = .autodetect,

src/RotCtl.zig

@@ -10,9 +10,12 @@ const log = std.log.scoped(.RotCtl);
 
 writer: std.io.BufferedWriter(512, std.net.Stream.Writer),
 running: bool,
-rotator: *YaesuController,
+rotator: YaesuController,
 
 pub fn run(allocator: std.mem.Allocator) !void {
+    // var server = std.net.StreamServer.init(.{ .reuse_address = true });
+    // defer server.deinit();
+
     const listen_addr = try std.net.Address.parseIp(
         config.rotctl.listen_address,
         config.rotctl.listen_port,
@@ -27,15 +30,14 @@ pub fn run(allocator: std.mem.Allocator) !void {
     var interface: RotCtl = .{
         .writer = undefined,
         .running = true,
-        .rotator = try YaesuController.create(allocator),
+        .rotator = try YaesuController.init(allocator),
     };
 
     while (interface.running) {
         const client = try server.accept();
         defer {
             log.info("disconnecting client", .{});
-            if (!config.rotctl.autopark)
-                interface.rotator.stop();
+            interface.rotator.stop();
             client.stream.close();
         }
 
@@ -58,11 +60,10 @@ pub fn run(allocator: std.mem.Allocator) !void {
         }
 
         // loop ended due to client disconnect
-        if (interface.running and config.rotctl.autopark)
+        if (interface.running and config.rotctl.autopark) {
             interface.rotator.startPark();
+        }
     }
-
-    interface.rotator.control_thread.join();
 }
 
 fn write(self: *RotCtl, buf: []const u8) !void {
@@ -174,6 +175,7 @@ fn handleHamlibCommand(
     if (first.len == 1 or first[0] == '\\') {
         switch (first[0]) {
             // NOTE: this is not technically supported by rotctld.
+            'q', 'Q' => try self.quit(first, &tokens),
             'S' => try self.stop(first, &tokens),
             'K' => try self.park(first, &tokens),
             'p' => try self.getPosition(first, &tokens),
@@ -244,8 +246,8 @@ const HamlibCommand = struct {
 };
 
 const rotctl_commands = [_]HamlibCommand{
-    .{ .long = "quit", .callback = quit },
-    .{ .long = "exit", .callback = quit },
+    .{ .short = 'q', .callback = quit }, // quit
+    .{ .short = 'Q', .callback = quit }, // quit
     .{ .long = "AOS", .callback = blindAck },
     .{ .long = "LOS", .callback = blindAck },
     .{ .short = 'P', .long = "set_pos", .callback = setPosition }, // azimuth: f64, elevation: f64

src/YaesuController.zig

@@ -8,8 +8,6 @@ const log = std.log.scoped(.yaesu_controller);
 
 const YaesuController = @This();
 
-pub var singleton: ?*YaesuController = null;
-
 control_thread: std.Thread,
 lock: *std.Thread.Mutex,
 controller: *const Controller,
@@ -25,7 +23,7 @@ pub const CalibrationRoutine = enum {
 };
 
 pub fn calibrate(allocator: std.mem.Allocator, routine: CalibrationRoutine) !void {
-    const controller = try YaesuController.create(allocator);
+    const controller = try YaesuController.init(allocator);
     defer {
         controller.quit();
         controller.control_thread.join();
@@ -37,12 +35,7 @@ pub fn calibrate(allocator: std.mem.Allocator, routine: CalibrationRoutine) !voi
     }
 }
 
-pub fn create(allocator: std.mem.Allocator) !*YaesuController {
-    if (singleton) |_| {
-        log.err("Controller singleton already exists.", .{});
-        return error.AlreadyInitialized;
-    }
-
+pub fn init(allocator: std.mem.Allocator) !YaesuController {
     const controller = try allocator.create(Controller);
     errdefer allocator.destroy(controller);
     controller.* = try Controller.init(allocator);
@@ -50,16 +43,11 @@ pub fn create(allocator: std.mem.Allocator) !*YaesuController {
     // do this in the main thread so we can throw the error about it synchronously.
     try controller.connectLabjack();
 
