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rotctl.c

/*
 * rotctl.c - (C) Stephane Fillod 2000-2004
 *
 * This program test/control a rotator using Hamlib.
 * It takes commands in interactive mode as well as 
 * from command line options.
 *
 *    $Id: rotctl.c,v 1.10 2007/02/24 20:24:34 n0nb Exp $  
 *
 *
 * 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; 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 General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 * 
 */

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

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <ctype.h>

#include <getopt.h>

#include <hamlib/rotator.h>
#include "misc.h"



#define MAXNAMSIZ 32
#define MAXNBOPT 100    /* max number of different options */


#define ARG_IN1  0x01
#define ARG_OUT1 0x02
#define ARG_IN2  0x04
#define ARG_OUT2 0x08
#define ARG_IN3  0x10
#define ARG_OUT3 0x20
#define ARG_IN4  0x40
#define ARG_OUT4 0x80

#define ARG_NONE  0
#define ARG_IN  (ARG_IN1|ARG_IN2|ARG_IN3|ARG_IN4)
#define ARG_OUT  (ARG_OUT1|ARG_OUT2|ARG_OUT3|ARG_OUT4)

struct test_table {
      unsigned char cmd;
      const char *name;
    int (*rot_routine)(ROT*, int, const struct test_table*, const char*, 
                              const char*, const char*);
      int flags;
      const char *arg1;
      const char *arg2;
      const char *arg3;
};

/* 
 * Prototypes
 */
void usage();
void usage_rot();
void version();
void list_models();
static int print_conf_list(const struct confparams *cfp, rig_ptr_t data);
int set_conf(ROT *my_rot, char *conf_parms);

#define declare_proto_rot(f) static int (f)(ROT *rot, int interactive, \
                  const struct test_table *cmd, const char *arg1, \
                  const char *arg2, const char *arg3)

declare_proto_rot(set_position);
declare_proto_rot(get_position);
declare_proto_rot(stop);
declare_proto_rot(park);
declare_proto_rot(reset);
declare_proto_rot(move);
declare_proto_rot(get_info);
declare_proto_rot(inter_set_conf);  /* interactive mode set_conf */


/*
 * convention: upper case cmd is set, lowercase is get
 *
 * NB: 'q' 'Q' '?' are reserved by interactive mode interface
 */
struct test_table test_list[] = {
            { 'P', "set_pos", set_position, ARG_IN, "Azimuth", "Elevation" },
            { 'p', "get_pos", get_position, ARG_OUT, "Azimuth", "Elevation" },
            { 'K', "park", park, ARG_NONE, },
            { 'S', "stop", stop, ARG_NONE, },
            { 'R', "reset", reset, ARG_IN, "Reset" },
            { 'M', "move", move, ARG_IN, "Direction", "Speed" },
            { 'C', "set_conf", inter_set_conf, ARG_IN, "Token", "Value" },
            { '_', "get_info", get_info, ARG_OUT, "Info" },
            { 0x00, "", NULL },

};

/*
 * Reminder: when adding long options, 
 * keep up to date SHORT_OPTIONS, usage()'s output and man page. thanks.
 * NB: do NOT use -W since it's reserved by POSIX.
 * TODO: add an option to read from a file
 */
#define SHORT_OPTIONS "m:r:s:C:LvhVl"
static struct option long_options[] =
{
      {"model",    1, 0, 'm'},
      {"rot-file", 1, 0, 'r'},
      {"serial-speed", 1, 0, 's'},
      {"list",     0, 0, 'l'},
      {"set-conf", 1, 0, 'C'},
      {"show-conf",0, 0, 'L'},
      {"verbose",  0, 0, 'v'},
      {"help",     0, 0, 'h'},
      {"version",  0, 0, 'V'},
      {0, 0, 0, 0}
};

struct test_table *find_cmd_entry(int cmd)
{
      int i;
      for (i=0; i<MAXNBOPT && test_list[i].cmd != 0x00; i++)
            if (test_list[i].cmd == cmd)
                  break;

      if (i >= MAXNBOPT || test_list[i].cmd == 0x00)
            return NULL;

      return &test_list[i];
}
/*
 * TODO: use Lex
 */
char parse_arg(const char *arg)
{
            int i;
            for (i=0; i<MAXNBOPT && test_list[i].cmd != 0; i++)
                        if (!strncmp(arg, test_list[i].name, MAXNAMSIZ))
                                    return test_list[i].cmd;
            return 0;
}

