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 +1,118 @@
+///////////////////////////////////////////////////////////////////////////////////
+// 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 <QDebug>
+#include <QRegularExpression>
+
+#include "rotctrldprotocol.h"
+
+RotCtrlDProtocol::RotCtrlDProtocol() :
+    m_rotCtlDReadAz(false)
+{
+}
+
+void RotCtrlDProtocol::setAzimuthElevation(float azimuth, float elevation)
+{
+    QString cmd = QString("P %1 %2\n").arg(azimuth).arg(elevation);
+    QByteArray data = cmd.toLatin1();
+    m_device->write(data);
+    ControllerProtocol::setAzimuthElevation(azimuth, elevation);
+}
+
+// Handle data received from rotctrld
+void RotCtrlDProtocol::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).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) {
+                        reportError(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;
+                reportAzEl(az.toFloat(), el.toFloat());
+            }
+            else
+            {
+                qWarning() << "GS232ControllerWorker::readData - Unexpected rotctld response \"" << response << "\"";
+                reportError(QString("Unexpected rotctld response: %1").arg(response));
+            }
+        }
+    }
+}
+
+// Request current Az/El from rotctrld
+void RotCtrlDProtocol::update()
+{
+    QByteArray cmd("p\n");
+    m_device->write(cmd);
+}
+