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Hamlib/include/hamlib/rotator.h

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/*
* Hamlib Interface - Rotator API header
* Copyright (c) 2000-2005 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 _ROTATOR_H
#define _ROTATOR_H 1
#include <hamlib/rig.h>
#include <hamlib/rotlist.h>
/**
* \addtogroup rotator
* @{
*/
/**
* \file rotator.h
* \brief Hamlib rotator data structures.
*
* This file contains the data structures and declarations for the Hamlib
* rotator API. see the rotator.c file for more details on the rotator API.
*/
__BEGIN_DECLS
/* Forward struct references */
struct rot;
struct rot_state;
/**
* \typedef typedef struct rot ROT
* \brief Rotator structure definition (see rot for details).
*/
typedef struct rot ROT;
/**
* \typedef typedef float elevation_t
* \brief Type definition for elevation.
*
* The elevation_t type is used as parameter for the rot_set_position() and
* rot_get_position() functions.
*
* Unless specified otherwise, the unit of elevation_t is decimal degrees.
*/
typedef float elevation_t;
/**
* \typedef typedef float azimuth_t
* \brief Type definition for azimuth.
*
* The azimuth_t type is used as parameter for the rot_set_position() and
* rot_get_position() functions.
*
* Unless specified otherwise, the unit of azimuth_t is decimal degrees.
*/
typedef float azimuth_t;
/**
* \brief Token in the netrotctl protocol for returning error code
*/
#define NETROTCTL_RET "RPRT "
/**
* \def ROT_RESET_ALL
* \brief A macro that returns the flag for the \b reset operation.
* \sa rot_reset(), rot_reset_t()
*/
#define ROT_RESET_ALL 1
/**
* \typedef typedef int rot_reset_t
* \brief Type definition for rotator reset.
*
* The rot_reset_t type is used as parameter for the rot_reset() API
* function.
*/
typedef int rot_reset_t;
/**
* \brief Rotator type flags
*/
typedef enum {
ROT_FLAG_AZIMUTH = (1 << 1), /*!< Azimuth */
ROT_FLAG_ELEVATION = (1 << 2) /*!< Elevation */
} rot_type_t;
#define ROT_TYPE_MASK (ROT_FLAG_AZIMUTH|ROT_FLAG_ELEVATION)
#define ROT_TYPE_OTHER 0
#define ROT_TYPE_AZIMUTH ROT_FLAG_AZIMUTH
#define ROT_TYPE_ELEVATION ROT_FLAG_ELEVATION
#define ROT_TYPE_AZEL (ROT_FLAG_AZIMUTH|ROT_FLAG_ELEVATION)
/**
* \def ROT_MOVE_UP
* \brief A macro that returns the flag for the \b UP direction.
*
* This macro defines the value of the \b UP direction which can be
* used with the rot_move() function.
*
* \sa rot_move(), ROT_MOVE_DOWN, ROT_MOVE_LEFT, ROT_MOVE_CCW,
* ROT_MOVE_RIGHT, ROT_MOVE_CW
*/
#define ROT_MOVE_UP (1<<1)
/**
* \def ROT_MOVE_DOWN
* \brief A macro that returns the flag for the \b DOWN direction.
*
* This macro defines the value of the \b DOWN direction which can be
* used with the rot_move() function.
*
* \sa rot_move(), ROT_MOVE_UP, ROT_MOVE_LEFT, ROT_MOVE_CCW, ROT_MOVE_RIGHT,
* ROT_MOVE_CW
*/
#define ROT_MOVE_DOWN (1<<2)
/**
* \def ROT_MOVE_LEFT
* \brief A macro that returns the flag for the \b LEFT direction.
*
* This macro defines the value of the \b LEFT direction which can be
* used with the rot_move function.
*
* \sa rot_move(), ROT_MOVE_UP, ROT_MOVE_DOWN, ROT_MOVE_CCW, ROT_MOVE_RIGHT,
* ROT_MOVE_CW
*/
#define ROT_MOVE_LEFT (1<<3)
/**
* \def ROT_MOVE_CCW
* \brief A macro that returns the flag for the \b counterclockwise direction.
*
* This macro defines the value of the \b counterclockwise direction which
* can be used with the rot_move() function. This value is equivalent to
* ROT_MOVE_LEFT .
*
* \sa rot_move(), ROT_MOVE_UP, ROT_MOVE_DOWN, ROT_MOVE_LEFT, ROT_MOVE_RIGHT,
* ROT_MOVE_CW
*/
#define ROT_MOVE_CCW ROT_MOVE_LEFT
/**
* \def ROT_MOVE_RIGHT
* \brief A macro that returns the flag for the \b RIGHT direction.
*
* This macro defines the value of the \b RIGHT direction which can be used
* with the rot_move() function.
*
* \sa rot_move(), ROT_MOVE_UP, ROT_MOVE_DOWN, ROT_MOVE_LEFT, ROT_MOVE_CCW,
* ROT_MOVE_CW
*/
#define ROT_MOVE_RIGHT (1<<4)
/**
* \def ROT_MOVE_CW
* \brief A macro that returns the flag for the \b clockwise direction.
