start writing control and config functionality

In theory, this will poll the feedback lines, but in practice, it
probably crashes or catches on fire or something.

deps/labjack/exodriver/build.zig

@@ -17,6 +17,10 @@ pub fn build(b: *std.Build) !void {
         .link_libc = true,
     });
 
+    if (optimize == .Debug) {
+        liblabjackusb.defineCMacro("LJ_DEBUG", "1");
+    }
+
     liblabjackusb.addCSourceFile(.{ .file = b.path("liblabjackusb/labjackusb.c") });
     liblabjackusb.installHeader(b.path("liblabjackusb/labjackusb.h"), "labjackusb.h");
 

deps/labjack/exodriver/liblabjackusb/labjackusb.c

@@ -505,6 +505,7 @@ static HANDLE LJUSB_OpenSpecificDevice(libusb_device *dev, const struct libusb_d
         return NULL;
     }
 
+#if defined(_WIN32)
     // Test if the kernel driver has the U12.
     if (desc->idProduct == U12_PRODUCT_ID && libusb_kernel_driver_active(devh, 0)) {
 #if LJ_DEBUG
@@ -521,6 +522,7 @@ static HANDLE LJUSB_OpenSpecificDevice(libusb_device *dev, const struct libusb_d
             return NULL;
         }
     }
+#endif // _WIN32
 
     r = libusb_claim_interface(devh, 0);
     if (r < 0) {

deps/labjack/ljacklm/build.zig

@@ -17,6 +17,10 @@ pub fn build(b: *std.Build) !void {
         .link_libc = true,
     });
 
+    if (optimize == .Debug) {
+        libljacklm.defineCMacro("LJ_DEBUG", "1");
+    }
+
     if (target.result.os.tag == .windows) {
         libljacklm.defineCMacro("LJACKLM_USE_WINDOWS_MUTEX_SHIM", "1");
     }

deps/labjack/ljacklm/libljacklm/ljacklm.c

@@ -7220,6 +7220,17 @@ long GetU12Information( HANDLE hDevice,
 	temp = (unsigned long)LJUSB_GetDeviceDescriptorReleaseNumber(hDevice) * 65536;  //upper two bytes of serial #
 
 	result = LJUSB_GetHIDReportDescriptor(hDevice, repDesc, 75);
+
+#if defined(LJ_DEBUG)
+
+	fprintf(stderr, "U12 HID ReportDescriptor (hex, %lu B): ", result);
+	for (int idx = 0; idx < result; idx++) {
+		fprintf(stderr, "%02hhX", repDesc[idx]);
+	}
+	fprintf(stderr, "\n");
+
+#endif // LJ_DEBUG
+
 	if(result < 75)
 	{
 		//Failed getting descriptor.  First capability would of been input, so

deps/labjack/ljacklm/libljacklm/windows_mutex_shim.h

@@ -18,7 +18,7 @@ static inline int pthread_mutex_unlock(pthread_mutex_t *mutex) {
 }
 
 static inline int pthread_mutex_trylock(pthread_mutex_t *mutex) {
-    return TryEnterCriticalSection(mutex) != 0;
+    return TryEnterCriticalSection(mutex) == 0;
 }
 
 static inline void pthread_mutex_destroy(pthread_mutex_t *mutex) {

src/Config.zig

@@ -6,15 +6,34 @@ const lj = @import("./labjack.zig");
 const Config = @This();
 
 var global_internal: Config = undefined;
-pub const global: *const Config;
+pub const global: *const Config = &global_internal;
 
 pub fn load(allocator: std.mem.Allocator, reader: anytype) !void {
     var jread = std.json.Reader(1024, @TypeOf(reader)).init(allocator, reader);
     defer jread.deinit();
 
-    global_internal = try std.json.parseFromTokenSourceLeaky(allocator, &jread, .{});
+    global_internal = try std.json.parseFromTokenSourceLeaky(
+        Config,
+        allocator,
+        &jread,
+        .{},
+    );
 }
 
