rotator.h

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/*
 *  Hamlib Interface - Rotator API header
 *  Copyright (c) 2000-2005 by Stephane Fillod
 *
 *
 *   This library is free software; you can redistribute it and/or
 *   modify it under the terms of the GNU Lesser General Public
 *   License as published by the Free Software Foundation; either
 *   version 2.1 of the License, or (at your option) any later version.
 *
 *   This library 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
 *   Lesser General Public License for more details.
 *
 *   You should have received a copy of the GNU Lesser General Public
 *   License along with this library; if not, write to the Free Software
 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#ifndef _ROTATOR_H
#define _ROTATOR_H 1

#include <hamlib/rig.h>
#include <hamlib/rotlist.h>

__BEGIN_DECLS

/* Forward struct references */

struct rot;
struct rot_state;

typedef struct rot ROT;


typedef float elevation_t;
typedef float azimuth_t;

#define NETROTCTL_RET "RPRT "

#define ROT_RESET_ALL   1

typedef int rot_reset_t;


typedef enum {
        ROT_FLAG_AZIMUTH =              (1<<1), 
        ROT_FLAG_ELEVATION =    (1<<2)  
} rot_type_t;

#define ROT_TYPE_MASK (ROT_FLAG_AZIMUTH|ROT_FLAG_ELEVATION)

#define ROT_TYPE_OTHER          0
#define ROT_TYPE_AZIMUTH        ROT_FLAG_AZIMUTH
#define ROT_TYPE_ELEVATION      ROT_FLAG_ELEVATION
#define ROT_TYPE_AZEL           (ROT_FLAG_AZIMUTH|ROT_FLAG_ELEVATION)


#define ROT_MOVE_UP             (1<<1)
#define ROT_MOVE_DOWN           (1<<2)
#define ROT_MOVE_LEFT           (1<<3)
#define ROT_MOVE_CCW            ROT_MOVE_LEFT
#define ROT_MOVE_RIGHT          (1<<4)
#define ROT_MOVE_CW             ROT_MOVE_RIGHT

/* Basic rot type, can store some useful
 * info about different rotators. Each lib must
 * be able to populate this structure, so we can make
 * useful enquiries about capablilities.
 */

struct rot_caps {
  rot_model_t rot_model;                         
  const char *model_name;                        
  const char *mfg_name;                          
  const char *version;                           
  const char *copyright;                         
  enum rig_status_e status;                      
  int rot_type;                                  
  enum rig_port_e port_type;                     
  int serial_rate_min;                           
  int serial_rate_max;                           
  int serial_data_bits;                          
  int serial_stop_bits;                          
  enum serial_parity_e serial_parity;            
  enum serial_handshake_e serial_handshake;      
  int write_delay;                               
  int post_write_delay;                          
  int timeout;                                   
  int retry;                                     
  /*
   * Movement range, az is relative to North
   * negative values allowed for overlap
   */
  azimuth_t min_az;                              
  azimuth_t max_az;                              
  elevation_t min_el;                            
  elevation_t max_el;                            
  const struct confparams *cfgparams;            
  const rig_ptr_t priv;                          
  /*
   * Rot Admin API
   *
   */

  int (*rot_init)(ROT *rot);
  int (*rot_cleanup)(ROT *rot);
  int (*rot_open)(ROT *rot);
  int (*rot_close)(ROT *rot);

  int (*set_conf)(ROT *rot, token_t token, const char *val);
  int (*get_conf)(ROT *rot, token_t token, char *val);

  /*
   *  General API commands, from most primitive to least.. :()
   *  List Set/Get functions pairs
   */

  int (*set_position)(ROT *rot, azimuth_t azimuth, elevation_t elevation);
  int (*get_position)(ROT *rot, azimuth_t *azimuth, elevation_t *elevation);

  int (*stop)(ROT *rot);
  int (*park)(ROT *rot);
  int (*reset)(ROT *rot, rot_reset_t reset);
  int (*move)(ROT *rot, int direction, int speed);

  /* get firmware info, etc. */
  const char* (*get_info)(ROT *rot);

  /* more to come... */
};


struct rot_state {
        /*
         * overridable fields
         */
  azimuth_t min_az;            
  azimuth_t max_az;            
  elevation_t min_el;          
  elevation_t max_el;          
        /*
         * non overridable fields, internal use
         */
  hamlib_port_t rotport;             
  int comm_state;             
  rig_ptr_t priv;             
  rig_ptr_t obj;              
  /* etc... */
};

struct rot {
        struct rot_caps *caps;      
        struct rot_state state;     
};

