kopia lustrzana https://github.com/Hamlib/Hamlib
Add PSTRotator to rotctl
Mike Black W9MDB
rodzic
efcea5ddcd
commit
c112a5f6a9
3
NEWS
3
NEWS
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@ -13,7 +13,8 @@ Version 5.x -- future
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* Change FT1000MP Mark V model names to align with FT1000MP
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Version 4.6
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* Added Flex SmartSDR slices
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* Added PSTRotator control
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* Added Flex SmartSDR slices A-H
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* Added Motorola Micom M2/M3
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* Added SDR Radio SDRConsole -- TS-2000 is now hardware flow control so need separate entry
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* Added --set-conf=filter_usb, filter_usbd, and filter_cw to allow Icom rigs set mode to set filter number too
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@ -86,6 +86,7 @@
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//! @endcond
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#define ROT_MODEL_DUMMY ROT_MAKE_MODEL(ROT_DUMMY, 1)
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#define ROT_MODEL_NETROTCTL ROT_MAKE_MODEL(ROT_DUMMY, 2)
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#define ROT_MODEL_PSTROTATOR ROT_MAKE_MODEL(ROT_DUMMY, 3)
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/**
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@ -1,4 +1,4 @@
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DUMMYSRC = dummy_common.c dummy_common.h dummy.c dummy.h rot_dummy.c rot_dummy.h netrigctl.c netrotctl.c flrig.c flrig.h trxmanager.c trxmanager.h amp_dummy.c amp_dummy.h netampctl.c tci1x.c aclog.c sdrsharp.c quisk.c
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DUMMYSRC = dummy_common.c dummy_common.h dummy.c dummy.h rot_dummy.c rot_dummy.h rot_pstrotator.c rot_pstrotator.h netrigctl.c netrotctl.c flrig.c flrig.h trxmanager.c trxmanager.h amp_dummy.c amp_dummy.h netampctl.c tci1x.c aclog.c sdrsharp.c quisk.c
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noinst_LTLIBRARIES = libhamlib-dummy.la
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libhamlib_dummy_la_SOURCES = $(DUMMYSRC)
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@ -31,6 +31,7 @@
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#include "idx_builtin.h"
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#include "rot_dummy.h"
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#include "rot_pstrotator.h"
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#include "rotlist.h"
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#define DUMMY_ROT_FUNC 0
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@ -1009,6 +1010,7 @@ DECLARE_INITROT_BACKEND(dummy)
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rot_register(&dummy_rot_caps);
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rot_register(&netrotctl_caps);
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rot_register(&pstrotator_caps);
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return RIG_OK;
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}
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@ -39,5 +39,6 @@
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extern struct rot_caps dummy_rot_caps;
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extern struct rot_caps netrotctl_caps;
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extern struct rot_caps pstrotator;
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#endif /* _ROT_DUMMY_H */
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@ -0,0 +1,582 @@
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/*
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i Hamlib Dummy backend - main file
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* Copyright (c) 2001-2009 by Stephane Fillod
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#include <stdlib.h>
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#include <string.h> /* String function definitions */
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#include <math.h>
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#include <sys/time.h>
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#include <errno.h>
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#include "hamlib/rotator.h"
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#include "dummy_common.h"
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#include "rig.h"
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#include "register.h"
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#include "idx_builtin.h"
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#include "misc.h"
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#include "iofunc.h"
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#include "rot_pstrotator.h"
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#include "rotlist.h"
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#include "network.h"
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#define PSTROTATOR_ROT_FUNC 0
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#define PSTROTATOR_ROT_LEVEL ROT_LEVEL_SPEED
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#define PSTROTATOR_ROT_PARM 0
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#define PSTROTATOR_ROT_STATUS (ROT_STATUS_MOVING | ROT_STATUS_MOVING_AZ | ROT_STATUS_MOVING_LEFT | ROT_STATUS_MOVING_RIGHT | \
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ROT_STATUS_MOVING_EL | ROT_STATUS_MOVING_UP | ROT_STATUS_MOVING_DOWN | \
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ROT_STATUS_LIMIT_UP | ROT_STATUS_LIMIT_DOWN | ROT_STATUS_LIMIT_LEFT | ROT_STATUS_LIMIT_RIGHT)
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static int simulating = 0; // do we need rotator emulation for debug?
