fix(rotator): stop rebooting the controller between commands
A K3NG controller answered PuTTY perfectly and told OpsLog 'no reply to C'. The reason is not the protocol: the client opened and CLOSED the serial port for every single command, and an Arduino-based controller resets when its port is opened — DTR pulses the reset pin. OpsLog was rebooting it several times a second, and every command it sent landed in a bootloader. The port is opened once and held, per COM port, at package level: the callers build a fresh Client per poll, so the port has to outlive them, and a serial port is a single-owner resource in any case. A newly opened port is given two seconds to boot before the first command, bytes left from a previous exchange are drained rather than read as this command's answer, and a failed exchange drops the port so the next starts from a clean open instead of repeating the same silence. Reply parsing was already right for both flavours and now has the real strings to prove it, that controller's '+0140' among them.
This commit is contained in:
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@@ -3,10 +3,12 @@
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"version": "0.27.10",
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"date": "",
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"en": [
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"Widget order (Settings → Appearance): the row to the right of the entry can be rearranged by dragging — the whole row is the handle, and a line shows where it will land. QSO entry and the F1-F5 panel head the list, locked — they are not part of that row and nothing should be allowed to push what you type into behind a rotator dial. A widget you have switched off keeps its place and comes back where you left it, and the main view follows as you drag."
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"Widget order (Settings → Appearance): the row to the right of the entry can be rearranged by dragging — the whole row is the handle, and a line shows where it will land. QSO entry and the F1-F5 panel head the list, locked — they are not part of that row and nothing should be allowed to push what you type into behind a rotator dial. A widget you have switched off keeps its place and comes back where you left it, and the main view follows as you drag.",
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"Rotator, GS-232 over a serial port: the port is opened once and kept, instead of being reopened for every command. An Arduino-based controller — K3NG’s firmware, the ERC family — RESETS when its serial port is opened, so OpsLog was rebooting it several times a second and every command landed in the bootloader: a controller that answered a terminal perfectly reported “no reply to C” here. A freshly opened port is now left to boot before the first command, stale bytes from a previous exchange are discarded, and a failed exchange releases the port so the next one starts clean."
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],
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"fr": [
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"Ordre des widgets (Réglages → Apparence) : la rangée à droite de la saisie se réorganise par glisser-déposer — toute la ligne se saisit, et un trait montre où elle atterrira. La saisie du QSO et le panneau F1-F5 ouvrent la liste, verrouillés — ils ne font pas partie de cette rangée, et rien ne doit pouvoir repousser ce dans quoi vous tapez derrière une boussole de rotor. Un widget désactivé garde sa place et revient là où vous l’aviez laissé, et la vue principale suit pendant que vous glissez."
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"Ordre des widgets (Réglages → Apparence) : la rangée à droite de la saisie se réorganise par glisser-déposer — toute la ligne se saisit, et un trait montre où elle atterrira. La saisie du QSO et le panneau F1-F5 ouvrent la liste, verrouillés — ils ne font pas partie de cette rangée, et rien ne doit pouvoir repousser ce dans quoi vous tapez derrière une boussole de rotor. Un widget désactivé garde sa place et revient là où vous l’aviez laissé, et la vue principale suit pendant que vous glissez.",
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"Rotor, GS-232 sur port série : le port est ouvert une fois et conservé, au lieu d’être rouvert à chaque commande. Un contrôleur à base d’Arduino — le firmware K3NG, la famille ERC — REDÉMARRE à l’ouverture de son port série : OpsLog le redémarrait donc plusieurs fois par seconde et chaque commande tombait dans le bootloader. Un contrôleur qui répondait parfaitement à un terminal annonçait ici « no reply to C ». Un port fraîchement ouvert a désormais le temps de démarrer avant la première commande, les octets résiduels d’un échange précédent sont écartés, et un échange en échec libère le port pour que le suivant reparte propre."
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]
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},
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{
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@@ -28,6 +28,7 @@ import (
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"regexp"
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"strconv"
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"strings"
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"sync"
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"time"
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"go.bug.st/serial"
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@@ -71,32 +72,99 @@ func NewSerial(comPort string, baud int) *Client {
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return &Client{ComPort: comPort, Baud: baud}
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}
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// roundTrip opens a connection (TCP or serial per the client's config), sends
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// one CR-terminated command and (when wantReply) reads one CR/LF-terminated
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// reply line.
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// bootSettle is how long a freshly opened serial port is left alone before the
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// first command.
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//
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// An Arduino-based controller — K3NG's firmware, the ERC family — RESETS when
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// the serial port is opened: the DTR line pulses its reset pin, and the
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// bootloader then holds the processor for a second or more. A command sent into
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// that window is simply lost, which is exactly how a controller that answers
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// PuTTY perfectly reports "no reply" here.
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const bootSettle = 2 * time.Second
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// heldPort is an open serial port, kept between calls.
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//
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// The package holds it rather than the Client because the callers build a FRESH
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// Client for every poll (one per heading request), and the port has to outlive
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// them. Reopening per command is what made an Arduino controller reboot several
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// times a second and never answer anything. A serial port is a single-owner
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// resource in any case: two clients for COM5 would be two handles on one cable.
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type heldPort struct {
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p serial.Port
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openedAt time.Time
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}
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var (
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portsMu sync.Mutex
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openPorts = map[string]*heldPort{}
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)
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// acquire returns the open port for com, opening it if needed.