#define MAXCONFLEN 128

int main (int argc, char *argv[])
{ 
      ROT *my_rot;            /* handle to rot (instance) */
      rot_model_t my_model = ROT_MODEL_DUMMY;

      int interactive=1;      /* if no cmd on command line, switch to interactive */
      int retcode;            /* generic return code from functions */
      unsigned char cmd;
      struct test_table *cmd_entry;

      int verbose = 0;
      int show_conf = 0;
      const char *rot_file=NULL;
      int serial_rate = 0;
      char conf_parms[MAXCONFLEN] = "";

      while(1) {
            int c;
            int option_index = 0;

            c = getopt_long (argc, argv, SHORT_OPTIONS,
                  long_options, &option_index);
            if (c == -1)
                  break;

            switch(c) {
                  case 'h':
                              usage();
                              exit(0);
                  case 'V':
                              version();
                              exit(0);
                  case 'm':
                              if (!optarg) {
                                          usage();    /* wrong arg count */
                                          exit(1);
                              }
                              my_model = atoi(optarg);
                              break;
                  case 'r':
                              if (!optarg) {
                                          usage();    /* wrong arg count */
                                          exit(1);
                              }
                              rot_file = optarg;
                              break;
                  case 's':
                              if (!optarg) {
                                          usage();    /* wrong arg count */
                                          exit(1);
                              }
                              serial_rate = atoi(optarg);
                              break;
                  case 'C':
                              if (!optarg) {
                                          usage();    /* wrong arg count */
                                          exit(1);
                              }
                              if (*conf_parms != '\0')
                                          strcat(conf_parms, ",");
                              strncat(conf_parms, optarg, MAXCONFLEN-strlen(conf_parms));
                              break;
                  case 'v':
                              verbose++;
                              break;
                  case 'L':
                              show_conf++;
                              break;
                  case 'l':
                              list_models();
                              exit(0);
                  default:
                              usage();    /* unknown option? */
                              exit(1);
            }
      }
      if (verbose < 2)
            rig_set_debug(RIG_DEBUG_WARN);

      /*
       * at least one command on command line, 
       * disable interactive mode
       */
      if (optind < argc)
            interactive = 0;

      my_rot = rot_init(my_model);

      if (!my_rot) {
                  fprintf(stderr, "Unknown rot num %d, or initialization error.\n", 
                                          my_model);
                  fprintf(stderr, "Please check with --list option.\n");
                  exit(2);
      }

      retcode = set_conf(my_rot, conf_parms);
      if (retcode != RIG_OK) {
                  fprintf(stderr, "Config parameter error: %s\n", rigerror(retcode));
                  exit(2);
      }

      if (rot_file)
            strncpy(my_rot->state.rotport.pathname, rot_file, FILPATHLEN);

      /* FIXME: bound checking and port type == serial */
      if (serial_rate != 0)
            my_rot->state.rotport.parm.serial.rate = serial_rate;

      /*
       * print out conf parameters
       */
      if (show_conf) {
                  rot_token_foreach(my_rot, print_conf_list, (rig_ptr_t)my_rot);
      }

      retcode = rot_open(my_rot);
      if (retcode != RIG_OK) {
                  fprintf(stderr,"rot_open: error = %s \n", rigerror(retcode));
                  exit(2);
      }

      if (verbose > 0)
                  printf("Opened rot model %d, '%s'\n", my_rot->caps->rot_model,
                                          my_rot->caps->model_name);

#define MAXARGSZ 127
      while (1) {
                  char arg1[MAXARGSZ+1], *p1;
                  char arg2[MAXARGSZ+1], *p2;
                  char arg3[MAXARGSZ+1], *p3;
                  static int last_was_ret = 1;

                  if (interactive) {
                        printf("\nRotator command: ");

                        do {
                              scanf("%c", &cmd);

                              /* command by name */
                              if (cmd == '\\') {
                                    unsigned char cmd_name[MAXNAMSIZ], *pcmd = cmd_name;
                                    int c_len = MAXNAMSIZ;
                              
                                    scanf("%c", pcmd);
                                    while(c_len-- && (isalnum(*pcmd) || *pcmd == '_' ))
                                          scanf("%c", ++pcmd);
                                    *pcmd = '\0';
                                    cmd = parse_arg((char *) cmd_name);
                                    break;
                              }

