mirror of
https://github.com/f4exb/sdrangel.git
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305 lines
10 KiB
C++
305 lines
10 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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// Copyright (C) 2020-2023 Jon Beniston, M7RCE <jon@beniston.com> //
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// Copyright (C) 2021 Christoph Berg <myon@debian.org> //
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// Copyright (C) 2022 Edouard Griffiths, F4EXB <f4exb06@gmail.com> //
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// Copyright (C) 2022 Jiří Pinkava <jiri.pinkava@rossum.ai> //
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// //
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// This program is free software; you can redistribute it and/or modify //
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// it under the terms of the GNU General Public License as published by //
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// the Free Software Foundation as version 3 of the License, or //
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// (at your option) any later version. //
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// //
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// This program is distributed in the hope that it will be useful, //
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// but WITHOUT ANY WARRANTY; without even the implied warranty of //
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the //
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// GNU General Public License V3 for more details. //
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// //
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// You should have received a copy of the GNU General Public License //
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// along with this program. If not, see <http://www.gnu.org/licenses/>. //
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///////////////////////////////////////////////////////////////////////////////////
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#include <algorithm>
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#include <cmath>
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#include <QDebug>
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#include <QSerialPort>
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#include <QRegularExpression>
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#include "maincore.h"
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#include "SWGTargetAzimuthElevation.h"
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#include "gs232controller.h"
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#include "gs232controllerworker.h"
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#include "gs232controllerreport.h"
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MESSAGE_CLASS_DEFINITION(GS232ControllerWorker::MsgConfigureGS232ControllerWorker, Message)
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MESSAGE_CLASS_DEFINITION(GS232ControllerReport::MsgReportAzAl, Message)
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GS232ControllerWorker::GS232ControllerWorker(GS232Controller *controller) :
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m_controller(controller),
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m_msgQueueToFeature(nullptr),
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m_device(nullptr),
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m_serialPort(this),
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m_socket(this),
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m_pollTimer(this),
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m_lastAzimuth(-1.0f),
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m_lastElevation(-1.0f),
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m_controllerProtocol(nullptr)
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// m_spidSetOutstanding(false),
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// m_spidSetSent(false),
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// m_spidStatusSent(false),
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// m_rotCtlDReadAz(false)
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{
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}
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GS232ControllerWorker::~GS232ControllerWorker()
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{
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qDebug() << "GS232ControllerWorker::~GS232ControllerWorker";
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stopWork();
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m_inputMessageQueue.clear();
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delete m_controllerProtocol;
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}
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void GS232ControllerWorker::startWork()
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{
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qDebug() << "GS232ControllerWorker::startWork";
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connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
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connect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readData);
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connect(&m_socket, &QTcpSocket::readyRead, this, &GS232ControllerWorker::readData);
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if (m_settings.m_connection == GS232ControllerSettings::TCP) {
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m_device = openSocket(m_settings);
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} else {
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m_device = openSerialPort(m_settings);
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}
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connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
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m_pollTimer.start(1000);
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// Handle any messages already on the queue
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handleInputMessages();
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}
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void GS232ControllerWorker::stopWork()
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{
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qDebug() << "GS232ControllerWorker::stopWork";
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disconnect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
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if (m_device && m_device->isOpen())
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{
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m_device->close();
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m_device = nullptr;
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}
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disconnect(&m_serialPort, &QSerialPort::readyRead, this, &GS232ControllerWorker::readData);
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disconnect(&m_socket, &QTcpSocket::readyRead, this, &GS232ControllerWorker::readData);
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m_pollTimer.stop();
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disconnect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
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}
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void GS232ControllerWorker::handleInputMessages()
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{
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Message* message;
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while ((message = m_inputMessageQueue.pop()) != nullptr)
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{
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if (handleMessage(*message)) {
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delete message;
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}
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}
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}
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bool GS232ControllerWorker::handleMessage(const Message& cmd)
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{
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if (MsgConfigureGS232ControllerWorker::match(cmd))
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{
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MsgConfigureGS232ControllerWorker& cfg = (MsgConfigureGS232ControllerWorker&) cmd;
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applySettings(cfg.getSettings(), cfg.getSettingsKeys(), cfg.getForce());
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return true;
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}
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else
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{
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return false;
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}
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}
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void GS232ControllerWorker::applySettings(const GS232ControllerSettings& settings, const QList<QString>& settingsKeys, bool force)
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{
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qDebug() << "GS232ControllerWorker::applySettings:" << settings.getDebugString(settingsKeys, force) << " force: " << force;
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if ((settingsKeys.contains("protocol") && (settings.m_protocol != m_settings.m_protocol)) || force)
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{
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delete m_controllerProtocol;
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m_controllerProtocol = ControllerProtocol::create(settings.m_protocol);
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if (m_controllerProtocol)
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{
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m_controllerProtocol->setMessageQueue(m_msgQueueToFeature);
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m_controllerProtocol->setDevice(m_device);
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}
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}
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if (settingsKeys.contains("connection") )
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{
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if (m_device && m_device->isOpen())
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{
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m_device->close();
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m_device = nullptr;
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}
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}
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if (settings.m_connection == GS232ControllerSettings::TCP)
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{
