mirror of
https://github.com/f4exb/sdrangel.git
synced 2024-11-22 16:08:39 -05:00
305 lines
10 KiB
C++
305 lines
10 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
|
|
// Copyright (C) 2020-2023 Jon Beniston, M7RCE <jon@beniston.com> //
|
|
// Copyright (C) 2021 Christoph Berg <myon@debian.org> //
|
|
// Copyright (C) 2022 Edouard Griffiths, F4EXB <f4exb06@gmail.com> //
|
|
// Copyright (C) 2022 Jiří Pinkava <jiri.pinkava@rossum.ai> //
|
|
// //
|
|
// 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 <algorithm>
|
|
#include <cmath>
|
|
|
|
#include <QDebug>
|
|
#include <QSerialPort>
|
|
#include <QRegularExpression>
|
|
|
|
#include "maincore.h"
|
|
|
|
#include "SWGTargetAzimuthElevation.h"
|
|
|
|
#include "gs232controller.h"
|
|
#include "gs232controllerworker.h"
|
|
#include "gs232controllerreport.h"
|
|
|
|
MESSAGE_CLASS_DEFINITION(GS232ControllerWorker::MsgConfigureGS232ControllerWorker, Message)
|
|
MESSAGE_CLASS_DEFINITION(GS232ControllerReport::MsgReportAzAl, Message)
|
|
|
|
GS232ControllerWorker::GS232ControllerWorker(GS232Controller *controller) :
|
|
m_controller(controller),
|
|
m_msgQueueToFeature(nullptr),
|
|
m_device(nullptr),
|
|
m_serialPort(this),
|
|
m_socket(this),
|
|
m_pollTimer(this),
|
|
m_lastAzimuth(-1.0f),
|
|
m_lastElevation(-1.0f),
|
|
m_controllerProtocol(nullptr)
|
|
// m_spidSetOutstanding(false),
|
|
// m_spidSetSent(false),
|
|
// m_spidStatusSent(false),
|
|
// m_rotCtlDReadAz(false)
|
|
{
|
|
}
|
|
|
|
GS232ControllerWorker::~GS232ControllerWorker()
|
|
{
|
|
qDebug() << "GS232ControllerWorker::~GS232ControllerWorker";
|
|
stopWork();
|
|
m_inputMessageQueue.clear();
|
|
delete m_controllerProtocol;
|
|
}
|
|
|
|
void GS232ControllerWorker::startWork()
|
|
{
|
|
qDebug() << "GS232ControllerWorker::startWork";
|
|
connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
|
|
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);
|
|
}
|
|
connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
|
|
m_pollTimer.start(1000);
|
|
// Handle any messages already on the queue
|
|
handleInputMessages();
|
|
}
|
|
|
|
void GS232ControllerWorker::stopWork()
|
|
{
|
|
qDebug() << "GS232ControllerWorker::stopWork";
|
|
disconnect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
|
|
if (m_device && m_device->isOpen())
|
|
{
|
|
m_device->close();
|
|
m_device = nullptr;
|
|
}
|
|
disconnect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readData);
|
|
disconnect(&m_socket, &QTcpSocket::readyRead, this, &GS232ControllerWorker::readData);
|
|
m_pollTimer.stop();
|
|
disconnect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
|
|
}
|
|
|
|
void GS232ControllerWorker::handleInputMessages()
|
|
{
|
|
Message* message;
|
|
|
|
while ((message = m_inputMessageQueue.pop()) != nullptr)
|
|
{
|
|
if (handleMessage(*message)) {
|
|
delete message;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool GS232ControllerWorker::handleMessage(const Message& cmd)
|
|
{
|
|
if (MsgConfigureGS232ControllerWorker::match(cmd))
|
|
{
|
|
MsgConfigureGS232ControllerWorker& cfg = (MsgConfigureGS232ControllerWorker&) cmd;
|
|
|
|
applySettings(cfg.getSettings(), cfg.getSettingsKeys(), cfg.getForce());
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
void GS232ControllerWorker::applySettings(const GS232ControllerSettings& settings, const QList<QString>& settingsKeys, bool force)
|
|
{
|
|
qDebug() << "GS232ControllerWorker::applySettings:" << settings.getDebugString(settingsKeys, force) << " force: " << force;
|
|
|
|
if ((settingsKeys.contains("protocol") && (settings.m_protocol != m_settings.m_protocol)) || force)
