Hamlib/rotators/gs232a/gs232b.c

/*
 *  Hamlib Rotator backend - GS-232B
 *  Copyright (c) 2001-2012 by Stephane Fillod
 *                 (c) 2010 by Kobus Botha
 *
 *
 *   This library is free software; you can redistribute it and/or
 *   modify it under the terms of the GNU Lesser General Public
 *   License as published by the Free Software Foundation; either
 *   version 2.1 of the License, or (at your option) any later version.
 *
 *   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
 *   Lesser General Public License for more details.
 *
 *   You should have received a copy of the GNU Lesser General Public
 *   License along with this library; if not, write to the Free Software
 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <stdio.h>
#include <stdlib.h>
#include <string.h>   /* String function definitions */
#include <unistd.h>   /* UNIX standard function definitions */
#include <math.h>

#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"

#include "gs232a.h"

#define EOM "\r"
#define REPLY_EOM "\r\n"

#define BUFSZ 64

/**
 * gs232b_transaction
 *
 * cmdstr - Command to be sent to the rig.
 * data - Buffer for reply string.  Can be NULL, indicating that no reply is
 *        is needed, but answer will still be read.
 * data_len - in: Size of buffer. It is the caller's responsibily to provide
 *            a large enough buffer for all possible replies for a command.
 *
 * returns:
 *   RIG_OK  -  if no error occured.
 *   RIG_EIO  -  if an I/O error occured while sending/receiving data.
 *   RIG_ETIMEOUT  -  if timeout expires without any characters received.
 *   RIG_REJECTED  -  if a negative acknowledge was received or command not
 *                    recognized by rig.
 */
static int
gs232b_transaction(ROT *rot, const char *cmdstr,
                   char *data, size_t data_len, int no_reply)
{
    struct rot_state *rs;
    int retval;
    int retry_read = 0;
    char replybuf[BUFSZ];

    rs = &rot->state;

transaction_write:

    serial_flush(&rs->rotport);

    if (cmdstr)
    {
        retval = write_block(&rs->rotport, cmdstr, strlen(cmdstr));

        if (retval != RIG_OK)
        {
            goto transaction_quit;
        }

        if (!data)
        {
            write_block(&rs->rotport, EOM, strlen(EOM));
        }
    }

    if (no_reply) { return RIG_OK; } // nothing expected so return

    /* Always read the reply to know whether the cmd went OK */
    if (!data)
    {
        data = replybuf;
    }

    if (!data_len)
    {
        data_len = BUFSZ;
    }


    memset(data, 0, data_len);
    retval = read_string(&rs->rotport, data, data_len, REPLY_EOM,
                         strlen(REPLY_EOM));

    if (retval < 0)
    {
        if (retry_read++ < rot->state.rotport.retry)
        {
            goto transaction_write;
        }

        goto transaction_quit;
    }

#if 0
    /* Check that command termination is correct */

    if (strchr(REPLY_EOM, data[strlen(data) - 1]) == NULL)
    {
        rig_debug(RIG_DEBUG_ERR,
                  "%s: Command is not correctly terminated '%s'\n",
                  __func__, data);

        if (retry_read++ < rig->state.rotport.retry)
        {
            goto transaction_write;
        }

        retval = -RIG_EPROTO;
        goto transaction_quit;
    }

#endif

    // If asked for we will check for connection
    // we don't expect a reply...just a prompt return
    // Seems some GS232B's only echo the CR
    if (data == replybuf && (strncmp(data, "?>", 2) != 0) && data[0] != 0x0d)
    {
        rig_debug(RIG_DEBUG_VERBOSE,
                  "%s: Expected '?>' but got '%s' from cmd '%s'\n",
                  __func__, data, cmdstr);
        return -RIG_EPROTO;
    }

    if (data[0] == '?')
    {
        /* Invalid command */
        rig_debug(RIG_DEBUG_VERBOSE, "%s: Error for '%s': '%s'\n",
                  __func__, cmdstr, data);
        retval = -RIG_EPROTO;
        goto transaction_quit;
    }

    retval = RIG_OK;
transaction_quit:
    return retval;
}


static int
gs232b_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
    char buf[32];
    char cmdstr[64];
    int retval;
    unsigned u_az, u_el;

    rig_debug(RIG_DEBUG_TRACE, "%s called: az=%.02f el=%.02f\n", __func__, az,
              el);

    if (az < 0.0)
    {
        az = az + 360.0;
    }

    u_az = (unsigned) rint(az);
    u_el = (unsigned) rint(el);

    sprintf(cmdstr, "W%03u %03u" EOM, u_az, u_el);
    retval = gs232b_transaction(rot, cmdstr, buf, sizeof(buf), 0);

    if (retval != RIG_OK)
    {
        return retval;
    }

    return RIG_OK;
}

static int
gs232b_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
    char posbuf[32];
    int retval, int_az, int_el;

    rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);

    retval = gs232b_transaction(rot, "C2" EOM, posbuf, sizeof(posbuf), 0);

    if (retval != RIG_OK || strlen(posbuf) < 10)
    {
        return retval < 0 ? retval : -RIG_EPROTO;
    }

