VE7UWU/sdrangel
1
0
Fork 0
mirror of https://github.com/f4exb/sdrangel.git synced 2026-06-01 21:54:55 -04:00
Code Issues Projects Releases Wiki Activity

Add SPID rot2prog protocol support. Add tolerance setting.

Browse Source
This commit is contained in:
Jon Beniston
2021-05-30 12:38:07 +01:00
parent 1e5c4343d1
commit f51e8b4095
13 changed files with 572 additions and 275 deletions
Download Patch File Download Diff File Expand all files Collapse all files
plugins/feature/gs232controller/gs232controllerworker.cpp
+171 -44
View File
@@ -38,8 +38,11 @@ GS232ControllerWorker::GS232ControllerWorker() :
m_msgQueueToGUI(nullptr),
m_running(false),
m_mutex(QMutex::Recursive),
m_lastAzimuth(-1),
m_lastElevation(-1)
m_lastAzimuth(-1.0f),
m_lastElevation(-1.0f),
m_spidSetOutstanding(false),
m_spidSetSent(false),
m_spidStatusSent(false)
{
connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
m_pollTimer.start(1000);
@@ -54,6 +57,11 @@ void GS232ControllerWorker::reset()
{
QMutexLocker mutexLocker(&m_mutex);
m_inputMessageQueue.clear();
m_lastAzimuth = -1.0f;
m_lastElevation = -1.0f;
m_spidSetOutstanding = false;
m_spidSetSent = false;
m_spidStatusSent = false;
}
bool GS232ControllerWorker::startWork()
@@ -61,7 +69,9 @@ bool GS232ControllerWorker::startWork()
QMutexLocker mutexLocker(&m_mutex);
connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
connect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readSerialData);
openSerialPort(m_settings);
if (!m_settings.m_serialPort.isEmpty()) {
openSerialPort(m_settings);
}
m_running = true;
return m_running;
}
@@ -116,6 +126,8 @@ void GS232ControllerWorker::applySettings(const GS232ControllerSettings& setting
<< " m_azimuthMax: " << settings.m_azimuthMax
<< " m_elevationMin: " << settings.m_elevationMin
<< " m_elevationMax: " << settings.m_elevationMax
<< " m_tolerance: " << settings.m_tolerance
<< " m_protocol: " << settings.m_protocol
<< " m_serialPort: " << settings.m_serialPort
<< " m_baudRate: " << settings.m_baudRate
<< " force: " << force;
@@ -131,21 +143,25 @@ void GS232ControllerWorker::applySettings(const GS232ControllerSettings& setting
// Apply offset then clamp
int azimuth = settings.m_azimuth;
float azimuth = settings.m_azimuth;
azimuth += settings.m_azimuthOffset;
azimuth = std::max(azimuth, settings.m_azimuthMin);
azimuth = std::min(azimuth, settings.m_azimuthMax);
azimuth = std::max(azimuth, (float)settings.m_azimuthMin);
azimuth = std::min(azimuth, (float)settings.m_azimuthMax);
int elevation = settings.m_elevation;
float elevation = settings.m_elevation;
elevation += settings.m_elevationOffset;
elevation = std::max(elevation, settings.m_elevationMin);
elevation = std::min(elevation, settings.m_elevationMax);
elevation = std::max(elevation, (float)settings.m_elevationMin);
elevation = std::min(elevation, (float)settings.m_elevationMax);
if (((elevation != m_lastElevation) || force) && (settings.m_elevationMax != 0))
// Don't set if within tolerance of last setting
float azDiff = std::abs(azimuth - m_lastAzimuth);
float elDiff = std::abs(elevation - m_lastElevation);
if (((elDiff > settings.m_tolerance) || (m_lastElevation == -1) || force) && (settings.m_elevationMax != 0))
{
setAzimuthElevation(azimuth, elevation);
}
else if ((azimuth != m_lastAzimuth) || force)
else if ((azDiff > settings.m_tolerance) || (m_lastAzimuth == -1) || force)
{
setAzimuth(azimuth);
}
@@ -155,35 +171,81 @@ void GS232ControllerWorker::applySettings(const GS232ControllerSettings& setting
void GS232ControllerWorker::openSerialPort(const GS232ControllerSettings& settings)
{
if (m_serialPort.isOpen())
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))
{
qCritical() << "GS232ControllerWorker::openSerialPort: Failed to open serial port " << settings.m_serialPort << ". Error: " << m_serialPort.error();
if (m_msgQueueToFeature)
if (m_msgQueueToFeature) {
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Failed to open serial port %1: %2").arg(settings.m_serialPort).arg(m_serialPort.error())));
}
}
m_lastAzimuth = -1;
m_lastElevation = -1;
}
void GS232ControllerWorker::setAzimuth(int azimuth)
void GS232ControllerWorker::setAzimuth(float azimuth)
{
QString cmd = QString("M%1\r\n").arg(azimuth, 3, 10, QLatin1Char('0'));
QByteArray data = cmd.toLatin1();
m_serialPort.write(data);
m_lastAzimuth = azimuth;
if (m_settings.m_protocol == GS232ControllerSettings::GS232)
{
QString cmd = QString("M%1\r\n").arg((int)std::round(azimuth), 3, 10, QLatin1Char('0'));
QByteArray data = cmd.toLatin1();
