mirror of
https://github.com/f4exb/sdrangel.git
synced 2024-11-23 00:18:37 -05:00
240 lines
8.0 KiB
C++
240 lines
8.0 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
|
|
// Copyright (C) 2023 Jon Beniston, M7RCE <jon@beniston.com> //
|
|
// //
|
|
// 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 "util/astronomy.h"
|
|
|
|
#include "dfmprotocol.h"
|
|
|
|
MESSAGE_CLASS_DEFINITION(DFMProtocol::MsgReportDFMStatus, Message)
|
|
|
|
DFMProtocol::DFMProtocol() :
|
|
m_packetCnt(0)
|
|
{
|
|
// Call periodicTask() every 500ms
|
|
connect(&m_timer, &QTimer::timeout, this, &DFMProtocol::periodicTask);
|
|
m_timer.start(500);
|
|
}
|
|
|
|
DFMProtocol::~DFMProtocol()
|
|
{
|
|
m_timer.stop();
|
|
}
|
|
|
|
void DFMProtocol::setAzimuthElevation(float azimuth, float elevation)
|
|
{
|
|
// This gets position from source plugin in track is enabled (E.g. Star Tracker / Satellite tracker)
|
|
// or My Position preference, if not tracking
|
|
float latitude, longitude;
|
|
getPosition(latitude, longitude);
|
|
|
|
// Convert az/el to RA/Dec
|
|
AzAlt aa;
|
|
aa.az = azimuth;
|
|
aa.alt = elevation;
|
|
QDateTime dt = QDateTime::currentDateTime();
|
|
RADec rd = Astronomy::azAltToRaDec(aa, latitude, longitude, dt);
|
|
// Save as target
|
|
m_targetRA = rd.ra;
|
|
m_targetDec = rd.dec;
|
|
|
|
// Call parent method to save m_lastAzimuth and m_lastElevation
|
|
ControllerProtocol::setAzimuthElevation(azimuth, elevation);
|
|
}
|
|
|
|
// Handle data received from LCU
|
|
// Packets are of the form #L,L,f,f,..,f;
|
|
void DFMProtocol::readData()
|
|
{
|
|
char c;
|
|
while (m_device->getChar(&c))
|
|
{
|
|
if (c == '#')
|
|
{
|
|
// Start packet
|
|
m_rxBuffer = QString(c);
|
|
}
|
|
else if (c == ';')
|
|
{
|
|
// End packet
|
|
m_rxBuffer.append(c);
|
|
|
|
// Only process if we have valid packet
|
|
if (m_rxBuffer.startsWith('#'))
|
|
{
|
|
parseLCUResponse(m_rxBuffer);
|
|
m_rxBuffer = "";
|
|
}
|
|
else
|
|
{
|
|
qDebug() << "DFMProtocol::readData - Ignoring partial packet: " << m_rxBuffer;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
m_rxBuffer.append(c);
|
|
}
|
|
}
|
|
}
|
|
|
|
void DFMProtocol::parseLCUResponse(const QString& packet)
|
|
{
|
|
qDebug() << "DFMProtocol::parseLCUResponse - " << packet;
|
|
|
|
// Check packet starts with expected header
|
|
if (!packet.startsWith("#L,L,"))
|
|
{
|
|
qDebug() << "DFMProtocol::readData - Ignoring non LCU packet: " << m_rxBuffer;
|
|
return;
|
|
}
|
|
|
|
// Strip off header and footer
|
|
QString strippedPacket = packet.mid(5, packet.length() - 6);
|
|
|
|
// Convert packet to list of strings
|
|
QStringList dataStrings = strippedPacket.split(",");
|
|
|
|
// Extract values we are interested in
|
|
DFMStatus status;
|
|
|
|
int statl = (int)dataStrings[1].toFloat();
|
|
status.m_initialized = statl & 1;
|
|
status.m_brakesOn = (statl >> 1) & 1;
|
|
status.m_trackOn = (statl >> 2) & 1;
|
|
status.m_slewEnabled = (statl >> 3) & 1;
|
|
status.m_lubePumpsOn = (statl >> 4) & 1;
|
|
status.m_approachingSWLimit = (statl >> 5) & 1;
|
|
status.m_finalSWLimit = (statl >> 6) & 1;
|
|
status.m_slewing = (statl >> 7) & 1;
|
|
|
|
int stath = (int)dataStrings[2].toFloat();
|
|
status.m_setting = stath & 1;
|
|
status.m_haltMotorsIn = (stath >> 1) & 1;
|
|
status.m_excomSwitchOn = (stath >> 2) & 1;
|
|
status.m_servoPackAlarm = (stath >> 3) & 1;
|
|
status.m_targetOutOfRange = (stath >> 4) & 1;
|
|
status.m_cosdecOn = (stath >> 5) & 1;
|
|
status.m_rateCorrOn = (stath >> 6) & 1;
|
|
status.m_drivesOn = (stath >> 7) & 1;
|
|
|
|
