Änderung CYCLE_COUNTER_MAX für Testzwecke

can/can_client.c

@@ -55,7 +55,7 @@ int Can_OpenInterface(int iMotorIndex, const char * ifacename)
 
     if (settings.iCanSimu)
     {
-        mylog(LOG_INFO, "CAN: Using simulation mode (motor %d).", iMotorIndex);
+        mylog(LOG_WARNING, "CAN: Using simulation mode (motor %d).", iMotorIndex);
         intf_data[iMotorIndex].socket = -1;
         motctrl[iMotorIndex].nSwitchState = 0xF5;
         motctrl[iMotorIndex].nDriveConnected = 1;
@@ -140,7 +140,6 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_FORWARD)
         {
-            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_FORWARD;
             // motor is switched to forward -> set min. power
             Can_SetMotorPower(iMotorIndex, 1);
@@ -152,7 +151,6 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_REVERSE)
         {
-            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_REVERSE;
             // motor is switched to reverse -> set min. power
             Can_SetMotorPower(iMotorIndex, 1);
@@ -164,7 +162,6 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
     {
         if (motctrl[iMotorIndex].iMotorGear != MOTOR_GEAR_NEUTRAL)
         {
-            MqttClient_Publish_MotorGear(iMotorIndex, iGear);
             motctrl[iMotorIndex].iMotorGear = MOTOR_GEAR_NEUTRAL;
         }
         // motor is switch to neutral -> set power to 0
@@ -172,6 +169,7 @@ void Can_SetMotorGear(int iMotorIndex, int iGear)
         WriteOutputPin(GPIO_LED_MOTRUN, LOW);
         mylog(LOG_INFO, "CAN: Motor[%d]: Set gear neutral.", iMotorIndex);
     } 
+    MqttClient_Publish_MotorGear(iMotorIndex, iGear);
 }
 
 

io/io.c

@@ -2,17 +2,22 @@
 #include "main.h"
 #include "io.h"
 #include <can/can_client.h>
+#include <settings/settings.h>
+#include <mqtt/mqtt_client.h>
 
 struct GPIO_KEY_DATA gpioKeyStop;
 struct GPIO_KEY_DATA gpioKeyPwrUp;
 struct GPIO_KEY_DATA gpioKeyPwrDown;
 
 char nInitialized = 0;
+int iPowerSupplyOn = 0;
 
 /// @brief Initialize the io pins
 /// @return 
 int IO_Init()
 {
+    iPowerSupplyOn = 0;
+
     if (wiringPiSetupPinType(WPI_PIN_BCM))
     {
         mylog(LOG_ERR, "IO: Set up wiringPi failed!");
@@ -51,7 +56,7 @@ void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin)
 
     if ((pdata->iKeyPin > 0) && nInitialized)
     {
-        //mylog(LOG_INFO, "IO: Config Pin %d as input", iOutPin);
+        mylog(LOG_DEBUG, "IO: Config Pin %d as input", pdata->iKeyPin);
         pinMode(pdata->iKeyPin, INPUT);
         pullUpDnControl(pdata->iKeyPin, PUD_UP);
     }
@@ -154,7 +159,7 @@ void SetupOutputPin(int iOutPin)
 {
     if ((iOutPin > 0) && nInitialized)
     {
-        //mylog(LOG_INFO, "IO: Config Pin %d as output", iOutPin);
+        mylog(LOG_DEBUG, "IO: Config Pin %d as output", iOutPin);
         pinMode(iOutPin, OUTPUT);
         digitalWrite(iOutPin, LOW);
     }
@@ -179,46 +184,57 @@ void IO_DoCyclic()
     ReadKey(&gpioKeyPwrUp);
     ReadKey(&gpioKeyPwrDown);
 
