mirror of
https://github.com/f4exb/sdrangel.git
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478 lines
18 KiB
C++
478 lines
18 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2020 Jon Beniston, M7RCE //
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// Copyright (C) 2020 Edouard Griffiths, F4EXB //
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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 <algorithm>
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#include <cmath>
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#include <QDebug>
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#include <QSerialPort>
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#include <QRegularExpression>
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#include "gs232controller.h"
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#include "gs232controllerworker.h"
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#include "gs232controllerreport.h"
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MESSAGE_CLASS_DEFINITION(GS232ControllerWorker::MsgConfigureGS232ControllerWorker, Message)
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MESSAGE_CLASS_DEFINITION(GS232ControllerReport::MsgReportAzAl, Message)
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GS232ControllerWorker::GS232ControllerWorker() :
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m_msgQueueToFeature(nullptr),
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m_running(false),
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m_mutex(QMutex::Recursive),
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m_device(nullptr),
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m_serialPort(this),
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m_socket(this),
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m_pollTimer(this),
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m_lastAzimuth(-1.0f),
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m_lastElevation(-1.0f),
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m_spidSetOutstanding(false),
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m_spidSetSent(false),
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m_spidStatusSent(false),
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m_rotCtlDReadAz(false)
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{
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connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
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m_pollTimer.start(1000);
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}
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GS232ControllerWorker::~GS232ControllerWorker()
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{
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m_inputMessageQueue.clear();
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}
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void GS232ControllerWorker::reset()
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{
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QMutexLocker mutexLocker(&m_mutex);
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m_inputMessageQueue.clear();
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m_lastAzimuth = -1.0f;
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m_lastElevation = -1.0f;
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m_spidSetOutstanding = false;
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m_spidSetSent = false;
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m_spidStatusSent = false;
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}
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bool GS232ControllerWorker::startWork()
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{
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QMutexLocker mutexLocker(&m_mutex);
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connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
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connect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readData);
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connect(&m_socket, &QTcpSocket::readyRead, this, &GS232ControllerWorker::readData);
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if (m_settings.m_connection == GS232ControllerSettings::TCP) {
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m_device = openSocket(m_settings);
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} else {
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m_device = openSerialPort(m_settings);
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}
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m_running = true;
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return m_running;
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}
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void GS232ControllerWorker::stopWork()
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{
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QMutexLocker mutexLocker(&m_mutex);
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// Close serial port as USB/controller activity can create RFI
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if (m_device && m_device->isOpen()) {
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m_device->close();
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}
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disconnect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
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disconnect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readData);
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disconnect(&m_socket, &QTcpSocket::readyRead, this, &GS232ControllerWorker::readData);
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m_running = false;
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}
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void GS232ControllerWorker::handleInputMessages()
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{
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Message* message;
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while ((message = m_inputMessageQueue.pop()) != nullptr)
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{
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if (handleMessage(*message)) {
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delete message;
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}
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}
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}
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bool GS232ControllerWorker::handleMessage(const Message& cmd)
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{
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if (MsgConfigureGS232ControllerWorker::match(cmd))
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{
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QMutexLocker mutexLocker(&m_mutex);
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MsgConfigureGS232ControllerWorker& cfg = (MsgConfigureGS232ControllerWorker&) cmd;
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applySettings(cfg.getSettings(), cfg.getForce());
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return true;
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}
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else
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{
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return false;
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}
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}
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void GS232ControllerWorker::applySettings(const GS232ControllerSettings& settings, bool force)
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{
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qDebug() << "GS232ControllerWorker::applySettings:"
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<< " m_azimuth: " << settings.m_azimuth
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<< " m_elevation: " << settings.m_elevation
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<< " m_azimuthOffset: " << settings.m_azimuthOffset
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<< " m_elevationOffset: " << settings.m_elevationOffset
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<< " m_azimuthMin: " << settings.m_azimuthMin
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<< " m_azimuthMax: " << settings.m_azimuthMax
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<< " m_elevationMin: " << settings.m_elevationMin
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<< " m_elevationMax: " << settings.m_elevationMax
