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GS232 Rotator Controller updates

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Add support for hamlib/rotctld protocol.
Add support for TCP connections.
Name plugin Rotator Controller, rather than GS-232 Rotator Controller, as it now supports 3 different protocols.
This commit is contained in:
Jon Beniston
2021-11-23 12:13:24 +00:00
parent a41d0319dc
commit 257b265ee8
9 changed files with 515 additions and 233 deletions
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plugins/feature/gs232controller/gs232controllerworker.cpp
+169 -38
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@@ -35,11 +35,13 @@ GS232ControllerWorker::GS232ControllerWorker() :
m_msgQueueToFeature(nullptr),
m_running(false),
m_mutex(QMutex::Recursive),
m_device(nullptr),
m_lastAzimuth(-1.0f),
m_lastElevation(-1.0f),
m_spidSetOutstanding(false),
m_spidSetSent(false),
m_spidStatusSent(false)
m_spidStatusSent(false),
m_rotCtlDReadAz(false)
{
connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
m_pollTimer.start(1000);
@@ -65,9 +67,12 @@ bool GS232ControllerWorker::startWork()
{
QMutexLocker mutexLocker(&m_mutex);
connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
connect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readSerialData);
if (!m_settings.m_serialPort.isEmpty()) {
openSerialPort(m_settings);
connect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readData);
connect(&m_socket, &QTcpSocket::readyRead, this, &GS232ControllerWorker::readData);
if (m_settings.m_connection == GS232ControllerSettings::TCP) {
m_device = openSocket(m_settings);
} else {
m_device = openSerialPort(m_settings);
}
m_running = true;
return m_running;
@@ -77,10 +82,12 @@ void GS232ControllerWorker::stopWork()
{
QMutexLocker mutexLocker(&m_mutex);
// Close serial port as USB/controller activity can create RFI
if (m_serialPort.isOpen())
m_serialPort.close();
if (m_device && m_device->isOpen()) {
m_device->close();
}
disconnect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
disconnect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readSerialData);
disconnect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readData);
disconnect(&m_socket, &QTcpSocket::readyRead, this, &GS232ControllerWorker::readData);
m_running = false;
}
@@ -125,17 +132,33 @@ void GS232ControllerWorker::applySettings(const GS232ControllerSettings& setting
<< " m_elevationMax: " << settings.m_elevationMax
<< " m_tolerance: " << settings.m_tolerance
<< " m_protocol: " << settings.m_protocol
<< " m_connection: " << settings.m_connection
<< " m_serialPort: " << settings.m_serialPort
<< " m_baudRate: " << settings.m_baudRate
<< " m_host: " << settings.m_host
<< " m_port: " << settings.m_port
<< " force: " << force;
if ((settings.m_serialPort != m_settings.m_serialPort) || force)
if (settings.m_connection != m_settings.m_connection)
{
openSerialPort(settings);
if (m_device && m_device->isOpen()) {
m_device->close();
}
}
else if ((settings.m_baudRate != m_settings.m_baudRate) || force)
if (settings.m_connection == GS232ControllerSettings::TCP)
{
m_serialPort.setBaudRate(settings.m_baudRate);
if ((settings.m_host != m_settings.m_host) || (settings.m_port != m_settings.m_port) || force) {
m_device = openSocket(settings);
}
}
else
{
if ((settings.m_serialPort != m_settings.m_serialPort) || force) {
m_device = openSerialPort(settings);
} else if ((settings.m_baudRate != m_settings.m_baudRate) || force) {
m_serialPort.setBaudRate(settings.m_baudRate);
}
}
// Apply offset then clamp
@@ -159,22 +182,54 @@ void GS232ControllerWorker::applySettings(const GS232ControllerSettings& setting
m_settings = settings;
}
void GS232ControllerWorker::openSerialPort(const GS232ControllerSettings& settings)
QIODevice *GS232ControllerWorker::openSerialPort(const GS232ControllerSettings& settings)
{
qDebug() << "GS232ControllerWorker::openSerialPort: " << settings.m_serialPort;
if (m_serialPort.isOpen()) {
m_serialPort.close();
}
m_serialPort.setPortName(settings.m_serialPort);
