yaes/src/RotCtl.zig

const std = @import("std");

const Config = @import("./Config.zig");
const config = Config.global;
const LabjackYaesu = @import("./LabjackYaesu.zig");

const RotCtl = @This();

const log = std.log.scoped(.RotCtl);

writer: std.io.BufferedWriter(512, std.net.Stream.Writer),
running: bool,
rotator: LabjackYaesu,

pub fn run(allocator: std.mem.Allocator) !void {
    // var server = std.net.StreamServer.init(.{ .reuse_address = true });
    // defer server.deinit();

    const listen_addr = try std.net.Address.parseIp(
        config.rotctl.listen_address,
        config.rotctl.listen_port,
    );

    var server = listen_addr.listen(.{ .reuse_address = true }) catch {
        log.err("Could not listen on {}. Is it already in use?", .{listen_addr});
        return;
    };
    log.info("Listening for client on: {}", .{listen_addr});

    var interface: RotCtl = .{
        .writer = undefined,
        .running = true,
        .rotator = try LabjackYaesu.init(allocator),
    };

    while (true) {
        const client = try server.accept();
        defer {
            log.info("disconnecting client", .{});
            interface.rotator.stop();
            client.stream.close();
        }

        interface.writer = .{ .unbuffered_writer = client.stream.writer() };
        interface.running = true;
        defer interface.running = false;

        log.info("client connected from {}", .{client.address});

        var readbuffer = [_]u8{0} ** 512;
        var fbs = std.io.fixedBufferStream(&readbuffer);
        const reader = client.stream.reader();

        while (interface.running) : (fbs.reset()) {
            reader.streamUntilDelimiter(fbs.writer(), '\n', readbuffer.len) catch break;
            // note: an error here kills this entire function, which may not be
            // desirable. For example, if the client unexpectedly disconnects, we
            // probably shouldn't kill the whole runloop.
            interface.handleHamlibCommand(
                std.mem.trim(u8, fbs.getWritten(), &std.ascii.whitespace),
            ) catch break;
        }
    }
}

fn write(self: *RotCtl, buf: []const u8) !void {
    try self.writer.writer().writeAll(buf);
    try self.writer.flush();
}

fn replyStatus(self: *RotCtl, comptime status: HamlibErrorCode) !void {
    try self.write(comptime status.replyFrame() ++ "\n");
}

fn printReply(self: *RotCtl, comptime fmt: []const u8, args: anytype) !void {
    try self.writer.writer().print(fmt ++ "\n", args);
    try self.writer.flush();
}

fn quit(self: *RotCtl, _: []const u8, tokens: *TokenIter) CommandError!void {
    if (tokens.next() != null) return error.BadInput;

    self.running = false;
    self.replyStatus(.okay) catch {};
    self.rotator.quit();
}

fn stop(self: *RotCtl, _: []const u8, tokens: *TokenIter) CommandError!void {
    if (tokens.next() != null) return error.BadInput;

    self.rotator.stop();
    self.replyStatus(.okay) catch return error.BadOutput;
}

fn park(self: *RotCtl, _: []const u8, tokens: *TokenIter) CommandError!void {
    if (tokens.next() != null) return error.BadInput;

    self.rotator.startPark();
    self.replyStatus(.okay) catch return error.BadOutput;
}

fn blindAck(self: *RotCtl, _: []const u8, _: *TokenIter) CommandError!void {
    self.replyStatus(.okay) catch return error.BadOutput;
}

fn notSupported(self: *RotCtl, _: []const u8, _: *TokenIter) CommandError!void {
    self.replyStatus(.not_supported) catch return error.BadOutput;
}

fn getPosition(self: *RotCtl, _: []const u8, tokens: *TokenIter) CommandError!void {
    if (tokens.next() != null) return error.BadInput;

    const pos = self.rotator.currentPosition();
    self.printReply("{d:.1}\n{d:.1}", .{ pos.azimuth, pos.elevation }) catch return error.BadOutput;
}

