mirror of
https://github.com/f4exb/sdrangel.git
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240 lines
8.0 KiB
C++
240 lines
8.0 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2023 Jon Beniston, M7RCE <jon@beniston.com> //
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// //
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// This program is free software; you can redistribute it and/or modify //
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// it under the terms of the GNU General Public License as published by //
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// the Free Software Foundation as version 3 of the License, or //
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// (at your option) any later version. //
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// //
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// This program 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 //
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// GNU General Public License V3 for more details. //
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// //
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// You should have received a copy of the GNU General Public License //
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// along with this program. If not, see <http://www.gnu.org/licenses/>. //
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///////////////////////////////////////////////////////////////////////////////////
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#include <QDebug>
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#include "util/astronomy.h"
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#include "dfmprotocol.h"
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MESSAGE_CLASS_DEFINITION(DFMProtocol::MsgReportDFMStatus, Message)
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DFMProtocol::DFMProtocol() :
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m_packetCnt(0)
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{
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// Call periodicTask() every 500ms
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connect(&m_timer, &QTimer::timeout, this, &DFMProtocol::periodicTask);
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m_timer.start(500);
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}
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DFMProtocol::~DFMProtocol()
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{
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m_timer.stop();
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}
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void DFMProtocol::setAzimuthElevation(float azimuth, float elevation)
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{
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// This gets position from source plugin in track is enabled (E.g. Star Tracker / Satellite tracker)
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// or My Position preference, if not tracking
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float latitude, longitude;
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getPosition(latitude, longitude);
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// Convert az/el to RA/Dec
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AzAlt aa;
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aa.az = azimuth;
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aa.alt = elevation;
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QDateTime dt = QDateTime::currentDateTime();
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RADec rd = Astronomy::azAltToRaDec(aa, latitude, longitude, dt);
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// Save as target
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m_targetRA = rd.ra;
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m_targetDec = rd.dec;
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// Call parent method to save m_lastAzimuth and m_lastElevation
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ControllerProtocol::setAzimuthElevation(azimuth, elevation);
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}
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// Handle data received from LCU
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// Packets are of the form #L,L,f,f,..,f;
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void DFMProtocol::readData()
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{
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char c;
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while (m_device->getChar(&c))
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{
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if (c == '#')
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{
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// Start packet
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m_rxBuffer = QString(c);
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}
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else if (c == ';')
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{
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// End packet
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m_rxBuffer.append(c);
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// Only process if we have valid packet
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if (m_rxBuffer.startsWith('#'))
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{
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parseLCUResponse(m_rxBuffer);
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m_rxBuffer = "";
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}
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else
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{
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qDebug() << "DFMProtocol::readData - Ignoring partial packet: " << m_rxBuffer;
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}
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}
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else
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{
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m_rxBuffer.append(c);
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}
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}
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}
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void DFMProtocol::parseLCUResponse(const QString& packet)
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{
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qDebug() << "DFMProtocol::parseLCUResponse - " << packet;
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// Check packet starts with expected header
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if (!packet.startsWith("#L,L,"))
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{
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qDebug() << "DFMProtocol::readData - Ignoring non LCU packet: " << m_rxBuffer;
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return;
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}
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// Strip off header and footer
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QString strippedPacket = packet.mid(5, packet.length() - 6);
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// Convert packet to list of strings
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QStringList dataStrings = strippedPacket.split(",");
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// Extract values we are interested in
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DFMStatus status;
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int statl = (int)dataStrings[1].toFloat();
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status.m_initialized = statl & 1;
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status.m_brakesOn = (statl >> 1) & 1;
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status.m_trackOn = (statl >> 2) & 1;
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status.m_slewEnabled = (statl >> 3) & 1;
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status.m_lubePumpsOn = (statl >> 4) & 1;
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status.m_approachingSWLimit = (statl >> 5) & 1;
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status.m_finalSWLimit = (statl >> 6) & 1;