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struct pstrotator_rot_priv_data
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{
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azimuth_t az;
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elevation_t el;
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struct timeval tv; /* time last az/el update */
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azimuth_t target_az;
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elevation_t target_el;
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rot_status_t status;
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setting_t funcs;
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value_t levels[RIG_SETTING_MAX];
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value_t parms[RIG_SETTING_MAX];
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struct ext_list *ext_funcs;
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struct ext_list *ext_levels;
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struct ext_list *ext_parms;
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char *magic_conf;
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// hamlib_port_t port2; // the reply port for PSTRotator which is port+1
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int sockfd2; // the reply port for PSTRotator which is port+1
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};
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static const struct confparams pstrotator_ext_levels[] =
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{
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{
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TOK_EL_ROT_MAGICLEVEL, "MGL", "Magic level", "Magic level, as an example",
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NULL, RIG_CONF_NUMERIC, { .n = { 0, 1, .001 } }
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},
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{
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TOK_EL_ROT_MAGICFUNC, "MGF", "Magic func", "Magic function, as an example",
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NULL, RIG_CONF_CHECKBUTTON
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},
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{
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TOK_EL_ROT_MAGICOP, "MGO", "Magic Op", "Magic Op, as an example",
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NULL, RIG_CONF_BUTTON
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},
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{
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TOK_EL_ROT_MAGICCOMBO, "MGC", "Magic combo", "Magic combo, as an example",
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"VALUE1", RIG_CONF_COMBO, { .c = { .combostr = { "VALUE1", "VALUE2", "NONE", NULL } } }
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},
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{ RIG_CONF_END, NULL, }
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};
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static const struct confparams pstrotator_ext_funcs[] =
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{
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{
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TOK_EL_ROT_MAGICEXTFUNC, "MGEF", "Magic ext func", "Magic ext function, as an example",
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NULL, RIG_CONF_CHECKBUTTON
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},
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{ RIG_CONF_END, NULL, }
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};
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static const struct confparams pstrotator_ext_parms[] =
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{
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{
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TOK_EP_ROT_MAGICPARM, "MGP", "Magic parm", "Magic parameter, as an example",
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NULL, RIG_CONF_NUMERIC, { .n = { 0, 1, .001 } }
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},
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{ RIG_CONF_END, NULL, }
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};
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/* cfgparams are configuration item generally used by the backend's open() method */
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static const struct confparams pstrotator_cfg_params[] =
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{
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{
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TOK_CFG_ROT_MAGICCONF, "mcfg", "Magic conf", "Magic parameter, as an example",
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"ROTATOR", RIG_CONF_STRING, { }
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},
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{ RIG_CONF_END, NULL, }
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};
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static int write_transaction(ROT *rot, char *cmd)
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{
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int try = rot->caps->retry;
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int retval = -RIG_EPROTO;
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hamlib_port_t *rp = ROTPORT(rot);
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// This shouldn't ever happen...but just in case
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// We need to avoid an empty write as rotctld replies with blank line
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if (strlen(cmd) == 0)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: len==0??\n", __func__);
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return (retval);
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}
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// appears we can lose sync if we don't clear things out
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// shouldn't be anything for us now anyways
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rig_flush(rp);
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while (try-- >= 0 && retval != RIG_OK)
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{
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char cmd2[64];
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if (strchr(cmd, '\r') == NULL)
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{
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sprintf(cmd2, "%s\r", cmd);
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}
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retval = write_block(rp, (unsigned char *) cmd, strlen(cmd));
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if (retval < 0)
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{
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return (-RIG_EIO);
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}
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}
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return RIG_OK;
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}
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static int pstrotator_rot_init(ROT *rot)
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{
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struct pstrotator_rot_priv_data *priv;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot->state.priv = (struct pstrotator_rot_priv_data *)
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calloc(1, sizeof(struct pstrotator_rot_priv_data));
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if (!rot->state.priv)
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{
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return -RIG_ENOMEM;
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}
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priv = rot->state.priv;
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priv->ext_funcs = alloc_init_ext(pstrotator_ext_funcs);
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if (!priv->ext_funcs)
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{
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return -RIG_ENOMEM;