-    if (gpioKeyStop.iKeyValue)
+    if (gpioKeyStop.iKeyValue || atomic_load(&abKeyStop))
     {
         // stop key is pressed
-        if (gpioKeyStop.iKeyRisingEdge)
+        if (gpioKeyStop.iKeyRisingEdge || atomic_load(&abKeyStop))
         {
             mylog(LOG_INFO, "IO: KEY-Stop: Stop motor.");
             Can_SetMotorGear(0, 0);
         }
     }
-    else if (motctrl[0].nDriveReady)    // plus and minus keys only when drive is ready
+
+    if (gpioKeyPwrUp.iKeyRisingEdge || atomic_load(&abKeyPlus))
     {
-        if (gpioKeyPwrUp.iKeyRisingEdge)
+        if (motctrl[0].nDriveReady)
         {
-            // plus key is pressed -> increase power
+            // when drive is ready to run: plus key is pressed -> increase power
             if (motctrl[0].iMotorGear == MOTOR_GEAR_NEUTRAL)
             {
                 mylog(LOG_INFO, "IO: KEY-Plus: Start motor.");
                 Can_SetMotorGear(0, 1);
                 Can_SetMotorPower(0, 1);
             }
-            else
+            else if (motctrl[0].iMotorPowerSteps < settings.iMotorPwrStepCount)
             {
                 mylog(LOG_INFO, "IO: KEY-Plus: Increase power.");
                 Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps + 1);
             }
         }
-
+        else if (settings.iShellySupplyCount > 0)
-        if (gpioKeyPwrDown.iKeyRisingEdge)
         {
-            // minus key is pressed -> decrease power
+            // when drive is not ready and we have to switch the supply
-            if (motctrl[0].iMotorPowerSteps > 1)
+            MqttClient_SwitchPowerSupply(1);
-            {
+            iPowerSupplyOn = 1;
-                mylog(LOG_INFO, "IO: KEY-Minus: Decrease power.");
-                Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps - 1);
-            }
-            else
-            {
-                mylog(LOG_INFO, "IO: KEY-Minus: Stop motor.");
-                Can_SetMotorGear(0, 0);
-            }
         }
     }
+
+    if (gpioKeyPwrDown.iKeyRisingEdge || atomic_load(&abKeyMinus))
+    {
+        // minus key is pressed -> decrease power
+        if (motctrl[0].iMotorPowerSteps > 1)
+        {
+            mylog(LOG_INFO, "IO: KEY-Minus: Decrease power.");
+            Can_SetMotorPower(0, motctrl[0].iMotorPowerSteps - 1);
+        }
+        // else
+        // {
+        //     mylog(LOG_INFO, "IO: KEY-Minus: Stop motor.");
+        //     Can_SetMotorGear(0, 0);
+        // }
+    }
+
+    atomic_store(&abKeyPlus, false);
+    atomic_store(&abKeyMinus, false);
+    atomic_store(&abKeyStop, false);
 }

io/io.h

@@ -30,6 +30,8 @@ struct GPIO_KEY_DATA
     int iKeyRepeatCycleCounter;
 };
 
+extern int iPowerSupplyOn;
+
 int IO_Init();
 void IO_DoCyclic();
 void SetupKeyPin(struct GPIO_KEY_DATA *pdata, int iKeyPin);

main.c

@@ -4,12 +4,17 @@
 #include <can/can_client.h>
 #include <io/io.h>
 #include <settings/settings.h>
+#include <termios.h>
 
 // Period info of the realtime task
 struct period_info pinfo;
-int iThreadControl = 0;         // 0: thread is running, <0: thread shall exit, >0 thread has exited
 int iLogToConsole = 1;
+atomic_short asThreadControl = ATOMIC_VAR_INIT(0);      // 0: thread is running, <0: thread shall exit, >0 thread has exited
 
+// values for simulation
+atomic_bool abKeyPlus = ATOMIC_VAR_INIT(false);
+atomic_bool abKeyMinus = ATOMIC_VAR_INIT(false);
+atomic_bool abKeyStop = ATOMIC_VAR_INIT(false);
 
 /// @brief send a log message
 /// @param prio 
@@ -17,7 +22,7 @@ int iLogToConsole = 1;
 /// @param  
 void mylog(int prio, const char *format, ...)
 {
-        if (prio >= settings.iDebugLevel)
+        if (prio <= settings.iDebugLevel)
         {
                 va_list args;
 