m_serialPort.setBaudRate(settings.m_baudRate);
if (!m_serialPort.open(QIODevice::ReadWrite))
m_lastAzimuth = -1;
m_lastElevation = -1;
if (!settings.m_serialPort.isEmpty())
{
qCritical() << "GS232ControllerWorker::openSerialPort: Failed to open serial port " << settings.m_serialPort << ". Error: " << m_serialPort.error();
if (m_msgQueueToFeature) {
m_serialPort.setPortName(settings.m_serialPort);
m_serialPort.setBaudRate(settings.m_baudRate);
if (!m_serialPort.open(QIODevice::ReadWrite))
{
qCritical() << "GS232ControllerWorker::openSerialPort: Failed to open serial port " << settings.m_serialPort << ". Error: " << m_serialPort.error();
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Failed to open serial port %1: %2").arg(settings.m_serialPort).arg(m_serialPort.error())));
return nullptr;
}
else
{
return &m_serialPort;
}
}
else
{
return nullptr;
}
}
QIODevice *GS232ControllerWorker::openSocket(const GS232ControllerSettings& settings)
{
qDebug() << "GS232ControllerWorker::openSocket: " << settings.m_host << settings.m_port;
if (m_socket.isOpen()) {
m_socket.close();
}
m_lastAzimuth = -1;
m_lastElevation = -1;
m_socket.connectToHost(settings.m_host, settings.m_port);
if (m_socket.waitForConnected(3000))
{
return &m_socket;
}
else
{
qCritical() << "GS232ControllerWorker::openSocket: Failed to connect to " << settings.m_host << settings.m_port;
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Failed to connect to %1:%2").arg(settings.m_host).arg(settings.m_port)));
return nullptr;
}
}
void GS232ControllerWorker::setAzimuth(float azimuth)
@@ -200,10 +255,8 @@ void GS232ControllerWorker::setAzimuthElevation(float azimuth, float elevation)
QByteArray data = cmd.toLatin1();
m_serialPort.write(data);
}
else
else if (m_settings.m_protocol == GS232ControllerSettings::SPID)
{
qDebug() << "GS232ControllerWorker::setAzimuthElevation " << " AZ " << azimuth << " EL " << elevation;
if (!m_spidSetSent && !m_spidStatusSent)
{
QByteArray cmd(13, (char)0);
@@ -233,21 +286,25 @@ void GS232ControllerWorker::setAzimuthElevation(float azimuth, float elevation)
qDebug() << "GS232ControllerWorker::setAzimuthElevation: Not sent, waiting for status reply";
m_spidSetOutstanding = true;
}
} else {
QString cmd = QString("P %1 %2\n").arg(azimuth).arg(elevation);
QByteArray data = cmd.toLatin1();
m_socket.write(data);
}
m_lastAzimuth = azimuth;
m_lastElevation = elevation;
}
void GS232ControllerWorker::readSerialData()
void GS232ControllerWorker::readData()
{
char buf[1024];
qint64 len;
if (m_settings.m_protocol == GS232ControllerSettings::GS232)
{
while (m_serialPort.canReadLine())
while (m_device->canReadLine())
{
len = m_serialPort.readLine(buf, sizeof(buf));
len = m_device->readLine(buf, sizeof(buf));
if (len != -1)
{
QString response = QString::fromUtf8(buf, len);
@@ -258,7 +315,7 @@ void GS232ControllerWorker::readSerialData()
{
QString az = match.captured(1);
QString el = match.captured(2);
//qDebug() << "GS232ControllerWorker::readSerialData read Az " << az << " El " << el;
//qDebug() << "GS232ControllerWorker::readData read Az " << az << " El " << el;
m_msgQueueToFeature->push(GS232ControllerReport::MsgReportAzAl::create(az.toFloat(), el.toFloat()));
}
else if (response == "\r\n")
@@ -267,27 +324,27 @@ void GS232ControllerWorker::readSerialData()
}
else
{
qDebug() << "GS232ControllerWorker::readSerialData - unexpected GS-232 response \"" << response << "\"";
qWarning() << "GS232ControllerWorker::readData - unexpected GS-232 response \"" << response << "\"";
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected GS-232 response: %1").arg(response)));
}
}
}
}
else
else if (m_settings.m_protocol == GS232ControllerSettings::SPID)
{
while (m_serialPort.bytesAvailable() >= 12)
while (m_device->bytesAvailable() >= 12)
{
len = m_serialPort.read(buf, 12);
len = m_device->read(buf, 12);
if ((len == 12) && (buf[0] == 0x57))
{
double az;
double el;
az = buf[1] * 100.0 + buf[2] * 10.0 + buf[3] + buf[4] / 10.0 - 360.0;
el = buf[6] * 100.0 + buf[7] * 10.0 + buf[8] + buf[9] / 10.0 - 360.0;
