ether6: New rotor backend from Jonny, DG9OAA

I have now written a new rotor control based on an Atmel ethernet board
and used with me. It works well so far.

Signed-off-by: Nate Bargmann <n0nb@n0nb.us>

Makefile.am

@@ -23,7 +23,8 @@ DIST_SUBDIRS = libltdl macros include lib src c++ bindings tests doc \
 	icom kenwood aor yaesu dummy pcr alinco uniden tentec kachina jrc \
 	winradio adat easycomm fodtrack drake rotorez \
 	flexradio sartek lowe rft rs tapr kit skanti prm80 wj racal tuner \
-	gs232a heathkit spid ars m2 amsat scripts ts7400 celestron android
+	gs232a heathkit spid ars m2 amsat scripts ts7400 celestron android \
+	ether6
 
 # Install any third party macros into our tree for distribution
 ACLOCAL_AMFLAGS = -I macros --install

configure.ac

@@ -47,7 +47,7 @@ m4_ifdef([AM_SILENT_RULES], [AM_SILENT_RULES([yes])])
 dnl New backends must be listed here!  Also the new Makefile path must be
 dnl added to AC_CONFIG_FILES near the end of this file.  See README.developer
 BACKEND_LIST="icom kenwood aor yaesu dummy pcr alinco uniden tentec kachina jrc drake lowe rft rs kit skanti prm80 tapr flexradio wj racal tuner adat"
-ROT_BACKEND_LIST="dummy easycomm fodtrack gs232a heathkit kit rotorez sartek spid ars m2 amsat ts7400 celestron"
+ROT_BACKEND_LIST="dummy easycomm fodtrack gs232a heathkit kit rotorez sartek spid ars m2 amsat ts7400 celestron ether6"
 
 dnl See README.release on setting these values
 # Values given to -version-info when linking.  See libtool documentation.
@@ -724,6 +724,7 @@ amsat/Makefile
 adat/Makefile
 ts7400/Makefile
 celestron/Makefile
+ether6/Makefile
 scripts/Makefile
 android/Makefile
 hamlib.pc])

ether6/Makefile.am

@@ -0,0 +1,7 @@
+
+pkglib_LTLIBRARIES = hamlib-ether6.la
+hamlib_ether6_la_SOURCES = ether6.c ether6.h
+hamlib_ether6_la_LDFLAGS = -no-undefined -module -avoid-version
+hamlib_ether6_la_LIBADD = $(top_builddir)/src/libhamlib.la
+
+EXTRA_DIST = README.ether6 ether6.txt

ether6/README.ether6

@@ -0,0 +1,34 @@
+Quirks, known bugs, and other notes.
+====================================
+
+In this document I will try to describe the operation of the rotor Ethersex
+interfaces.  The project Ethersex (www.ethersex.de) provides a simple
+linking against its own projects.  The software runs on Atmel AVR
+processors.
+
+The rotor control I realized for the following AVR boards:
+
+  * etherrape   http://www.lochraster.org/etherrape/
+and
+  * AVR-NET-IO  http://www.pollin.de/shop/dt/MTQ5OTgxOTk-/Bausaetze_Module/Bausaetze/Bausatz_AVR_NET_IO.html
+  
+The functioning of the etersex rotor control is easy. A voltage of 0 - 5 V
+indicates the direction of rotation. One output for CW, CCW and, if
+necessary, the brake control. When creating the software (Ethersex) can be
+adjusted by a more detailed configuration menu. The controller supports only
+a subset of the command set of rotor position.
+
+  * set position
+  * get position
+  * park
+  * stop
+  * move (turn cw or ccw)
+  
+A detailed description of the software can be found at Ethersex:
+
+http://www.ethersex.de/index.php/Rotor_(Deutsch)
+
+An example of the direct control via the command found in the File ether6.txt
+
+Does anyone have any suggestions or comments send an e mail to dg9oaa@darc.de
+

