Add Apex Shared Loop rotator

https://github.com/Hamlib/Hamlib/issues/1159

NEWS

@@ -14,6 +14,7 @@ Version 5.x -- future
 
 Version 4.6
         * 2023-11-XX -- Planned for Nov 2023
+        * Add Apex Shared Loop rotator -- unidirectional only so far
         * Add client_version to rigctld so client can report it's version for future use/compatility/alternatives
         * Add --set-conf=tuner_control_pathname=hamlib_tuner_control (default)
           If file exists then it will be called with 0/1 (Off/On) argument

configure.ac

@@ -50,7 +50,7 @@ dnl Beware of duplication should a backend directory include both rig and
 dnl rotor definitions, e.g. "dummy".  Optional backends will not be listed
 dnl here but will be added later, e.g. "winradio".
 RIG_BACKEND_LIST="rigs/adat rigs/alinco rigs/aor rigs/barrett rigs/codan rigs/dorji rigs/drake rigs/dummy rigs/elad rigs/flexradio rigs/icom rigs/icmarine rigs/jrc rigs/kachina rigs/kenwood rigs/kit rigs/lowe rigs/pcr rigs/prm80 rigs/racal rigs/rft rigs/rs rigs/skanti rigs/tapr rigs/tentec rigs/tuner rigs/uniden rigs/winradio rigs/wj rigs/yaesu rigs/gomspace rigs/mds"
-ROT_BACKEND_LIST="rotators/amsat rotators/ars rotators/celestron rotators/cnctrk rotators/grbltrk rotators/easycomm rotators/ether6 rotators/flir rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel rotators/radant"
+ROT_BACKEND_LIST="rotators/amsat rotators/apex rotators/ars rotators/celestron rotators/cnctrk rotators/grbltrk rotators/easycomm rotators/ether6 rotators/flir rotators/fodtrack rotators/gs232a rotators/heathkit rotators/m2 rotators/meade rotators/rotorez rotators/sartek rotators/spid rotators/ts7400 rotators/prosistel rotators/ioptron rotators/satel rotators/radant"
 # Amplifiers are all in the amplifiers directory
 AMP_BACKEND_LIST="amplifiers/elecraft amplifiers/gemini"
 
@@ -843,6 +843,7 @@ bindings/Makefile
 doc/Makefile
 doc/hamlib.cfg
 rotators/amsat/Makefile
+rotators/apex/Makefile
 rotators/ars/Makefile
 rotators/celestron/Makefile
 rotators/cnctrk/Makefile

include/hamlib/rotlist.h

@@ -666,6 +666,20 @@
 //! @endcond
 #define ROT_MODEL_FLIR ROT_MAKE_MODEL(ROT_FLIR, 1)
 
+/**
+ * \brief A macro that returns the model number of the APEX backend.
+ *
+ * \def ROT_MODEL_APEX
+ *
+ * The APEX backend can be used with APEX * rotators. 
+ */
+//! @cond Doxygen_Suppress
+#define ROT_APEX 26
+#define ROT_BACKEND_APEX "apex"
+//! @endcond
+#define ROT_MODEL_APEX_SHARED_LOOP ROT_MAKE_MODEL(ROT_APEX, 1)
+
+
 /**
  * \brief Convenience type definition for a rotator model.
  *

rotators/apex/Android.mk

@@ -0,0 +1,12 @@
+LOCAL_PATH:= $(call my-dir)
+
+include $(CLEAR_VARS)
+
+LOCAL_SRC_FILES := apex.c sharedloop.c
+LOCAL_MODULE := apex
+
+LOCAL_CFLAGS := 
+LOCAL_C_INCLUDES := android include src
+LOCAL_LDLIBS := -lhamlib -Lobj/local/$(TARGET_ARCH_ABI)
+
+include $(BUILD_STATIC_LIBRARY)

