emulate rotator slowly rotating

git-svn-id: https://hamlib.svn.sourceforge.net/svnroot/hamlib/trunk@2640 7ae35d74-ebe9-4afe-98af-79ac388436b8

dummy/Makefile.am

@@ -2,6 +2,7 @@
 lib_LTLIBRARIES = hamlib-dummy.la
 hamlib_dummy_la_SOURCES = dummy.c rot_dummy.c netrigctl.c netrotctl.c
 hamlib_dummy_la_LDFLAGS = -no-undefined -module -avoid-version
-hamlib_dummy_la_LIBADD = $(top_builddir)/src/libhamlib.la
+hamlib_dummy_la_LIBADD = $(top_builddir)/src/libhamlib.la \
+			 @MATH_LIBS@
 
 noinst_HEADERS = dummy.h rot_dummy.h

dummy/rot_dummy.c

@@ -1,8 +1,8 @@
 /*
  *  Hamlib Dummy backend - main file
- *  Copyright (c) 2001-2008 by Stephane Fillod
+ *  Copyright (c) 2001-2009 by Stephane Fillod
  *
- *	$Id: rot_dummy.c,v 1.7 2008-09-21 19:34:16 fillods Exp $
+ *	$Id: rot_dummy.c,v 1.8 2009-02-18 20:56:36 fillods Exp $
  *
  *   This library is free software; you can redistribute it and/or modify
  *   it under the terms of the GNU Library General Public License as
@@ -28,6 +28,8 @@
 #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"
@@ -37,8 +39,12 @@
 #include "rot_dummy.h"
 
 struct dummy_rot_priv_data {
-		azimuth_t az;
+	azimuth_t az;
-		elevation_t el;
+	elevation_t el;
+
+	struct timeval tv;	/* time last az/el update */
+	azimuth_t target_az;
+	elevation_t target_el;
 };
 
 
@@ -54,17 +60,19 @@ static int dummy_rot_init(ROT *rot)
 		  return -RIG_ENOMEM;
   rot->state.priv = (void*)priv;
 
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
   rot->state.rotport.type.rig = RIG_PORT_NONE;
 
   priv->az = priv->el = 0;
 
+  priv->target_az = priv->target_el = 0;
+
   return RIG_OK;
 }
 
 static int dummy_rot_cleanup(ROT *rot)
 {
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
 
   if (rot->state.priv)
   	free(rot->state.priv);
@@ -76,14 +84,14 @@ static int dummy_rot_cleanup(ROT *rot)
 
 static int dummy_rot_open(ROT *rot)
 {
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
 
   return RIG_OK;
 }
 
 static int dummy_rot_close(ROT *rot)
 {
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
 
   return RIG_OK;
 }
@@ -92,31 +100,93 @@ static int dummy_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
 {
   struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;
 
-  rig_debug(RIG_DEBUG_VERBOSE,"%s called: %f %f\n", __FUNCTION__, 
+  rig_debug(RIG_DEBUG_VERBOSE,"%s called: %.2f %.2f\n", __func__, 
  			az, el);
-  priv->az = az;
+
-  priv->el = el;
+  priv->target_az = az;
+  priv->target_el = el;
+
+  gettimeofday(&priv->tv, NULL);
 
   return RIG_OK;
 }
 
 
+/*
+ * Get position of rotor, simulating slow rotation
+ */
 static int dummy_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
 {
   struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;
+  struct timeval tv;
+  unsigned elapsed; /* ms */
 
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+  if (priv->az == priv->target_az &&
+		  priv->el == priv->target_el)
+  {
+    *az = priv->az;
+    *el = priv->el;
+    return RIG_OK;
+  }
+
+  gettimeofday(&tv, NULL);
+
+  elapsed = (tv.tv_sec - priv->tv.tv_sec) * 1000 +
+	  (tv.tv_usec - priv->tv.tv_usec) / 1000;
+
+  /*
+   * Simulate rotation speed of 360 deg per minute
+   */
+#define DEG_PER_MS (360./60/1000)
+  if (fabs(priv->target_az - priv->az)/DEG_PER_MS <= elapsed)
+  {
+	/* target reached */
+  	priv->az = priv->target_az;
+  }
+  else
+  {
+  	if (priv->az < priv->target_az)
+  		priv->az += (azimuth_t)elapsed*DEG_PER_MS;
+	else
+  		priv->az -= (azimuth_t)elapsed*DEG_PER_MS;
+  }
+
+  if (fabs(priv->target_el - priv->el)/DEG_PER_MS <= elapsed)
+  {
+	/* target reached */
+  	priv->el = priv->target_el;
+  }
+  else
+  {
+  	if (priv->el < priv->target_el)
+  		priv->el += (elevation_t)elapsed*DEG_PER_MS;
+	else
+  		priv->el -= (elevation_t)elapsed*DEG_PER_MS;
+  }
 
   *az = priv->az;
   *el = priv->el;
 
+  priv->tv = tv;
+
   return RIG_OK;
 }
 
 
 static int dummy_rot_stop(ROT *rot)
 {
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;
+  azimuth_t az;
+  elevation_t el;
+
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+  dummy_rot_get_position(rot, &az, &el);
+
+  priv->target_az = priv->az = az;
+  priv->target_el = priv->el = el;
 
   return RIG_OK;
 }
@@ -124,30 +194,52 @@ static int dummy_rot_stop(ROT *rot)
 
 static int dummy_rot_park(ROT *rot)
 {
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+  /* Assume home is 0,0 */
+  dummy_rot_set_position(rot, 0, 0);
 
   return RIG_OK;
 }
 
 static int dummy_rot_reset(ROT *rot, rot_reset_t reset)
 {
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
 
   return RIG_OK;
 }
 
 static int dummy_rot_move(ROT *rot, int direction, int speed)
 {
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;
+
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
+
+  switch(direction) {
+  case ROT_MOVE_UP:
+	  return dummy_rot_set_position(rot, priv->target_az, 90);
+
+  case ROT_MOVE_DOWN:
+	  return dummy_rot_set_position(rot, priv->target_az, 0);
+
+  case ROT_MOVE_CCW:
+	  return dummy_rot_set_position(rot, -180, priv->target_el);
+
+  case ROT_MOVE_CW:
+	  return dummy_rot_set_position(rot, 180, priv->target_el);
+
+  default:
+	  return -RIG_EINVAL;
+  }
 
   return RIG_OK;
 }
 
 static const char *dummy_rot_get_info(ROT *rot)
 {
-  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);
+  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
 
-  return "";
+  return "Dummy rotator";
 }
 
 
@@ -160,9 +252,9 @@ const struct rot_caps dummy_rot_caps = {
   .rot_model =      ROT_MODEL_DUMMY,
   .model_name =     "Dummy",
   .mfg_name =       "Hamlib",
-  .version =        "0.1",
+  .version =        "0.2",
-  .copyright = 	 "LGPL",
+  .copyright = 	    "LGPL",
-  .status =         RIG_STATUS_ALPHA,
+  .status =         RIG_STATUS_BETA,
   .rot_type =       ROT_TYPE_OTHER,
   .port_type =      RIG_PORT_NONE,