@@ -150,7 +155,7 @@ void *thread_func(void *data)
         }
 
         // Connect to mqtt broker
-        while (MqttClient_Connect() && (iThreadControl == 0))
+        while (MqttClient_Connect() && atomic_load(&asThreadControl) == 0)
         {
                 mylog(LOG_ERR, "MqttClient_Connect() failed!");
                 sleep(10);
@@ -163,7 +168,7 @@ void *thread_func(void *data)
         WriteOutputPin(GPIO_OUT_PWRON, HIGH);
 
         // cyclic call of do_cyclic_1ms()
-        while (iThreadControl == 0)
+        while (atomic_load(&asThreadControl) == 0)
         {
                 pinfo.cyclecounter++;
                 if (pinfo.cyclecounter > CYCLE_COUNTER_MAX)
@@ -185,11 +190,22 @@ void *thread_func(void *data)
         Can_CloseInterface(0);
         
         // signal thread has finnished
-        iThreadControl = 1;
+        atomic_store(&asThreadControl, 1);
         return NULL;
 }
 
 
+// Funktion, um das Terminal in den "Raw Mode" zu versetzen
+void set_conio_terminal_mode() 
+{
+    struct termios new_termios;
+    tcgetattr(0, &new_termios);
+    new_termios.c_lflag &= ~ICANON; // Deaktiviert den zeilenweisen Modus
+    new_termios.c_lflag &= ~ECHO;   // Verhindert, dass die Taste angezeigt wird
+    tcsetattr(0, TCSANOW, &new_termios);
+}
+
+
 /// @brief catch signals and set flag to terminate for the realtime thread
 /// @param signo 
 void sig_handler(int signo)
@@ -197,7 +213,7 @@ void sig_handler(int signo)
         if ((signo == SIGINT) || (signo == SIGTERM))
         {
                 mylog(LOG_INFO, "Received signal %d", signo);
-                iThreadControl = -1;    // signal realtime thread to exit
+                atomic_store(&asThreadControl, -1);     // signal realtime thread to exit
         }
 }
 
@@ -222,16 +238,24 @@ int main(int argc, char* argv[])
         // Read the settings file after opening the log
         Settings_ReadConfFile();
 
-        // catch signals
+        if (settings.iCanSimu)
-        if (signal(SIGTERM, sig_handler) == SIG_ERR)
         {
-                mylog(LOG_ERR, "Can't catch SIGTERM");
+                // in simulation mode switch terminal to raw mode
-                exit(-1);
+                set_conio_terminal_mode();
         }
-        if (signal(SIGINT, sig_handler) == SIG_ERR)
+        else
         {
-                mylog(LOG_ERR, "Can't catch SIGINT");
+                // catch signals
-                exit(-2);
+                if (signal(SIGTERM, sig_handler) == SIG_ERR)
+                {
+                        mylog(LOG_ERR, "Can't catch SIGTERM");
+                        exit(-1);
+                }
+                if (signal(SIGINT, sig_handler) == SIG_ERR)
+                {
+                        mylog(LOG_ERR, "Can't catch SIGINT");
+                        exit(-2);
+                }
         }
 
         /* Lock memory */
@@ -281,7 +305,7 @@ int main(int argc, char* argv[])
 
         
         /* Create a pthread with specified attributes */
-        iThreadControl = 0;
+        atomic_store(&asThreadControl, 0);
         ret = pthread_create(&thread, &attr, thread_func, NULL);
         if (ret) 
         {
@@ -289,6 +313,48 @@ int main(int argc, char* argv[])
                 goto out;
         }
 
+        if (settings.iCanSimu)
+        {
+                // in simulation mode we use keys to control the motors
+                mylog(LOG_INFO, "*** CanRtDriver in Simu-Mode ***");
+                while (1)
+                {
+                        char ch = getchar();
+                        mylog(LOG_INFO, "SIMU: Taste gedrückt: %c", ch);
+
+                        if (ch == '+')
+                        {
+                                atomic_store(&abKeyPlus, true);
+                        }
+                        else if (ch == '-')
+                        {
+                                atomic_store(&abKeyMinus, true);
+                        }
+                        else if (ch == 's')
+                        {
+                                atomic_store(&abKeyStop, true);
+                        }
+                        else if (ch == 'p')
+                        {
+                                if (iPowerSupplyOn)
+                                {
+                                        MqttClient_SwitchPowerSupply(0);
+                                        iPowerSupplyOn = 0;
+                                }
+                                else
+                                {
+                                        MqttClient_SwitchPowerSupply(1);
+                                        iPowerSupplyOn = 1;
+                                }
+                        }
+                        else if ( ch == 'q')
+                        {
+                                atomic_store(&asThreadControl, -1);     // signal realtime thread to exit
+                                break;
+                        }
+                }
+        }
+
         // join the thread and wait for it to exit
         ret = pthread_join(thread, NULL);
         if (ret)