rotators/apex/Makefile.am

@@ -0,0 +1,5 @@
+
+noinst_LTLIBRARIES = libhamlib-apex.la
+libhamlib_apex_la_SOURCES = apex.c sharedloop.c
+
+EXTRA_DIST = Android.mk

rotators/apex/apex.c

@@ -0,0 +1,136 @@
+#include <hamlib/rotator.h>
+#include <pthread.h>
+#include "iofunc.h"
+#include "register.h"
+#include "apex.h"
+
+float apex_azimuth;
+
+char apex_info[64];
+
+static pthread_t apex_read_thread;
+
+// We only have two strings to get
+// one is 18 chars and the other may be variable
+// [T4BRFA99H00M010#] Unidirectional
+// <VER> xxxxxxxxxx
+// So we'll read 5 chars and use the to determine how to read the rest
+
+static int apex_get_string(ROT *rot, char *s, int maxlen)
+{
+    int retval = 0;
+    struct rot_state *rs = &rot->state;
+    char buf[64];
+
+    memset(s, 0, maxlen);
+
+    retval = read_string(&rs->rotport, (unsigned char *)buf,
+                         sizeof(buf),
+                         "\n", strlen("\n"), sizeof(buf), 1);
+    strncpy(s, buf, maxlen);
+    strtok(s, "\r\n"); // truncate any CR/LF
+    rig_debug(RIG_DEBUG_VERBOSE, "%s: %d bytes '%s'\n", __func__, retval, s);
+
+    if (retval <= 0) { return -RIG_EPROTO; }
+
+    return RIG_OK;
+}
+
+
+// Expecting # from 0-7
+// [T4BRFA99H00M010#] Unidirectional
+// Or
+// [T4BRFA99H00M020#] Bidirectional
+static void *apex_read(void *arg)
+{
+    ROT *rot = arg;
+    int retval = 0;
+    char data[64];
+    int expected_return_length = 63;
+
+    while (1)
+    {
+        apex_get_string(rot, data, expected_return_length);
+
+        if (strstr(data, "<VER>"))
+        {
+            strncpy(apex_info, data, sizeof(apex_info));
+            rig_debug(RIG_DEBUG_TRACE, "%s: apex_info=%s\n", __func__, apex_info);
+            continue;
+        }
+
+        if (retval != 0 || strstr(data, "[T4BRFA99") == NULL)
+        {
+            rig_debug(RIG_DEBUG_ERR, "%s: unknown apex status message=%s\n", __func__,
+                      data);
+            continue;
+        }
+
+        rig_debug(RIG_DEBUG_VERBOSE, "%s: data='%s'\n", __func__, data);
+
+        if (retval == 0)
+        {
+            switch (data[16])
+            {
+            case '0': apex_azimuth =  45; break;
+
+            case '1': apex_azimuth =  90; break;
+
+            case '2': apex_azimuth = 135; break;
+
+            case '3': apex_azimuth = 180; break;
+
+            case '4': apex_azimuth = 225; break;
+
+            case '5': apex_azimuth = 270; break;
+
+            case '6': apex_azimuth = 315; break;
+
+            case '7': apex_azimuth =   0; break;
+            }
+        }
+
+//            printf("az=%f\n", apex_azimuth);
+    }
+
+    return NULL;
+}
+
+
+int apex_open(ROT *rot)
+{
+    int retval;
+    char *cmdstr = "[GETVER]\r"; // does this work on all Apex controllers?
+    struct rot_state *rs = &rot->state;
+
+    rig_debug(RIG_DEBUG_VERBOSE, "%s: entered\n", __func__);
+
+    apex_azimuth = -1;  // we check to see if we've seen azimuth at least one time
+    rig_flush(&rs->rotport);
+    retval = write_block(&rs->rotport, (unsigned char *) cmdstr, strlen(cmdstr));
+
+    if (retval != RIG_OK)
+    {
+        rig_debug(RIG_DEBUG_ERR, "%s: write_block failed - %s\n", __func__,
+                  rigerror(retval));
+        return retval;
+    }
+
+    pthread_create(&apex_read_thread, NULL, apex_read, rot);
+    return RIG_OK;
+}
+
+const char *apex_get_info(ROT *rot)
+{
+    return apex_info;
+}
+
+DECLARE_INITROT_BACKEND(apex)
+{
+    rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+    rot_register(&apex_shared_loop_rot_caps);
+
+    return RIG_OK;
+}
+