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}
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priv->ext_levels = alloc_init_ext(pstrotator_ext_levels);
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if (!priv->ext_levels)
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{
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return -RIG_ENOMEM;
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}
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priv->ext_parms = alloc_init_ext(pstrotator_ext_parms);
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if (!priv->ext_parms)
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{
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return -RIG_ENOMEM;
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}
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ROTPORT(rot)->type.rig = RIG_PORT_UDP_NETWORK;
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priv->az = priv->el = 0;
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priv->target_az = priv->target_el = 0;
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priv->magic_conf = strdup("ROTATOR");
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strcpy(ROTPORT(rot)->pathname, "192.0.0.1:12000");
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return RIG_OK;
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}
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static int pstrotator_rot_cleanup(ROT *rot)
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{
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struct pstrotator_rot_priv_data *priv = (struct pstrotator_rot_priv_data *)
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rot->state.priv;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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free(priv->ext_funcs);
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free(priv->ext_levels);
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free(priv->ext_parms);
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free(priv->magic_conf);
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free(rot->state.priv);
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rot->state.priv = NULL;
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return RIG_OK;
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}
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static void set_timeout(int fd, int sec, int usec)
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{
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struct timeval timeout;
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timeout.tv_sec = sec;
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timeout.tv_usec = usec;
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rig_debug(RIG_DEBUG_VERBOSE, "%s: sec=%d, usec=%d, timeout = %.6lf\n", __func__,
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sec, usec, sec + usec / 1e6);
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if (setsockopt(fd, SOL_SOCKET, SO_RCVTIMEO, (const char *)&timeout,
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sizeof(timeout)) < 0)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: setsockopt failed: %s\n", __func__,
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strerror(errno));
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}
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}
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static int pstrotator_rot_open(ROT *rot)
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{
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struct pstrotator_rot_priv_data *priv;
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int port = 0;
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int n1, n2, n3, n4;
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int sockfd;
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struct sockaddr_in clientAddr;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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priv = (struct pstrotator_rot_priv_data *)rot->state.priv;
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//priv->port2 = rot->state.rotport;
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//priv->port2.type.rig = RIG_PORT_UDP_NETWORK;
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rig_debug(RIG_DEBUG_VERBOSE, "%s: pathname=%s\n", __func__,
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ROTPORT(rot)->pathname);
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sscanf(ROTPORT(rot)->pathname, "%d.%d.%d.%d:%d", &n1, &n2, &n3, &n4, &port);
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//sprintf(priv->port2.pathname, "%d.%d.%d.%d:%d", n1, n2, n3, n4, port+1);
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//rig_debug(RIG_DEBUG_VERBOSE, "%s: port2 pathname=%s\n", __func__, priv->port2.pathname);
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//network_open(&priv->port2, port+1);
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if ((sockfd = socket(AF_INET, SOCK_DGRAM, 0)) < 0)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: socket failed: %s\n", __func__, strerror(errno));
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return -RIG_EINTERNAL;
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}
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// Bind socket to client address
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memset(&clientAddr, 0, sizeof(clientAddr));
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clientAddr.sin_family = AF_INET;
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clientAddr.sin_addr.s_addr = INADDR_ANY;
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clientAddr.sin_port = htons(12001);
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if (bind(sockfd, (const struct sockaddr *)&clientAddr, sizeof(clientAddr)) < 0)
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{
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rig_debug(RIG_DEBUG_ERR, "%s: bind failed: %s\n", __func__, strerror(errno));
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return -RIG_EINTERNAL;
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}
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priv->sockfd2 = sockfd;
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set_timeout(priv->sockfd2, 1, 0);
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return RIG_OK;
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}
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static int pstrotator_rot_close(ROT *rot)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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return RIG_OK;
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}
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static int pstrotator_set_conf(ROT *rot, hamlib_token_t token, const char *val)
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{
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struct pstrotator_rot_priv_data *priv;
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priv = (struct pstrotator_rot_priv_data *)rot->state.priv;
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switch (token)
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{
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case TOK_CFG_ROT_MAGICCONF:
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if (val)
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{
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free(priv->magic_conf);
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priv->magic_conf = strdup(val);
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}
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break;
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default:
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return -RIG_EINVAL;
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}
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return RIG_OK;
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}
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static int pstrotator_get_conf2(ROT *rot, hamlib_token_t token, char *val,
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int val_len)
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{
