feat: added full support in USB (local) & ethernet (local or remote) of audio for Icom

internal/cat/civ/civ.go

@@ -313,6 +313,8 @@ func ModelName(addr byte) string {
 		return "IC-7300"
 	case 0x98:
 		return "IC-7610"
+	case 0x7C:
+		return "IC-9100"
 	case 0xA2:
 		return "IC-9700"
 	case 0xA4:

internal/cat/flex.go

@@ -803,24 +803,44 @@ func (f *Flex) ReadState() (RigState, error) {
 // band) never hijacks the main frequency. Returns (-1, nil) when no slice is in
 // use. Caller holds f.mu.
 func (f *Flex) mainSliceLocked() (int, *flexSlice) {
-	best, bestS := 1<<30, (*flexSlice)(nil)
-	for idx, s := range f.slices {
+	// Iterate in ASCENDING index order — NEVER map-iteration order, which Go
+	// randomises. When two slices transiently BOTH report active=1 (e.g. an
+	// external controller like DXHunter activates a slice on another band while
+	// ours still holds active, before SmartSDR sends active=0 to the old one),
+	// map order returned a RANDOM active slice each call → the operating frequency
+	// flip-flopped 40m/20m every poll and the Ultrabeam motors chased it forever.
+	// Deterministic order = the lowest-indexed active slice wins, stably.
+	firstInUse := -1
+	for _, idx := range f.sortedSliceIdxLocked() {
+		s := f.slices[idx]
 		if !s.inUse {
 			continue
 		}
+		if firstInUse < 0 {
+			firstInUse = idx
+		}
 		if s.active {
 			return idx, s
 		}
-		if idx < best {
-			best, bestS = idx, s
-		}
 	}
-	if bestS != nil {
-		return best, bestS
+	if firstInUse >= 0 {
+		return firstInUse, f.slices[firstInUse]
 	}
 	return -1, nil
 }
 
+// sortedSliceIdxLocked returns the slice indices in ascending order so every
+// slice-selection helper is deterministic (map iteration is randomised). Caller
+// holds f.mu.
+func (f *Flex) sortedSliceIdxLocked() []int {
+	idxs := make([]int, 0, len(f.slices))
+	for idx := range f.slices {
+		idxs = append(idxs, idx)
+	}
+	sort.Ints(idxs)
+	return idxs
+}
+
 // activeSliceIndexLocked returns the slice index to send commands to (the main
 // slice, else 0). Caller holds f.mu.
 func (f *Flex) activeSliceIndexLocked() int {
@@ -841,8 +861,8 @@ func sliceLetter(idx int) string {
 // txSliceLocked returns the slice flagged as the transmitter (tx=1), or nil.
 // Caller holds f.mu.
 func (f *Flex) txSliceLocked() *flexSlice {
-	for _, s := range f.slices {
-		if s.inUse && s.tx {
+	for _, idx := range f.sortedSliceIdxLocked() {
+		if s := f.slices[idx]; s.inUse && s.tx {
 			return s
 		}
 	}
@@ -871,7 +891,8 @@ func (f *Flex) operatingLocked() (main, rx, tx *flexSlice) {
 	if main != nil && main != txS && main.freqHz != txS.freqHz && BandFromHz(main.freqHz) == bt {
 		rx = main
 	} else {
-		for _, s := range f.slices {
+		for _, idx := range f.sortedSliceIdxLocked() {
+			s := f.slices[idx]
 			if s.inUse && s != txS && s.freqHz != txS.freqHz && BandFromHz(s.freqHz) == bt {
 				rx = s
 				break
@@ -927,6 +948,15 @@ func (f *Flex) SetFrequency(hz int64) error {
 	f.mu.Lock()
 	idx := f.activeSliceIndexLocked()
 	connected := f.conn != nil
+	// Optimistically update the active slice's cached freq NOW, before the radio
+	// echoes the slice status back. Otherwise ReadState/FlexState keep reporting
+	// the OLD freq for the round-trip: the top display (optimistic liveFreqHz)
+	// jumped to the new band while the slice cache — which the FlexPanel and the
+	// Ultrabeam follow loop read — still showed the old one, so the antenna chased
+	// the stale value. The real echo confirms/corrects this a moment later.
+	if s := f.slices[idx]; s != nil {
+		s.freqHz = hz
+	}
 	f.mu.Unlock()
 	if !connected {
 		return fmt.Errorf("flex: not connected")
@@ -952,6 +982,13 @@ func (f *Flex) SetMode(mode string) error {
 	if fm == "" {
 		return fmt.Errorf("flex: unsupported mode %q", mode)
 	}
+	// Optimistically cache the new mode too (same reasoning as SetFrequency) so the
+	// panel reflects it immediately instead of lagging the radio's echo.
+	f.mu.Lock()
+	if s := f.slices[idx]; s != nil {
+		s.mode = fm
+	}
+	f.mu.Unlock()
 	// "slice s <rx> mode=<m>" — set command per the SmartSDR API.
 	f.send(fmt.Sprintf("slice s %d mode=%s", idx, fm))
 	return nil