rotators/apex/apex.h

@@ -0,0 +1,31 @@
+/*
+ *  Hamlib Rotator backend - Apex rotators
+ *
+ *
+ *   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
+ *
+ */
+
+#ifndef _ROT_APEX_H
+#define _ROT_APEX_H 1
+
+extern const struct rot_caps apex_shared_loop_rot_caps;
+
+extern float apex_azimuth;
+
+extern int apex_open(ROT *rot);
+extern const char *apex_get_info(ROT *rot);
+
+#endif /* _ROT_APEX_H */

rotators/apex/apex.txt

@@ -0,0 +1,42 @@
+[T4BRFA99H00M0107] -- 0 degrees
+[T4BRFA99H00M0100] -- 45 degrees
+[T4BRFA99H00M0101] -- 90 degrees
+[T4BRFA99H00M0102] -- 135 degrees
+[T4BRFA99H00M0103] -- 180 degrees
+[T4BRFA99H00M0104] -- 225 degrees
+[T4BRFA99H00M0105] -- 270 degrees
+[T4BRFA99H00M0106] -- 315 degrees
+
+These are the bidirectional answers
+[T4BRFA99H00M0200] -- 45
+[T4BRFA99H00M0201] -- 90
+[T4BRFA99H00M0202] -- 135
+[T4BRFA99H00M0203] -- 180 Bidirectional N/S
+[T4BRFA99H00M0204] -- 225
+[T4BRFA99H00M0205] -- 270
+[T4BRFA99H00M0206] -- 315
+[T4BRFA99H00M0207] -- 0
+
+All commands need CR added
+The 98 should be replaced by whatever the rig returns -- in this case it was 99.
+Startup: [LINK] returns [LINKOK]
+LEFT:[R98T4AH01] [R99T4AH01] counter
+RIGHT:[R98T4AH02]
+UNI:[R98T4AH03] [R99T4AH03]
+BI: [R98T4AH04] [R99T4AH04]
+FLIP: [R98T4AH05] [R99T4AH05]
+
+Direct switching
+Seems the "98" model does not recognized the direct commands
+[R99T4AM10] 0
+[R99T4AM11] 45
+[R99T4AM12] 90
+[R99T4AM13] 135
+[R99T4AM14] 180
+[R99T4AM15] 225
+[R99T4AM16] 270
+[R99T4AM17] 315
+
+Misc Commands
+[GETVER]
+<VER> response with string

