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
 *
 */
/* SPDX-License-Identifier: LGPL-2.1-or-later */

#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 s_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;

/* So far only used in ests/dumpcaps_rot.c. */
#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

#define ROT_MOVE_UP_LEFT         (1<<5)

#define ROT_MOVE_UP_CCW         ROT_MOVE_UP_LEFT

#define ROT_MOVE_UP_RIGHT         (1<<6)

#define ROT_MOVE_UP_CW       ROT_MOVE_UP_RIGHT

#define ROT_MOVE_DOWN_LEFT         (1 << 7)


#define ROT_MOVE_DOWN_CCW         ROT_MOVE_DOWN_LEFT

#define ROT_MOVE_DOWN_RIGHT         (1 << 8)

#define ROT_MOVE_DOWN_CW         ROT_MOVE_DOWN_RIGHT

typedef enum {
    ROT_STATUS_NONE =              0,        
    ROT_STATUS_BUSY =              (1 << 0), 
    ROT_STATUS_MOVING =            (1 << 1), 
    ROT_STATUS_MOVING_AZ =         (1 << 2), 
    ROT_STATUS_MOVING_LEFT =       (1 << 3), 
    ROT_STATUS_MOVING_RIGHT =      (1 << 4), 
    ROT_STATUS_MOVING_EL =         (1 << 5), 
    ROT_STATUS_MOVING_UP =         (1 << 6), 
    ROT_STATUS_MOVING_DOWN =       (1 << 7), 
    ROT_STATUS_LIMIT_UP =          (1 << 8), 
    ROT_STATUS_LIMIT_DOWN =        (1 << 9), 
    ROT_STATUS_LIMIT_LEFT =        (1 << 10), 
    ROT_STATUS_LIMIT_RIGHT =       (1 << 11), 
    ROT_STATUS_OVERLAP_UP =        (1 << 12), 
    ROT_STATUS_OVERLAP_DOWN =      (1 << 13), 
    ROT_STATUS_OVERLAP_LEFT =      (1 << 14), 
    ROT_STATUS_OVERLAP_RIGHT =     (1 << 16), 
} rot_status_t;
// Update this if any additions to status definitions
#define HAMLIB_MAX_ROTOR_STATUS 16

/* So far only used in tests/sprintflst.c. */
#define ROT_STATUS_N(n)        (1u<<(n))

#define ROT_SPEED_NOCHANGE (-1)


enum rot_level_e {
    ROT_LEVEL_NONE =        0,              
    ROT_LEVEL_SPEED =       (1 << 0),       
    ROT_LEVEL_63 =          CONSTANT_64BIT_FLAG(63),      
};


#define ROT_LEVEL_FLOAT_LIST (0)

#define ROT_LEVEL_READONLY_LIST (0)

#define ROT_LEVEL_IS_FLOAT(l) ((l)&ROT_LEVEL_FLOAT_LIST)
#define ROT_LEVEL_SET(l) ((l)&~ROT_LEVEL_READONLY_LIST)


enum rot_parm_e {
    ROT_PARM_NONE =         0,          
};


#define ROT_PARM_FLOAT_LIST (0)
#define ROT_PARM_READONLY_LIST (0)

#define ROT_PARM_IS_FLOAT(l) ((l)&ROT_PARM_FLOAT_LIST)
#define ROT_PARM_SET(l) ((l)&~ROT_PARM_READONLY_LIST)


#define ROT_FUNC_NONE       0                          
#ifndef SWIGLUAHIDE
/* Hide the top 32 bits from the old Lua binding as they can't be represented */
#define ROT_FUNC_BIT63      CONSTANT_64BIT_FLAG (63)   
/* 63 is this highest bit number that can be used */
#endif