internal/cat/icomaudio.go

@@ -0,0 +1,219 @@
+package cat
+
+// icomaudio.go — the NETWORK AUDIO stream (UDP 50003) for the Icom LAN protocol.
+// It is the third stream alongside control (50001) and CI-V (50002): once the
+// control login + conninfo (with rxenable=1) authorize audio, the rig streams RX
+// audio here as data packets. This file dials/handshakes/keeps-alive that socket
+// exactly like the CI-V stream (icomnet.go) — those parts are byte-for-byte the
+// PROVEN transport — and hands each received audio payload to a sink callback
+// (the app decodes it via an audio.Codec and plays it through the RX monitor).
+//
+// Reuses icomnet.go's helpers (icnCtrl, icnHandshake, icnPingReply, icnRecv,
+// icnLocalID, icnLE) and the same seq/retransmit discipline.
+//
+// ⚠️ PAYLOAD OFFSET PENDING ON-RIG VERIFICATION. The stream framing (handshake,
+// ping, idle, retransmit, common 16-byte header) is identical to CI-V and proven.
+// The AUDIO data packet's inner layout — where the PCM starts and the datalen
+// field — is reconstructed from wfview's audio_packet (ident@0x10, datalen@0x12,
+// sendseq@0x14, audio@0x16) but NOT yet confirmed against a real 50003 capture.
+// audioPump logs the first few raw packets (icaDumpFirst) so the offset can be
+// confirmed/corrected on the first on-rig test without a packet capture, the same
+// way the CI-V/scope framing was iterated. Nothing here can destabilize CAT: the
+// audio stream is opt-in and entirely separate from control/CI-V.
+
+import (
+	"net"
+	"sync"
+	"sync/atomic"
+	"time"
+)
+
+// icaAudioOffset is where the PCM payload begins inside an audio data packet
+// (wfview audio_packet: 16-byte common header + ident@0x10 + datalen@0x12 +
+// sendseq@0x14 → audio@0x16). Isolated as a const so a capture-confirmed change
+// is a one-line edit.
+const icaAudioOffset = 0x16
+
+// icaDumpFirst is how many initial audio packets to hex-dump to the debug log for
+// offset verification. After the layout is confirmed on a real rig this can go to
+// 0 (or the const above corrected).
+const icaDumpFirst = 6
+
+// icomAudio is the connected audio stream. RX only for now (Phase 4); TX (Phase
+// 5) will add an encode+send path mirroring icomNet.Write.
+type icomAudio struct {
+	conn         *net.UDPConn
+	aID, aRemote uint32
+
+	sink func([]byte) // receives each raw audio payload (app decodes + plays)
+
+	// Receive-side retransmit (audio is a heavy stream, like the scope): track the
+	// rig's data-packet send seq and ask it to resend gaps, or the rig drops the
+	// session. Same mechanism as icomNet. Owned solely by audioPump → no lock.
+	rxHaveSeq bool
+	rxLastSeq uint16
+	rxMissing map[uint16]int
+
+	dumped int          // packets hex-dumped so far (≤ icaDumpFirst)
+	lastRx atomic.Int64 // UnixNano of last packet (liveness)
+
+	done      chan struct{}
+	closeOnce sync.Once
+}
+
+func (a *icomAudio) markRx() { a.lastRx.Store(time.Now().UnixNano()) }
+
+// Close tears the audio stream down (disconnect a few times; UDP is lossy).
+func (a *icomAudio) Close() {
+	a.closeOnce.Do(func() {
+		close(a.done)
+		for i := 0; i < 3; i++ {
+			_, _ = a.conn.Write(icnCtrl(0x05, 0, a.aID, a.aRemote)) // disconnect
+			time.Sleep(15 * time.Millisecond)
+		}
+		_ = a.conn.Close()
+		debugLog.Printf("icom audio: stream closed")
+	})
+}
+
+// dialIcomAudio opens the audio UDP stream to rig:50003, binding LOCAL :50003
+// (mirroring the civ stream's local :50002). The control conninfo (rxenable=1,
+// audioport=50003) must already have authorized it. sink receives each raw audio
+// payload. cancel aborts a slow dial (Stop/Start).
+func dialIcomAudio(host string, sink func([]byte), cancel <-chan struct{}) (*icomAudio, error) {
+	araddr, err := net.ResolveUDPAddr("udp4", net.JoinHostPort(host, "50003"))