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func acquire(com string, baud int) (*heldPort, error) {
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portsMu.Lock()
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defer portsMu.Unlock()
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if h, ok := openPorts[com]; ok && h.p != nil {
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return h, nil
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}
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if baud <= 0 {
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baud = 9600
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}
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sp, err := serial.Open(com, &serial.Mode{BaudRate: baud})
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if err != nil {
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return nil, fmt.Errorf("open rotator %s @ %d baud: %w", com, baud, err)
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}
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_ = sp.SetReadTimeout(200 * time.Millisecond)
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h := &heldPort{p: sp, openedAt: time.Now()}
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openPorts[com] = h
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return h, nil
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}
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// drop closes and forgets a port, so the next call opens a fresh one. Called
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// when an exchange fails: a half-spoken conversation is worse than a new one.
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func drop(com string) {
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portsMu.Lock()
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defer portsMu.Unlock()
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if h, ok := openPorts[com]; ok {
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if h.p != nil {
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_ = h.p.Close()
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}
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delete(openPorts, com)
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}
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}
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// roundTrip sends one CR-terminated command and (when wantReply) reads one
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// CR/LF-terminated reply line. Serial keeps its port open between calls; TCP
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// dials per call, which is what the ARCO's LAN side expects.
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func (c *Client) roundTrip(cmd string, wantReply bool) (string, error) {
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var conn io.ReadWriteCloser
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if c.ComPort != "" {
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baud := c.Baud
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if baud <= 0 {
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baud = 9600
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}
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sp, err := serial.Open(c.ComPort, &serial.Mode{BaudRate: baud})
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h, err := acquire(c.ComPort, c.Baud)
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if err != nil {
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return "", fmt.Errorf("open rotator %s @ %d baud: %w", c.ComPort, baud, err)
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return "", err
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}
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_ = sp.SetReadTimeout(200 * time.Millisecond)
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conn = sp
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// Let a just-reset controller finish booting before speaking to it.
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if wait := bootSettle - time.Since(h.openedAt); wait > 0 {
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time.Sleep(wait)
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}
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conn = h.p
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// Whatever is already in the buffer belongs to the last exchange — the
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// trailing LF of the previous reply, or a line the controller volunteered
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// while nobody was reading. Read as the answer to THIS command it would
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// be an answer to the wrong question.
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drain(h.p)
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} else {
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nc, err := net.DialTimeout("tcp", net.JoinHostPort(c.Host, strconv.Itoa(c.Port)), dialTimeout)
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if err != nil {
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return "", fmt.Errorf("connect ARCO %s:%d: %w", c.Host, c.Port, err)
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}
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_ = nc.SetDeadline(time.Now().Add(ioTimeout))
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defer nc.Close()
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conn = nc
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}
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defer conn.Close()
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if _, err := conn.Write([]byte(cmd + "\r")); err != nil {
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if c.ComPort != "" {
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drop(c.ComPort)
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}
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return "", fmt.Errorf("send %q: %w", cmd, err)
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}
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if !wantReply {
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@@ -121,11 +189,29 @@ func (c *Client) roundTrip(cmd string, wantReply bool) (string, error) {
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}
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line := strings.TrimSpace(sb.String())
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if line == "" {
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// Silence may mean the port is fine and the controller is not, or that
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// the handle is stale (a USB adapter unplugged and replugged). Let go of
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// it so the next attempt starts from a clean open rather than repeating
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// the same silence for ever.
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if c.ComPort != "" {
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drop(c.ComPort)
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}
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return "", fmt.Errorf("no reply to %q", cmd)
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}
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return line, nil
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}
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// drain empties whatever is waiting, without blocking for long.
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func drain(sp serial.Port) {
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buf := make([]byte, 128)
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for i := 0; i < 4; i++ {
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n, err := sp.Read(buf)
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if n == 0 || err != nil {
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return
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}
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}
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}
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// GoTo points the antenna at the given azimuth (0-359). GS-232A takes M000-M450
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// (overlap rotators accept >360); we normalise to [0,360).
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func (c *Client) GoTo(az int) error {
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@@ -0,0 +1,34 @@
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package gs232
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import (
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"strconv"
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"strings"
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"testing"
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)
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// Real replies, as the controllers actually send them — a K3NG answering "C"
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// with "+0140" and CR+LF among them (reported from a live controller).
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func TestAzimuthReplies(t *testing.T) {
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cases := []struct {
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raw string
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want int
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}{
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{"+0140\r\n", 140}, // GS-232A, K3NG firmware
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{"+0000\r", 0}, // due north
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{"+0359\r\n", 359}, // just short of it
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{"AZ=140\r\n", 140}, // GS-232B flavour
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{"AZ=140 EL=000\r\n", 140}, // GS-232B with elevation on the same line
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{"\r\n+0075\r\n", 75}, // a leftover terminator ahead of the answer
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}
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for _, c := range cases {
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m := azRe.FindStringSubmatch(strings.TrimSpace(c.raw))
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if m == nil {
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t.Errorf("no azimuth found in %q", c.raw)
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continue
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}
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got, _ := strconv.Atoi(m[1])
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if got%360 != c.want {
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t.Errorf("%q parsed as %d, want %d", c.raw, got%360, c.want)
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}
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}
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}
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