+pub fn loadDefault(allocator: std.mem.Allocator) void {
+    _ = allocator;
+    global_internal = .{};
+}
+
+pub fn destroy(allocator: std.mem.Allocator) void {
+    // TODO: implement this probably
+    _ = allocator;
+}
+
+rotctl: RotControlConfig = .{
+    .listen_address = "127.0.0.1",
+    .listen_port = 5432,
+},
 labjack: LabjackConfig = .{
     .device = .autodetect,
     .feedback_calibration = .{
@@ -56,6 +75,11 @@ pub const MinMax = struct {
     }
 };
 
+const RotControlConfig = struct {
+    listen_address: []const u8,
+    listen_port: u16,
+};
+
 const LabjackConfig = struct {
     device: union(enum) {
         autodetect,

src/LabjackYaesu.zig

@@ -4,6 +4,8 @@ const lj = @import("./labjack.zig");
 const Config = @import("./Config.zig");
 const config = Config.global;
 
+const log = std.log.scoped(.labjack_yaesu);
+
 const LabjackYaesu = @This();
 
 control_thread: std.Thread,
@@ -51,12 +53,14 @@ pub fn startCalibration(self: LabjackYaesu) void {
     // The former is (fairly) trivial to automate, just run until stall
     // (assuming there's no deadband in the feedback). The latter requires
     // manual input as the human is the feedback hardware in the loop.
+    _ = self;
 }
 
 pub fn idle(self: LabjackYaesu) void {
     self.lock.lock();
     defer self.lock.unlock();
 
+    const controller = @constCast(self.controller);
     controller.requested_state = .idle;
 }
 
@@ -64,11 +68,17 @@ pub fn stop(self: LabjackYaesu) void {
     self.lock.lock();
     defer self.lock.unlock();
 
+    const controller = @constCast(self.controller);
     controller.requested_state = .stopped;
 }
 
 fn runController(controller: *Controller) void {
-    controller.run() catch {};
+    controller.run() catch {
+        log.err(
+            "the labjack control loop has terminated unexpectedly!!!!",
+            .{},
+        );
+    };
 }
 
 const Controller = struct {
@@ -93,19 +103,19 @@ const Controller = struct {
         self.* = .{
             .target = .{ .azimuth = 0, .elevation = 0 },
             .position = .{ .azimuth = 0, .elevation = 0 },
-            .state = .stopped,
+            .current_state = .stopped,
             .requested_state = .idle,
             .lock = lock,
             .labjack = switch (config.labjack.device) {
-                .autodetect => try labjack.Labjack.autodetect(),
+                .autodetect => lj.Labjack.autodetect(),
-                .serial_number => |sn| labjack.Labjack.with_serial_number(sn),
+                .serial_number => |sn| lj.Labjack.with_serial_number(sn),
             },
         };
     }
 
     fn connectLabjack(self: *Controller) !void {
-        const info = try controller.labjack.connect();
+        const info = try self.labjack.connect();
-        controller.labjack.id = info.local_id;
+        self.labjack.id = info.local_id;
     }
 
     fn lerpOne(input: f64, cal_points: Config.MinMax) f64 {
@@ -158,10 +168,10 @@ const Controller = struct {
             config.controller.angle_tolerance.elevation,
         );
 
-        drive_signal[config.azimuth_outputs.increase.io] = azsign == .positive;
+        drive_signal[config.controller.azimuth_outputs.increase.io] = azsign == .positive;
-        drive_signal[config.azimuth_outputs.decrease.io] = azsign == .negative;
+        drive_signal[config.controller.azimuth_outputs.decrease.io] = azsign == .negative;
-        drive_signal[config.elevation_outputs.increase.io] = elsign == .positive;
+        drive_signal[config.controller.elevation_outputs.increase.io] = elsign == .positive;
-        drive_signal[config.elevation_outputs.decrease.io] = elsign == .negative;
+        drive_signal[config.controller.elevation_outputs.decrease.io] = elsign == .negative;
 
         const raw = try self.labjack.readAnalogWriteDigital(2, inputs, drive_signal, true);
 
@@ -169,17 +179,17 @@ const Controller = struct {
     }
 
     fn run(self: *Controller) !void {
-        self.state = .initializing;
+        self.current_state = .initializing;
 
         var timer: LoopTimer = .{ .interval_ns = config.controller.loop_interval_ns };
 