/* 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 capabilities.
 */

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;                                  
    setting_t has_get_func;     
    setting_t has_set_func;     
    setting_t has_get_level;    
    setting_t has_set_level;    
    setting_t has_get_parm;     
    setting_t has_set_parm;     
    rot_status_t has_status;    
    gran_t level_gran[RIG_SETTING_MAX]; 
    gran_t parm_gran[RIG_SETTING_MAX];  
    const struct confparams *extparms;  
    const struct confparams *extlevels; 
    const struct confparams *extfuncs;  
    int *ext_tokens;                    
    /*
     * 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, hamlib_token_t token, const char *val); 
    int (*get_conf)(ROT *rot, hamlib_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);    
    int (*set_level)(ROT *rot, setting_t level, value_t val);  
    int (*get_level)(ROT *rot, setting_t level, value_t *val); 
    int (*set_func)(ROT *rot, setting_t func, int status);     
    int (*get_func)(ROT *rot, setting_t func, int *status);    
    int (*set_parm)(ROT *rot, setting_t parm, value_t val);    
    int (*get_parm)(ROT *rot, setting_t parm, value_t *val);   
    int (*set_ext_level)(ROT *rot, hamlib_token_t token, value_t val);    
    int (*get_ext_level)(ROT *rot, hamlib_token_t token, value_t *val);   
    int (*set_ext_func)(ROT *rot, hamlib_token_t token, int status);  
    int (*get_ext_func)(ROT *rot, hamlib_token_t token, int *status); 
    int (*set_ext_parm)(ROT *rot, hamlib_token_t token, value_t val);     
    int (*get_ext_parm)(ROT *rot, hamlib_token_t token, value_t *val);    
    int (*get_status)(ROT *rot, rot_status_t *status); 
    const char *macro_name;                    
    int (*get_conf2)(ROT *rot, hamlib_token_t token, char *val, int val_len);       
};
#define ROT_MODEL(arg) .rot_model=arg,.macro_name=#arg


struct rot_state {
    /*
     * overridable fields
     */
    azimuth_t min_az;       
    azimuth_t max_az;       
    elevation_t min_el;     
    elevation_t max_el;     
    int south_zero;         
    azimuth_t az_offset;    
    elevation_t el_offset;  
    setting_t has_get_func;     
    setting_t has_set_func;     
    setting_t has_get_level;    
    setting_t has_set_level;    
    setting_t has_get_parm;     
    setting_t has_set_parm;     
    rot_status_t has_status;    
    gran_t level_gran[RIG_SETTING_MAX]; 
    gran_t parm_gran[RIG_SETTING_MAX];  
    /*
     * non overridable fields, internal use
     */
    hamlib_port_t_deprecated rotport_deprecated;  
    hamlib_port_t_deprecated rotport2_deprecated;  
    int comm_state;         
    rig_ptr_t priv;         
    rig_ptr_t obj;          
    int current_speed;      
    hamlib_port_t rotport;  
    hamlib_port_t rotport2;  
    rig_ptr_t *pstrotator_handler_priv_data;
    deferred_config_header_t config_queue;
};


struct s_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,
                            hamlib_token_t token,
                            const char *val));
extern HAMLIB_EXPORT(int)
rot_get_conf HAMLIB_PARAMS((ROT *rot,
                            hamlib_token_t token,
                            char *val));

extern HAMLIB_EXPORT(int)
rot_get_conf2 HAMLIB_PARAMS((ROT *rot,
                            hamlib_token_t token,
                            char *val,
                            int val_len));

/*
 *  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(setting_t)
rot_has_get_level HAMLIB_PARAMS((ROT *rot,
                                 setting_t level));
extern HAMLIB_EXPORT(setting_t)
rot_has_set_level HAMLIB_PARAMS((ROT *rot,
                                 setting_t level));

extern HAMLIB_EXPORT(setting_t)
rot_has_get_parm HAMLIB_PARAMS((ROT *rot,
                                setting_t parm));
extern HAMLIB_EXPORT(setting_t)
rot_has_set_parm HAMLIB_PARAMS((ROT *rot,
                                setting_t parm));

extern HAMLIB_EXPORT(setting_t)
rot_has_get_func HAMLIB_PARAMS((ROT *rot,
                                setting_t func));
extern HAMLIB_EXPORT(setting_t)
rot_has_set_func HAMLIB_PARAMS((ROT *rot,
                                setting_t func));

extern HAMLIB_EXPORT(int)
rot_set_func HAMLIB_PARAMS((ROT *rot,
                            setting_t func,
                            int status));
extern HAMLIB_EXPORT(int)
rot_get_func HAMLIB_PARAMS((ROT *rot,
                            setting_t func,
                            int *status));