main.h

@@ -13,8 +13,12 @@
 #include <signal.h>
 #include <syslog.h>
 #include <stdarg.h>
+#include <stdatomic.h>
+#include <stdbool.h>
 
-#define CYCLE_COUNTER_MAX 86400000
+
+//#define CYCLE_COUNTER_MAX 86400000
+#define CYCLE_COUNTER_MAX 600000        // for testing only
 
 struct period_info 
 {
@@ -24,6 +28,10 @@ struct period_info
         float fStartTime; 
 };
 
+extern atomic_bool abKeyPlus;
+extern atomic_bool abKeyMinus;
+extern atomic_bool abKeyStop;
+
 extern struct period_info pinfo;
 extern void mylog(int prio, const char *format, ...);
 

mqtt/mqtt_client.c

@@ -8,30 +8,30 @@
 #include "main.h"
 #include <mqtt/mqtt_client.h>
 #include <can/can_client.h>
+#include <settings/settings.h>
 #include <string.h>
 
 #include <mosquitto.h>
 
 
+// Topics to subscribe
+const char* mqtt_topic_motor_gear_request = "Pool/Motor_Gear_Request";
+const char* mqtt_topic_motor_power_request = "Pool/Motor_Power_Request";
+
+// Topics to publish
 const char* mqtt_topic_status_cyclecounter = "Pool/Status/CycleCounter";
-
 const char* mqtt_topic_motor1_gear = "Pool/Motor1/Gear";
-int iMqttMotor1Gear = 0;
 const char* mqtt_topic_motor1_power = "Pool/Motor1/Power";
-int iMqttMotor1Power = 0;
 const char* mqtt_topic_motor2_gear = "Pool/Motor2/Gear";
-int iMqttMotor2Gear = 0;
 const char* mqtt_topic_motor2_power = "Pool/Motor2/Power";
-int iMqttMotor2Power = 0;
-
 const char* mqtt_topic_motor1_switchstate = "Pool/Motor1/SwitchState";
-unsigned char nMqttMotor1SwitchState = 0;
+unsigned char nMotor1SwitchState = 255;
 const char* mqtt_topic_motor2_switchstate = "Pool/Motor1/SwitchState";
-unsigned char nMqttMotor2SwitchState = 0;
+unsigned char nMotor2SwitchState = 255;
 const char* mqtt_topic_motor1_actualpowerw = "Pool/Motor1/ActualPowerW";
-int iMqttMotor1ActualPowerW = 0;
+int iMqttMotor1ActualPowerW = -1;
 const char* mqtt_topic_motor2_actualpowerw = "Pool/Motor1/ActualPowerW";
-int iMqttMotor2ActualPowerW = 0;
+int iMqttMotor2ActualPowerW = -1;
 
 const char* mqtt_broker_addr = "127.0.0.1";
 const int mqtt_broker_port = 1883;
@@ -50,60 +50,46 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
     memcpy(topic_value, message->payload, message->payloadlen);
     topic_value[message->payloadlen] = '\0';
     