ether6/ether6.c

@@ -0,0 +1,297 @@
+/*
+ *  Hamlib Ether6 backend - main file
+ *  Copyright (c) 2001-2009 by Stephane Fillod
+ *  Copyright (c) 2013 by Jonny Röker <Jonny.Roeker@t-online.de>
+ *
+ *
+ *   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 <stdlib.h>
+#include <string.h>  /* String function definitions */
+#include <unistd.h>  /* UNIX standard function definitions */
+#include <math.h>
+#include <sys/time.h>
+#include <time.h>
+
+#include <hamlib/rotator.h>
+#include "serial.h"
+#include "misc.h"
+#include "register.h"
+
+#include "ether6.h"
+
+#define CMD_MAX 32
+#define BUF_MAX 64
+
+/*
+ * Helper function with protocol return code parsing
+ */
+static int ether_transaction(ROT *rot, char *cmd, int len, char *buf)
+{
+  int ret;
+
+  ret = write_block(&rot->state.rotport, cmd, len);
+  rig_debug(RIG_DEBUG_VERBOSE, "function %s(1): ret=%d || send=%s\n",__FUNCTION__ , ret, cmd);
+  if (ret != RIG_OK)
+	return ret;
+
+  ret = read_string(&rot->state.rotport, buf, BUF_MAX, "\n", sizeof("\n"));
+  rig_debug(RIG_DEBUG_VERBOSE, "function %s(2): ret=%d || receive=%s\n",__FUNCTION__ , ret, buf);
+  if (ret < 0)
+	return ret;
+
+  if (!memcmp(buf, ROTORCTL_RET, strlen(ROTORCTL_RET))) {
+    rig_debug(RIG_DEBUG_VERBOSE, "function %s(2a): receive=%s\n",__FUNCTION__ , buf);
+    return RIG_OK;
+  }
+
+  if (!memcmp(buf, NETROTCTL_RET, strlen(NETROTCTL_RET))) {
+   int rv = atoi(buf+strlen(NETROTCTL_RET));
+   rig_debug(RIG_DEBUG_VERBOSE, "function %s(2): ret=%d || receive=%d\n",__FUNCTION__ , ret, rv);
+	return atoi(buf+strlen(NETROTCTL_RET));
+  }
+
+  return ret;
+}
+
+static int ether_rot_open(ROT *rot)
+{
+  int ret, len;
+  int sval;
+  float min_az, max_az, min_el, max_el;
+  struct rot_state *rs = &rot->state;
+
+  char cmd[CMD_MAX];
+  char buf[BUF_MAX];
+
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  /* elevation not need */
+
+  len = sprintf(cmd, "rotor state\n");
+  /*-180/180 0/90*/
+
+  ret = ether_transaction(rot, cmd, len, buf);
+  if (ret <= 0)
+     return (ret < 0) ? ret : -RIG_EPROTO;
+
+  sval = sscanf(buf, "%f/%f %f/%f", &min_az, &max_az, &min_el, &max_el);
+  rs->min_az = min_az;
+  rs->max_az = max_az;
+  rs->min_el = min_el;
+  rs->max_el = max_el;
+  rig_debug(RIG_DEBUG_VERBOSE, "ret(%d)%f/%f %f/%f\n", sval, rs->min_az, rs->max_az, rs->min_el, rs->max_el);
+
+  return RIG_OK;
+}
+
+static int ether_rot_close(ROT *rot)
+{
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+
+  /* clean signoff, no read back */
+  write_block(&rot->state.rotport, "\n", 1);
+
+  return RIG_OK;
+}
+
+static int ether_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
+{
+  int ret, len;
+  char cmd[CMD_MAX];
+  char buf[BUF_MAX];
+
+  rig_debug(RIG_DEBUG_VERBOSE,"%s called: %f %f\n", __FUNCTION__,
+ 			az, el);
+
+  len = sprintf(cmd, "rotor move %d %d\n", (int)az, (int)el);
+
+  ret = ether_transaction(rot, cmd, len, buf);
+  if (ret > 0)
+	return -RIG_EPROTO;
+  else
+  	return ret;
+}
+
+static int ether_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
+{
+  int ret, len, sval, speed, adv;
+  char cmd[CMD_MAX];
+  char buf[BUF_MAX];
+  char mv[BUF_MAX];
+
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+
+  len = sprintf(cmd, "rotor status\n");
+
+  ret = ether_transaction(rot, cmd, len, buf);
+  if (ret <= 0)
+	return (ret < 0) ? ret : -RIG_EPROTO;
+
+  // example "hold,az=87,el=0,v=8,ad0=346"
+  sval = sscanf(buf, "%4s az=%f el=%f v=%d ad0=%d", mv, az, el, &speed, &adv);
+  rig_debug(RIG_DEBUG_VERBOSE, "az=%f el=%f mv=%s ad(az)=%d\n", *az, *el, mv, adv);
+  
+  if (sval == 5)
+    return RIG_OK;
+  else
+    return -RIG_EPROTO;
+}
+
+/**
+* stop the rotor
+*/
+static int ether_rot_stop(ROT *rot)
+{
+  int ret, len;
+  char cmd[CMD_MAX];
+  char buf[BUF_MAX];
+
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+
+  len = sprintf(cmd, "rotor stop\n");
+
+  ret = ether_transaction(rot, cmd, len, buf);
+  if (ret > 0)
+	return -RIG_EPROTO;
+  else
+  	return ret;
+}
+
+
+/**
+* park the rotor
+*/
+static int ether_rot_park(ROT *rot)
+{
+  int ret, len;
+  char cmd[CMD_MAX];
+  char buf[BUF_MAX];
+
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+
+  len = sprintf(cmd, "rotor park\n");
+
+  ret = ether_transaction(rot, cmd, len, buf);
+  if (ret > 0)
+	return -RIG_EPROTO;
+  else
+  	return ret;
+}
+
+static int ether_rot_reset(ROT *rot, rot_reset_t reset)
+{
+  int ret, len;
+  char cmd[CMD_MAX];
+  char buf[BUF_MAX];
+
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+
+  // orig len = sprintf(cmd, "R %d\n", reset);
+  len = sprintf(cmd, "reset\n");
+
+  ret = ether_transaction(rot, cmd, len, buf);
+  if (ret > 0)
+	return -RIG_EPROTO;
+  else
+  	return ret;
+}
+
+/**
+* call rotor cw or rotor ccw
+* if direction value 0 turn cw and if direction value 1 turn ccw
+*/
+static int ether_rot_move(ROT *rot, int direction, int speed)
+{
+  int ret, len;
+  char cmd[CMD_MAX];
+  char buf[BUF_MAX];
+
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+
+  if (direction == 0)
+    len = sprintf(cmd, "rotor cw %d\n", speed);
+  else
+    len = sprintf(cmd, "rotor ccw %d\n", speed);
+
+  ret = ether_transaction(rot, cmd, len, buf);
+  if (ret > 0)
+	return -RIG_EPROTO;
+  else
+  	return ret;
+}
+
+
+static const char *ether_rot_get_info(ROT *rot)
+{
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+  return "ip rotator via ethersex";
+}
+
+
+
+/*
+ * Dummy rotator capabilities.
+ */
+
+const struct rot_caps ether6_rot_caps = {
+  .rot_model =      ROT_MODEL_ETHER6,
+  .model_name =     "Ether6 (via ethernet)",
+  .mfg_name =       "DG9OAA",
+  .version =        "0.1",
+  .copyright = 	    "LGPL",
+  .status =         RIG_STATUS_BETA,
+  .rot_type =       ROT_FLAG_AZIMUTH,
+  .port_type =      RIG_PORT_NETWORK,
+  .timeout = 5000,
+  .retry =   3,
+
+  .min_az =  	0.,
+  .max_az =  	360,
+  .min_el =  	0,
+  .max_el =  	90,
+
+  .priv =  NULL,	/* priv */
+
+  /* .rot_init     =  ether_rot_init, */
+  /* .rot_cleanup  =  ether_rot_cleanup, */
+
+  .rot_open     =  ether_rot_open,
+  .rot_close    =  ether_rot_close,
+
+  .set_position =  ether_rot_set_position,
+  .get_position =  ether_rot_get_position,
+  .park         =  ether_rot_park,
+  .stop         =  ether_rot_stop,
+  .reset        =  ether_rot_reset,
+  .move         =  ether_rot_move,
+
+  .get_info     =  ether_rot_get_info,
+};
+
+DECLARE_INITROT_BACKEND(ether6)
+{
+	rig_debug(RIG_DEBUG_VERBOSE, "ether6: _init called\n");
+
+	rot_register(&ether6_rot_caps);
+
+	return RIG_OK;
+}