+	if err != nil {
+		return nil, err
+	}
+	conn, err := net.DialUDP("udp4", &net.UDPAddr{Port: 50003}, araddr)
+	if err != nil {
+		debugLog.Printf("icom audio: cannot bind local :50003 (Remote Utility running?): %v", err)
+		return nil, err
+	}
+	aID := icnLocalID(conn)
+	aRemote, err := icnHandshake(conn, aID, cancel)
+	if err != nil {
+		_ = conn.Close()
+		debugLog.Printf("icom audio: handshake FAILED: %v", err)
+		return nil, err
+	}
+	_ = conn.SetReadBuffer(1 << 20)
+	a := &icomAudio{
+		conn: conn, aID: aID, aRemote: aRemote,
+		sink:      sink,
+		rxMissing: make(map[uint16]int),
+		done:      make(chan struct{}),
+	}
+	a.markRx()
+	debugLog.Printf("icom audio: stream up (rig id 0x%08X) — awaiting RX audio", aRemote)
+	go a.audioPump()
+	return a, nil
+}
+
+// audioPump drains the audio socket: replies to pings, sends idle keepalives,
+// requests retransmits for lost packets, and hands each audio payload to sink.
+func (a *icomAudio) audioPump() {
+	buf := make([]byte, 8192)
+	lastIdle := time.Now()
+	lastReq := time.Now()
+	for {
+		select {
+		case <-a.done:
+			return
+		default:
+		}
+		_ = a.conn.SetReadDeadline(time.Now().Add(100 * time.Millisecond))
+		if k, err := a.conn.Read(buf); err == nil && k >= 16 {
+			a.markRx()
+			switch typ := icnLE.Uint16(buf[4:]); {
+			case typ == 0x07: // ping
+				_, _ = a.conn.Write(icnPingReply(buf[:k], a.aID, a.aRemote))
+			case typ == 0x01: // retransmit request from the rig (we send no tracked audio yet)
+			case typ == 0x05: // rig-initiated disconnect
+				debugLog.Printf("icom audio: rig sent DISCONNECT — audio stream dropped by the rig")
+			case typ == 0x00 && k > icaAudioOffset: // audio data packet
+				a.trackRxSeq(icnLE.Uint16(buf[6:]))
+				if a.dumped < icaDumpFirst {
+					a.dumped++
+					debugLog.Printf("icom audio raw #%d: len=%d head=% X", a.dumped, k, buf[:min(icaAudioOffset+8, k)])
+				}
+				if a.sink != nil {
+					payload := append([]byte(nil), buf[icaAudioOffset:k]...)
+					a.sink(payload)
+				}
+			}
+		}
+		if time.Since(lastIdle) > 100*time.Millisecond {
+			_, _ = a.conn.Write(icnCtrl(0x00, 0, a.aID, a.aRemote))
+			lastIdle = time.Now()
+		}
+		if time.Since(lastReq) > 100*time.Millisecond {
+			a.sendRetransmitReq()
+			lastReq = time.Now()
+		}
+	}
+}
+
+// trackRxSeq / sendRetransmitReq mirror icomNet's receive-side retransmit exactly
+// (audio is as loss-sensitive as the scope stream). Duplicated deliberately so
+// the audio stream owns its own seq state with no shared locking.
+func (a *icomAudio) trackRxSeq(seq uint16) {
+	if !a.rxHaveSeq {
+		a.rxHaveSeq = true
+		a.rxLastSeq = seq
+		return
+	}
+	switch d := int16(seq - a.rxLastSeq); {
+	case d == 0:
+	case d < 0:
+		delete(a.rxMissing, seq)
+	case d == 1:
+		a.rxLastSeq = seq
+	case int(d) <= icnMaxMissing:
+		for f := a.rxLastSeq + 1; f != seq; f++ {
+			a.rxMissing[f] = 0
+		}
+		a.rxLastSeq = seq
+	default:
+		a.rxMissing = make(map[uint16]int)
+		a.rxLastSeq = seq
+	}
+}
+
+func (a *icomAudio) sendRetransmitReq() {
+	if len(a.rxMissing) == 0 {
+		return
+	}
+	if len(a.rxMissing) > icnMaxMissing {
+		a.rxMissing = make(map[uint16]int)
+		return
+	}
+	var seqs []uint16
+	for s, cnt := range a.rxMissing {
+		if cnt >= 4 {
+			delete(a.rxMissing, s)
+			continue
+		}
+		a.rxMissing[s] = cnt + 1
+		seqs = append(seqs, s)
+	}
+	switch {
+	case len(seqs) == 0:
+		return
+	case len(seqs) == 1:
+		_, _ = a.conn.Write(icnCtrl(0x01, seqs[0], a.aID, a.aRemote))
+	default:
+		b := make([]byte, 16+4*len(seqs))
+		icnLE.PutUint32(b[0:], uint32(len(b)))
+		icnLE.PutUint16(b[4:], 0x01)
+		icnLE.PutUint32(b[8:], a.aID)
+		icnLE.PutUint32(b[12:], a.aRemote)
+		off := 16
+		for _, s := range seqs {
+			icnLE.PutUint16(b[off:], s)
+			icnLE.PutUint16(b[off+2:], s)
+			off += 4
+		}
+		_, _ = a.conn.Write(b)
+	}
+}

