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rotator.c

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/*
 *  Hamlib Interface - main file
 *  Copyright (c) 2000-2006 by Stephane Fillod and Frank Singleton
 *
 *    $Id: rotator.c,v 1.21 2006/10/15 00:27:52 aa6e 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.
 *
 */

/**
 * \addtogroup rotator
 * @{
 */

/**
 * \file src/rotator.c
 * \brief Rotator interface
 * \author Stephane Fillod
 * \date 2000-2006
 *
 * Hamlib interface is a frontend implementing rotator wrapper functions.
 */


/*! \page rot Rotator interface
 *
 * Rotator can be any kind of azimuth or azimuth and elevation controlled
 * antenna system.
 */

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

#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>


#include "hamlib/rotator.h"
#include "serial.h"
#include "parallel.h"
#include "rot_conf.h"
#include "token.h"


#ifndef DOC_HIDDEN

#if defined(WIN32) && !defined(__CYGWIN__)
#define DEFAULT_SERIAL_PORT "\\\\.\\COM1"
#else
#define DEFAULT_SERIAL_PORT "/dev/ttyS0"
#endif
#if defined(WIN32)
#define DEFAULT_PARALLEL_PORT "\\\\.\\$VDMLPT1"
#elif defined(HAVE_DEV_PPBUS_PPI_H)
#define DEFAULT_PARALLEL_PORT "/dev/ppi0"
#else
#define DEFAULT_PARALLEL_PORT "/dev/parport0"
#endif

#define CHECK_ROT_ARG(r) (!(r) || !(r)->caps || !(r)->state.comm_state)

/*
 * Data structure to track the opened rot (by rot_open)
 */
struct opened_rot_l {
            ROT *rot;
            struct opened_rot_l *next;
};
static struct opened_rot_l *opened_rot_list = { NULL };

/*
 * track which rot is opened (with rot_open)
 * needed at least for transceive mode
 */
static int add_opened_rot(ROT *rot)
{
      struct opened_rot_l *p;
      p = (struct opened_rot_l *)malloc(sizeof(struct opened_rot_l));
      if (!p)
                  return -RIG_ENOMEM;
      p->rot = rot;
      p->next = opened_rot_list;
      opened_rot_list = p;
      return RIG_OK;
}

static int remove_opened_rot(ROT *rot)
{     
      struct opened_rot_l *p,*q;
      q = NULL;

      for (p=opened_rot_list; p; p=p->next) {
            if (p->rot == rot) {
                  if (q == NULL) {
                        opened_rot_list = opened_rot_list->next;
                  } else {
                        q->next = p->next;
                  }
                  free(p);
                  return RIG_OK;
            }
            q = p;
      }
      return -RIG_EINVAL;     /* Not found in list ! */
}
#endif /* !DOC_HIDDEN */

/**
 * \brief execs cfunc() on each opened rot
 * \param cfunc   The function to be executed on each rot
 * \param data    Data pointer to be passed to cfunc() 
 *
 *  Calls cfunc() function for each opened rot. 
 *  The contents of the opened rot table
 *  is processed in random order according to a function
 *  pointed to by \a cfunc, whic is called with two arguments,
 *  the first pointing to the #ROT handle, the second
 *  to a data pointer \a data.
 *  If \a data is not needed, then it can be set to NULL.
 *  The processing of the opened rot table is stopped
 *  when cfunc() returns 0.
 * \internal
 *
 * \return always RIG_OK.
 */

00146 int foreach_opened_rot(int (*cfunc)(ROT *, rig_ptr_t), rig_ptr_t data)
{     
      struct opened_rot_l *p;

      for (p=opened_rot_list; p; p=p->next) {
            if ((*cfunc)(p->rot,data) == 0)
                  return RIG_OK;
      }
      return RIG_OK;
}

/**
 * \brief allocate a new #ROT handle
 * \param rot_model     The rot model for this new handle
 *
 * Allocates a new #ROT handle and initializes the associated data 
 * for \a rot_model.
 *
 * \return a pointer to the #ROT handle otherwise NULL if memory allocation
 * failed or \a rot_model is unknown (e.g. backend autoload failed).
 *
 * \sa rot_cleanup(), rot_open()
 */