int statlh = (int)dataStrings[3].toFloat();
|
|
status.m_pumpsReady = statlh & 1;
|
|
// Bit 1 unknown
|
|
status.m_minorPlus = (statlh >> 2) & 1;
|
|
status.m_minorMinus = (statlh >> 3) & 1;
|
|
status.m_majorPlus = (statlh >> 4) & 1;
|
|
status.m_majorMinus = (statlh >> 5) & 1;
|
|
status.m_nextObjectActive = (statlh >> 6) & 1;
|
|
status.m_auxTrackRate = (statlh >> 7) & 1;
|
|
|
|
status.m_siderealTime = dataStrings[5].toFloat();
|
|
status.m_universalTime = dataStrings[6].toFloat();
|
|
|
|
status.m_currentHA = dataStrings[7].toFloat();
|
|
status.m_currentRA = dataStrings[8].toFloat();
|
|
status.m_currentDec = dataStrings[9].toFloat();
|
|
|
|
status.m_currentX = dataStrings[20].toFloat();
|
|
status.m_currentY = dataStrings[21].toFloat();
|
|
|
|
status.m_siderealRateX = dataStrings[30].toFloat();
|
|
status.m_siderealRateY = dataStrings[31].toFloat();
|
|
|
|
status.m_torqueX = dataStrings[34].toFloat();
|
|
status.m_torqueY = dataStrings[35].toFloat();
|
|
|
|
status.m_controller = (DFMStatus::Controller)dataStrings[38].toInt();
|
|
|
|
status.m_rateX = dataStrings[39].toFloat();
|
|
status.m_rateY = dataStrings[40].toFloat();
|
|
|
|
// Display status in GUI
|
|
sendMessage(MsgReportDFMStatus::create(status));
|
|
|
|
// Convert current X/Y to Az/El
|
|
AzAlt aa = Astronomy::xy85ToAzAlt(status.m_currentX, status.m_currentY);
|
|
float az = aa.az;
|
|
float el = aa.alt;
|
|
reportAzEl(az, el);
|
|
|
|
// If this is the second LCU packet, we send a commmand
|
|
m_packetCnt++;
|
|
if (m_packetCnt == 2)
|
|
{
|
|
m_packetCnt = 0;
|
|
sendCommand();
|
|
}
|
|
}
|
|
|
|
void DFMProtocol::sendCommand()
|
|
{
|
|
// TODO: Use m_lastAzimuth/m_lastElevation or m_targetRA/m_targetDec to calculate position commands
|
|
|
|
// Send a command to the LCU
|
|
int cmdId = 98;
|
|
int handPaddle = 0;
|
|
int frontPanel = (m_settings.m_dfmDrivesOn << 2)
|
|
| (m_settings.m_dfmTrackOn << 3)
|
|
| (m_settings.m_dfmLubePumpsOn << 4)
|
|
| (m_settings.m_dfmBrakesOn << 7);
|
|
|
|
QString cmd = QString("#M,R,%1,%2.000000,%3.000000;").arg(cmdId).arg(handPaddle).arg(frontPanel);
|
|
m_device->write(cmd.toLatin1());
|
|
|
|
qDebug() << "DFMProtocol::sendCommand - " << cmd;
|
|
}
|
|
|
|
// Request current Az/El
|
|
void DFMProtocol::update()
|
|
{
|
|
// This is called periodically for protocols that need to send a command to get current az/el
|
|
// However, for this protocol, we might not need to do anything here,
|
|
// if we're continually calling reportAzEl() in response to packets received from the LCU.
|
|
//sendCommand();
|
|
}
|
|
|
|
void DFMProtocol::periodicTask()
|
|
{
|
|
// Just as an example, this will be called every 500ms. Can be removed if not needed
|
|
}
|
|
|
|
// This is called when new settings are available from GUI (or API).
|
|
void DFMProtocol::applySettings(const GS232ControllerSettings& settings, const QList<QString>& settingsKeys, bool force)
|
|
{
|
|
if (settingsKeys.contains("dfmTrackOn") || force)
|
|
{
|
|
// Do something with settings.m_dfmTrackOn if needed
|
|
}
|
|
if (settingsKeys.contains("dfmLubePumpsOn") || force)
|
|
{
|
|
// Do something with settings.m_dfmLubePumpsOn if needed
|
|
}
|
|
if (settingsKeys.contains("dfmBrakesOn") || force)
|
|
{
|
|
// Do something with settings.m_dfmBreaksOn if needed
|
|
}
|
|
if (settingsKeys.contains("dfmDrivesOn") || force)
|
|
{
|
|
// Do something with settings.m_dfmDrivesOn if needed
|
|
}
|
|
|
|
// Call parent method to set m_settings to settings
|
|
ControllerProtocol::applySettings(settings, settingsKeys, force);
|
|
}
|
|
|