internal/cat/icomnet.go

@@ -36,7 +36,13 @@ var icnBE = binary.BigEndian
 // NewIcomNet builds an (unconnected) Icom backend whose transport is the network
 // stream. host is the rig's IP/hostname; user/pass are the rig's Network User1
 // credentials. Reuses the whole IcomSerial controller — only `open` differs.
-func NewIcomNet(host, user, pass string, civAddr int, digitalDefault string) *IcomSerial {
+//
+// audioSink (optional) enables the network RX audio stream (UDP 50003): when
+// non-nil the conninfo asks the rig to stream audio and each received payload is
+// passed to audioSink (the app decodes it via an audio.Codec and plays it). nil
+// = CI-V only (the proven default). The audio stream is fully separate from CAT,
+// so enabling it can't affect freq/mode/DSP control.
+func NewIcomNet(host, user, pass string, civAddr int, digitalDefault string, audioSink func([]byte)) *IcomSerial {
 	if civAddr <= 0 || civAddr > 0xFF {
 		civAddr = 0x98 // IC-7610
 	}
@@ -57,7 +63,7 @@ func NewIcomNet(host, user, pass string, civAddr int, digitalDefault string) *Ic
 		b.dialMu.Lock()
 		cancel := b.dialCancel
 		b.dialMu.Unlock()
-		return dialIcomNet(host, user, pass, "OpsLog", b.rigAddr, cancel)
+		return dialIcomNet(host, user, pass, "OpsLog", b.rigAddr, cancel, audioSink)
 	}
 	return b
 }
@@ -130,6 +136,10 @@ type icomNet struct {
 	// but link fine" (stay connected) from "link dead" (reconnect). See Alive().
 	lastRx atomic.Int64
 
+	// audio is the optional RX audio stream (UDP 50003). nil when audio is off.
+	// Torn down alongside the CI-V/control streams in Close.
+	audio *icomAudio
+
 	done      chan struct{}
 	closeOnce sync.Once
 }
@@ -232,6 +242,9 @@ var icnTrace = false
 func (n *icomNet) Close() error {
 	n.closeOnce.Do(func() {
 		close(n.done)
+		if n.audio != nil {
+			n.audio.Close()
+		}
 		// Tell the rig we're leaving so it frees its SINGLE control session at
 		// once. If it never gets a disconnect it holds the session for minutes and
 		// refuses every new login — which is why a lost link (or a hard app exit)
@@ -475,8 +488,9 @@ func (n *icomNet) resend(seq uint16) {
 