-    if (strcmp(message->topic, mqtt_topic_motor1_gear) == 0)
+    if (strcmp(message->topic, mqtt_topic_motor_gear_request) == 0)
     {
-        int val = 9999;
+        int val = 123456789;
         if (sscanf(topic_value, "%d", &val))
         {
-            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor1_gear: %d", val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor_gear_request: %d", val);
-            iMqttMotor1Gear = val;
+            if (val == 123456789)
-            Can_SetMotorGear(0, val);
+            {
+                val = 0;
+            }
+
+            for (int i=0; i<settings.iMotorCount; i++)
+            {
+                Can_SetMotorGear(i, val);
+            }
         }
         else
         {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor1_gear: %s", topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor_gear_request: %s", topic_value);
         }
     }
-    else if (strcmp(message->topic, mqtt_topic_motor1_power) == 0)
+    else if (strcmp(message->topic, mqtt_topic_motor_power_request) == 0)
     {
-        int val = 9999;
+        int val = 123456789;
         if (sscanf(topic_value, "%d", &val))
         {
-            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor1_power: %d", val);
+            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor_power_request: %d", val);
-            iMqttMotor1Power = val;
+            if (val == 123456789)
-            Can_SetMotorPower(0, val);
+            {
+                val = 0;
+            }
+            
+            for (int i=0; i<settings.iMotorCount; i++)
+            {
+                Can_SetMotorPower(i, val);
+            }
         }
         else
         {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor1_power: %s", topic_value);
+            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor_gear_request: %s", topic_value);
-        }
-    }
-    else if (strcmp(message->topic, mqtt_topic_motor2_gear) == 0)
-    {
-        int val = 9999;
-        if (sscanf(topic_value, "%d", &val))
-        {
-            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor2_gear: %d", val);
-            iMqttMotor2Gear = val;
-            Can_SetMotorGear(1, val);
-        }
-        else
-        {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor2_gear: %s", topic_value);
-        }
-    }
-    else if (strcmp(message->topic, mqtt_topic_motor2_power) == 0)
-    {
-        int val = 9999;
-        if (sscanf(topic_value, "%d", &val))
-        {
-            mylog(LOG_INFO, "MQTT: Received value for mqtt_topic_motor2_power: %d", val);
-            iMqttMotor2Power = val;
-            Can_SetMotorPower(1, val);
-        }
-        else
-        {
-            mylog(LOG_WARNING, "MQTT: Received mqtt_topic_motor2_power: %s", topic_value);
         }
     }
     else
@@ -114,6 +100,38 @@ void my_message_callback(struct mosquitto *mosq, void *userdata, const struct mo
     free(topic_value);
 }
 
+/// @brief callback function after connection
+void my_connect_callback(struct mosquitto *mosq, void *obj, int rc)
+{
+    if (rc == 0)
+    {
+        if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor_gear_request, 0) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor_gear_request) failed!");
+        }
+        if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor_power_request, 0) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor_power_request) failed!");
+        }
+
+        char message[10];
+        snprintf(message, sizeof(message), "0");
+        if (mosquitto_publish(mosq, NULL, mqtt_topic_motor_gear_request, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor_gear_request) failed!");
+        }
+        if (mosquitto_publish(mosq, NULL, mqtt_topic_motor_power_request, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
+        {
+            mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor_power_request) failed!");
+        }
+
+        for (int i=0; i<settings.iMotorCount; i++)
+        {
+            MqttClient_Publish_MotorSwitchState(i, 0);
+            MqttClient_Publish_MotorActualPowerW(i, 0);
+        }
+    }
+}
 
 /// @brief connect to mqtt broker
 /// @return 
@@ -138,6 +156,7 @@ int MqttClient_Connect()
 
     // Define a function which will be called by libmosquitto client every time when there is a new MQTT message
     mosquitto_message_callback_set(mosq, my_message_callback);
+    mosquitto_connect_callback_set(mosq, my_connect_callback);
 
     // Connect to MQTT broker
     if (mosquitto_connect(mosq, mqtt_broker_addr, mqtt_broker_port, 60) != MOSQ_ERR_SUCCESS)
@@ -152,81 +171,11 @@ int MqttClient_Connect()
     {
         /* Wenn wir Verbindungsfehler hatten, dann befinden wir uns wohl in Boot-Prozess und der Mosquitto ist
            gerade erst gestartet. Wir müssen hier etwas warten, sonst funktioniert das Subscriben nicht */
-        sleep(10);
+        sleep(500);
     }
 