-        while (timer.mark()) : (timer.sleep()) switch (self.state) {
+        while (timer.mark()) : (timer.sleep()) switch (self.current_state) {
             .initializing, .idle => {
                 const pos = self.updateAzEl() catch {
                     self.lock.lock();
                     defer self.lock.unlock();
 
-                    self.state = .stopped;
+                    self.current_state = .stopped;
                     continue;
                 };
 
@@ -187,15 +197,15 @@ const Controller = struct {
                 defer self.lock.unlock();
 
                 self.position = pos;
-                self.state = self.requested_state;
+                self.current_state = self.requested_state;
             },
             .calibration => {
                 self.lock.lock();
                 defer self.lock.unlock();
 
                 // run calibration routine. psych, this does nothing. gottem
-                self.state = .idle;
+                self.current_state = .idle;
-                self.requested_state = self.state;
+                self.requested_state = self.current_state;
             },
             .running => {
                 const pos_error: AzEl = blk: {
@@ -212,7 +222,7 @@ const Controller = struct {
                     self.lock.lock();
                     defer self.lock.unlock();
 
-                    self.state = .stopped;
+                    self.current_state = .stopped;
                     continue;
                 };
 
@@ -220,7 +230,7 @@ const Controller = struct {
                 defer self.lock.unlock();
 
                 self.position = pos;
-                self.state = self.requested_state;
+                self.current_state = self.requested_state;
             },
             .stopped => {
                 // attempt to reset the drive outputs
@@ -245,6 +255,6 @@ pub const LoopTimer = struct {
         const now = std.time.nanoTimestamp();
         const elapsed: u64 = @intCast(now - self.start);
 
-        std.time.sleep(interval_ns - elapsed);
+        std.time.sleep(self.interval_ns - elapsed);
     }
 };

src/RotCtl.zig

@@ -1,5 +1,6 @@
 const std = @import("std");
 
+const config = @import("./Config.zig").global;
 const LabjackYaesu = @import("./LabjackYaesu.zig");
 
 const RotCtl = @This();
@@ -10,15 +11,16 @@ writer: std.io.BufferedWriter(512, std.net.Stream.Writer),
 running: bool,
 rotator: LabjackYaesu,
 
-pub fn run() !void {
+pub fn run(allocator: std.mem.Allocator) !void {
-    var server = std.net.StreamServer.init(.{ .reuse_address = true });
+    // var server = std.net.StreamServer.init(.{ .reuse_address = true });
-    defer server.deinit();
+    // defer server.deinit();
 
     const listen_addr = try std.net.Address.parseIp(
-        config.gpredict_listen_address,
+        config.rotctl.listen_address,
-        config.gpredict_listen_port,
+        config.rotctl.listen_port,
     );
-    server.listen(listen_addr) catch {
+
+    var server = listen_addr.listen(.{ .reuse_address = true }) catch {
         log.err("Could not listen on {}. Is it already in use?", .{listen_addr});
         return;
     };
@@ -27,7 +29,7 @@ pub fn run() !void {
     var interface: RotCtl = .{
         .writer = undefined,
         .running = true,
-        .rotator = LabjackYaesu.init(),
+        .rotator = try LabjackYaesu.init(allocator),
     };
 
     while (true) {
@@ -49,21 +51,22 @@ pub fn run() !void {
 
         while (interface.running) : (fbs.reset()) {
             reader.streamUntilDelimiter(fbs.writer(), '\n', readbuffer.len) catch break;
-            try radio.handleHamlibCommand(fbs.getWritten());
+            try interface.handleHamlibCommand(fbs.getWritten());
         }
     }
 }
 
-fn write(self: *const Hamlibber, buf: []const u8) !void {
+fn write(self: *RotCtl, buf: []const u8) !void {
-    try self.writer.writeAll(buf);
+    try self.writer.writer().writeAll(buf);
+    try self.writer.flush();
 }
 