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struct pstrotator_rot_priv_data *priv;
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priv = (struct pstrotator_rot_priv_data *)rot->state.priv;
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switch (token)
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{
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case TOK_CFG_ROT_MAGICCONF:
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SNPRINTF(val, val_len, "%s", priv->magic_conf);
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break;
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default:
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return -RIG_EINVAL;
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}
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return RIG_OK;
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}
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static int pstrotator_get_conf(ROT *rot, hamlib_token_t token, char *val)
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{
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return pstrotator_get_conf2(rot, token, val, 128);
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}
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static int pstrotator_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
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{
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struct pstrotator_rot_priv_data *priv = (struct pstrotator_rot_priv_data *)
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rot->state.priv;
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rig_debug(RIG_DEBUG_VERBOSE, "%s called: %.2f %.2f\n", __func__,
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az, el);
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if (simulating)
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{
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priv->target_az = az;
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priv->target_el = el;
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gettimeofday(&priv->tv, NULL);
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}
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else
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{
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char cmd[64];
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sprintf(cmd, "<PST><AZIMUTH>%f.2</AZIMUTH></PST>", az);
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write_transaction(rot, cmd);
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sprintf(cmd, "<PST><ELEVATION>%f.2</ELEVATION></PST>", el);
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write_transaction(rot, cmd);
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priv->az = az;
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priv->el = el;
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}
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return RIG_OK;
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}
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void readPacket(int sockfd, char *buf, int buf_len, int expected)
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{
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struct sockaddr_in serverAddr;
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socklen_t addrLen = sizeof(serverAddr);
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buf[0] = 0;
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if (expected)
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{
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set_timeout(sockfd, 1, 0);
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}
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else
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{
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set_timeout(sockfd, 0, 0);
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}
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ssize_t n = recvfrom(sockfd, buf, buf_len, 0, (struct sockaddr *)&serverAddr,
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&addrLen);
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if (n < 0)
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{
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#ifdef _WIN32
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int err = WSAGetLastError();
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if (err == WSAEWOULDBLOCK || err == WSAETIMEDOUT)
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{
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if (expected)
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rig_debug(RIG_DEBUG_ERR,
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"%s: recvfrom timed out. Is PSTRotator Setup/UDP Control enabled?\n", __func__);
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}
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else
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{
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rig_debug(RIG_DEBUG_ERR, "%s: recvfrom error %d: %s\n", __func__, err,
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strerror(errno));
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}
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#else
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|
||||
if (errno == EWOULDBLOCK || errno == EAGAIN)
|
||||
{
|
||||
if (expected)
|
||||
rig_debug(RIG_DEBUG_ERR,
|
||||
"%s: recvfrom timed out. Is PSTRotator Setup/UDP Control checked?\n", __func__);
|
||||
}
|
||||
else
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "%s: recvfrom error: %s\n", __func__, strerror(errno));
|
||||
}
|
||||
|
||||
#endif
|
||||
n = 0;
|
||||
}
|
||||
|
||||
buf[n] = '\0'; // Null-terminate the received data
|
||||
strtok(buf, "\r\n"); // get rid of CRs and such
|
||||
|
||||
if (n > 0) { rig_debug(RIG_DEBUG_VERBOSE, "%s: buf=%s\n", __func__, buf); }
|
||||
}
|
||||
|
||||
/*
|
||||
* Get position of rotor, simulating slow rotation
|
||||
*/
|
||||
static int pstrotator_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
|
||||
{
|
||||
struct pstrotator_rot_priv_data *priv = (struct pstrotator_rot_priv_data *)
|
||||
rot->state.priv;
|
||||
char buf[64];
|
||||
int n = 0;
|
||||
fd_set rfds, efds;
|
||||
int select_result;
|
||||
struct timeval timeout;
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
write_transaction(rot, "<PST>AZ?</PST>");
|
||||
write_transaction(rot, "<PST>EL?</PST>");
|
||||
|
||||
do
|
||||
{
|
||||
//read_string(&priv->port2, (unsigned char*)buf, sizeof(buf), stopset, stopset_len, 1, 1);
|
||||
buf[0] = 0;
|
||||
|
||||
// if moving we need to keep polling for updates until there are none
|
||||
if (n == 2)
|
||||
{
|
||||
timeout.tv_sec = 0;
|
||||
timeout.tv_usec = 0;
|
||||
|
||||
FD_ZERO(&rfds);
|
||||
FD_SET(priv->sockfd2, &rfds);
|
||||
efds = rfds;
|
||||
select_result = select(priv->sockfd2, &rfds, NULL, &efds, &timeout);
|
||||
|
||||
if (select_result == 0)
|
||||
{
|
||||
//rig_debug(RIG_DEBUG_VERBOSE, "%s: timeout\n", __func__);
|
||||
break;
|
||||
}
|
||||
else
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s: select_result=%d\n", __func__, select_result);
|
||||
readPacket(priv->sockfd2, buf, sizeof(buf), 0);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
readPacket(priv->sockfd2, buf, sizeof(buf), 1);
|
||||
}
|
||||
|
||||
dump_hex((unsigned char *)buf, strlen(buf));
|
||||
n += sscanf(buf, "AZ:%g", &priv->az);
|
||||
n += sscanf(buf, "EL:%g", &priv->el);
|
||||
if (n > 2) n = 2;
|
||||
}
|
||||
while (strlen(buf) > 0);
|
||||
|
||||
*az = priv->az;
|
||||
*el = priv->el;
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
|
||||
static int pstrotator_rot_park(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
write_transaction(rot, "<PST><PARK>1</PARK></PST>");
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
static const char *pstrotator_rot_get_info(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
|
||||
|
||||
return "PSTRotator";
|
||||
}
|
||||
|
||||
static int pstrotator_rot_get_status(ROT *rot, rot_status_t *status)
|
||||
{
|
||||
const struct pstrotator_rot_priv_data *priv = (struct pstrotator_rot_priv_data
|
||||
*)
|
||||
rot->state.priv;
|
||||
|
||||
*status = priv->status;
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Dummy rotator capabilities.