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<< " m_tolerance: " << settings.m_tolerance
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<< " m_protocol: " << settings.m_protocol
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<< " m_connection: " << settings.m_connection
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<< " m_serialPort: " << settings.m_serialPort
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<< " m_baudRate: " << settings.m_baudRate
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<< " m_host: " << settings.m_host
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<< " m_port: " << settings.m_port
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<< " force: " << force;
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if (settings.m_connection != m_settings.m_connection)
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{
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if (m_device && m_device->isOpen()) {
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m_device->close();
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}
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}
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if (settings.m_connection == GS232ControllerSettings::TCP)
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{
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if ((settings.m_host != m_settings.m_host) || (settings.m_port != m_settings.m_port) || force) {
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m_device = openSocket(settings);
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}
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}
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else
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{
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if ((settings.m_serialPort != m_settings.m_serialPort) || force) {
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m_device = openSerialPort(settings);
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} else if ((settings.m_baudRate != m_settings.m_baudRate) || force) {
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m_serialPort.setBaudRate(settings.m_baudRate);
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}
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}
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// Apply offset then clamp
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float azimuth, elevation;
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settings.calcTargetAzEl(azimuth, elevation);
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// Don't set if within tolerance of last setting
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float azDiff = std::abs(azimuth - m_lastAzimuth);
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float elDiff = std::abs(elevation - m_lastElevation);
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if (((elDiff > settings.m_tolerance) || (m_lastElevation == -1) || force) && (settings.m_elevationMax != 0))
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{
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setAzimuthElevation(azimuth, elevation);
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}
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else if ((azDiff > settings.m_tolerance) || (m_lastAzimuth == -1) || force)
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{
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setAzimuth(azimuth);
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}
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m_settings = settings;
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}
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QIODevice *GS232ControllerWorker::openSerialPort(const GS232ControllerSettings& settings)
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{
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qDebug() << "GS232ControllerWorker::openSerialPort: " << settings.m_serialPort;
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if (m_serialPort.isOpen()) {
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m_serialPort.close();
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}
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m_lastAzimuth = -1;
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m_lastElevation = -1;
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if (!settings.m_serialPort.isEmpty())
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{
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m_serialPort.setPortName(settings.m_serialPort);
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m_serialPort.setBaudRate(settings.m_baudRate);
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if (!m_serialPort.open(QIODevice::ReadWrite))
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{
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qCritical() << "GS232ControllerWorker::openSerialPort: Failed to open serial port " << settings.m_serialPort << ". Error: " << m_serialPort.error();
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m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Failed to open serial port %1: %2").arg(settings.m_serialPort).arg(m_serialPort.error())));
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return nullptr;
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}
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else
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{
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return &m_serialPort;
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}
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}
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else
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{
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return nullptr;
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}
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}
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QIODevice *GS232ControllerWorker::openSocket(const GS232ControllerSettings& settings)
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{
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qDebug() << "GS232ControllerWorker::openSocket: " << settings.m_host << settings.m_port;
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if (m_socket.isOpen()) {
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m_socket.close();
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}
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m_lastAzimuth = -1;
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m_lastElevation = -1;
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m_socket.connectToHost(settings.m_host, settings.m_port);
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if (m_socket.waitForConnected(3000))
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{
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return &m_socket;
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}
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else
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{
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qCritical() << "GS232ControllerWorker::openSocket: Failed to connect to " << settings.m_host << settings.m_port;
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m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Failed to connect to %1:%2").arg(settings.m_host).arg(settings.m_port)));
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return nullptr;
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}
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}
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void GS232ControllerWorker::setAzimuth(float azimuth)
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{
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if (m_settings.m_protocol == GS232ControllerSettings::GS232)
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{
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QString cmd = QString("M%1\r\n").arg((int)std::round(azimuth), 3, 10, QLatin1Char('0'));
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QByteArray data = cmd.toLatin1();
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m_serialPort.write(data);
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}
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else
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{
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setAzimuthElevation(azimuth, m_lastElevation);
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}
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m_lastAzimuth = azimuth;
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}