-fn replyStatus(self: *RadioProxy, comptime status: HamlibErrorCode) !void {
+fn replyStatus(self: *RotCtl, comptime status: HamlibErrorCode) !void {
     try self.write(comptime status.replyFrame() ++ "\n");
 }
 
 fn handleHamlibCommand(
-    self: *const Hamlibber,
+    self: *RotCtl,
     command: []const u8,
 ) !void {
     var tokens = std.mem.tokenizeScalar(u8, command, ' ');
@@ -71,43 +74,13 @@ fn handleHamlibCommand(
     const first = tokens.next().?;
     if (first.len == 1 or first[0] == '\\') {
         switch (first[0]) {
-            'F' => {
-                const freqt = tokens.next() orelse
-                    return self.replyStatus(.invalid_parameter);
-
-                const new = std.fmt.parseInt(i32, freqt, 10) catch
-                    return self.replyStatus(.invalid_parameter);
-
-                self.setFrequency(new) catch
-                    return self.replyStatus(.io_error);
-
-                try self.replyStatus(.okay);
-            },
-            'f' => {
-                const freq = self.getFrequency() catch
-                    return self.replyStatus(.io_error);
-
-                try self.print("{d}", .{freq});
-            },
-            't' => {
-                try self.print("{d}", .{@intFromBool(self.ptt_state)});
-            },
             'q' => {
                 self.running = false;
                 self.replyStatus(.okay) catch return;
             },
-            '\\' => return self.parseLongCommand(first[1..], &tokens),
+            '\\' => {
-            // zig fmt: off
+                return try self.parseLongCommand(first[1..], &tokens);
-             '*',  '1',  '2',  '4',  '_',  'A',  'a',  'B',  'b',  'C',  'c',  'D',
-             'd',  'E',  'e',  'G',  'g',  'H',  'h',  'I',  'i',  'J',  'j',  'L',
-             'l',  'M',  'm',  'N',  'n',  'O',  'o',  'P',  'p',  'R',  'r',  'S',
-             's',  'T',  'U',  'u',  'V',  'v',  'X',  'x',  'Y',  'y',  'Z',  'z',
-            0x87, 0x88, 0x89, 0x8A, 0x8B, 0x90, 0x91, 0x92, 0x93, 0xF3, 0xF5
-            => |cmd| {
-                log.warn("Unsupported command {c}", .{cmd});
-                try self.replyStatus(.not_supported);
             },
-                // zig fmt: on
             else => |cmd| {
                 log.err("unknown command {}", .{cmd});
                 try self.replyStatus(.not_implemented);
@@ -116,30 +89,25 @@ fn handleHamlibCommand(
     } else if (std.mem.eql(u8, first, "AOS")) {
         // gpredict just kind of shoves this message in on top of the HamLib
         // protocol.
-        log.info("Received AOS message from gpredict", .{});
-        self.setFrequency(self.base_freq) catch return self.replyStatus(.io_error);
         try self.replyStatus(.okay);
     } else if (std.mem.eql(u8, first, "LOS")) {
-        log.info("Received LOS message from gpredict", .{});
-        if (self.stop_on_los) {
-            self.running = false;
-            self.setFrequency(self.base_freq) catch return self.replyStatus(.io_error);
-        }
         try self.replyStatus(.okay);
     } else try self.replyStatus(.not_supported);
 }
 
 fn parseLongCommand(
-    self: *RadioProxy,
+    self: *RotCtl,
     command: []const u8,
     tokens: *std.mem.TokenIterator(u8, .scalar),
 ) !void {
     _ = tokens;
 
-    for (hamlib_commands) |check| {
+    for (rotctl_commands) |check| {
-        if (command.len >= check.long.len and std.mem.eql(u8, check.long, command[0..check.long.len])) {
+        if (check.long) |long| {
-            log.warn("Unsupported command {s}", .{command});
+            if (command.len >= long.len and std.mem.eql(u8, long, command)) {
-            break;
+                log.warn("Unsupported command {s}", .{command});
+                break;
+            }
         }
     } else {
         log.warn("Unknown command {s}", .{command});
@@ -147,47 +115,6 @@ fn parseLongCommand(
     return self.replyStatus(.not_supported);
 }
 