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if (settingsKeys.contains("host") || settingsKeys.contains("port") || force)
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{
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m_device = openSocket(settings);
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if (m_controllerProtocol) {
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m_controllerProtocol->setDevice(m_device);
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}
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}
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}
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else
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{
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if (settingsKeys.contains("serialPort") || force)
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{
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m_device = openSerialPort(settings);
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if (m_controllerProtocol) {
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m_controllerProtocol->setDevice(m_device);
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}
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}
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else if (settingsKeys.contains("baudRate") || force)
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{
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m_serialPort.setBaudRate(settings.m_baudRate);
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}
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}
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if (force) {
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m_settings = settings;
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} else {
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m_settings.applySettings(settingsKeys, settings);
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}
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if (m_controllerProtocol) {
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m_controllerProtocol->applySettings(settings, settingsKeys, force);
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}
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if (m_device != nullptr)
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{
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// Apply offset then clamp
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float azimuth, elevation;
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settings.calcTargetAzEl(azimuth, elevation);
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// Don't set if within tolerance of last setting
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float azDiff = std::abs(azimuth - m_lastAzimuth);
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float elDiff = std::abs(elevation - m_lastElevation);
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if (((elDiff > settings.m_tolerance) || (m_lastElevation == -1) || force) && (settings.m_elevationMax != 0))
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{
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setAzimuthElevation(azimuth, elevation);
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}
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else if ((azDiff > settings.m_tolerance) || (m_lastAzimuth == -1) || force)
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{
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setAzimuth(azimuth);
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}
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sendToSkyMap(azimuth, elevation);
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}
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}
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QIODevice *GS232ControllerWorker::openSerialPort(const GS232ControllerSettings& settings)
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{
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qDebug() << "GS232ControllerWorker::openSerialPort: " << settings.m_serialPort;
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if (m_serialPort.isOpen()) {
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m_serialPort.close();
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}
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m_lastAzimuth = -1;
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m_lastElevation = -1;
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if (!settings.m_serialPort.isEmpty())
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{
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m_serialPort.setPortName(settings.m_serialPort);
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m_serialPort.setBaudRate(settings.m_baudRate);
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if (!m_serialPort.open(QIODevice::ReadWrite))
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{
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qCritical() << "GS232ControllerWorker::openSerialPort: Failed to open serial port " << settings.m_serialPort << ". Error: " << m_serialPort.error();
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m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Failed to open serial port %1: %2").arg(settings.m_serialPort).arg(m_serialPort.error())));
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return nullptr;
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}
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else
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{
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return &m_serialPort;
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}
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}
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else
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{
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return nullptr;
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}
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}
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QIODevice *GS232ControllerWorker::openSocket(const GS232ControllerSettings& settings)
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{
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qDebug() << "GS232ControllerWorker::openSocket: " << settings.m_host << settings.m_port;
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if (m_socket.isOpen()) {
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m_socket.close();
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}
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m_lastAzimuth = -1;
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m_lastElevation = -1;
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m_socket.connectToHost(settings.m_host, settings.m_port);
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if (m_socket.waitForConnected(3000))
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{
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return &m_socket;
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}
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else
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{
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qCritical() << "GS232ControllerWorker::openSocket: Failed to connect to " << settings.m_host << settings.m_port;
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m_msgQueueToFeature->push(GS232Controller::MsgReportWorker::create(QString("Failed to connect to %1:%2").arg(settings.m_host).arg(settings.m_port)));
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return nullptr;
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}
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}
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void GS232ControllerWorker::setAzimuth(float azimuth)
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{
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if (m_device && m_device->isOpen() && m_controllerProtocol) {
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m_controllerProtocol->setAzimuth(azimuth);
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}
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m_lastAzimuth = azimuth;
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}
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void GS232ControllerWorker::setAzimuthElevation(float azimuth, float elevation)
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{
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if (m_device && m_device->isOpen() && m_controllerProtocol) {
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m_controllerProtocol->setAzimuthElevation(azimuth, elevation);
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}
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m_lastAzimuth = azimuth;
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m_lastElevation = elevation;
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}
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void GS232ControllerWorker::readData()
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{
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if (m_controllerProtocol) {
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m_controllerProtocol->readData();
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}
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}
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void GS232ControllerWorker::update()
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{
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// Request current Az/El from controller
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if (m_device && m_device->isOpen() && m_controllerProtocol) {
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m_controllerProtocol->update();
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}
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}
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void GS232ControllerWorker::sendToSkyMap(float azimuth, float elevation)
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{
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QList<ObjectPipe*> targetPipes;
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MainCore::instance()->getMessagePipes().getMessagePipes(m_controller, "target", targetPipes);
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for (const auto& pipe : targetPipes)
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{
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MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
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SWGSDRangel::SWGTargetAzimuthElevation *swgTarget = new SWGSDRangel::SWGTargetAzimuthElevation();
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swgTarget->setName(new QString("Rotator"));
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swgTarget->setAzimuth(azimuth);
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swgTarget->setElevation(elevation);
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messageQueue->push(MainCore::MsgTargetAzimuthElevation::create(m_controller, swgTarget));
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}
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}
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