-    // publish all topics we want to subscribe
-    char message[10];
-    snprintf(message, sizeof(message), "0");
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor1_gear) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 10;
-    }
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor1_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 11;
-    }
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor2_gear) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 12;
-        MqttClient_Close();
-    }
-    if (mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), &message, 0, false) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_publish(mqtt_topic_motor2_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 13;
-    }
 
-    // subscribe all needed topics
+    mylog(LOG_INFO, "MQTT: Connected successfull after %d errors!", iHadConnectError);
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor1_gear, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor1_gear) failed!");
-        iHadConnectError++;
-        return 20;
-    }
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor1_power, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor1_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 21;
-    }
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor2_gear, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor2_gear) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 22;
-    }
-    if (mosquitto_subscribe(mosq, NULL, mqtt_topic_motor2_power, 0) != MOSQ_ERR_SUCCESS)
-    {
-        mylog(LOG_ERR, "MQTT: mosquitto_subscribe(mqtt_topic_motor2_power) failed!");
-        MqttClient_Close();
-        iHadConnectError++;
-        return 23;
-    }
-
-    nMqttMotor1SwitchState = 255;
-    MqttClient_Publish_MotorSwitchState(0, 0);
-    nMqttMotor2SwitchState = 255;
-    MqttClient_Publish_MotorSwitchState(1, 0);
-    iMqttMotor1ActualPowerW = -1;
-    MqttClient_Publish_MotorActualPowerW(0, 0);
-    iMqttMotor2ActualPowerW = -1;
-    MqttClient_Publish_MotorActualPowerW(1, 0);
-
-    mylog(LOG_INFO, "MQTT: Connected successfull!");
     return 0;
 }
 
@@ -266,23 +215,15 @@ void MqttClient_Publish_MotorGear(int iMotorIndex, int iGear)
 {
     if (iMotorIndex == 0)
     {
-        if (iGear != iMqttMotor1Gear)
+        char message[100];
-        {
+        snprintf(message, sizeof(message), "%d", iGear);
-            iMqttMotor1Gear = iGear;
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), message, 0, false);
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iGear);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor1_gear, strlen(message), message, 0, false);
-        }
     }
     else if (iMotorIndex == 1)
     {
-        if (iGear != iMqttMotor2Gear)
+        char message[100];
-        {
+        snprintf(message, sizeof(message), "%d", iGear);
-            iMqttMotor2Gear = iGear;
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), message, 0, false);
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iGear);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor2_gear, strlen(message), message, 0, false);
-        }
     }
 }
 
@@ -294,23 +235,15 @@ void MqttClient_Publish_MotorPower(int iMotorIndex, int iPower)
 {
     if (iMotorIndex == 0)
     {
-        if (iPower != iMqttMotor1Power)
+        char message[100];
-        {
+        snprintf(message, sizeof(message), "%d", iPower);
-            iMqttMotor1Power = iPower;
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), message, 0, false);
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iPower);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor1_power, strlen(message), message, 0, false);
-        }
     }
     else if (iMotorIndex == 1)
     {
-        if (iPower != iMqttMotor2Power)
+        char message[100];
-        {
+        snprintf(message, sizeof(message), "%d", iPower);
-            iMqttMotor2Power = iPower;
+        mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), message, 0, false);
-            char message[100];
-            snprintf(message, sizeof(message), "%d", iPower);
-            mosquitto_publish(mosq, NULL, mqtt_topic_motor2_power, strlen(message), message, 0, false);
-        }
     }
 }
 