-fn resetWatchdog(self: *RadioProxy) !void {
-    const wd = spacecraft.shared.commands.watchdog;
-
-    const reqheader = csp.Header{
-        .priority = 1,
-        .source = Config.global.doppler_shift.gs_source_address,
-        .destination = Config.global.doppler_shift.gs_radio_address,
-        .destination_port = @intFromEnum(wd.Reset.port),
-        .source_port = self.reqPort(),
-    };
-
-    const request = wd.Reset{};
-    const packet = reqheader.packBig() ++ request.packLittle();
-
-    try self.nats.publish(self.nats_up, &packet);
-
-    while (true) {
-        const res = self.nats_down.nextMessage(reply_timeout) catch |err| {
-            log.err("Could not reset ground UHF radio watchdog. Is the radio on and bridged to NATS?", .{});
-            return err;
-        };
-        const data = res.getData() orelse continue;
-        if (data.len != csp.Header.pack_size + wd.Reset.Response.pack_size)
-            continue;
-
-        const resheader = csp.Header.unpackBig(data[0..csp.Header.pack_size].*);
-        if (!resheader.isReply(reqheader)) continue;
-
-        const reply = wd.Reset.Response.unpackLittle(
-            data[csp.Header.pack_size..][0..wd.Reset.Response.pack_size].*,
-        );
-        if (reply.err != .okay) {
-            log.err("Got error response for ground UHF watchdog reset: {}", .{reply.err.code()});
-            return error.Failure;
-        }
-        break;
-    }
-
-    log.info("Successfully reset the ground UHF radio watchdog timer.", .{});
-}
-
 const HamlibErrorCode = enum(u8) {
     okay = 0,
     invalid_parameter = 1,
@@ -222,38 +149,33 @@ const HamlibErrorCode = enum(u8) {
 const HamlibCommand = struct {
     short: ?u8 = null,
     long: ?[]const u8 = null,
-    mode: enum { rotator, radio, both },
 };
 
-const hamlib_commands = [_]HamlibCommand{
+const rotctl_commands = [_]HamlibCommand{
-    .{ .short = 'F', .long = "set_freq", .mode = .radio },
+    .{ .short = 'q' }, // quit
-    .{ .short = 'f', .long = "get_freq", .mode = .radio },
+    .{ .short = 'Q' }, // quit
-    .{ .short = 'T', .long = "set_ptt", .mode = .radio },
+    .{ .short = 'P', .long = "set_pos" }, // azimuth: f64, elevation: f64
-    .{ .short = 't', .long = "get_ptt", .mode = .radio },
+    .{ .short = 'p', .long = "get_pos" }, // return az: f64, el: f64
-    .{ .short = 'q', .mode = .both }, // quit
+    .{ .short = 'M', .long = "move" }, // direction: enum { up=2, down=4, left=8, right=16 }, speed: i8 (0-100 or -1)
-    .{ .short = 'Q', .mode = .both }, // quit
+    .{ .short = 'S', .long = "stop" },
-    .{ .short = 'P', .long = "set_pos", .mode = .rotator }, // azimuth: f64, elevation: f64
+    .{ .short = 'K', .long = "park" },
-    .{ .short = 'p', .long = "get_pos", .mode = .rotator }, // return az: f64, el: f64
+    .{ .short = 'C', .long = "set_conf" }, // token: []const u8, value: []const u8
-    .{ .short = 'M', .long = "move", .mode = .rotator }, // direction: enum { up=2, down=4, left=8, right=16 }, speed: i8 (0-100 or -1)
+    .{ .short = 'R', .long = "reset" }, // u1 (1 is reset all)
-    .{ .short = 'S', .long = "stop", .mode = .rotator },
+    .{ .short = '_', .long = "get_info" }, // return Model name
-    .{ .short = 'K', .long = "park", .mode = .rotator },
+    .{ .short = 'K', .long = "park" },
-    .{ .short = 'C', .long = "set_conf", .mode = .rotator }, // token: []const u8, value: []const u8
+    .{ .long = "dump_state" }, // ???
-    .{ .short = 'R', .long = "reset", .mode = .rotator }, // u1 (1 is reset all)
+    .{ .short = '1', .long = "dump_caps" }, // ???
-    .{ .short = '_', .long = "get_info", .mode = .rotator }, // return Model name
+    .{ .short = 'w', .long = "send_cmd" }, // []const u8, send serial command directly to the rotator
-    .{ .short = 'K', .long = "park", .mode = .rotator },
+    .{ .short = 'L', .long = "lonlat2loc" }, // return Maidenhead locator for given long: f64 and lat: f64, locator precision: u4 (2-12)
-    .{ .long = "dump_state", .mode = .rotator }, // ???
+    .{ .short = 'l', .long = "loc2lonlat" }, //  the inverse of the above
-    .{ .short = '1', .long = "dump_caps", .mode = .rotator }, // ???
+    .{ .short = 'D', .long = "dms2dec" }, // deg, min, sec, 0 (positive) or 1 (negative)
-    .{ .short = 'w', .long = "send_cmd", .mode = .rotator }, // []const u8, send serial command directly to the rotator
+    .{ .short = 'd', .long = "dec2dms" },
-    .{ .short = 'L', .long = "lonlat2loc", .mode = .rotator }, // return Maidenhead locator for given long: f64 and lat: f64, locator precision: u4 (2-12)
+    .{ .short = 'E', .long = "dmmm2dec" },
-    .{ .short = 'l', .long = "loc2lonlat", .mode = .rotator }, //  the inverse of the above
+    .{ .short = 'e', .long = "dec2dmmm" },
-    .{ .short = 'D', .long = "dms2dec", .mode = .rotator }, // deg, min, sec, 0 (positive) or 1 (negative)
+    .{ .short = 'B', .long = "grb" },
-    .{ .short = 'd', .long = "dec2dms", .mode = .rotator },
+    .{ .short = 'A', .long = "a_sp2a_lp" },
-    .{ .short = 'E', .long = "dmmm2dec", .mode = .rotator },
+    .{ .short = 'a', .long = "d_sp2d_lp" },
-    .{ .short = 'e', .long = "dec2dmmm", .mode = .rotator },
+    .{ .long = "pause" },
-    .{ .short = 'B', .long = "grb", .mode = .rotator },
-    .{ .short = 'A', .long = "a_sp2a_lp", .mode = .rotator },
-    .{ .short = 'a', .long = "d_sp2d_lp", .mode = .rotator },
-    .{ .long = "pause", .mode = .rotator },
 };
 
