rot finished
This commit is contained in:
@@ -6,227 +6,244 @@ import (
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"net"
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"strconv"
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"strings"
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"sync"
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"time"
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)
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type Client struct {
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host string
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port int
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conn net.Conn
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host string
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port int
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conn net.Conn
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reader *bufio.Reader
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connMu sync.Mutex
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lastStatus *Status
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statusMu sync.RWMutex
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stopChan chan struct{}
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running bool
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}
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type Status struct {
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Rotator1 RotatorData `json:"rotator1"`
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Rotator2 RotatorData `json:"rotator2"`
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Panic bool `json:"panic"`
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}
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type RotatorData struct {
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CurrentAzimuth int `json:"current_azimuth"`
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LimitCW int `json:"limit_cw"`
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LimitCCW int `json:"limit_ccw"`
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Configuration string `json:"configuration"` // "A" for azimuth, "E" for elevation
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Moving int `json:"moving"` // 0=stopped, 1=CW, 2=CCW
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Offset int `json:"offset"`
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TargetAzimuth int `json:"target_azimuth"`
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StartAzimuth int `json:"start_azimuth"`
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OutsideLimit bool `json:"outside_limit"`
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Name string `json:"name"`
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Connected bool `json:"connected"`
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Heading int `json:"heading"`
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Connected bool `json:"connected"`
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}
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func New(host string, port int) *Client {
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return &Client{
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host: host,
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port: port,
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host: host,
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port: port,
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stopChan: make(chan struct{}),
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}
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}
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func (c *Client) Connect() error {
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c.connMu.Lock()
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defer c.connMu.Unlock()
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if c.conn != nil {
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return nil
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}
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fmt.Printf("RotatorGenius: Attempting to connect to %s:%d\n", c.host, c.port)
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conn, err := net.DialTimeout("tcp", fmt.Sprintf("%s:%d", c.host, c.port), 5*time.Second)
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if err != nil {
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fmt.Printf("RotatorGenius: Connection failed: %v\n", err)
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return fmt.Errorf("failed to connect: %w", err)
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}
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c.conn = conn
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c.reader = bufio.NewReader(c.conn)
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fmt.Println("RotatorGenius: Connected successfully")
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return nil
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}
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func (c *Client) Close() error {
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c.connMu.Lock()
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defer c.connMu.Unlock()
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if c.stopChan != nil {
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close(c.stopChan)
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}
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if c.conn != nil {
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return c.conn.Close()
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}
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return nil
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}
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func (c *Client) sendCommand(cmd string) (string, error) {
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if c.conn == nil {
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if err := c.Connect(); err != nil {
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return "", err
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}
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func (c *Client) Start() error {
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fmt.Println("RotatorGenius Start() called")
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if c.running {
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fmt.Println("RotatorGenius already running, skipping")
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return nil
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}
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fmt.Println("RotatorGenius attempting initial connection...")
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_ = c.Connect()
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c.running = true
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fmt.Println("RotatorGenius launching pollLoop...")
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go c.pollLoop()
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fmt.Println("RotatorGenius Start() completed")
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return nil
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}
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func (c *Client) pollLoop() {
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ticker := time.NewTicker(500 * time.Millisecond)
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defer ticker.Stop()
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for {
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select {
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case <-ticker.C:
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c.connMu.Lock()
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if c.conn == nil {
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c.connMu.Unlock()
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c.statusMu.Lock()
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c.lastStatus = &Status{Connected: false}
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c.statusMu.Unlock()
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if err := c.Connect(); err != nil {
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continue
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}
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c.connMu.Lock()
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}
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c.connMu.Unlock()
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status, err := c.queryStatus()
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if err != nil {
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c.connMu.Lock()
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if c.conn != nil {
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c.conn.Close()
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c.conn = nil
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c.reader = nil
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}
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c.connMu.Unlock()
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c.statusMu.Lock()
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c.lastStatus = &Status{Connected: false}
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c.statusMu.Unlock()
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continue
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}
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status.Connected = true
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c.statusMu.Lock()
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c.lastStatus = status
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c.statusMu.Unlock()
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case <-c.stopChan:
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return
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}
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}
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}
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func (c *Client) sendCommand(cmd string) error {
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c.connMu.Lock()
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defer c.connMu.Unlock()
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if c.conn == nil || c.reader == nil {
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return fmt.Errorf("not connected")
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}
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// Send command
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_, err := c.conn.Write([]byte(cmd))
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if err != nil {
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c.conn = nil
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return "", fmt.Errorf("failed to send command: %w", err)
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c.reader = nil
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return fmt.Errorf("failed to send command: %w", err)
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}
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// Read response
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reader := bufio.NewReader(c.conn)
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response, err := reader.ReadString('\n')
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return nil
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}
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func (c *Client) queryStatus() (*Status, error) {
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c.connMu.Lock()
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defer c.connMu.Unlock()
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if c.conn == nil || c.reader == nil {
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return nil, fmt.Errorf("not connected")
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}
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// Send |h command
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_, err := c.conn.Write([]byte("|h"))
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if err != nil {
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c.conn = nil
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return "", fmt.Errorf("failed to read response: %w", err)
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c.reader = nil
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return nil, fmt.Errorf("failed to send query: %w", err)
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}
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return strings.TrimSpace(response), nil
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// Read response - RotatorGenius doesn't send newline, read fixed amount
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c.conn.SetReadDeadline(time.Now().Add(500 * time.Millisecond))
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defer c.conn.SetReadDeadline(time.Time{})
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buf := make([]byte, 100)
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n, err := c.reader.Read(buf)
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if err != nil || n == 0 {
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c.conn = nil
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c.reader = nil
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return nil, fmt.Errorf("failed to read response: %w", err)
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}
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response := string(buf[:n])
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return c.parseStatus(response), nil
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}
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func (c *Client) parseStatus(response string) *Status {
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status := &Status{}
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// Response format: |h2<null><heading>...