@@ -322,9 +255,9 @@ void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchS
 {
     if (iMotorIndex == 0)
     {
-        if (nSwitchState != nMqttMotor1SwitchState)
+        if (nSwitchState != nMotor1SwitchState)
         {
-            nMqttMotor1SwitchState = nSwitchState;
+            nMotor1SwitchState = nSwitchState;
             char message[100];
             snprintf(message, sizeof(message), "%2X", nSwitchState);
             mosquitto_publish(mosq, NULL, mqtt_topic_motor1_switchstate, strlen(message), message, 0, false);
@@ -332,9 +265,9 @@ void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchS
     }
     else if (iMotorIndex == 1)
     {
-        if (nSwitchState != nMqttMotor2SwitchState)
+        if (nSwitchState != nMotor2SwitchState)
         {
-            nMqttMotor2SwitchState = nSwitchState;
+            nMotor2SwitchState = nSwitchState;
             char message[100];
             snprintf(message, sizeof(message), "%2X", nSwitchState);
             mosquitto_publish(mosq, NULL, mqtt_topic_motor2_switchstate, strlen(message), message, 0, false);
@@ -368,4 +301,17 @@ void MqttClient_Publish_MotorActualPowerW(int iMotorIndex, int iMotorPowerW)
             mosquitto_publish(mosq, NULL, mqtt_topic_motor2_actualpowerw, strlen(message), message, 0, false);
         }
     }
+}
+
+
+void MqttClient_SwitchPowerSupply(int on)
+{
+    char *cmd = on ? "on" : "off";
+
+    for (int i=0; i<settings.iShellySupplyCount; i++)
+    {
+        mosquitto_publish(mosq, NULL, settings.sShellySupplyTopic[i], strlen(cmd), cmd, 0, false);
+    }
+
+    mylog(LOG_INFO, "MQTT: Switch supply-shellies %s", cmd);
 }

mqtt/mqtt_client.h

@@ -11,5 +11,6 @@ void MqttClient_Publish_MotorGear(int iMotorIndex, int iGear);
 void MqttClient_Publish_MotorPower(int iMotorIndex, int iPower);
 void MqttClient_Publish_MotorSwitchState(int iMotorIndex, unsigned char nSwitchState);
 void MqttClient_Publish_MotorActualPowerW(int iMotorIndex, int iMotorPowerW);
+void MqttClient_SwitchPowerSupply(int on);
 
 #endif

settings/settings.c

@@ -1,7 +1,7 @@
 
 #include <main.h>
 #include <settings/settings.h>
-
+#include <ctype.h>
 
 struct APP_SETTINGS settings;
 
@@ -16,13 +16,19 @@ void Settings_InitDefaultValues()
 // #define        LOG_INFO         6        /* informational */
 // #define        LOG_DEBUG        7        /* debug-level messages */
     settings.iDebugLevel = LOG_INFO;
-    settings.iCanSimu = 0;
+    settings.iCanSimu = 1;
     
     settings.iMotorCount = 1;
     settings.iMotorPwrMinRaw = 38;
     settings.iMotorPwrMaxRaw = 250;
     settings.iMotorPwrStepCount = 7;
 
+    settings.iShellySupplyCount = 0;
+    for (int i=0; i<MAX_SHELLIES_COUNT; i++)
+    {
+        settings.sShellySupplyTopic[i][0] = '\0';
+    }
+
     // Get path of the executable itself
     ssize_t length = readlink("/proc/self/exe", settings.sExePath, sizeof(settings.sExePath) - 1);
     if (length >= 0)
@@ -38,17 +44,58 @@ void Settings_InitDefaultValues()
 }
 
 
+
+char *trim_str(const char *s) 
+{
+    // Führende Leerzeichen finden
+    while (isspace((unsigned char)*s)) 
+        s++;
+
+    // Falls der String leer ist
+    if (*s == 0) 
+        return strdup("");
+
+    // Letztes Zeichen finden
+    const char *end = s + strlen(s) - 1;
+    while (end > s && isspace((unsigned char)*end)) 
+        end--;
+
+    // Länge des neuen Strings berechnen
+    size_t len = (end - s) + 1;
+
+    // Speicher reservieren (+1 für das Null-Byte)
+    char *new_str = malloc(len + 1);
+    if (new_str) 
+    {
+        memcpy(new_str, s, len);
+        new_str[len] = '\0';
+    }
+
+    return new_str;
+}
+
 void Settings_ReadConfFile() 
 {
-    const char *filename = "/etc/CanRtDriver.conf";
+    
+    //const char *filename = "/etc/CanRtDriver.conf";
 
