Michael Toren
commit
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Copyright (c) 2017, Astro Digital, Inc.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
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ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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The views and conclusions contained in the software and documentation are those
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of the authors and should not be interpreted as representing official policies,
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either expressed or implied, of Astro Digital, Inc.
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# greenctld
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A hamlib-compatible driver for the [Green Heron Engineering RT-21 Digital Rotor
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Controller](https://www.greenheronengineering.com/prod_documents/controllers/docs/RT-21_Manual_current.pdf).
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hamlib does not support the rotor, but this program can be used as a drop-in
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replacement for rotctld when commanding the RT-21.
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The RT-21 is unlike most of the other rotors hamlib supports in that it uses
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two serial ports, one for controlling azimuth and one for controlling
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elevation. The two serial ports are passed via the ```--az-device``` and
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```--el-device``` command line arguments.
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The TCP network protocol is compatible with the hamlib protocol documented in
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the [rotctld(8) man
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page](http://manpages.ubuntu.com/manpages/zesty/man8/rotctld.8.html). This
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driver only implements a subset of that protocol, which includes the subset
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that [gpredict](http://gpredict.oz9aec.net/) uses. At [Astro
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Digital](https://astrodigital.com/), this driver has been used extensively with
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gpredict. For debugging the network protocol, the ```--dummy``` option can be
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used to simulate a rotor without connecting to a real serial port.
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Like rotctld, this program does not daemonize on its own. It also produces
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copious debugging output to stdout.
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### Usage
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* ```--az-device <serial-port>```, the serial port to use for azimuth
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* ```--el-device <serial-port>```, the serial port to use for elevation
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* ```--speed <baud>```, the serial baud rate to use, defaults to 4800
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* ```--timeout <seconds>```, the serial port timeout, defaults to 1.5
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* ```--port <port>```, the TCP port to listen for connections on, defaults to 4533, the same as rotctld
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* ```--get-pos```, to query the serial ports for the current az/el, and immediately exit. Useful for testing the serial port configuration.
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* ```--dummy```, to speak the TCP network protocol only without connecting to a serial port, useful for debugging gpredict integration.
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### License
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Copyright (c) 2017 [Astro Digital, Inc](https://astrodigital.com/)
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Released under the terms of the Simplified BSD License; see the [LICENSE](LICENSE) file for details.
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### Author
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Michael Toren <mct@toren.net>
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#!/usr/bin/env python2
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# vim:set ts=4 sw=4 sts=4 ai et smarttab:
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# greenctld, a hamlib-compatible driver for the Green Heron Engineering RT-21
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# Digital Rotor Controller. The Green Heron serial protocol is documented at
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# https://www.greenheronengineering.com/prod_documents/controllers/docs/RT-21_Manual_current.pdf
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#
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# The TCP network protocol is compatible with the hamlib rotctld protocol, which
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# gpredict speaks.
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#
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# Copyright (c) 2017, Astro Digital, Inc. Released under the terms of the
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# Simplified BSD License; see the LICENSE file for details.
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#
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# -- Michael Toren <mct@toren.net>
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# Astro Digital, Inc.
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import socket
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import serial
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import argparse
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import traceback
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import time
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import select
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import sys
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import re
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import os
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class DummyRotor(object):
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'''
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A fake Rotor class, useful for debugging the TCPServer class on any
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machine, even if the rotor is not physically connected to it.
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'''
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az = 0
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el = 0
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def set_pos(self, az, el):
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print '==> %d,%d' % (az, el)
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self.az = az
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self.el = el
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def get_pos(self):
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print '<== %d,%d' % (self.az, self.el)
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return (self.az, self.el,)
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def stop(self):
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print "==> Stop"
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class GreenHeronRotor(object):
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'''
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Driver for the Green Heron Engineering RT-21 Digital Rotor Controller
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'''
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az_serial = None
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el_serial = None
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def __init__(self, az_device, el_device, baud, timeout):
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self.az_serial = serial.Serial(az_device, baudrate=baud, timeout=timeout)
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self.el_serial = serial.Serial(el_device, baudrate=baud, timeout=timeout)
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print '--- Serial timeout set to', timeout
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def stop(self):
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print "==> Stop"
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self.az_serial.write(';')
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self.el_serial.write(';')
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def set_pos(self, az, el):
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print '==> %d,%d' % (az, el)
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self.az_serial.write('AP1%03d\r;' % az)
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self.el_serial.write('AP1%03d\r;' % el)
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time.sleep(0.1)
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def __parse_response(self, buf):
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match = re.match(r'^([0-9][0-9][0-9]);$', buf)
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if not match:
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return -1
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ret = match.groups()[0]
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ret = int(ret)
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return ret
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def get_pos(self):
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'''
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On success, returns a tuple of (az, el)
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On failure, returns False
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'''
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self.az_serial.flushInput()
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self.el_serial.flushInput()
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self.az_serial.write('AI1;')
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self.el_serial.write('AI1;')
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az_buf = self.az_serial.read(4)
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el_buf = self.el_serial.read(4)
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if len(az_buf) != 4 or len(el_buf) != 4:
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print '!!! Serial read failure, received %s and %s' % (repr(az_buf), repr(el_buf))
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return False
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az = self.__parse_response(az_buf)
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el = self.__parse_response(el_buf)
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if az < 0 or el < 0:
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print '!!! Failed to parse response, received %s and %s' % (repr(az_buf), repr(el_buf))
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return False
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print '<== %d,%d' % (az, el)
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return (az, el,)
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class TCPServer(object):