|
||||
*/
|
||||
struct rot_caps pstrotator_caps =
|
||||
{
|
||||
ROT_MODEL(ROT_MODEL_PSTROTATOR),
|
||||
.model_name = "PstRotator",
|
||||
.mfg_name = "YO3DMU",
|
||||
.version = "20240607.0",
|
||||
.copyright = "LGPL",
|
||||
.status = RIG_STATUS_STABLE,
|
||||
.rot_type = ROT_TYPE_AZEL,
|
||||
.port_type = RIG_PORT_UDP_NETWORK,
|
||||
.timeout = 1000,
|
||||
|
||||
.min_az = -180.,
|
||||
.max_az = 450.,
|
||||
.min_el = 0.,
|
||||
.max_el = 90.,
|
||||
|
||||
.priv = NULL, /* priv */
|
||||
|
||||
.has_get_func = PSTROTATOR_ROT_FUNC,
|
||||
.has_set_func = PSTROTATOR_ROT_FUNC,
|
||||
.has_get_level = PSTROTATOR_ROT_LEVEL,
|
||||
.has_set_level = ROT_LEVEL_SET(PSTROTATOR_ROT_LEVEL),
|
||||
.has_get_parm = PSTROTATOR_ROT_PARM,
|
||||
.has_set_parm = ROT_PARM_SET(PSTROTATOR_ROT_PARM),
|
||||
|
||||
.level_gran = { [ROT_LVL_SPEED] = { .min = { .i = 1 }, .max = { .i = 4 }, .step = { .i = 1 } } },
|
||||
|
||||
.extlevels = pstrotator_ext_levels,
|
||||
.extfuncs = pstrotator_ext_funcs,
|
||||
.extparms = pstrotator_ext_parms,
|
||||
.cfgparams = pstrotator_cfg_params,
|
||||
|
||||
.has_status = PSTROTATOR_ROT_STATUS,
|
||||
|
||||
.rot_init = pstrotator_rot_init,
|
||||
.rot_cleanup = pstrotator_rot_cleanup,
|
||||
.rot_open = pstrotator_rot_open,
|
||||
.rot_close = pstrotator_rot_close,
|
||||
|
||||
.set_conf = pstrotator_set_conf,
|
||||
.get_conf = pstrotator_get_conf,
|
||||
|
||||
.set_position = pstrotator_rot_set_position,
|
||||
.get_position = pstrotator_rot_get_position,
|
||||
.park = pstrotator_rot_park,
|
||||
|
||||
.get_info = pstrotator_rot_get_info,
|
||||
.get_status = pstrotator_rot_get_status,
|
||||
};
|
||||
|
|
@ -0,0 +1,43 @@
|
|||
/*
|
||||
* Hamlib Dummy backend - main header
|
||||
* Copyright (c) 2001-2008 by Stephane Fillod
|
||||
*
|
||||
*
|
||||
* 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_PSTROTATOR_H
|
||||
#define _ROT_PSTROTATOR_H 1
|
||||
|
||||
#include "rotator.h"
|
||||
#include "token.h"
|
||||
|
||||
/* backend conf */
|
||||
#define TOK_CFG_ROT_MAGICCONF TOKEN_BACKEND(1)
|
||||
#define TOK_CFG_ROT_STATIC_DATA TOKEN_BACKEND(2)
|
||||
|
||||
/* ext_level's and ext_parm's tokens */
|
||||
#define TOK_EL_ROT_MAGICLEVEL TOKEN_BACKEND(1)
|
||||
#define TOK_EL_ROT_MAGICFUNC TOKEN_BACKEND(2)
|
||||
#define TOK_EL_ROT_MAGICOP TOKEN_BACKEND(3)
|
||||
#define TOK_EP_ROT_MAGICPARM TOKEN_BACKEND(4)
|
||||
#define TOK_EL_ROT_MAGICCOMBO TOKEN_BACKEND(5)
|
||||
#define TOK_EL_ROT_MAGICEXTFUNC TOKEN_BACKEND(6)
|
||||
|
||||
extern struct rot_caps pstrotator_caps;
|
||||
extern struct rot_caps netrotctl_caps;
|
||||
|
||||
#endif /* _ROT_PSTROTATOR_H */
|
||||
Ładowanie…
Reference in New Issue