00170 ROT * HAMLIB_API rot_init(rot_model_t rot_model)
{
      ROT *rot;
      const struct rot_caps *caps;
      struct rot_state *rs;
      int retcode;

      rot_debug(RIG_DEBUG_VERBOSE,"rot:rot_init called \n");

      rot_check_backend(rot_model);

      caps = rot_get_caps(rot_model);
      if (!caps)
            return NULL;

      /*
       * okay, we've found it. Allocate some memory and set it to zeros,
       * and especially the initialize the callbacks 
       */ 
      rot = calloc(1, sizeof(ROT));
      if (rot == NULL) {
            /*
             * FIXME: how can the caller know it's a memory shortage,
             *            and not "rot not found" ?
             */
            return NULL;
      }

        /* caps is const, so we need to tell compiler
           that we now what we are doing */
      rot->caps = (struct rot_caps *) caps;

      /*
       * populate the rot->state
       * TODO: read the Preferences here! 
       */

      rs = &rot->state;

      rs->comm_state = 0;
      rs->rotport.type.rig = caps->port_type; /* default from caps */

      rs->rotport.write_delay = caps->write_delay;
      rs->rotport.post_write_delay = caps->post_write_delay;
      rs->rotport.timeout = caps->timeout;
      rs->rotport.retry = caps->retry;

      switch (caps->port_type) {
      case RIG_PORT_SERIAL:
      strncpy(rs->rotport.pathname, DEFAULT_SERIAL_PORT, FILPATHLEN);
      rs->rotport.parm.serial.rate = caps->serial_rate_max; /* fastest ! */
      rs->rotport.parm.serial.data_bits = caps->serial_data_bits;
      rs->rotport.parm.serial.stop_bits = caps->serial_stop_bits;
      rs->rotport.parm.serial.parity = caps->serial_parity;
      rs->rotport.parm.serial.handshake = caps->serial_handshake;
      break;

      case RIG_PORT_PARALLEL:
      strncpy(rs->rotport.pathname, DEFAULT_PARALLEL_PORT, FILPATHLEN);
      break;

      default:
      strncpy(rs->rotport.pathname, "", FILPATHLEN);
      }

      rs->min_el = caps->min_el;
      rs->max_el = caps->max_el;
      rs->min_az = caps->min_az;
      rs->max_az = caps->max_az;

      rs->rotport.fd = -1;

      /* 
       * let the backend a chance to setup his private data
       * This must be done only once defaults are setup,
       * so the backend init can override rot_state.
       */
      if (caps->rot_init != NULL) {
            retcode = caps->rot_init(rot);
            if (retcode != RIG_OK) {
                  rot_debug(RIG_DEBUG_VERBOSE,"rot:backend_init failed!\n");
                  /* cleanup and exit */
                  free(rot);
                  return NULL;
            }
      }

      return rot;
}

/**
 * \brief open the communication to the rot
 * \param rot     The #ROT handle of the rotator to be opened
 *
 * Opens communication to a rotator which \a ROT handle has been passed
 * by argument.
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 * \retval RIG_EINVAL   \a rot is NULL or unconsistent.
 * \retval RIG_ENIMPL   port type communication is not implemented yet.
 *
 * \sa rot_init(), rot_close()
 */

00277 int HAMLIB_API rot_open(ROT *rot)
{
      const struct rot_caps *caps;
      struct rot_state *rs;
      int status;

      rot_debug(RIG_DEBUG_VERBOSE,"rot:rot_open called \n");

      if (!rot || !rot->caps)
            return -RIG_EINVAL;

      caps = rot->caps;
      rs = &rot->state;

      if (rs->comm_state)
            return -RIG_EINVAL;

      rs->rotport.fd = -1;

      switch(rs->rotport.type.rig) {
      case RIG_PORT_SERIAL:
            status = serial_open(&rs->rotport);
            if (status != 0)
                        return status;
            break;

      case RIG_PORT_PARALLEL:
            status = par_open(&rs->rotport);
            if (status < 0)
                  return status;
            break;

      case RIG_PORT_DEVICE:
            status = open(rs->rotport.pathname, O_RDWR, 0);
            if (status < 0)
                  return -RIG_EIO;
            rs->rotport.fd = status;
            break;

      case RIG_PORT_NONE:
      case RIG_PORT_RPC:
                  break;      /* ez :) */

      case RIG_PORT_NETWORK:  /* not implemented yet! */
            return -RIG_ENIMPL;
      default:
            return -RIG_EINVAL;
      }


      add_opened_rot(rot);

      rs->comm_state = 1;