    /* parse "AZ=aaa   EL=eee" */

    /* With the format string containing a space character as one of the
     * directives, any amount of space is matched, including none in the input.
     */
    if (sscanf(posbuf, "AZ=%d EL=%d", &int_az, &int_el) != 2)
    {
        rig_debug(RIG_DEBUG_ERR, "%s: wrong reply '%s'\n", __func__,
                  posbuf);
        return -RIG_EPROTO;
    }

    *az = (azimuth_t) int_az;
    *el = (elevation_t) int_el;

    rig_debug(RIG_DEBUG_TRACE, "%s: (az, el) = (%.0f, %.0f)\n",
              __func__, *az, *el);

    return RIG_OK;
}

static int
gs232b_rot_stop(ROT *rot)
{
    char buf[32];
    int retval;

    rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);

    /* All Stop */
    retval = gs232b_transaction(rot, "S" EOM, buf, sizeof(buf), 0);

    if (retval != RIG_OK)
    {
        return retval;
    }

    return RIG_OK;
}


static int
gs232b_rot_move(ROT *rot, int direction, int speed)
{
    char cmdstr[24];
    int retval;
    unsigned x_speed;

    rig_debug(RIG_DEBUG_TRACE, "%s called %d %d\n", __func__,
              direction, speed);

    x_speed = (3 * speed) / 100 + 1;

    /* between 1 (slowest) and 4 (fastest) */
    sprintf(cmdstr, "X%u" EOM, x_speed);
    retval = gs232b_transaction(rot, cmdstr, NULL, 0, 1);

    if (retval != RIG_OK)
    {
        return retval;
    }

    switch (direction)
    {
    case ROT_MOVE_UP:   /* Elevation increase */
        sprintf(cmdstr, "U" EOM);
        break;

    case ROT_MOVE_DOWN: /* Elevation decrease */
        sprintf(cmdstr, "D" EOM);
        break;

    case ROT_MOVE_LEFT: /* Azimuth decrease */
        sprintf(cmdstr, "L" EOM);
        break;

    case ROT_MOVE_RIGHT:  /* Azimuth increase */
        sprintf(cmdstr, "R" EOM);
        break;

    default:
        rig_debug(RIG_DEBUG_ERR, "%s: Invalid direction value! (%d)\n",
                  __func__, direction);
        return -RIG_EINVAL;
    }

    retval = gs232b_transaction(rot, cmdstr, NULL, 0, 1);

    if (retval != RIG_OK)
    {
        return retval;
    }

    return RIG_OK;
}

/* ************************************************************************* */
/*
 * Generic GS232B rotator capabilities.
 */

const struct rot_caps gs232b_rot_caps =
{
    ROT_MODEL(ROT_MODEL_GS232B),
    .model_name = "GS-232B",
    .mfg_name = "Yaesu",
    .version = "0.5",
    .copyright = "LGPL",
    .status = RIG_STATUS_STABLE,
    .rot_type = ROT_TYPE_OTHER,
    .port_type = RIG_PORT_SERIAL,
    .serial_rate_min = 1200,
    .serial_rate_max = 9600,
    .serial_data_bits = 8,
    .serial_stop_bits = 1,
    .serial_parity = RIG_PARITY_NONE,
    .serial_handshake = RIG_HANDSHAKE_NONE,
    .write_delay = 0,
    .post_write_delay = 0,
    .timeout = 400,
    .retry = 3,

    .min_az = -180.0,
    .max_az = 450.0,    /* vary according to rotator type */
    .min_el = 0.0,
    .max_el = 180.0,    /* requires G-5400B, G-5600B, G-5500, or G-500/G-550 */

    .get_position = gs232b_rot_get_position,
    .set_position = gs232b_rot_set_position,
    .stop = gs232b_rot_stop,
    .move = gs232b_rot_move,
};

/* end of file */