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// Example: |h2\x00183 8 10A0...
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// After |h2 there's a null byte, then 3 digits for heading
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if !strings.HasPrefix(response, "|h2") {
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return status
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}
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// Skip |h2 (3 chars) and null byte (1 char), then read 3 digits
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if len(response) >= 7 {
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// Position 3 is the null byte, position 4-6 are the heading
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headingStr := response[4:7]
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heading, err := strconv.Atoi(strings.TrimSpace(headingStr))
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if err == nil {
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status.Heading = heading
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}
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}
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return status
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}
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func (c *Client) GetStatus() (*Status, error) {
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resp, err := c.sendCommand("|h")
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if err != nil {
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return nil, err
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c.statusMu.RLock()
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defer c.statusMu.RUnlock()
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if c.lastStatus == nil {
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return &Status{Connected: false}, nil
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}
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return parseStatusResponse(resp)
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return c.lastStatus, nil
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}
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func parseStatusResponse(resp string) (*Status, error) {
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if len(resp) < 80 {
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return nil, fmt.Errorf("response too short: %d bytes", len(resp))
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}
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status := &Status{}
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// Parse panic flag
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status.Panic = resp[3] != 0x00
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// Parse Rotator 1 (positions 4-38)
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status.Rotator1 = parseRotatorData(resp[4:38])
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// Parse Rotator 2 (positions 38-72)
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if len(resp) >= 72 {
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status.Rotator2 = parseRotatorData(resp[38:72])
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}
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return status, nil
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// SetHeading rotates to a specific azimuth
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func (c *Client) SetHeading(azimuth int) error {
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cmd := fmt.Sprintf("|A1%d", azimuth)
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return c.sendCommand(cmd)
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}
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func parseRotatorData(data string) RotatorData {
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rd := RotatorData{}
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// Current azimuth (3 bytes)
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if azStr := strings.TrimSpace(data[0:3]); azStr != "999" {
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rd.CurrentAzimuth, _ = strconv.Atoi(azStr)
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rd.Connected = true
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} else {
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rd.CurrentAzimuth = 999
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rd.Connected = false
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}
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// Limits
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rd.LimitCW, _ = strconv.Atoi(strings.TrimSpace(data[3:6]))
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rd.LimitCCW, _ = strconv.Atoi(strings.TrimSpace(data[6:9]))
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// Configuration
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rd.Configuration = string(data[9])
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// Moving state
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rd.Moving, _ = strconv.Atoi(string(data[10]))
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// Offset
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rd.Offset, _ = strconv.Atoi(strings.TrimSpace(data[11:15]))
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// Target azimuth
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if targetStr := strings.TrimSpace(data[15:18]); targetStr != "999" {
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rd.TargetAzimuth, _ = strconv.Atoi(targetStr)
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} else {
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rd.TargetAzimuth = 999
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}
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// Start azimuth
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if startStr := strings.TrimSpace(data[18:21]); startStr != "999" {
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rd.StartAzimuth, _ = strconv.Atoi(startStr)
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} else {
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rd.StartAzimuth = 999
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}
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// Limit flag
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rd.OutsideLimit = data[21] == '1'
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// Name
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rd.Name = strings.TrimSpace(data[22:34])
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return rd
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// RotateCW rotates clockwise
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func (c *Client) RotateCW() error {
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return c.sendCommand("|P1")
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}
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func (c *Client) MoveToAzimuth(rotator int, azimuth int) error {
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if rotator < 1 || rotator > 2 {
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return fmt.Errorf("rotator must be 1 or 2")
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}
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if azimuth < 0 || azimuth > 360 {
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return fmt.Errorf("azimuth must be between 0 and 360")
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}
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cmd := fmt.Sprintf("|A%d%03d", rotator, azimuth)
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resp, err := c.sendCommand(cmd)
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if err != nil {
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return err
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}
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if !strings.HasSuffix(resp, "K") {
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return fmt.Errorf("command failed: %s", resp)
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}
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return nil
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}
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func (c *Client) RotateCW(rotator int) error {
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if rotator < 1 || rotator > 2 {
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return fmt.Errorf("rotator must be 1 or 2")
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}
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cmd := fmt.Sprintf("|P%d", rotator)
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resp, err := c.sendCommand(cmd)
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if err != nil {
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return err
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}
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if !strings.HasSuffix(resp, "K") {
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return fmt.Errorf("command failed: %s", resp)
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}
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return nil
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}
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func (c *Client) RotateCCW(rotator int) error {
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if rotator < 1 || rotator > 2 {
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return fmt.Errorf("rotator must be 1 or 2")
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}
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cmd := fmt.Sprintf("|M%d", rotator)
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resp, err := c.sendCommand(cmd)
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if err != nil {
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return err
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}
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if !strings.HasSuffix(resp, "K") {
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return fmt.Errorf("command failed: %s", resp)
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}
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return nil
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// RotateCCW rotates counter-clockwise
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func (c *Client) RotateCCW() error {
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return c.sendCommand("|M1")
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}
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// Stop stops rotation
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func (c *Client) Stop() error {
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resp, err := c.sendCommand("|S")
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if err != nil {
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return err
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}
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if !strings.HasSuffix(resp, "K") {
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return fmt.Errorf("command failed: %s", resp)
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}
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return nil
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return c.sendCommand("|S")
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}
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