fn inRange(request: f64, comptime dof: enum { azimuth, elevation }) bool {
    return switch (dof) {
        // zig fmt: off
        .azimuth => request >= (
                  config.labjack.feedback_calibration.azimuth.minimum.angle
                + config.controller.angle_offset.azimuth
            ) and request <= (
                  config.labjack.feedback_calibration.azimuth.maximum.angle
                + config.controller.angle_offset.azimuth
        ),
        .elevation => request >= (
                  config.labjack.feedback_calibration.elevation.minimum.angle
                + config.controller.angle_offset.elevation
            ) and request <= (
                  config.labjack.feedback_calibration.elevation.maximum.angle
                + config.controller.angle_offset.elevation
        ),
        // zig fmt: on
    };
}

fn setPosition(self: *RotCtl, _: []const u8, tokens: *TokenIter) CommandError!void {
    const azimuth = std.fmt.parseFloat(f64, tokens.next() orelse {
        return self.replyStatus(.invalid_parameter) catch error.BadOutput;
    }) catch {
        return self.replyStatus(.invalid_parameter) catch error.BadOutput;
    };

    if (!inRange(azimuth, .azimuth))
        return self.replyStatus(.invalid_parameter) catch error.BadOutput;

    const elevation = std.fmt.parseFloat(f64, tokens.next() orelse {
        return self.replyStatus(.invalid_parameter) catch error.BadOutput;
    }) catch {
        return self.replyStatus(.invalid_parameter) catch error.BadOutput;
    };

    if (!inRange(elevation, .elevation))
        return self.replyStatus(.invalid_parameter) catch error.BadOutput;

    self.rotator.setTarget(.{ .azimuth = azimuth, .elevation = elevation });
    return self.replyStatus(.okay) catch error.BadOutput;
}

fn handleHamlibCommand(
    self: *RotCtl,
    command: []const u8,
) !void {
    if (command.len == 0) {
        return self.replyStatus(.invalid_parameter) catch error.BadOutput;
    }

    var tokens = std.mem.tokenizeScalar(u8, command, ' ');

    const first = tokens.next().?;
    if (first.len == 1 or first[0] == '\\') {
        switch (first[0]) {
            // NOTE: this is not technically supported by rotctld.
            'q', 'Q' => try self.quit(first, &tokens),
            'S' => try self.stop(first, &tokens),
            'K' => try self.park(first, &tokens),
            'p' => try self.getPosition(first, &tokens),
            'P' => try self.setPosition(first, &tokens),
            '\\' => try self.handleLongCommand(first[1..], &tokens),
            else => {
                log.err("unknown short command '{s}'", .{command});
                self.replyStatus(.not_supported) catch return error.BadOutput;
            },
        }
    } else {
        try self.handleLongCommand(first, &tokens);
    }
}

fn handleLongCommand(
    self: *RotCtl,
    command: []const u8,
    tokens: *TokenIter,
) !void {
    inline for (rotctl_commands) |cmdef|
        if (comptime cmdef.long) |long|
            if (std.mem.eql(u8, long, command))
                return try cmdef.callback(self, command, tokens);

    return self.replyStatus(.not_supported) catch error.BadOutput;
}

const HamlibErrorCode = enum(u8) {
    okay = 0,
    invalid_parameter = 1,
    invalid_configuration = 2,
    out_of_memory = 3,
    not_implemented = 4,
    timeout = 5,
    io_error = 6,
    internal_error = 7,
    protocol_error = 8,
    command_rejected = 9,
    parameter_truncated = 10,
    not_supported = 11,
    not_targetable = 12,
    bus_error = 13,
    bus_busy = 14,
    invalid_arg = 15,
    invalid_vfo = 16,
    domain_error = 17,
    deprecated = 18,
    security = 19,
    power = 20,

    fn replyFrame(comptime self: HamlibErrorCode) []const u8 {
        return std.fmt.comptimePrint(
            "RPRT {d}",
            .{-@as(i8, @intCast(@intFromEnum(self)))},
        );
    }
};

const CommandError = error{ BadInput, BadOutput };
const TokenIter: type = std.mem.TokenIterator(u8, .scalar);
const CommandCallback: type = *const fn (self: *RotCtl, command: []const u8, tokens: *TokenIter) CommandError!void;

const HamlibCommand = struct {
    short: ?u8 = null,
    long: ?[]const u8 = null,
    callback: CommandCallback,
};