 // D, dms2dec 'Degrees' 'Minutes' 'Seconds' 'S/W'

src/main.zig

@@ -1,25 +1,38 @@
 const std = @import("std");
 
+const Config = @import("./Config.zig");
 const lj = @import("./labjack.zig");
+const RotCtl = @import("./RotCtl.zig");
+
+const log = std.log.scoped(.main);
+
+pub fn main() !u8 {
+    var gpa = std.heap.GeneralPurposeAllocator(.{}){};
+    defer _ = gpa.deinit();
+    const allocator = gpa.allocator();
+
+    blk: {
+        const conf_file = std.fs.cwd().openFile("yaes.json", .{}) catch {
+            log.warn("Could not load config file yaes.json. Using default config.", .{});
+            Config.loadDefault(allocator);
+            break :blk;
+        };
+        defer conf_file.close();
+
+        Config.load(allocator, conf_file.reader()) catch {
+            log.err("Could not parse config file yaes.json. Good luck figuring out why.", .{});
+            return 1;
+        };
+    }
+    defer Config.destroy(allocator);
 
-pub fn main() !void {
     const ver = lj.getDriverVersion();
     std.debug.print("Driver version: {d}\n", .{ver});
 
-    const labjack = lj.Labjack.autodetect();
+    RotCtl.run(allocator) catch |err| {
+        log.err("rotator controller ceased unexpectedly! {s}", .{@errorName(err)});
+        return 1;
+    };
 
-    const in = try labjack.analogReadOne(.{ .channel = .diff_01, .gain_index = 2 });
+    return 0;
-    std.debug.print("Read voltage: {d}. Overvolt: {}\n", .{ in.voltage, in.over_voltage });
-    try labjack.digitalWriteOne(.{ .channel = .{ .io = 0 }, .level = true });
-
-    const sample = try labjack.readAnalogWriteDigital(
-        2,
-        .{ .{ .channel = .diff_01, .gain_index = 2 }, .{ .channel = .diff_23, .gain_index = 2 } },
-        .{false} ** 4,
-        true,
-    );
-
-    for (sample, 0..) |input, idx| {
-        std.debug.print("  channel {d}: {d} V\n", .{ idx, input.voltage });
-    }
 }