/* --------------- API function prototypes -----------------*/

extern HAMLIB_EXPORT(ROT *) rot_init HAMLIB_PARAMS((rot_model_t rot_model));
extern HAMLIB_EXPORT(int) rot_open HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int) rot_close HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int) rot_cleanup HAMLIB_PARAMS((ROT *rot));

extern HAMLIB_EXPORT(int) rot_set_conf HAMLIB_PARAMS((ROT *rot, token_t token, const char *val));
extern HAMLIB_EXPORT(int) rot_get_conf HAMLIB_PARAMS((ROT *rot, token_t token, char *val));
  /*
   *  General API commands, from most primitive to least.. )
   *  List Set/Get functions pairs
   */
extern HAMLIB_EXPORT(int) rot_set_position HAMLIB_PARAMS((ROT *rot, azimuth_t azimuth, elevation_t elevation));
extern HAMLIB_EXPORT(int) rot_get_position HAMLIB_PARAMS((ROT *rot, azimuth_t *azimuth, elevation_t *elevation));
extern HAMLIB_EXPORT(int) rot_stop HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int) rot_park HAMLIB_PARAMS((ROT *rot));
extern HAMLIB_EXPORT(int) rot_reset HAMLIB_PARAMS((ROT *rot, rot_reset_t reset));
extern HAMLIB_EXPORT(int) rot_move HAMLIB_PARAMS((ROT *rot, int direction, int speed));
extern HAMLIB_EXPORT(const char*) rot_get_info HAMLIB_PARAMS((ROT *rot));

extern HAMLIB_EXPORT(int) rot_register HAMLIB_PARAMS((const struct rot_caps *caps));
extern HAMLIB_EXPORT(int) rot_unregister HAMLIB_PARAMS((rot_model_t rot_model));
extern HAMLIB_EXPORT(int) rot_list_foreach HAMLIB_PARAMS((int (*cfunc)(const struct rot_caps*, rig_ptr_t), rig_ptr_t data));
extern HAMLIB_EXPORT(int) rot_load_backend HAMLIB_PARAMS((const char *be_name));
extern HAMLIB_EXPORT(int) rot_check_backend HAMLIB_PARAMS((rot_model_t rot_model));
extern HAMLIB_EXPORT(int) rot_load_all_backends HAMLIB_PARAMS((void));
extern HAMLIB_EXPORT(rot_model_t) rot_probe_all HAMLIB_PARAMS((hamlib_port_t *p));

extern HAMLIB_EXPORT(int) rot_token_foreach HAMLIB_PARAMS((ROT *rot, int (*cfunc)(const struct confparams *, rig_ptr_t), rig_ptr_t data));
extern HAMLIB_EXPORT(const struct confparams*) rot_confparam_lookup HAMLIB_PARAMS((ROT *rot, const char *name));
extern HAMLIB_EXPORT(token_t) rot_token_lookup HAMLIB_PARAMS((ROT *rot, const char *name));

extern HAMLIB_EXPORT(const struct rot_caps *) rot_get_caps HAMLIB_PARAMS((rot_model_t rot_model));

extern HAMLIB_EXPORT(int) qrb HAMLIB_PARAMS((double lon1, double lat1,
                                                double lon2, double lat2,
                                                double *distance, double *azimuth));
extern HAMLIB_EXPORT(double) distance_long_path HAMLIB_PARAMS((double distance));
extern HAMLIB_EXPORT(double) azimuth_long_path HAMLIB_PARAMS((double azimuth));

extern HAMLIB_EXPORT(int) longlat2locator HAMLIB_PARAMS((double longitude,
                                                double latitude, char *locator_res, int pair_count));
extern HAMLIB_EXPORT(int) locator2longlat HAMLIB_PARAMS((double *longitude,
                                                double *latitude, const char *locator));

extern HAMLIB_EXPORT(double) dms2dec HAMLIB_PARAMS((int degrees, int minutes,
                                                double seconds, int sw));
extern HAMLIB_EXPORT(int) dec2dms HAMLIB_PARAMS((double dec, int *degrees,
                                                int *minutes, double *seconds, int *sw));

extern HAMLIB_EXPORT(int) dec2dmmm HAMLIB_PARAMS((double dec, int *degrees,
                                                double *minutes, int *sw));
extern HAMLIB_EXPORT(double) dmmm2dec HAMLIB_PARAMS((int degrees,
                                                     double minutes, int sw));

#define rot_debug rig_debug

__END_DECLS

#endif /* _ROTATOR_H */