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'''
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Implements a subset of the rotctld TCP protocol. gpredict only sends three
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commands, all of which are supported:
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- "p" to request the current position
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- "P <az> <el>" to set the desired position
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- "q" to quit
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This driver also supports:
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- "S" to stop any current movement
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'''
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# A mapping of client fd's -> receive buffers
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client_buf = {}
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def __init__(self, port, rotor, ip=''):
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self.rotor = rotor
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self.listener = socket.socket()
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self.listener.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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self.listener.bind((ip, port))
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self.listener.listen(4)
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addr = self.listener.getsockname()
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print '--- Listening for connections on %s:%d' % (addr[0], addr[1])
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def close_client(self, fd):
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self.rotor.stop()
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try:
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fd.close()
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del self.client_buf[fd]
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except:
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pass
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def parse_client_command(self, fd, cmd):
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cmd = cmd.strip()
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if cmd == '':
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return
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print '<-- %s' % repr(cmd)
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# "q", to quit
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if cmd == 'q':
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self.close_client(fd)
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return
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# "S", to stop the current rotation
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if cmd == 'S':
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self.rotor.stop()
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print '--> RPRT 0'
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fd.send('RPRT 0\n')
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return
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# "p", to get current position
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if cmd == 'p':
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pos = self.rotor.get_pos()
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if not pos:
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print '--> RPRT -6'
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fd.send('RPRT -6\n')
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else:
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az, el = pos
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print '--> %d,%d' % (az, el)
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fd.send('%.6f\n%.6f\n' % (az, el))
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return
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# "P <az> <el>" to set desired position
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match = re.match(r'^P\s+([\d.]+)\s+([\d.]+)$', cmd)
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if match:
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az = match.groups()[0]
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el = match.groups()[1]
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try:
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az = int(float(az))
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el = int(float(el))
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except:
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print '--> RPRT -8 (could not parse)'
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fd.send('RPRT -8\n')
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return
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if az == 360:
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az = 359
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if az > 359:
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print '--> RPRT -1 (az too large)'
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fd.send('RPRT -1\n')
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return
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if el > 90:
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print '--> RPRT -1 (el too large)'
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fd.send('RPRT -1\n')
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return
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self.rotor.set_pos(az, el)
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print '--> RPRT 0'
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fd.send('RPRT 0\n')
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return
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# Nothing else is supported
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print '--> RPRT -4 (unknown command)'
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fd.send('RPRT -4\n')
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def read_client(self, fd):
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buf = fd.recv(1024)
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if len(buf) == 0:
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print '<-- EOF'
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self.close_client(fd)
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return
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self.client_buf[fd] += buf
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while True:
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cmd, sep, tail = self.client_buf[fd].partition('\n')
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# Check if a full line of input is present
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if not sep:
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return
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else:
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self.client_buf[fd] = tail
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self.parse_client_command(fd, cmd)
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# Check if the client sent a "q", to quit
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if not self.client_buf.has_key(fd):
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return
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def __run_once(self):
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rlist = [ self.listener ] + self.client_buf.keys()
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wlist = []
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xlist = []
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rlist, wlist, xlist = select.select(rlist, wlist, xlist)
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for fd in rlist:
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if fd == self.listener:
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new_fd, addr = self.listener.accept()
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new_fd.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 1024*16)
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new_fd.setsockopt(socket.SOL_SOCKET, socket.SO_SNDBUF, 1024*16)
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new_fd.setblocking(False)
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self.client_buf[new_fd] = ''
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print '<-- Connect %s:%d' % (addr[0], addr[1])
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else:
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try:
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self.read_client(fd)
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except Exception as e:
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print 'Unhandled exception, killing client and issuing motor stop command:'
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traceback.print_exc()
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self.close_client(fd)
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print
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def loop(self):
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while True:
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self.__run_once()
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if __name__ == '__main__':
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sys.stdout = os.fdopen(sys.stdout.fileno(), 'w', 0)
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parser = argparse.ArgumentParser()
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parser.add_argument('--az-device', '-a', type=str, required=True, help='Serial device for azimuth')
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parser.add_argument('--el-device', '-e', type=str, required=True, help='Serial device for elevation')
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parser.add_argument('--speed', '-s', type=int, default=4800, help='Serial device speed')
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parser.add_argument('--timeout', '-t', type=float, default=1.5, help='Serial timeout')
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parser.add_argument('--port', '-p', type=int, default=4533, help='TCP port')
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parser.add_argument('--get-pos', '-g', action='store_true', help='Issue get position, and exit; for serial comms test')
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parser.add_argument('--dummy', action='store_true', help='Use a dummy rotor, not the real serial device')
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args = parser.parse_args()
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if args.dummy:
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rotor = DummyRotor()
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else:
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rotor = GreenHeronRotor(args.az_device, args.el_device, args.speed, args.timeout)
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if args.get_pos:
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print rotor.get_pos()
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sys.exit(0)
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server = TCPServer(args.port, rotor)
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server.loop()
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