Rotator Controller Updates

Add support for X/Y coordinates. Add coordinate precision setting. Automatically scan for serial port changes. Refactor so each protocol is implemented in a separate class. Add start of DFM protocol.
2026-06-02 14:04:46 -04:00 · 2023-04-03 16:47:13 +01:00
parent c50c866732
commit 4ac5e729ff
31 changed files with 2859 additions and 483 deletions
@@ -0,0 +1,86 @@
+///////////////////////////////////////////////////////////////////////////////////
+// Copyright (C) 2023 Jon Beniston, M7RCE                                        //
+//                                                                               //
+// This program is free software; you can redistribute it and/or modify          //
+// it under the terms of the GNU General Public License as published by          //
+// the Free Software Foundation as version 3 of the License, or                  //
+// (at your option) any later version.                                           //
+//                                                                               //
+// This program 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 General Public License V3 for more details.                               //
+//                                                                               //
+// You should have received a copy of the GNU General Public License             //
+// along with this program. If not, see <http://www.gnu.org/licenses/>.          //
+///////////////////////////////////////////////////////////////////////////////////
+
+#include <cmath>
+
+#include <QDebug>
+#include <QRegularExpression>
+
+#include "gs232protocol.h"
+
+GS232Protocol::GS232Protocol()
+{
+}
+
+void GS232Protocol::setAzimuth(float azimuth)
+{
+    QString cmd = QString("M%1\r\n").arg((int)std::round(azimuth), 3, 10, QLatin1Char('0'));
+    QByteArray data = cmd.toLatin1();
+    m_device->write(data);
+    m_lastAzimuth = azimuth;
+}
+
+void GS232Protocol::setAzimuthElevation(float azimuth, float elevation)
+{
+    QString cmd = QString("W%1 %2\r\n").arg((int)std::round(azimuth), 3, 10, QLatin1Char('0')).arg((int)std::round(elevation), 3, 10, QLatin1Char('0'));
+    QByteArray data = cmd.toLatin1();
+    m_device->write(data);
+    ControllerProtocol::setAzimuthElevation(azimuth, elevation);
+}
+
+// Handle data received from controller
+void GS232Protocol::readData()
+{
+    char buf[1024];
+    qint64 len;
+
+    while (m_device->canReadLine())
+    {
+        len = m_device->readLine(buf, sizeof(buf));
+        if (len != -1)
+        {
+            QString response = QString::fromUtf8(buf, len);
+            // MD-02 can return AZ=-00 EL=-00 and other negative angles
+            QRegularExpression re("AZ=([-\\d]\\d\\d) *EL=([-\\d]\\d\\d)");
+            QRegularExpressionMatch match = re.match(response);
+            if (match.hasMatch())
+            {
+                QString az = match.captured(1);
+                QString el = match.captured(2);
+                //qDebug() << "SPIDProtocol::readData read Az " << az << " El " << el;
+                reportAzEl(az.toFloat(), el.toFloat());
+            }
+            else if (response == "\r\n")
+            {
+                // Ignore
+            }
+            else
+            {
+                qWarning() << "SPIDProtocol::readData - unexpected GS-232 response \"" << response << "\"";
+                reportError(QString("Unexpected GS-232 response: %1").arg(response));
+            }
+        }
+    }
+}
+
+// Request current Az/El from controller
+void GS232Protocol::update()
+{
+    QByteArray cmd("C2\r\n");
+    m_device->write(cmd);
+}
+