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void GS232ControllerWorker::setAzimuthElevation(float azimuth, float elevation)
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{
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if (m_settings.m_protocol == GS232ControllerSettings::GS232)
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{
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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'));
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QByteArray data = cmd.toLatin1();
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m_serialPort.write(data);
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}
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else if (m_settings.m_protocol == GS232ControllerSettings::SPID)
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{
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if (!m_spidSetSent && !m_spidStatusSent)
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{
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QByteArray cmd(13, (char)0);
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cmd[0] = 0x57; // Start
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int h = std::round((azimuth + 360.0f) * 2.0f);
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cmd[1] = 0x30 | (h / 1000);
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cmd[2] = 0x30 | ((h % 1000) / 100);
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cmd[3] = 0x30 | ((h % 100) / 10);
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cmd[4] = 0x30 | (h % 10);
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cmd[5] = 2; // 2 degree per impulse
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int v = std::round((elevation + 360.0f) * 2.0f);
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cmd[6] = 0x30 | (v / 1000);
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cmd[7] = 0x30 | ((v % 1000) / 100);
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cmd[8] = 0x30 | ((v % 100) / 10);
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cmd[9] = 0x30 | (v % 10);
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cmd[10] = 2; // 2 degree per impulse
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cmd[11] = 0x2f; // Set cmd
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cmd[12] = 0x20; // End
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m_serialPort.write(cmd);
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m_spidSetSent = true;
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}
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else
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{
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qDebug() << "GS232ControllerWorker::setAzimuthElevation: Not sent, waiting for status reply";
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m_spidSetOutstanding = true;
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}
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} else {
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QString cmd = QString("P %1 %2\n").arg(azimuth).arg(elevation);
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QByteArray data = cmd.toLatin1();
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m_socket.write(data);
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}
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m_lastAzimuth = azimuth;
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m_lastElevation = elevation;
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}
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void GS232ControllerWorker::readData()
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{
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char buf[1024];
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qint64 len;
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if (m_settings.m_protocol == GS232ControllerSettings::GS232)
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{
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while (m_device->canReadLine())
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{
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len = m_device->readLine(buf, sizeof(buf));
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if (len != -1)
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{
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QString response = QString::fromUtf8(buf, len);
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// MD-02 can return AZ=-00 EL=-00 and other negative angles
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QRegularExpression re("AZ=([-\\d]\\d\\d) *EL=([-\\d]\\d\\d)");
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QRegularExpressionMatch match = re.match(response);
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if (match.hasMatch())
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{
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QString az = match.captured(1);
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QString el = match.captured(2);
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//qDebug() << "GS232ControllerWorker::readData read Az " << az << " El " << el;
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m_msgQueueToFeature->push(GS232ControllerReport::MsgReportAzAl::create(az.toFloat(), el.toFloat()));
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}
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else if (response == "\r\n")
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{
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// Ignore
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}
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else
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{
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qWarning() << "GS232ControllerWorker::readData - unexpected GS-232 response \"" << response << "\"";
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m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected GS-232 response: %1").arg(response)));
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}
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}
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}
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}
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else if (m_settings.m_protocol == GS232ControllerSettings::SPID)
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{
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while (m_device->bytesAvailable() >= 12)
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{
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len = m_device->read(buf, 12);
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if ((len == 12) && (buf[0] == 0x57))
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{
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double az;
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double el;
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az = buf[1] * 100.0 + buf[2] * 10.0 + buf[3] + buf[4] / 10.0 - 360.0;
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el = buf[6] * 100.0 + buf[7] * 10.0 + buf[8] + buf[9] / 10.0 - 360.0;
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//qDebug() << "GS232ControllerWorker::readData read Az " << az << " El " << el;
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m_msgQueueToFeature->push(GS232ControllerReport::MsgReportAzAl::create(az, el));
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if (m_spidStatusSent && m_spidSetSent) {
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qDebug() << "GS232ControllerWorker::readData - m_spidStatusSent and m_spidSetSent set simultaneously";
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}
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if (m_spidStatusSent) {
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m_spidStatusSent = false;
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}
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if (m_spidSetSent) {
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m_spidSetSent = false;
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}
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if (m_spidSetOutstanding)
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{
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m_spidSetOutstanding = false;
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setAzimuthElevation(m_lastAzimuth, m_lastElevation);
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}
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}
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else
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{
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QByteArray bytes(buf, (int)len);
