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rot_dummy.c

/*
 *  Hamlib Dummy backend - main file
 *  Copyright (c) 2001-2009 by Stephane Fillod
 *
 *    $Id: rot_dummy.c,v 1.8 2009-02-18 20:56:36 fillods Exp $
 *
 *   This library is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU Library General Public License as
 *   published by the Free Software Foundation; either version 2 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 Library General Public License for more details.
 *
 *   You should have received a copy of the GNU Library General Public
 *   License along with this library; if not, write to the Free Software
 *   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 *
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <stdlib.h>
#include <string.h>  /* String function definitions */
#include <unistd.h>  /* UNIX standard function definitions */
#include <math.h>
#include <sys/time.h>
#include <time.h>

#include "hamlib/rotator.h"
#include "serial.h"
#include "misc.h"
#include "register.h"

#include "rot_dummy.h"

struct dummy_rot_priv_data {
      azimuth_t az;
      elevation_t el;

      struct timeval tv;      /* time last az/el update */
      azimuth_t target_az;
      elevation_t target_el;
};



static int dummy_rot_init(ROT *rot)
{
  struct dummy_rot_priv_data *priv;

  priv = (struct dummy_rot_priv_data*)
              malloc(sizeof(struct dummy_rot_priv_data));

  if (!priv)
              return -RIG_ENOMEM;
  rot->state.priv = (void*)priv;

  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
  rot->state.rotport.type.rig = RIG_PORT_NONE;

  priv->az = priv->el = 0;

  priv->target_az = priv->target_el = 0;

  return RIG_OK;
}

static int dummy_rot_cleanup(ROT *rot)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  if (rot->state.priv)
      free(rot->state.priv);

  rot->state.priv = NULL;

  return RIG_OK;
}

static int dummy_rot_open(ROT *rot)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  return RIG_OK;
}

static int dummy_rot_close(ROT *rot)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  return RIG_OK;
}

static int dummy_rot_set_position(ROT *rot, azimuth_t az, elevation_t el)
{
  struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;

  rig_debug(RIG_DEBUG_VERBOSE,"%s called: %.2f %.2f\n", __func__, 
                  az, el);

  priv->target_az = az;
  priv->target_el = el;

  gettimeofday(&priv->tv, NULL);

  return RIG_OK;
}


/*
 * Get position of rotor, simulating slow rotation
 */
static int dummy_rot_get_position(ROT *rot, azimuth_t *az, elevation_t *el)
{
  struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;
  struct timeval tv;
  unsigned elapsed; /* ms */

  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  if (priv->az == priv->target_az &&
              priv->el == priv->target_el)
  {
    *az = priv->az;
    *el = priv->el;
    return RIG_OK;
  }

  gettimeofday(&tv, NULL);

  elapsed = (tv.tv_sec - priv->tv.tv_sec) * 1000 +
        (tv.tv_usec - priv->tv.tv_usec) / 1000;

  /*
   * Simulate rotation speed of 360 deg per minute
   */
#define DEG_PER_MS (360./60/1000)
  if (fabs(priv->target_az - priv->az)/DEG_PER_MS <= elapsed)
  {
      /* target reached */
      priv->az = priv->target_az;
  }
  else
  {
      if (priv->az < priv->target_az)
            priv->az += (azimuth_t)elapsed*DEG_PER_MS;
      else
            priv->az -= (azimuth_t)elapsed*DEG_PER_MS;
  }

  if (fabs(priv->target_el - priv->el)/DEG_PER_MS <= elapsed)
  {
      /* target reached */
      priv->el = priv->target_el;
  }
  else
  {
      if (priv->el < priv->target_el)
            priv->el += (elevation_t)elapsed*DEG_PER_MS;
      else
            priv->el -= (elevation_t)elapsed*DEG_PER_MS;
  }

  *az = priv->az;
  *el = priv->el;

  priv->tv = tv;

  return RIG_OK;
}


static int dummy_rot_stop(ROT *rot)
{
  struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;
  azimuth_t az;
  elevation_t el;

  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  dummy_rot_get_position(rot, &az, &el);

  priv->target_az = priv->az = az;
  priv->target_el = priv->el = el;

  return RIG_OK;
}


static int dummy_rot_park(ROT *rot)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  /* Assume home is 0,0 */
  dummy_rot_set_position(rot, 0, 0);

  return RIG_OK;
}

static int dummy_rot_reset(ROT *rot, rot_reset_t reset)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  return RIG_OK;
}

static int dummy_rot_move(ROT *rot, int direction, int speed)
{
  struct dummy_rot_priv_data *priv = (struct dummy_rot_priv_data *)rot->state.priv;

  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  switch(direction) {
  case ROT_MOVE_UP:
        return dummy_rot_set_position(rot, priv->target_az, 90);

  case ROT_MOVE_DOWN:
        return dummy_rot_set_position(rot, priv->target_az, 0);

  case ROT_MOVE_CCW:
        return dummy_rot_set_position(rot, -180, priv->target_el);

  case ROT_MOVE_CW:
        return dummy_rot_set_position(rot, 180, priv->target_el);

  default:
        return -RIG_EINVAL;
  }

  return RIG_OK;
}

static const char *dummy_rot_get_info(ROT *rot)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);

  return "Dummy rotator";
}



/*
 * Dummy rotator capabilities.
 */

const struct rot_caps dummy_rot_caps = {
  .rot_model =      ROT_MODEL_DUMMY,
  .model_name =     "Dummy",
  .mfg_name =       "Hamlib",
  .version =        "0.2",
  .copyright =        "LGPL",
  .status =         RIG_STATUS_BETA,
  .rot_type =       ROT_TYPE_OTHER,
  .port_type =      RIG_PORT_NONE,

  .min_az =       -180.,
  .max_az =       180.,
  .min_el =       0.,
  .max_el =       90.,

  .priv =  NULL,  /* priv */

  .rot_init =     dummy_rot_init,
  .rot_cleanup =  dummy_rot_cleanup,
  .rot_open =     dummy_rot_open,
  .rot_close =    dummy_rot_close,

  .set_position =     dummy_rot_set_position,
  .get_position =     dummy_rot_get_position,
  .park =     dummy_rot_park,
  .stop =     dummy_rot_stop,
  .reset =    dummy_rot_reset,
  .move =     dummy_rot_move,

  .get_info =      dummy_rot_get_info,
};

DECLARE_INITROT_BACKEND(dummy)
{
      rig_debug(RIG_DEBUG_VERBOSE, "dummy: _init called\n");

      rot_register(&dummy_rot_caps);
      rot_register(&netrotctl_caps);

      return RIG_OK;
}

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