extern HAMLIB_EXPORT(int)
rot_set_level HAMLIB_PARAMS((ROT *rig,
                             setting_t level,
                             value_t val));
extern HAMLIB_EXPORT(int)
rot_get_level HAMLIB_PARAMS((ROT *rig,
                             setting_t level,
                             value_t *val));

extern HAMLIB_EXPORT(int)
rot_set_parm HAMLIB_PARAMS((ROT *rig,
                            setting_t parm,
                            value_t val));
extern HAMLIB_EXPORT(int)
rot_get_parm HAMLIB_PARAMS((ROT *rig,
                            setting_t parm,
                            value_t *val));

extern HAMLIB_EXPORT(int)
rot_set_ext_level HAMLIB_PARAMS((ROT *rig,
                                 hamlib_token_t token,
                                 value_t val));
extern HAMLIB_EXPORT(int)
rot_get_ext_level HAMLIB_PARAMS((ROT *rig,
                                 hamlib_token_t token,
                                 value_t *val));

extern HAMLIB_EXPORT(int)
rot_set_ext_func HAMLIB_PARAMS((ROT *rig,
                                 hamlib_token_t token,
                                 int status));
extern HAMLIB_EXPORT(int)
rot_get_ext_func HAMLIB_PARAMS((ROT *rig,
                                 hamlib_token_t token,
                                 int *status));

extern HAMLIB_EXPORT(int)
rot_set_ext_parm HAMLIB_PARAMS((ROT *rig,
                                hamlib_token_t token,
                                value_t val));
extern HAMLIB_EXPORT(int)
rot_get_ext_parm HAMLIB_PARAMS((ROT *rig,
                                hamlib_token_t token,
                                value_t *val));

extern HAMLIB_EXPORT(const char *)
rot_get_info HAMLIB_PARAMS((ROT *rot));

extern HAMLIB_EXPORT(int)
rot_get_status HAMLIB_PARAMS((ROT *rot,
        rot_status_t *status));

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(hamlib_token_t)
rot_token_lookup HAMLIB_PARAMS((ROT *rot,
                                const char *name));

extern HAMLIB_EXPORT(int)
rot_ext_func_foreach HAMLIB_PARAMS((ROT *rot,
                                     int (*cfunc)(ROT *,
                                                  const struct confparams *,
                                                  rig_ptr_t),
                                     rig_ptr_t data));
extern HAMLIB_EXPORT(int)
rot_ext_level_foreach HAMLIB_PARAMS((ROT *rot,
                                     int (*cfunc)(ROT *,
                                                  const struct confparams *,
                                                  rig_ptr_t),
                                     rig_ptr_t data));
extern HAMLIB_EXPORT(int)
rot_ext_parm_foreach HAMLIB_PARAMS((ROT *rot,
                                    int (*cfunc)(ROT *,
                                                 const struct confparams *,
                                                 rig_ptr_t),
                                    rig_ptr_t data));

extern HAMLIB_EXPORT(const struct confparams *)
rot_ext_lookup HAMLIB_PARAMS((ROT *rot,
                              const char *name));

extern HAMLIB_EXPORT(const struct confparams *)
rot_ext_lookup_tok HAMLIB_PARAMS((ROT *rot,
                                  hamlib_token_t token));
extern HAMLIB_EXPORT(hamlib_token_t)
rot_ext_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));

#if 0
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));
#endif

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,
                        double seconds,
                        int sw));

extern HAMLIB_EXPORT(setting_t) rot_parse_func(const char *s);
extern HAMLIB_EXPORT(setting_t) rot_parse_level(const char *s);
extern HAMLIB_EXPORT(setting_t) rot_parse_parm(const char *s);
extern HAMLIB_EXPORT(const char *) rot_strfunc(setting_t);
extern HAMLIB_EXPORT(const char *) rot_strlevel(setting_t);
extern HAMLIB_EXPORT(const char *) rot_strparm(setting_t);
extern HAMLIB_EXPORT(const char *) rot_strstatus(rot_status_t);

extern HAMLIB_EXPORT(void *) rot_data_pointer(ROT *rot, rig_ptrx_t idx);


#define rot_debug rig_debug

__END_DECLS

#endif /* _ROTATOR_H */