                              if (cmd == 0x0a || cmd == 0x0d) {
                                    if (last_was_ret) {
                                          printf("? for help, q to quit.\n");
                                          printf("\nRotator command: ");
                                          continue;
                                    }
                                    last_was_ret = 1;
                              }
                        } while (cmd == 0x0a || cmd == 0x0d);

                        last_was_ret = 0;

                        if (cmd == 'Q' || cmd == 'q')
                                    break;
                        if (cmd == '?') {
                                    usage_rot();
                              continue;
                        }
                  } else {
                              /* parse rest of command line */
                              if (optind >= argc)
                                          break;
                              if (argv[optind][1] == '\0')
                                          cmd = argv[optind][0];
                              else
                                          cmd = parse_arg(argv[optind]);
                              optind++;
                  }

                  cmd_entry = find_cmd_entry(cmd);
                  if (!cmd_entry) {
                        fprintf(stderr, "Command '%c' not found!\n", cmd);
                        continue;
                  }

                  p1 = p2 = p3 = NULL;
                  if ((cmd_entry->flags & ARG_IN1) && cmd_entry->arg1) {
                        if (interactive) {
                              printf("%s: ", cmd_entry->arg1);
                              scanf("%s", arg1);
                              p1 = arg1;
                        } else {
                              if (!argv[optind]) {
                                    fprintf(stderr, "Invalid arg for command '%s'\n", 
                                                      cmd_entry->name);
                                    exit(2);
                              }
                              p1 = argv[optind++];
                        }
                  }
                  if ((cmd_entry->flags & ARG_IN2) && cmd_entry->arg2) {
                        if (interactive) {
                              printf("%s: ", cmd_entry->arg2);
                              scanf("%s", arg2);
                              p2 = arg2;
                        } else {
                              if (!argv[optind]) {
                                    fprintf(stderr, "Invalid arg for command '%s'\n", 
                                                      cmd_entry->name);
                                    exit(2);
                              }
                              p2 = argv[optind++];
                        }
                  }
                  if ((cmd_entry->flags & ARG_IN3) && cmd_entry->arg3) {
                        if (interactive) {
                              printf("%s: ", cmd_entry->arg3);
                              scanf("%s", arg3);
                              p3 = arg3;
                        } else {
                              if (!argv[optind]) {
                                    fprintf(stderr, "Invalid arg for command '%s'\n", 
                                                      cmd_entry->name);
                                    exit(2);
                              }
                              p3 = argv[optind++];
                        }
                  }
                  retcode = (*cmd_entry->rot_routine)(my_rot, interactive, 
                                          cmd_entry, p1, p2, p3);
                        
                  if (retcode != RIG_OK ) {
                        printf("%s: error = %s\n", cmd_entry->name, rigerror(retcode));
                  }
      }

      rot_close(my_rot); /* close port */
      rot_cleanup(my_rot); /* if you care about memory */

      return 0;
}



void version()
{
            printf("rotctl, %s\n\n", hamlib_version);
            printf("%s\n", hamlib_copyright);
}

void usage_rot()
{
            int i;

            printf("Commands (may not be available for this rotator):\n");
            for (i=0; test_list[i].cmd != 0; i++) {
                  printf("%c: %-16s(", test_list[i].cmd, test_list[i].name);
                  if (test_list[i].arg1)
                              printf("%s", test_list[i].arg1);
                  if (test_list[i].arg2)
                              printf(",%s", test_list[i].arg2);
                  if (test_list[i].arg3)
                              printf(",%s", test_list[i].arg3);
                  printf(")  \t");

                  if (i%2)
                              printf("\n");
            }

}
void usage()
{
            printf("Usage: rotctl [OPTION]... [COMMAND]...\n"
               "Send COMMANDs to a connected antenna rotator.\n\n");


            printf(
      "  -m, --model=ID             select rotator model number. See model list\n"
      "  -r, --rot-file=DEVICE      set device of the rotator to operate on\n"
      "  -s, --serial-speed=BAUD    set serial speed of the serial port\n"
      "  -C, --set-conf=PARM=VAL    set config parameters\n"
      "  -L, --show-conf            list all config parameters\n"
      "  -l, --list                 list all model numbers and exit\n"
      "  -v, --verbose              set verbose mode, cumulative\n"
      "  -h, --help                 display this help and exit\n"
      "  -V, --version              output version information and exit\n\n"
                  );

            usage_rot();

            printf("\nReport bugs to <hamlib-developer@lists.sourceforge.net>.\n");