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qWarning() << "GS232ControllerWorker::readData - unexpected SPID rot2prog response \"" << bytes.toHex() << "\"";
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m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected SPID rot2prog response: %1").arg(bytes.toHex().data())));
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}
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}
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}
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else
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{
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while (m_device->canReadLine())
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{
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len = m_device->readLine(buf, sizeof(buf));
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if (len != -1)
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{
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QString response = QString::fromUtf8(buf, len).trimmed();
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QRegularExpression rprt("RPRT (-?\\d+)");
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QRegularExpressionMatch matchRprt = rprt.match(response);
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QRegularExpression decimal("(-?\\d+.\\d+)");
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QRegularExpressionMatch matchDecimal = decimal.match(response);
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if (matchRprt.hasMatch())
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{
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// See rig_errcode_e in hamlib rig.h
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const QStringList errors = {
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"OK",
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"Invalid parameter",
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"Invalid configuration",
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"No memory",
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"Not implemented",
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"Timeout",
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"IO error",
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"Internal error",
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"Protocol error",
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"Command rejected",
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"Arg truncated",
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"Not available",
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"VFO not targetable",
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"Bus error",
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"Collision on bus",
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"NULL rig handled or invalid pointer parameter",
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"Invalid VFO",
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"Argument out of domain of function"
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};
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int rprt = matchRprt.captured(1).toInt();
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if (rprt != 0)
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{
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qWarning() << "GS232ControllerWorker::readData - rotctld error: " << errors[-rprt];
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// Seem to get a lot of EPROTO errors from rotctld due to extra 00 char in response to GS232 C2 command
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// E.g: ./rotctld.exe -m 603 -r com7 -vvvvv
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// read_string(): RX 16 characters
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// 0000 00 41 5a 3d 31 37 35 20 20 45 4c 3d 30 33 38 0d .AZ=175 EL=038.
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// So don't pass these to GUI for now
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if (rprt != -8) {
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m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("rotctld error: %1").arg(errors[-rprt])));
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}
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}
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m_rotCtlDReadAz = false;
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}
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else if (matchDecimal.hasMatch() && !m_rotCtlDReadAz)
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{
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m_rotCtlDAz = response;
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m_rotCtlDReadAz = true;
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}
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else if (matchDecimal.hasMatch() && m_rotCtlDReadAz)
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{
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QString az = m_rotCtlDAz;
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QString el = response;
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m_rotCtlDReadAz = false;
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//qDebug() << "GS232ControllerWorker::readData read Az " << az << " El " << el;
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m_msgQueueToFeature->push(GS232ControllerReport::MsgReportAzAl::create(az.toFloat(), el.toFloat()));
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}
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else
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{
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qWarning() << "GS232ControllerWorker::readData - Unexpected rotctld response \"" << response << "\"";
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m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected rotctld response: %1").arg(response)));
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}
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}
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}
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}
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}
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void GS232ControllerWorker::update()
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{
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// Request current Az/El from controller
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if (m_device && m_device->isOpen())
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{
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if (m_settings.m_protocol == GS232ControllerSettings::GS232)
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{
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QByteArray cmd("C2\r\n");
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m_device->write(cmd);
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}
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else if (m_settings.m_protocol == GS232ControllerSettings::SPID)
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{
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// Don't send a new status command, if waiting for a previous reply
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if (!m_spidSetSent && !m_spidStatusSent)
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{
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// Status
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QByteArray cmd;
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cmd.append((char)0x57); // Start
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for (int i = 0; i < 10; i++) {
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cmd.append((char)0x0);
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}
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cmd.append((char)0x1f); // Status
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cmd.append((char)0x20); // End
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m_device->write(cmd);
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m_spidStatusSent = true;
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}
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}
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else
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{
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QByteArray cmd("p\n");
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m_device->write(cmd);
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}
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}
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}
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