 // ------------------------- connect -------------------------
 
-func dialIcomNet(host, user, pass, compName string, rigAddr byte, cancel <-chan struct{}) (*icomNet, error) {
-	debugLog.Printf("icom net: connecting to %s (user %q, comp %q, rig addr 0x%02X)", host, user, compName, rigAddr)
+func dialIcomNet(host, user, pass, compName string, rigAddr byte, cancel <-chan struct{}, audioSink func([]byte)) (*icomNet, error) {
+	wantAudio := audioSink != nil
+	debugLog.Printf("icom net: connecting to %s (user %q, comp %q, rig addr 0x%02X, audio=%v)", host, user, compName, rigAddr, wantAudio)
 	// ---- control stream (50001): handshake → login → token → conninfo ----
 	craddr, err := net.ResolveUDPAddr("udp4", net.JoinHostPort(host, "50001"))
 	if err != nil {
@@ -562,7 +576,11 @@ func dialIcomNet(host, user, pass, compName string, rigAddr byte, cancel <-chan
 		rigMAC = make([]byte, 6)
 	}
 
-	_, _ = ctrl.Write(icnConnInfo(cTracked, cInner, tokReq, cID, cRemote, token, user, rigMAC, 50002, 50003))
+	var rxEnable byte
+	if wantAudio {
+		rxEnable = 0x01 // ask the rig to stream RX audio on 50003
+	}
+	_, _ = ctrl.Write(icnConnInfo(cTracked, cInner, tokReq, cID, cRemote, token, user, rigMAC, 50002, 50003, rxEnable))
 	cTracked++
 	cInner++
 	drainEnd := time.Now().Add(500 * time.Millisecond)
@@ -634,6 +652,18 @@ func dialIcomNet(host, user, pass, compName string, rigAddr byte, cancel <-chan
 
 	go n.ctrlPump()
 	go n.civPump()
+
+	// Optional RX audio stream (50003). The rig was told (conninfo rxEnable=1) to
+	// stream audio; open the socket + handshake now. A failure here is NON-fatal:
+	// CAT works without audio, so we log and continue rather than tear down a
+	// perfectly good control/CI-V session.
+	if wantAudio {
+		if a, err := dialIcomAudio(host, audioSink, cancel); err != nil {
+			debugLog.Printf("icom net: audio stream FAILED (CAT unaffected): %v", err)
+		} else {
+			n.audio = a
+		}
+	}
 	return n, nil
 }
 
@@ -772,7 +802,7 @@ func icnTokenRenew(seq, innerSeq, tokReq uint16, sentid, rcvdid, token uint32) [
 	return b
 }
 
-func icnConnInfo(seq, innerSeq, tokReq uint16, sentid, rcvdid, token uint32, user string, rigMAC []byte, civPort, audioPort uint16) []byte {
+func icnConnInfo(seq, innerSeq, tokReq uint16, sentid, rcvdid, token uint32, user string, rigMAC []byte, civPort, audioPort uint16, rxEnable byte) []byte {
 	b := make([]byte, 0x90)
 	icnLE.PutUint32(b[0:], 0x90)
 	icnLE.PutUint16(b[6:], seq)
@@ -788,8 +818,8 @@ func icnConnInfo(seq, innerSeq, tokReq uint16, sentid, rcvdid, token uint32, use
 	copy(b[0x2a:0x30], rigMAC)
 	copy(b[0x40:0x60], []byte("IC-7610"))
 	copy(b[0x60:0x70], icnPasscode(user))
-	b[0x70] = 0x00 // rxenable (audio off — CI-V only)
-	b[0x71] = 0x00 // txenable
+	b[0x70] = rxEnable // rxenable: 1 opens the 50003 RX audio stream, 0 = CI-V only
+	b[0x71] = 0x00     // txenable (Phase 5)
 	b[0x72] = 0x10 // rxcodec
 	b[0x73] = 0x04 // txcodec
 	icnBE.PutUint32(b[0x74:], 16000)