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status.m_slewing = (statl >> 7) & 1;
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int stath = (int)dataStrings[2].toFloat();
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status.m_setting = stath & 1;
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status.m_haltMotorsIn = (stath >> 1) & 1;
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status.m_excomSwitchOn = (stath >> 2) & 1;
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status.m_servoPackAlarm = (stath >> 3) & 1;
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status.m_targetOutOfRange = (stath >> 4) & 1;
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status.m_cosdecOn = (stath >> 5) & 1;
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status.m_rateCorrOn = (stath >> 6) & 1;
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status.m_drivesOn = (stath >> 7) & 1;
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int statlh = (int)dataStrings[3].toFloat();
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status.m_pumpsReady = statlh & 1;
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// Bit 1 unknown
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status.m_minorPlus = (statlh >> 2) & 1;
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status.m_minorMinus = (statlh >> 3) & 1;
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status.m_majorPlus = (statlh >> 4) & 1;
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status.m_majorMinus = (statlh >> 5) & 1;
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status.m_nextObjectActive = (statlh >> 6) & 1;
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status.m_auxTrackRate = (statlh >> 7) & 1;
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status.m_siderealTime = dataStrings[5].toFloat();
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status.m_universalTime = dataStrings[6].toFloat();
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status.m_currentHA = dataStrings[7].toFloat();
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status.m_currentRA = dataStrings[8].toFloat();
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status.m_currentDec = dataStrings[9].toFloat();
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status.m_currentX = dataStrings[20].toFloat();
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status.m_currentY = dataStrings[21].toFloat();
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status.m_siderealRateX = dataStrings[30].toFloat();
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status.m_siderealRateY = dataStrings[31].toFloat();
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status.m_torqueX = dataStrings[34].toFloat();
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status.m_torqueY = dataStrings[35].toFloat();
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status.m_controller = (DFMStatus::Controller)dataStrings[38].toInt();
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status.m_rateX = dataStrings[39].toFloat();
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status.m_rateY = dataStrings[40].toFloat();
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// Display status in GUI
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sendMessage(MsgReportDFMStatus::create(status));
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// Convert current X/Y to Az/El
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AzAlt aa = Astronomy::xy85ToAzAlt(status.m_currentX, status.m_currentY);
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float az = aa.az;
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float el = aa.alt;
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reportAzEl(az, el);
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// If this is the second LCU packet, we send a commmand
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m_packetCnt++;
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if (m_packetCnt == 2)
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{
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m_packetCnt = 0;
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sendCommand();
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}
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}
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void DFMProtocol::sendCommand()
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{
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// TODO: Use m_lastAzimuth/m_lastElevation or m_targetRA/m_targetDec to calculate position commands
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// Send a command to the LCU
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int cmdId = 98;
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int handPaddle = 0;
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int frontPanel = (m_settings.m_dfmDrivesOn << 2)
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| (m_settings.m_dfmTrackOn << 3)
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| (m_settings.m_dfmLubePumpsOn << 4)
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| (m_settings.m_dfmBrakesOn << 7);
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QString cmd = QString("#M,R,%1,%2.000000,%3.000000;").arg(cmdId).arg(handPaddle).arg(frontPanel);
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m_device->write(cmd.toLatin1());
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qDebug() << "DFMProtocol::sendCommand - " << cmd;
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}
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// Request current Az/El
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void DFMProtocol::update()
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{
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// This is called periodically for protocols that need to send a command to get current az/el
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// However, for this protocol, we might not need to do anything here,
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// if we're continually calling reportAzEl() in response to packets received from the LCU.
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//sendCommand();
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}
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void DFMProtocol::periodicTask()
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{
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// Just as an example, this will be called every 500ms. Can be removed if not needed
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}
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// This is called when new settings are available from GUI (or API).
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void DFMProtocol::applySettings(const GS232ControllerSettings& settings, const QList<QString>& settingsKeys, bool force)
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{
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if (settingsKeys.contains("dfmTrackOn") || force)
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{
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// Do something with settings.m_dfmTrackOn if needed
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}
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if (settingsKeys.contains("dfmLubePumpsOn") || force)
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{
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// Do something with settings.m_dfmLubePumpsOn if needed
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}
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if (settingsKeys.contains("dfmBrakesOn") || force)
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{
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// Do something with settings.m_dfmBreaksOn if needed
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}
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if (settingsKeys.contains("dfmDrivesOn") || force)
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{
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// Do something with settings.m_dfmDrivesOn if needed
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}
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// Call parent method to set m_settings to settings
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ControllerProtocol::applySettings(settings, settingsKeys, force);
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}
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