*
* This macro defines the value of the \b clockwise direction wich can be
* used with the rot_move() function. This value is equivalent to
* ROT_MOVE_RIGHT .
*
* \sa rot_move(), ROT_MOVE_UP, ROT_MOVE_DOWN, ROT_MOVE_LEFT, ROT_MOVE_CCW,
* ROT_MOVE_RIGHT
*/
#define ROT_MOVE_CW ROT_MOVE_RIGHT
/* Basic rot type, can store some useful info about different rotators. Each
* lib must be able to populate this structure, so we can make useful
* enquiries about capablilities.
*/
/**
* Rotator Caps
* \struct rot_caps
* \brief Rotator data structure.
*
* The main idea of this struct is that it will be defined by the backend
* rotator driver, and will remain readonly for the application. Fields that
* need to be modifiable by the application are copied into the struct
* rot_state, which is a kind of private of the ROT instance.
*
* This way, you can have several rigs running within the same application,
* sharing the struct rot_caps of the backend, while keeping their own
* customized data.
*
* n.b.: Don't move fields around, as the backends depend on it when
* initializing their caps.
*/
struct rot_caps {
rot_model_t rot_model; /*!< Rotator model. */
const char *model_name; /*!< Model name. */
const char *mfg_name; /*!< Manufacturer. */
const char *version; /*!< Driver version. */
const char *copyright; /*!< Copyright info. */
enum rig_status_e status; /*!< Driver status. */
int rot_type; /*!< Rotator type. */
enum rig_port_e port_type; /*!< Type of communication port. */
int serial_rate_min; /*!< Minimal serial speed. */
int serial_rate_max; /*!< Maximal serial speed. */
int serial_data_bits; /*!< Number of data bits. */
int serial_stop_bits; /*!< Number of stop bits. */
enum serial_parity_e serial_parity; /*!< Parity. */
enum serial_handshake_e serial_handshake; /*!< Handshake. */
int write_delay; /*!< Write delay. */
int post_write_delay; /*!< Post-write delay. */
int timeout; /*!< Timeout. */
int retry; /*!< Number of retry if command fails. */
/*
* Movement range, az is relative to North
* negative values allowed for overlap
*/
azimuth_t min_az; /*!< Lower limit for azimuth (relative to North). */
azimuth_t max_az; /*!< Upper limit for azimuth (relative to North). */
elevation_t
min_el; /*!< Lower limit for elevation. */
elevation_t
max_el; /*!< Upper limit for elevation. */
const struct confparams *cfgparams; /*!< Configuration parametres. */
const rig_ptr_t priv; /*!< Private data. */
/*
* Rot Admin API
*
*/
int (*rot_init)(ROT *rot);
int (*rot_cleanup)(ROT *rot);
int (*rot_open)(ROT *rot);
int (*rot_close)(ROT *rot);
int (*set_conf)(ROT *rot, token_t token, const char *val);
int (*get_conf)(ROT *rot, token_t token, char *val);
/*
* General API commands, from most primitive to least.. :()
* List Set/Get functions pairs
*/
int (*set_position)(ROT *rot, azimuth_t azimuth, elevation_t elevation);
int (*get_position)(ROT *rot, azimuth_t *azimuth, elevation_t *elevation);
int (*stop)(ROT *rot);
int (*park)(ROT *rot);
int (*reset)(ROT *rot, rot_reset_t reset);
int (*move)(ROT *rot, int direction, int speed);
/* get firmware info, etc. */
const char * (*get_info)(ROT *rot);
/* more to come... */
};
/**
* Rotator state
* \struct rot_state
* \brief Live data and customized fields.
*
* This struct contains live data, as well as a copy of capability fields
* that may be updated (ie. customized)
*
* It is fine to move fields around, as this kind of struct should
* not be initialized like caps are.
*/
struct rot_state {
/*
* overridable fields
*/
azimuth_t min_az; /*!< Lower limit for azimuth (overridable). */
azimuth_t max_az; /*!< Upper limit for azimuth (overridable). */
elevation_t min_el; /*!< Lower limit for elevation (overridable). */
elevation_t max_el; /*!< Upper limit for elevation (overridable). */
int south_zero; /*!< South is zero degrees */
azimuth_t az_offset; /*!< Offset to be applied to azimuth */
elevation_t el_offset; /*!< Offset to be applied to elevation */
/*
* non overridable fields, internal use
*/
hamlib_port_t rotport; /*!< Rotator port (internal use). */
int comm_state; /*!< Comm port state, opened/closed. */
rig_ptr_t priv; /*!< Pointer to private rotator state data. */
rig_ptr_t obj; /*!< Internal use by hamlib++ for event handling. */
/* etc... */
};
/**
* Rotator structure
* \struct rot
* \brief This is the master data structure,
* acting as a handle for the controlled rotator.