rotators/apex/sharedloop.c

@@ -0,0 +1,99 @@
+/* Apex Shared Loop Controller */
+
+#include <math.h>
+#include "hamlib/rotator.h"
+#include "iofunc.h"
+#include "apex.h"
+
+int apex_shared_loop_get_position(ROT *rot, float *az, float *el)
+{
+    int loop = 10;
+
+    while (--loop > 0 && apex_azimuth < 0)
+    {
+        hl_usleep(250 * 1000);
+    };
+
+    *az = apex_azimuth;
+
+    *el = 0;
+
+    return RIG_OK;
+}
+
+int apex_shared_loop_set_position(ROT *rot, float az, float dummy)
+{
+    char cmdstr[16];
+    int retval;
+    struct rot_state *rs = &rot->state;
+    int remainder = lround(az + 22.5) % 45;
+    int apex_az = lround(az + 22.5) - remainder;
+
+    // default to 0 degrees
+    snprintf(cmdstr, sizeof(cmdstr), "[R99T4AM10]\r\n");
+
+    switch (apex_az)
+    {
+    case  45: cmdstr[9] = '1'; break;
+
+    case  90: cmdstr[9] = '2'; break;
+
+    case 135: cmdstr[9] = '3'; break;
+
+    case 180: cmdstr[9] = '4'; break;
+
+    case 225: cmdstr[9] = '5'; break;
+
+    case 270: cmdstr[9] = '6'; break;
+
+    case 315: cmdstr[9] = '7'; break;
+
+    default:
+        rig_debug(RIG_DEBUG_ERR, "%s: unknown az=%d\n", __func__, apex_az);
+        return -RIG_EINTERNAL;
+    }
+
+    rig_flush(&rs->rotport);
+    apex_azimuth = -1;
+    retval = write_block(&rs->rotport, (unsigned char *) cmdstr, strlen(cmdstr));
+
+    if (retval != RIG_OK)
+    {
+        rig_debug(RIG_DEBUG_ERR, "%s: write_block error - %s\n", __func__,
+                  rigerror(retval));
+        return retval;
+    }
+
+    return RIG_OK;
+}
+
+const struct rot_caps apex_shared_loop_rot_caps =
+{
+    ROT_MODEL(ROT_MODEL_APEX_SHARED_LOOP),
+    .model_name =     "Shared Loop",
+    .mfg_name =       "Apex",
+    .version =        "20221224.0",
+    .copyright =      "LGPL",
+    .status =         RIG_STATUS_STABLE,
+    .rot_type =       ROT_TYPE_AZIMUTH,
+    .port_type =      RIG_PORT_SERIAL,
+    .serial_rate_min  = 57600,
+    .serial_rate_max  = 57600,
+    .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          = 4000,
+    .retry            = 2,
+
+    .min_az =     0.0,
+    .max_az =     360.0,
+
+    .rot_open = apex_open,
+    .get_info = apex_get_info,
+    .get_position = apex_shared_loop_get_position,
+    .set_position = apex_shared_loop_set_position,
+};
+

src/iofunc.c

@@ -1337,7 +1337,6 @@ static int read_string_generic(hamlib_port_t *p,
          * read 1 character from the rig, (check if in stop set)
          * The file descriptor must have been set up non blocking.
          */
-        do
         {
 #if 0
 #ifndef __MINGW32__
@@ -1349,7 +1348,7 @@ static int read_string_generic(hamlib_port_t *p,
 #endif
             rd_count = port_read_generic(p, &rxbuffer[total_count],
                                          expected_len == 1 ? 1 : minlen, direct);
-//            rig_debug(RIG_DEBUG_VERBOSE, "%s: read %d bytes\n", __func__, (int)rd_count);
+//            rig_debug(RIG_DEBUG_VERBOSE, "%s: read %d bytes tot=%d\n", __func__, (int)rd_count, total_count);
             minlen -= rd_count;
 
             if (errno == EAGAIN)
@@ -1380,6 +1379,8 @@ static int read_string_generic(hamlib_port_t *p,
 
         total_count += (int) rd_count;
 
+        if (total_count == rxmax) break;
+
         if (stopset && memchr(stopset, rxbuffer[total_count - 1], stopset_len))
         {
             if (minlen == 1) { minlen = total_count; }

src/rot_reg.c

@@ -91,6 +91,7 @@ DEFINE_INITROT_BACKEND(androidsensor);
 #endif
 DEFINE_INITROT_BACKEND(grbltrk);
 DEFINE_INITROT_BACKEND(flir);
+DEFINE_INITROT_BACKEND(apex);
 //! @endcond
 
 /**
@@ -140,6 +141,7 @@ static struct
 #endif
     { ROT_GRBLTRK, ROT_BACKEND_GRBLTRK, ROT_FUNCNAMA(grbltrk) },
     { ROT_FLIR, ROT_BACKEND_FLIR, ROT_FUNCNAMA(flir) },
+    { ROT_APEX, ROT_BACKEND_APEX, ROT_FUNCNAMA(apex) },
     { 0, NULL }, /* end */
 };