yaes/src/RotCtl.zig

const std = @import("std");

const config = @import("./Config.zig").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", .{});
            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;
            try interface.handleHamlibCommand(
                std.mem.trim(u8, fbs.getWritten(), &std.ascii.whitespace),
            );
        }
    }
}

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 handleHamlibCommand(
    self: *RotCtl,
    command: []const u8,
) !void {
    var tokens = std.mem.tokenizeScalar(u8, command, ' ');

    const first = tokens.next().?;
    if (first.len == 1 or first[0] == '\\') {
        switch (first[0]) {
            'q', 'Q' => {
                self.running = false;
                self.replyStatus(.okay) catch {};
                self.rotator.stop();
            },
            'P' => {
                const pos = self.rotator.position();
                try self.printReply("{d:.1} {d:.1}", .{ pos.azimuth, pos.elevation });
            },
            '\\' => {
                try self.parseLongCommand(first[1..], &tokens);
            },
            else => {
                log.err("unknown short command '{s}'", .{command});
                try self.replyStatus(.not_implemented);
            },
        }
    } else {
        try self.parseLongCommand(first, &tokens);
    }
}

fn parseLongCommand(
    self: *RotCtl,
    command: []const u8,
    tokens: *std.mem.TokenIterator(u8, .scalar),
) !void {
    _ = tokens;

    for (rotctl_commands) |check| {
        if (check.long) |long| {
            if (command.len >= long.len and std.mem.eql(u8, long, command)) {
                log.warn("Unsupported long command {s}", .{command});
                break;
            }
        }
    } else {
        log.warn("Unknown long command '{s}'", .{command});
    }
    return self.replyStatus(.not_supported);
}

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

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

// 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.