const rotctl_commands = [_]HamlibCommand{
    .{ .short = 'q', .callback = quit }, // quit
    .{ .short = 'Q', .callback = quit }, // quit
    .{ .long = "AOS", .callback = blindAck },
    .{ .long = "LOS", .callback = blindAck },
    .{ .short = 'P', .long = "set_pos", .callback = setPosition }, // azimuth: f64, elevation: f64
    .{ .short = 'p', .long = "get_pos", .callback = getPosition }, // return az: f64, el: f64
    .{ .short = 'M', .long = "move", .callback = notSupported }, // direction: enum { up=2, down=4, left=8, right=16 }, speed: i8 (0-100 or -1)
    .{ .short = 'S', .long = "stop", .callback = stop },
    .{ .short = 'K', .long = "park", .callback = park },
    .{ .short = 'C', .long = "set_conf", .callback = notSupported }, // token: []const u8, value: []const u8
    .{ .short = 'R', .long = "reset", .callback = notSupported }, // u1 (1 is reset all)
    .{ .short = '_', .long = "get_info", .callback = notSupported }, // return Model name
    .{ .long = "dump_state", .callback = notSupported }, // ???
    .{ .short = '1', .long = "dump_caps", .callback = notSupported }, // ???
    .{ .short = 'w', .long = "send_cmd", .callback = notSupported }, // []const u8, send serial command directly to the rotator
    .{ .short = 'L', .long = "lonlat2loc", .callback = notSupported }, // return Maidenhead locator for given long: f64 and , .callback = notSupportedlat: f64, locator precision: u4 (2-12)
    .{ .short = 'l', .long = "loc2lonlat", .callback = notSupported }, //  the inverse of the above
    .{ .short = 'D', .long = "dms2dec", .callback = notSupported }, // deg, min, sec, 0 (positive) or 1 (negative)
    .{ .short = 'd', .long = "dec2dms", .callback = notSupported },
    .{ .short = 'E', .long = "dmmm2dec", .callback = notSupported },
    .{ .short = 'e', .long = "dec2dmmm", .callback = notSupported },
    .{ .short = 'B', .long = "grb", .callback = notSupported },
    .{ .short = 'A', .long = "a_sp2a_lp", .callback = notSupported },
    .{ .short = 'a', .long = "d_sp2d_lp", .callback = notSupported },
    .{ .long = "pause", .callback = notSupported },
};

// D, dms2dec 'Degrees' 'Minutes' 'Seconds' 'S/W'
// Returns 'Dec Degrees', a signed floating point value.
// 'Degrees' and 'Minutes' are integer values.
// 'Seconds' is a floating point value.
// 'S/W' is a flag with ’1’ indicating South latitude or West longitude and ’0’ North or East (the flag is needed as computers don’t recognize a signed zero even though only the 'Degrees' value is typically signed in DMS notation).
// d, dec2dms 'Dec Degrees'
// Returns 'Degrees' 'Minutes' 'Seconds' 'S/W'.
// Values are as in dms2dec above.
// E, dmmm2dec 'Degrees' 'Dec Minutes' 'S/W'
// Returns 'Dec Degrees', a signed floating point value.
// 'Degrees' is an integer value.
// 'Dec Minutes' is a floating point value.
// 'S/W' is a flag as in dms2dec above.
// e, dec2dmmm 'Dec Deg'
// Returns 'Degrees' 'Minutes' 'S/W'.
// Values are as in dmmm2dec above.
// B, qrb 'Lon 1' 'Lat 1' 'Lon 2' 'Lat 2'
// Returns 'Distance' and 'Azimuth'.
// 'Distance' is in km.
// 'Azimuth' is in degrees.
// Supplied Lon/Lat values are signed floating point numbers.
// A, a_sp2a_lp 'Short Path Deg'
// Returns 'Long Path Deg'.
// Both the supplied argument and returned value are floating point values within the range of 0.00 to 360.00.
// Note: Supplying a negative value will return an error message.
// a, d_sp2d_lp 'Short Path km'
// Returns 'Long Path km'.
// Both the supplied argument and returned value are floating point values.
// pause 'Seconds'
// Pause for the given whole (integer) number of 'Seconds' before sending the next command to the rotator.