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Merge pull request #519 from code-posse/master 

SatEL motion bugfix
pull/520/head
Michael Black 2021-01-27 12:59:43 -06:00 zatwierdzone przez GitHub
rodzic f2b7893a2b b5a18c1732
commit 58feda1a4a
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ID klucza GPG: 4AEE18F83AFDEB23
1 zmienionych plików z 88 dodań i 59 usunięć
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147
rotators/satel/satel.c
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@ -115,55 +115,6 @@ struct satel_stat
};
static int satel_read_status(ROT *rot, satel_stat_t *stat)
{
char resbuf[BUF_SIZE];
char *p;
int ret;
struct rot_state *rs;
rs = &rot->state;
// XXX skip for now
for (int i = 0; i < 3; i++)
{
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
}
// read azimuth line
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
p = resbuf + 10;
p[3] = '\0';
stat->az = (int)strtof(p, NULL);
// read elevation line
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
p = resbuf + 12;
p[3] = '\0';
stat->el = (int)strtof(p, NULL);
// XXX skip for now
for (int i = 0; i < 2; i++)
{
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
}
return RIG_OK;
}
static int satel_cmd(ROT *rot, char *cmd, int cmdlen, char *res, int reslen)
{
int ret;
@ -193,6 +144,82 @@ static int satel_cmd(ROT *rot, char *cmd, int cmdlen, char *res, int reslen)
}
static int satel_read_status(ROT *rot, satel_stat_t *stat)
{
char resbuf[BUF_SIZE];
char *p;
int ret;
struct rot_state *rs;
rs = &rot->state;
// read motion state
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
stat->motion_enabled = strcmp(resbuf, "Motion ENABLED") == 0 ? true : false;
// XXX skip mode
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
// XXX skip time
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
// read azimuth line
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
p = resbuf + 10;
p[3] = '\0';
stat->az = (int)strtof(p, NULL);
// read elevation line
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
p = resbuf + 12;
p[3] = '\0';
stat->el = (int)strtof(p, NULL);
// skip blank line
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
// XXX skip stored position count
ret = read_string(&rs->rotport, resbuf, BUF_SIZE, "\n", 1);
if (ret < 0)
return ret;
return RIG_OK;
}
static int satel_get_status(ROT *rot, satel_stat_t *stat)
{
int ret;
ret = satel_cmd(rot, "z", 1, NULL, 0);
if (ret != RIG_OK)
return ret;
return satel_read_status(rot, stat);
}
static int satel_rot_open(ROT *rot)
{
char resbuf[BUF_SIZE];
@ -217,11 +244,6 @@ static int satel_rot_open(ROT *rot)
if (ret != RIG_OK)
return ret;
// enable motion
ret = satel_cmd(rot, "g", 1, NULL, 0);
if (ret != RIG_OK)
return ret;
return RIG_OK;
}
@ -236,6 +258,17 @@ static int satel_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.2f %.2f\n", __func__,
az, el);
ret = satel_get_status(rot, &stat);
if (ret < 0)
return ret;
if (stat.motion_enabled == false)
{
ret = satel_cmd(rot, "g", 1, NULL, 0);
if (ret != RIG_OK)
return ret;
}
snprintf(cmdbuf, BUF_SIZE, "p%d %d\r\n", (int)az, (int)el);
ret = satel_cmd(rot, cmdbuf, strlen(cmdbuf), NULL, 0);
@ -261,11 +294,7 @@ static int satel_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
ret = satel_cmd(rot, "z", 1, NULL, 0);
if (ret != RIG_OK)
return ret;
ret = satel_read_status(rot, &stat);
ret = satel_get_status(rot, &stat);
if (ret < 0)
return ret;