m_serialPort.write(data);
}
else
{
setAzimuthElevation(azimuth, m_lastElevation);
}
m_lastAzimuth = azimuth;
}
void GS232ControllerWorker::setAzimuthElevation(int azimuth, int elevation)
void GS232ControllerWorker::setAzimuthElevation(float azimuth, float elevation)
{
QString cmd = QString("W%1 %2\r\n").arg(azimuth, 3, 10, QLatin1Char('0')).arg(elevation, 3, 10, QLatin1Char('0'));
QByteArray data = cmd.toLatin1();
m_serialPort.write(data);
m_lastAzimuth = azimuth;
m_lastElevation = elevation;
if (m_settings.m_protocol == GS232ControllerSettings::GS232)
{
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_serialPort.write(data);
}
else
{
qDebug() << "GS232ControllerWorker::setAzimuthElevation " << " AZ " << azimuth << " EL " << elevation;
if (!m_spidSetSent && !m_spidStatusSent)
{
QByteArray cmd(13, (char)0);
cmd[0] = 0x57; // Start
int h = std::round((azimuth + 360.0f) * 2.0f);
cmd[1] = 0x30 | (h / 1000);
cmd[2] = 0x30 | ((h % 1000) / 100);
cmd[3] = 0x30 | ((h % 100) / 10);
cmd[4] = 0x30 | (h % 10);
cmd[5] = 2; // 2 degree per impulse
int v = std::round((elevation + 360.0f) * 2.0f);
cmd[6] = 0x30 | (v / 1000);
cmd[7] = 0x30 | ((v % 1000) / 100);
cmd[8] = 0x30 | ((v % 100) / 10);
cmd[9] = 0x30 | (v % 10);
cmd[10] = 2; // 2 degree per impulse
cmd[11] = 0x2f; // Set cmd
cmd[12] = 0x20; // End
m_serialPort.write(cmd);
m_spidSetSent = true;
}
else
{
qDebug() << "GS232ControllerWorker::setAzimuthElevation: Not sent, waiting for status reply";
m_spidSetOutstanding = true;
}
}
m_lastAzimuth = azimuth;
m_lastElevation = elevation;
}
void GS232ControllerWorker::readSerialData()
@@ -191,32 +253,77 @@ void GS232ControllerWorker::readSerialData()
char buf[1024];
qint64 len;
while (m_serialPort.canReadLine())
if (m_settings.m_protocol == GS232ControllerSettings::GS232)
{
len = m_serialPort.readLine(buf, sizeof(buf));
if (len != -1)
while (m_serialPort.canReadLine())
{
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())
len = m_serialPort.readLine(buf, sizeof(buf));
if (len != -1)
{
QString az = match.captured(1);
QString el = match.captured(2);
//qDebug() << "GS232ControllerWorker::readSerialData read az " << az << " el " << el;
if (getMessageQueueToGUI())
getMessageQueueToGUI()->push( GS232ControllerReport::MsgReportAzAl::create(az.toFloat(), el.toFloat()));
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() << "GS232ControllerWorker::readSerialData read Az " << az << " El " << el;
if (getMessageQueueToGUI()) {
getMessageQueueToGUI()->push( GS232ControllerReport::MsgReportAzAl::create(az.toFloat(), el.toFloat()));
}
}
else if (response == "\r\n")
{
// Ignore
}
else
{
qDebug() << "GS232ControllerWorker::readSerialData - unexpected GS-232 response \"" << response << "\"";
if (m_msgQueueToFeature) {
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected GS-232 response: %1").arg(response)));
}
}
}
else if (response == "\r\n")
}
}
else
{
while (m_serialPort.bytesAvailable() >= 12)
{
len = m_serialPort.read(buf, 12);
if ((len == 12) && (buf[0] == 0x57))
{
// Ignore
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;
if (getMessageQueueToGUI()) {
getMessageQueueToGUI()->push( GS232ControllerReport::MsgReportAzAl::create(az, el));
}
if (m_spidStatusSent && m_spidSetSent) {
qDebug() << "GS232ControllerWorker::readSerialData - m_spidStatusSent and m_spidSetSent set simultaneously";
}
if (m_spidStatusSent) {
m_spidStatusSent = false;
}
if (m_spidSetSent) {
m_spidSetSent = false;
}
if (m_spidSetOutstanding)
{
m_spidSetOutstanding = false;
setAzimuthElevation(m_lastAzimuth, m_lastElevation);
}
}
else
{
qDebug() << "GS232ControllerWorker::readSerialData - unexpected response \"" << response << "\"";
if (m_msgQueueToFeature)
m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Unexpected GS-232 serial response: %1").arg(response)));
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())));
}
}
}
}
@@ -227,7 +334,27 @@ void GS232ControllerWorker::update()
// Request current Az/El from GS-232 controller
if (m_serialPort.isOpen())
{
QByteArray cmd("C2\r\n");
m_serialPort.write(cmd);
if (m_settings.m_protocol == GS232ControllerSettings::GS232)
{
QByteArray cmd("C2\r\n");
m_serialPort.write(cmd);
}
else
{
// Don't send a new status command, if waiting for a previous reply
if (!m_spidSetSent && !m_spidStatusSent)
{
// Status
QByteArray cmd;
cmd.append((char)0x57); // Start
for (int i = 0; i < 10; i++) {
cmd.append((char)0x0);
}
cmd.append((char)0x1f); // Status
cmd.append((char)0x20); // End
m_serialPort.write(cmd);
m_spidStatusSent = true;
}
}
}
}