*
* This is the master data structure, acting as a handle for the controlled
* rotator. A pointer to this structure is returned by the rot_init() API
* function and is passed as a parameter to every rotator specific API call.
*
* \sa rot_init(), rot_caps(), rot_state()
*/
struct rot {
struct rot_caps *caps; /*!< Rotator caps. */
struct rot_state state; /*!< Rotator state. */
};
/* --------------- API function prototypes -----------------*/
extern HAMLIB_EXPORT(ROT *)
rot_init HAMLIB_PARAMS((rot_model_t rot_model));
extern HAMLIB_EXPORT(int)
rot_open HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int)
rot_close HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int)
rot_cleanup HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int)
rot_set_conf HAMLIB_PARAMS((ROT *rot,
token_t token,
const char *val));
extern HAMLIB_EXPORT(int)
rot_get_conf HAMLIB_PARAMS((ROT *rot,
token_t token,
char *val));
/*
* General API commands, from most primitive to least.. )
* List Set/Get functions pairs
*/
extern HAMLIB_EXPORT(int)
rot_set_position HAMLIB_PARAMS((ROT *rot,
azimuth_t azimuth,
elevation_t elevation));
extern HAMLIB_EXPORT(int)
rot_get_position HAMLIB_PARAMS((ROT *rot,
azimuth_t *azimuth,
elevation_t *elevation));
extern HAMLIB_EXPORT(int)
rot_stop HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int)
rot_park HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int)
rot_reset HAMLIB_PARAMS((ROT *rot,
rot_reset_t reset));
extern HAMLIB_EXPORT(int)
rot_move HAMLIB_PARAMS((ROT *rot,
int direction,
int speed));
extern HAMLIB_EXPORT(const char *)
rot_get_info HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int)
rot_register HAMLIB_PARAMS((const struct rot_caps *caps));
extern HAMLIB_EXPORT(int)
rot_unregister HAMLIB_PARAMS((rot_model_t rot_model));
extern HAMLIB_EXPORT(int)
rot_list_foreach HAMLIB_PARAMS((int (*cfunc)(const struct rot_caps *,
rig_ptr_t),
rig_ptr_t data));
extern HAMLIB_EXPORT(int)
rot_load_backend HAMLIB_PARAMS((const char *be_name));
extern HAMLIB_EXPORT(int)
rot_check_backend HAMLIB_PARAMS((rot_model_t rot_model));
extern HAMLIB_EXPORT(int)
rot_load_all_backends HAMLIB_PARAMS((void));
extern HAMLIB_EXPORT(rot_model_t)
rot_probe_all HAMLIB_PARAMS((hamlib_port_t *p));
extern HAMLIB_EXPORT(int)
rot_token_foreach HAMLIB_PARAMS((ROT *rot,
int (*cfunc)(const struct confparams *,
rig_ptr_t),
rig_ptr_t data));
extern HAMLIB_EXPORT(const struct confparams *)
rot_confparam_lookup HAMLIB_PARAMS((ROT *rot,
const char *name));
extern HAMLIB_EXPORT(token_t)
rot_token_lookup HAMLIB_PARAMS((ROT *rot,
const char *name));
extern HAMLIB_EXPORT(const struct rot_caps *)
rot_get_caps HAMLIB_PARAMS((rot_model_t rot_model));
extern HAMLIB_EXPORT(int)
qrb HAMLIB_PARAMS((double lon1,
double lat1,
double lon2,
double lat2,
double *distance,
double *azimuth));
extern HAMLIB_EXPORT(double)
distance_long_path HAMLIB_PARAMS((double distance));
extern HAMLIB_EXPORT(double)
azimuth_long_path HAMLIB_PARAMS((double azimuth));
extern HAMLIB_EXPORT(int)
longlat2locator HAMLIB_PARAMS((double longitude,
double latitude,
char *locator_res,
int pair_count));
extern HAMLIB_EXPORT(int)
locator2longlat HAMLIB_PARAMS((double *longitude,
double *latitude,
const char *locator));
extern HAMLIB_EXPORT(double)
dms2dec HAMLIB_PARAMS((int degrees,
int minutes,
double seconds,
int sw));
extern HAMLIB_EXPORT(int)
dec2dms HAMLIB_PARAMS((double dec,
int *degrees,
int *minutes,
double *seconds,
int *sw));
extern HAMLIB_EXPORT(int)
dec2dmmm HAMLIB_PARAMS((double dec,
int *degrees,
double *minutes,
int *sw));
extern HAMLIB_EXPORT(double)
dmmm2dec HAMLIB_PARAMS((int degrees,
double minutes,
int sw));
/**
* \def rot_debug
* \brief Convenience definition for debug level.
*
* This is just as convenience definition of the rotator debug level,
* and is the same as for the rig debug level.
*
* \sa rig_debug()
*/
#define rot_debug rig_debug
__END_DECLS
#endif /* _ROTATOR_H */
/** @} */
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