ether6/ether6.h

@@ -0,0 +1,30 @@
+/*
+ *  Hamlib Ether6 backend - main header
+ *  Copyright (c) 2001-2008 by Stephane Fillod
+ *  Copyright (c) 2013 by Jonny Röker <Jonny.Roeker@t-online.de>
+ *
+ *
+ *   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_ETHER6_H
+#define _ROT_ETHER6_H 1
+
+#define ROTORCTL_RET "OK"
+
+extern const struct rot_caps ether6_rot_caps;
+
+#endif /* _ROT_ETHER6_H */

ether6/ether6.txt

@@ -0,0 +1,26 @@
+jro@sunny:~ $ socat stdio tcp4:etherrape:2701
+
+rotor status
+cw   az=-87 el=88 v=50 ad0=370
+
+rotor cw
+rotor ccw
+rotor stop
+rotor park
+
+rotor state
+-180/180 0/90
+
+.... all commands
+
+rotor move
+rotor status
+rotor state
+rotor cw
+rotor ccw
+rotor stop
+rotor park
+rotor setparkpos
+rotor calibrate
+rotor get calibrate
+

include/hamlib/rotlist.h

@@ -261,6 +261,15 @@
 #define ROT_BACKEND_CELESTRON "celestron"
 #define ROT_MODEL_NEXSTAR ROT_MAKE_MODEL(ROT_CELESTRON, 1)
 
+/*! \def ROT_MODEL_ETHER6
+ *  \brief A macro that returns the model number of the Ether6 backend.
+ *
+ *  The Ether6 backend can be used with rotators that support the Ether6
+ *  protocol and alike.
+ */
+#define ROT_ETHER6 15
+#define ROT_BACKEND_ETHER6 "ether6"
+#define ROT_MODEL_ETHER6 ROT_MAKE_MODEL(ROT_ETHER6, 1)
 
 /*! \typedef typedef int rot_model_t
     \brief Convenience type definition for rotator model.
@@ -290,6 +299,7 @@ typedef int rot_model_t;
         { ROT_AMSAT, ROT_BACKEND_AMSAT }, \
         { ROT_TS7400, ROT_BACKEND_TS7400 }, \
         { ROT_CELESTRON, ROT_BACKEND_CELESTRON }, \
+        { ROT_ETHER6, ROT_BACKEND_ETHER6 }, \
         { 0, NULL }, /* end */  \
 }