      /* 
       * Maybe the backend has something to initialize
       * In case of failure, just close down and report error code.
       */
      if (caps->rot_open != NULL) {
            status = caps->rot_open(rot); 
            if (status != RIG_OK) {
                  return status;
            }
      }

      return RIG_OK;
}

/**
 * \brief close the communication to the rot
 * \param rot     The #ROT handle of the rotator to be closed
 *
 * Closes communication to a radio which \a ROT handle has been passed
 * by argument that was previously open with rot_open().
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 * \sa rot_cleanup(), rot_open()
 */

00359 int HAMLIB_API rot_close(ROT *rot)
{
      const struct rot_caps *caps;
      struct rot_state *rs;

      rot_debug(RIG_DEBUG_VERBOSE,"rot:rot_close called \n");

      if (!rot || !rot->caps)
            return -RIG_EINVAL;

      caps = rot->caps;
      rs = &rot->state;

      if (!rs->comm_state)
            return -RIG_EINVAL;

      /*
       * Let the backend say 73s to the rot.
       * and ignore the return code.
       */
      if (caps->rot_close)
            caps->rot_close(rot);


      if (rs->rotport.fd != -1) {
            switch(rs->rotport.type.rig) {
            case RIG_PORT_SERIAL:
                  ser_close(&rs->rotport);
                  break;
            case RIG_PORT_PARALLEL:
                  par_close(&rs->rotport);
                  break;
            default:
                  close(rs->rotport.fd);
            }
            rs->rotport.fd = -1;
      }

      remove_opened_rot(rot);

      rs->comm_state = 0;

      return RIG_OK;
}

/**
 * \brief release a rot handle and free associated memory
 * \param rot     The #ROT handle of the radio to be closed
 *
 * Releases a rot struct which port has eventualy been closed already 
 * with rot_close().
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 * \sa rot_init(), rot_close()
 */

00418 int HAMLIB_API rot_cleanup(ROT *rot)
{
      rot_debug(RIG_DEBUG_VERBOSE,"rot:rot_cleanup called \n");

      if (!rot || !rot->caps)
            return -RIG_EINVAL;

      /*
       * check if they forgot to close the rot
       */
      if (rot->state.comm_state)
            rot_close(rot);

      /*
       * basically free up the priv struct 
       */
      if (rot->caps->rot_cleanup)
            rot->caps->rot_cleanup(rot);

      free(rot);

      return RIG_OK;
}


/**
 * \brief set a rotator configuration parameter
 * \param rot     The rot handle
 * \param token   The parameter
 * \param val     The value to set the parameter to
 *
 *  Sets a configuration parameter. 
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 * \sa rot_get_conf()
 */
00457 int HAMLIB_API rot_set_conf(ROT *rot, token_t token, const char *val)
{
      if (!rot || !rot->caps)
            return -RIG_EINVAL;

      if (IS_TOKEN_FRONTEND(token))
            return frontrot_set_conf(rot, token, val);

      if (rot->caps->set_conf == NULL)
            return -RIG_ENAVAIL;

      return rot->caps->set_conf(rot, token, val);
}

/**
 * \brief get the value of a configuration parameter
 * \param rot     The rot handle
 * \param token   The parameter
 * \param val     The location where to store the value of config \a token
 *
 *  Retrieves the value of a configuration paramter associated with \a token.
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 * \sa rot_set_conf()
 */
00485 int HAMLIB_API rot_get_conf(ROT *rot, token_t token, char *val)
{
      if (!rot || !rot->caps || !val)
            return -RIG_EINVAL;

      if (IS_TOKEN_FRONTEND(token))
            return frontrot_get_conf(rot, token, val);

      if (rot->caps->get_conf == NULL)
            return -RIG_ENAVAIL;

      return rot->caps->get_conf(rot, token, val);
}

/**
 * \brief set the azimuth and elevation of the rotator
 * \param rot     The rot handle
 * \param azimuth The azimuth to set to
 * \param elevation     The elevation to set to
 *
 * Sets the azimuth and elevation of the rotator.
 *
 * \return RIG_OK if the operation has been sucessful, otherwise
 * a negative value if an error occured (in which case, cause is
 * set appropriately).
 *
 * \sa rot_get_position()
 */