//qDebug() << "GS232ControllerWorker::readSerialData read Az " << az << " El " << el;
//qDebug() << "GS232ControllerWorker::readData read Az " << az << " El " << el;
m_msgQueueToFeature->push(GS232ControllerReport::MsgReportAzAl::create(az, el));
if (m_spidStatusSent && m_spidSetSent) {
qDebug() << "GS232ControllerWorker::readSerialData - m_spidStatusSent and m_spidSetSent set simultaneously";
qDebug() << "GS232ControllerWorker::readData - m_spidStatusSent and m_spidSetSent set simultaneously";
}
if (m_spidStatusSent) {
m_spidStatusSent = false;
@@ -304,9 +361,78 @@ void GS232ControllerWorker::readSerialData()
else
{
QByteArray bytes(buf, (int)len);
qDebug() << "GS232ControllerWorker::readSerialData - unexpected SPID rot2prog response \"" << bytes.toHex() << "\"";
if (m_msgQueueToFeature) {
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected SPID rot2prog response: %1").arg(bytes.toHex().data())));
qWarning() << "GS232ControllerWorker::readData - unexpected SPID rot2prog response \"" << bytes.toHex() << "\"";
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected SPID rot2prog response: %1").arg(bytes.toHex().data())));
}
}
}
else
{
while (m_device->canReadLine())
{
len = m_device->readLine(buf, sizeof(buf));
if (len != -1)
{
QString response = QString::fromUtf8(buf, len).trimmed();
QRegularExpression rprt("RPRT (-?\\d+)");
QRegularExpressionMatch matchRprt = rprt.match(response);
QRegularExpression decimal("(-?\\d+.\\d+)");
QRegularExpressionMatch matchDecimal = decimal.match(response);
if (matchRprt.hasMatch())
{
// See rig_errcode_e in hamlib rig.h
const QStringList errors = {
"OK",
"Invalid parameter",
"Invalid configuration",
"No memory",
"Not implemented",
"Timeout",
"IO error",
"Internal error",
"Protocol error",
"Command rejected",
"Arg truncated",
"Not available",
"VFO not targetable",
"Bus error",
"Collision on bus",
"NULL rig handled or invalid pointer parameter",
"Invalid VFO",
"Argument out of domain of function"
};
int rprt = matchRprt.captured(1).toInt();
if (rprt != 0)
{
qWarning() << "GS232ControllerWorker::readData - rotctld error: " << errors[-rprt];
// Seem to get a lot of EPROTO errors from rotctld due to extra 00 char in response to GS232 C2 command
// E.g: ./rotctld.exe -m 603 -r com7 -vvvvv
// read_string(): RX 16 characters
// 0000 00 41 5a 3d 31 37 35 20 20 45 4c 3d 30 33 38 0d .AZ=175 EL=038.
// So don't pass these to GUI for now
if (rprt != -8) {
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("rotctld error: %1").arg(errors[-rprt])));
}
}
m_rotCtlDReadAz = false;
}
else if (matchDecimal.hasMatch() && !m_rotCtlDReadAz)
{
m_rotCtlDAz = response;
m_rotCtlDReadAz = true;
}
else if (matchDecimal.hasMatch() && m_rotCtlDReadAz)
{
QString az = m_rotCtlDAz;
QString el = response;
m_rotCtlDReadAz = false;
//qDebug() << "GS232ControllerWorker::readData read Az " << az << " El " << el;
m_msgQueueToFeature->push(GS232ControllerReport::MsgReportAzAl::create(az.toFloat(), el.toFloat()));
}
else
{
qWarning() << "GS232ControllerWorker::readData - Unexpected rotctld response \"" << response << "\"";
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected rotctld response: %1").arg(response)));
}
}
}
@@ -315,15 +441,15 @@ void GS232ControllerWorker::readSerialData()
void GS232ControllerWorker::update()
{
// Request current Az/El from GS-232 controller
if (m_serialPort.isOpen())
// Request current Az/El from controller
if (m_device && m_device->isOpen())
{
if (m_settings.m_protocol == GS232ControllerSettings::GS232)
{
QByteArray cmd("C2\r\n");
m_serialPort.write(cmd);
m_device->write(cmd);
}
else
else if (m_settings.m_protocol == GS232ControllerSettings::SPID)
{
// Don't send a new status command, if waiting for a previous reply
if (!m_spidSetSent && !m_spidStatusSent)
@@ -336,9 +462,14 @@ void GS232ControllerWorker::update()
}
cmd.append((char)0x1f); // Status
cmd.append((char)0x20); // End
m_serialPort.write(cmd);
m_device->write(cmd);
m_spidStatusSent = true;
}
}
else
{
QByteArray cmd("p\n");
m_device->write(cmd);
}
}
}