-    const self = try allocator.create(YaesuController);
-    errdefer allocator.destroy(self);
-    self.* = .{
+    return .{
         .control_thread = try std.Thread.spawn(.{}, runController, .{controller}),
         .lock = &controller.lock,
         .controller = controller,
     };
-
-    singleton = self;
-    return self;
 }
 
 fn inRange(request: f64, comptime dof: enum { azimuth, elevation }) bool {
@@ -100,7 +88,7 @@ pub fn setTarget(self: YaesuController, target: AzEl) error{OutOfRange}!void {
 
     const controller = @constCast(self.controller);
     controller.target = masked_target;
-    controller.requestState(.running);
+    controller.requested_state = .running;
 }
 
 pub fn currentPosition(self: YaesuController) AzEl {
@@ -126,7 +114,7 @@ pub fn quit(self: YaesuController) void {
     defer self.lock.unlock();
 
     const controller = @constCast(self.controller);
-    controller.requestState(.stopped);
+    controller.requested_state = .stopped;
 }
 
 pub fn stop(self: YaesuController) void {
@@ -135,7 +123,7 @@ pub fn stop(self: YaesuController) void {
 
     const controller = @constCast(self.controller);
     controller.target = controller.position;
-    controller.requestState(.idle);
+    controller.requested_state = .idle;
 }
 
 pub fn startPark(self: YaesuController) void {
@@ -266,18 +254,6 @@ const Controller = struct {
         self.labjack.id = info.local_id;
     }
 
-    // this function is run with the lock already acquired
-    fn propagateState(self: *Controller) void {
-        if (self.current_state == .stopped) return;
-        self.current_state = self.requested_state;
-    }
-
-    // this function is run with the lock already acquired
-    fn requestState(self: *Controller, request: ControllerState) void {
-        if (self.current_state == .stopped) return;
-        self.requested_state = request;
-    }
-
     fn lerpOne(input: f64, cal_points: Config.MinMax) f64 {
         return (input - cal_points.minimum.voltage) * cal_points.slope() + cal_points.minimum.angle;
     }
@@ -379,29 +355,33 @@ const Controller = struct {
     fn run(self: *Controller) !void {
         self.current_state = .initializing;
 
-        var timer = LoopTimer.init(config.controller.loop_interval_ns);
+        var timer: LoopTimer = .{ .interval_ns = config.controller.loop_interval_ns };
 
         while (timer.mark()) : (timer.sleep()) {
-            const fbfail = if (self.updateFeedback()) |_| false else |_| true;
-
-            {
+            self.updateFeedback() catch {
                 self.lock.lock();
                 defer self.lock.unlock();
 
-                self.setPosition(self.feedback_buffer.get());
-                if (fbfail) self.requestState(.stopped);
-                self.propagateState();
-            }
+                self.current_state = .stopped;
+                continue;
+            };
+
+            self.lock.lock();
+            defer self.lock.unlock();
+
+            self.setPosition(self.feedback_buffer.get());
 
             switch (self.current_state) {
-                .initializing, .idle => {},
+                .initializing, .idle => {
+                    self.current_state = self.requested_state;
+                },
                 .calibration => {
                     self.lock.lock();
                     defer self.lock.unlock();
 
                     // run calibration routine. psych, this does nothing. gottem
                     self.current_state = .idle;
-                    self.requestState(.idle);
+                    self.requested_state = self.current_state;
                 },
                 .running => {
                     const pos_error: AzEl = blk: {
@@ -434,22 +414,18 @@ const Controller = struct {
 
 pub const LoopTimer = struct {
     interval_ns: u64,
-    timer: std.time.Timer,
 
-    pub fn init(interval_ns: u64) LoopTimer {
-        return .{
-            .interval_ns = interval_ns,
-            .timer = std.time.Timer.start() catch @panic("Could not create timer"),
-        };
-    }
+    start: i128 = 0,
 
     pub fn mark(self: *LoopTimer) bool {
-        self.timer.reset();
+        self.start = std.time.nanoTimestamp();
         return true;
     }
 
     pub fn sleep(self: *LoopTimer) void {
-        const elapsed = self.timer.read();
-        std.time.sleep(self.interval_ns -| elapsed);
+        const now = std.time.nanoTimestamp();
+        const elapsed: u64 = @intCast(now - self.start);
+
+        std.time.sleep(self.interval_ns - elapsed);
     }
 };

src/main.zig

@@ -10,62 +10,6 @@ const udev = @import("udev_rules");
 
 const log = std.log.scoped(.main);
 