00514 int HAMLIB_API rot_set_position (ROT *rot, azimuth_t azimuth, elevation_t elevation)
{
      const struct rot_caps *caps;
      const struct rot_state *rs;

      if (CHECK_ROT_ARG(rot))
            return -RIG_EINVAL;

      caps = rot->caps;
      rs = &rot->state;

      if (azimuth < rs->min_az || azimuth > rs->max_az ||
                  elevation < rs->min_el || elevation > rs->max_el)
            return -RIG_EINVAL;

      if (caps->set_position == NULL)
            return -RIG_ENAVAIL;

      return caps->set_position(rot, azimuth, elevation);
}

/**
 * \brief get the azimuth and elevation of the rotator
 * \param rot     The rot handle
 * \param azimuth The location where to store the current azimuth
 * \param elevation     The location where to store the current elevation
 *
 *  Retrieves the current azimuth and elevation of the rotator.
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 * \sa rot_set_position()
 */

00550 int HAMLIB_API rot_get_position (ROT *rot, azimuth_t *azimuth, elevation_t *elevation)
{
      const struct rot_caps *caps;

      if (CHECK_ROT_ARG(rot) || !azimuth || !elevation)
            return -RIG_EINVAL;

      caps = rot->caps;

      if (caps->get_position == NULL)
            return -RIG_ENAVAIL;

      return caps->get_position(rot, azimuth, elevation);
}

/**
 * \brief park the antenna
 * \param rot     The rot handle
 *
 *  Park the antenna.
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 */

00577 int HAMLIB_API rot_park (ROT *rot)
{
      const struct rot_caps *caps;

      if (CHECK_ROT_ARG(rot))
            return -RIG_EINVAL;

      caps = rot->caps;

      if (caps->park == NULL)
            return -RIG_ENAVAIL;

      return caps->park(rot);
}

/**
 * \brief stop the rotator
 * \param rot     The rot handle
 *
 *  Stop the rotator.
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 */

00604 int HAMLIB_API rot_stop (ROT *rot)
{
      const struct rot_caps *caps;

      if (CHECK_ROT_ARG(rot))
            return -RIG_EINVAL;

      caps = rot->caps;

      if (caps->stop == NULL)
            return -RIG_ENAVAIL;

      return caps->stop(rot);
}

/**
 * \brief reset the rotator
 * \param rot     The rot handle
 * \param reset The reset operation to perform
 *
 *  Resets the rotator.
 *
 * \return RIG_OK if the operation has been sucessful, otherwise 
 * a negative value if an error occured (in which case, cause is 
 * set appropriately).
 *
 */

00632 int HAMLIB_API rot_reset (ROT *rot, rot_reset_t reset)
{
      const struct rot_caps *caps;

      if (CHECK_ROT_ARG(rot))
            return -RIG_EINVAL;

      caps = rot->caps;

      if (caps->reset == NULL)
            return -RIG_ENAVAIL;

      return caps->reset(rot, reset);
}

/**
 * \brief move the rotator in the specified direction
 * \param rot   The rot handle
 * \param direction   Direction of movement
 * \param speed   Speed of movement
 *
 * Move the rotator in the specified direction. The speed is a value
 * between 1 and 100.
 */
00656 int HAMLIB_API rot_move (ROT *rot, int direction, int speed)
{
        const struct rot_caps *caps;

        if (CHECK_ROT_ARG(rot))
            return -RIG_EINVAL;

        caps = rot->caps;

        if (caps->move == NULL)
            return -RIG_ENAVAIL;

        return caps->move(rot, direction, speed);
}

/**
 * \brief get general information from the rotator
 * \param rot     The rot handle
 *
 * Retrieves some general information from the rotator.
 * This can include firmware revision, exact model name, or just nothing. 
 *
 * \return a pointer to static memory containing the ASCIIZ string 
 * if the operation has been sucessful, otherwise NULL if an error occured
 * or get_info not part of capabilities.
 */
00682 const char* HAMLIB_API rot_get_info(ROT *rot)
{
      if (CHECK_ROT_ARG(rot))
            return NULL;

      if (rot->caps->get_info == NULL)
            return NULL;

      return rot->caps->get_info(rot);
}

/*! @} */

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