|
|
{
|
|
delete m_controllerProtocol;
|
|
m_controllerProtocol = ControllerProtocol::create(settings.m_protocol);
|
|
if (m_controllerProtocol)
|
|
{
|
|
m_controllerProtocol->setMessageQueue(m_msgQueueToFeature);
|
|
m_controllerProtocol->setDevice(m_device);
|
|
}
|
|
}
|
|
|
|
if (settingsKeys.contains("connection") )
|
|
{
|
|
if (m_device && m_device->isOpen())
|
|
{
|
|
m_device->close();
|
|
m_device = nullptr;
|
|
}
|
|
}
|
|
|
|
if (settings.m_connection == GS232ControllerSettings::TCP)
|
|
{
|
|
if (settingsKeys.contains("host") || settingsKeys.contains("port") || force)
|
|
{
|
|
m_device = openSocket(settings);
|
|
if (m_controllerProtocol) {
|
|
m_controllerProtocol->setDevice(m_device);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (settingsKeys.contains("serialPort") || force)
|
|
{
|
|
m_device = openSerialPort(settings);
|
|
if (m_controllerProtocol) {
|
|
m_controllerProtocol->setDevice(m_device);
|
|
}
|
|
}
|
|
else if (settingsKeys.contains("baudRate") || force)
|
|
{
|
|
m_serialPort.setBaudRate(settings.m_baudRate);
|
|
}
|
|
}
|
|
|
|
if (force) {
|
|
m_settings = settings;
|
|
} else {
|
|
m_settings.applySettings(settingsKeys, settings);
|
|
}
|
|
|
|
if (m_controllerProtocol) {
|
|
m_controllerProtocol->applySettings(settings, settingsKeys, force);
|
|
}
|
|
|
|
if (m_device != nullptr)
|
|
{
|
|
// Apply offset then clamp
|
|
|
|
float azimuth, elevation;
|
|
settings.calcTargetAzEl(azimuth, elevation);
|
|
|
|
// 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 ((azDiff > settings.m_tolerance) || (m_lastAzimuth == -1) || force)
|
|
{
|
|
setAzimuth(azimuth);
|
|
}
|
|
|
|
sendToSkyMap(azimuth, elevation);
|
|
}
|
|
}
|
|
|
|
QIODevice *GS232ControllerWorker::openSerialPort(const GS232ControllerSettings& settings)
|
|
{
|
|
qDebug() << "GS232ControllerWorker::openSerialPort: " << settings.m_serialPort;
|
|
if (m_serialPort.isOpen()) {
|
|
m_serialPort.close();
|
|
}
|
|
m_lastAzimuth = -1;
|
|
m_lastElevation = -1;
|
|
if (!settings.m_serialPort.isEmpty())
|
|
{
|
|
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)
|
|
{
|
|
if (m_device && m_device->isOpen() && m_controllerProtocol) {
|
|
m_controllerProtocol->setAzimuth(azimuth);
|
|
}
|
|
|
|
m_lastAzimuth = azimuth;
|
|
}
|
|
|
|
void GS232ControllerWorker::setAzimuthElevation(float azimuth, float elevation)
|
|
{
|
|
if (m_device && m_device->isOpen() && m_controllerProtocol) {
|
|
m_controllerProtocol->setAzimuthElevation(azimuth, elevation);
|
|
}
|
|
|
|
m_lastAzimuth = azimuth;
|
|
m_lastElevation = elevation;
|
|
}
|
|
|
|
void GS232ControllerWorker::readData()
|
|
{
|
|
if (m_controllerProtocol) {
|
|
m_controllerProtocol->readData();
|
|
}
|
|
}
|
|
|
|
void GS232ControllerWorker::update()
|
|
{
|
|
// Request current Az/El from controller
|
|
if (m_device && m_device->isOpen() && m_controllerProtocol) {
|
|
m_controllerProtocol->update();
|
|
}
|
|
}
|
|
|
|
void GS232ControllerWorker::sendToSkyMap(float azimuth, float elevation)
|
|
{
|
|
QList<ObjectPipe*> targetPipes;
|
|
MainCore::instance()->getMessagePipes().getMessagePipes(m_controller, "target", targetPipes);
|
|
|
|
for (const auto& pipe : targetPipes)
|
|
{
|
|
MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
|
|
SWGSDRangel::SWGTargetAzimuthElevation *swgTarget = new SWGSDRangel::SWGTargetAzimuthElevation();
|
|
swgTarget->setName(new QString("Rotator"));
|
|
swgTarget->setAzimuth(azimuth);
|
|
swgTarget->setElevation(elevation);
|
|
messageQueue->push(MainCore::MsgTargetAzimuthElevation::create(m_controller, swgTarget));
|
|
}
|
|
}
|