-fn quit() noreturn {
-    if (YaesuController.singleton) |controller| {
-        controller.quit();
-        controller.control_thread.join();
-    }
-    std.process.exit(1);
-}
-
-const moreposix = struct {
-    pub extern "c" fn sigaddset(set: *std.posix.sigset_t, signo: c_int) c_int;
-    pub extern "c" fn sigdelset(set: *std.posix.sigset_t, signo: c_int) c_int;
-    pub extern "c" fn sigemptyset(set: *std.posix.sigset_t) c_int;
-    pub extern "c" fn sigfillset(set: *std.posix.sigset_t) c_int;
-    pub extern "c" fn sigismember(set: *const std.posix.sigset_t, signo: c_int) c_int;
-    // stdlib prototype is wrong, it doesn't take optional pointers.
-    pub extern "c" fn pthread_sigmask(how: c_int, noalias set: ?*const std.posix.sigset_t, noalias oldset: ?*std.posix.sigset_t) c_int;
-};
-
-const psigs = [_]c_int{ std.posix.SIG.INT, std.posix.SIG.HUP, std.posix.SIG.QUIT };
-
-fn posixSignalHandlerThread() void {
-    var set: std.posix.sigset_t = undefined;
-    _ = moreposix.sigemptyset(&set);
-    for (psigs) |sig|
-        _ = moreposix.sigaddset(&set, sig);
-
-    var sig: c_int = 0;
-    _ = std.posix.system.sigwait(&set, &sig);
-    log.info("Got exit signal", .{});
-    quit();
-}
-
-// Windows runs this handler in a thread, so calling quit directly should be safe.
-fn windowsEventHandler(code: std.os.windows.DWORD) callconv(std.os.windows.WINAPI) std.os.windows.BOOL {
-    _ = code;
-    log.info("Got exit signal", .{});
-    quit();
-}
-
-fn addExitHandler() !void {
-    if (comptime builtin.os.tag == .windows) {
-        try std.os.windows.SetConsoleCtrlHandler(windowsEventHandler, true);
-    } else if (comptime std.Thread.use_pthreads) {
-        var set: std.posix.sigset_t = undefined;
-        _ = moreposix.sigemptyset(&set);
-        for (psigs) |sig|
-            _ = moreposix.sigaddset(&set, sig);
-
-        _ = moreposix.pthread_sigmask(std.posix.SIG.BLOCK, &set, null);
-        // nobody cares about the thread
-        _ = try std.Thread.spawn(.{}, posixSignalHandlerThread, .{});
-    } else {
-        log.err("not windows and not pthreads = disaster", .{});
-    }
-}
-
 fn printStderr(comptime fmt: []const u8, args: anytype) void {
     std.debug.print(fmt ++ "\n", args);
 }
@@ -122,14 +66,9 @@ pub fn main() !u8 {
 
         defer Config.deinit();
 
-        addExitHandler() catch {
-            log.err("Could not install quit handler.", .{});
-            return 1;
-        };
-
         RotCtl.run(allocator) catch |err| {
             log.err("rotator controller ceased unexpectedly! {s}", .{@errorName(err)});
-            quit();
+            return 1;
         };
     } else if (std.mem.eql(u8, args[1], commands.calibrate)) {
         if (args.len < 3 or args.len > 4) {
@@ -147,14 +86,9 @@ pub fn main() !u8 {
             return 1;
         };
 
-        addExitHandler() catch {
-            log.err("Could not install quit handler.", .{});
-            return 1;
-        };
-
         YaesuController.calibrate(allocator, routine) catch |err| {
             log.err("Calibration failed: {s}", .{@errorName(err)});
-            quit();
+            return 1;
         };
     } else if (std.mem.eql(u8, args[1], commands.help)) {
         if (args.len != 3) {