Some sort of modular rotator protocol thing

[danielrichman]

The original assumption that everything would be talked to via serial is clearly wrong. Here's a patch from Mike that adds rotcld support:

--- autotracker/controller.orig.py      2012-09-07 21:55:05.388298558 +0100
+++ autotracker/controller.py   2012-09-07 22:48:10.438299558 +0100
@@ -1,10 +1,13 @@
 # Copyright 2012 (C) Daniel Richman; GNU GPL 3
+# Additions by Mike Hollowell, tiouk.com. rotcld (hamlib) addition. ver 1.02

 import time
 import earthmaths
 import couchdbkit
 import logging
 import serial
+import socket
+import sys

 logger = logging.getLogger("habitat_extensions.autotracker")

@@ -33,7 +36,23 @@ class AutoTracker(object):

         ser = cfg["serial"]
         self.serial_format = ser["format"]
-        self.open_serial(ser)
+
+        if self.serial_format == "simple":
+            self.open_serial(ser)
+        elif self.serial_format == "rotcld":
+           rotator = cfg["rotcld"]
+           self.rotcld_host = rotator["host"]
+           self.rotcld_port = rotator["port"]
+           self.rotcld_model = rotator["model"]
+           self.rotcld_desc = rotator["desc"]
+           if self.rotcld_model == 202:
+               logger.debug("Rotctld: Model 202")
+           else:
+               logger.debug("Rotctld: rotator model not supported")
+               sys.exit(1)
+       else:
+            logger.debug("No supported output device")
+           sys.exit(1)

     def open_serial(self, settings):
         self.serial = serial.Serial(settings["file"], settings["baud"])
@@ -88,15 +107,48 @@ class AutoTracker(object):

     def aim_at(self, tgt):
         logger.info("Aiming at " + repr(tgt))
-        f = self.serial_format

-        if f == "simple":
+        if self.serial_format == "simple":
             l = "{0} {1}\n".format(int(tgt[0]), int(tgt[1]))
+            self.serial.write(l)
+        elif self.serial_format == "rotcld":
+           for res in socket.getaddrinfo(self.rotcld_host, self.rotcld_port, socket.AF_UNSPEC, socket.SOCK_STREAM):
+               af, socktype, proto, canonname, sa = res
+               try:
+                   rotcld = socket.socket(af, socktype, proto)
+               except socket.error, msg:
+                   rotcld = None
+                   continue
+               try:
+                   rotcld.connect(sa)
+               except socket.error, msg:
+                   rotcld.close()
+                   rotcld = None
+                   continue
+               break
+           if rotcld is None:
+               logger.debug("could not open socket")
+               sys.exit(1)
+           if self.rotcld_model == 202:
+                l = "{0} {1}\n".format(int(tgt[0]), int(tgt[1]))
+           else:
+               logger.debug("Rotctld: rotator model not supported")
+               sys.exit(1)
+
+           rotcld.sendall(l)
+           data = rotcld.recv(1024)
+           rotcld.close()
+           #logger.debug("Received: " + repr(data))
+           #logger.debug(data.find("RPRT 0"))
+            if data.find("RPRT 0") == 0:
+                logger.debug("OK")
+            else:
+                logger.debug("ERR: " + data)
+
         else:
             raise NotImplementedError("Unimplemented format " + f)

-        logger.debug("Serial write: " + repr(l))
-        self.serial.write(l)
+        logger.debug("Sending: " + repr(l))

     def run(self):
         while True:



--- habitat.orig.yml    2012-09-07 22:01:09.978298672 +0100
+++ habitat.yml 2012-09-07 22:41:37.178299434 +0100
@@ -5,9 +5,9 @@ log_file_level: NONE
 autotracker:
     period: 60
     location:
-        longitude: -0.7890
-        latitude: 51.1234
-        altitude: 80
+        longitude: -2.1920
+        latitude: 52.9971
+        altitude: -1000
     limits:
         bearing:
             min: 0
@@ -17,8 +17,14 @@ autotracker:
             max: 60
     track_payload_id: 8285c24fabf8a73df8f7ec10c00c703e
     serial:
-        file: /dev/ttyUSB0
-        format: simple
+        file: /dev/ttyUSB1
+        format: rotcld
         baud: 4800
+    rotcld:
+        host: 127.0.0.1
+        port: 4533
+        model: 202
+        desc: EasycommII
     max_age: 300

Though I think at this point it would be far better to break it out into several classes which handle a different type of rotator. So this is the TODO item.

N.B.: Need to contact Mike for more recent changes when doing this.