+    char filename[MAX_PATH + 50];
+    sprintf(filename, "/etc/CanRtDriver.conf");
     FILE *file = fopen(filename, "r");
     if (file == NULL) 
     {
-        mylog(LOG_ERR, "Failed to open settings file %s", filename);
+        mylog(LOG_INFO, "SETTINGS: File %s noch found", filename);
-        return;
+        sprintf(filename, "%s.conf", settings.sExePath);
+        file = fopen(filename, "r");
+        if (file == NULL)
+        {
+            mylog(LOG_ERR, "SETTINGS: No conf file found!");
+            return;
+        }
     }
 
+    mylog(LOG_INFO, "SETTINGS: Reading %s", filename);
+
     char line[MAX_LINE_LENGTH];
     while (fgets(line, sizeof(line), file)) 
     {
@@ -62,19 +109,58 @@ void Settings_ReadConfFile()
         line[strcspn(line, "\r\n")] = 0;
 
         // 3. Split line to key and value
-        char *key = strtok(line, "=");
+        char *key = trim_str(strtok(line, "="));
-        char *value = strtok(NULL, "=");
+        char *value = trim_str(strtok(NULL, "="));
 
         if ((key != NULL) && (value != NULL)) 
         {
-            mylog(LOG_DEBUG, "SETTINGS: Found key: '%s' | value: '%s'\n", key, value);
+            if (strcmp(key, "DebugLevel") == 0)
-            
+            {
-            // // Beispiel: Wert verarbeiten
+                // how many log messages we want to see
-            // if (strcmp(key, "port") == 0) 
+                settings.iDebugLevel = atoi(value);
-            // {
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iDebugLevel);
-            //     int port = atoi(value);
+            }
-            //     printf("   [System] Port auf %d gesetzt.\n", port);
+            else if (strcmp(key, "CanSimu") == 0)
-            // }
+            {
+                // shall we do simulation
+                settings.iCanSimu = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iCanSimu);
+            }
+            else if (strcmp(key, "MotorPowerMinRaw") == 0)
+            {
+                // Minimum power value for the motors
+                settings.iMotorPwrMinRaw = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrMinRaw);
+            }
+            else if (strcmp(key, "MotorPowerMaxRaw") == 0)
+            {
+                // Maximum power value for the motors
+                settings.iMotorPwrMaxRaw = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrMaxRaw);
+            }
+            else if (strcmp(key, "MotorPowerStepCount") == 0)
+            {
+                // How many steps do we want to have switching the power
+                settings.iMotorPwrStepCount = atoi(value);
+                mylog(LOG_DEBUG, "SETTINGS: %s = %d", key, settings.iMotorPwrStepCount);
+            }
+            else if (strcmp(key, "SupplyShellyMqttTopic") == 0)
+            {
+                // MQTT topic for switching power supply
+                if (settings.iShellySupplyCount < MAX_SHELLIES_COUNT)
+                {
+                    strcpy(settings.sShellySupplyTopic[settings.iShellySupplyCount], value);
+                    settings.iShellySupplyCount++;
+                }
+                else
+                {
+                    mylog(LOG_WARNING, "SETTINGS: Too many SupplyShellyMqttTopic!");
+                }
+            }
+            else
+            {
+                mylog(LOG_WARNING, "SETTING: Unknown key: %s", key);
+            }
         }
     }
 

settings/settings.h

@@ -8,17 +8,22 @@
 #include <string.h>
 
 #define MAX_LINE_LENGTH 256
+#define MAX_PATH 256
+#define MAX_SHELLIES_COUNT 5
 
 struct APP_SETTINGS
 {
     int iDebugLevel;            // Level of debug messages
     char sExePath[MAX_PATH];    // Path of the executable
-    int iCanSimu = 0;           // Simulate CAN if 1
+    int iCanSimu;               // Simulate CAN if 1
 
     int iMotorCount;            // Number of used motors (1 or 2)
     int iMotorPwrMinRaw;        // Minimum power value for motor (raw value)
     int iMotorPwrMaxRaw;        // Maximum power value for motor (raw value)
     int iMotorPwrStepCount;     // Number of power steps
+
+    int iShellySupplyCount;     // How many Shellies we have to switch the power supply
+    char sShellySupplyTopic[MAX_SHELLIES_COUNT][MAX_PATH];
 };
 extern struct APP_SETTINGS settings;