}

static int print_conf_list(const struct confparams *cfp, rig_ptr_t data)
{
      ROT *rot = (ROT*) data;
      int i;
      char buf[128] = "";

      rot_get_conf(rot, cfp->token, buf);
      printf("%s: \"%s\"\n" "\t"
                              "Default: %s, Value: %s\n", 
                              cfp->name, cfp->tooltip, 
                              cfp->dflt, buf );

      switch (cfp->type) {
      case RIG_CONF_NUMERIC:
            printf("\tRange: %.1f..%.1f, step %.1f\n", 
                              cfp->u.n.min, cfp->u.n.max, cfp->u.n.step);
            break;
      case RIG_CONF_COMBO:
            if (!cfp->u.c.combostr)
                        break;
            printf("\tCombo: %s", cfp->u.c.combostr[0]);
            for (i=1 ; i<RIG_COMBO_MAX && cfp->u.c.combostr[i]; i++)
                        printf(", %s", cfp->u.c.combostr[i]);
            printf("\n");
            break;
        default:
          break;
      }

      return 1;  /* !=0, we want them all ! */
}

static int print_model_list(const struct rot_caps *caps, void *data)
{
      printf("%d\t%-14s%-16s%s\n", caps->rot_model, caps->mfg_name,
                                                            caps->model_name, caps->version);
      return 1;  /* !=0, we want them all ! */
}

void list_models()
{
      int status;

      rot_load_all_backends();

      printf("Rot#\tMfg           Model           Vers.\n");
      status = rot_list_foreach(print_model_list, NULL);
      if (status != RIG_OK ) {
            printf("rot_list_foreach: error = %s \n", rigerror(status));
            exit(2);
      }
}


int set_conf(ROT *my_rot, char *conf_parms)
{
      char *p, *q, *n;
      int ret;

      p = conf_parms;
      while (p && *p != '\0') {
                  /* FIXME: left hand value of = cannot be null */
            q = strchr(p, '=');
            if (q) *q++ = '\0';
            n = strchr(q, ',');
            if (n) *n++ = '\0';

            ret = rot_set_conf(my_rot, rot_token_lookup(my_rot, p), q);
            if (ret != RIG_OK)
                        return ret;
            p = n;
      }
      return RIG_OK;
}


/*
 * static int (f)(ROT *rot, int interactive, const void *arg1, const void *arg2, const void *arg3, const void *arg4)
 */

declare_proto_rot(set_position)
{
            azimuth_t az;
            elevation_t el;

            sscanf(arg1, "%f", &az);
            sscanf(arg2, "%f", &el);
            return rot_set_position(rot, az, el);
}

declare_proto_rot(get_position)
{
            int status;
            azimuth_t az;
            elevation_t el;

            status = rot_get_position(rot, &az, &el);
            if (status != RIG_OK)
                        return status;
            if (interactive)
                  printf("%s: ", cmd->arg1);
            printf("%f\n", az);
            if (interactive)
                  printf("%s: ", cmd->arg2);
            printf("%f", el);
            return status;
}

declare_proto_rot(stop)
{
            return rot_stop(rot);
}

declare_proto_rot(park)
{
            return rot_park(rot);
}


declare_proto_rot(reset)
{
            rot_reset_t reset;

            sscanf(arg1, "%d", &reset);
            return rot_reset(rot, reset);
}

declare_proto_rot(get_info)
{
            const char *s;

            s = rot_get_info(rot);
            if (interactive)
                  printf("%s: ", cmd->arg1);
            printf("%s\n", s ? s : "None");
            return RIG_OK;
}

declare_proto_rot(move)
{
        int direction;
        int speed;

        sscanf(arg1, "%d", &direction);
            sscanf(arg2, "%d", &speed);
            return rot_move(rot, direction, speed);
}

declare_proto_rot(inter_set_conf)
{
            token_t token;
            char val[21] = "";      /* 20 chars enough? */

            sscanf(arg1, "%ld", &token);
            sscanf(arg2, "%s", val);
            return rot_set_conf(rot, token, val);
}


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