rotctl: hook up P interface

This appears to work. Now all that remains is doing the rest of the
work.

deps/labjack/exodriver/liblabjackusb/labjackusb.c

@@ -45,9 +45,6 @@
 #define MIN_U6_FIRMWARE_MAJOR   0
 #define MIN_U6_FIRMWARE_MINOR   81
 
-// Set to 0 for no debug logging or 1 for logging.
-#define LJ_DEBUG 0
-
 static bool gIsLibUSBInitialized = false;
 static struct libusb_context *gLJContext = NULL;
 
@@ -505,7 +502,7 @@ static HANDLE LJUSB_OpenSpecificDevice(libusb_device *dev, const struct libusb_d
         return NULL;
     }
 
-#if defined(_WIN32)
+#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

src/Config.zig

@@ -55,6 +55,7 @@ controller: ControllerConfig = .{
     .loop_interval_ns = 50_000_000,
     .parking_posture = .{ .azimuth = 180, .elevation = 90 },
     .angle_tolerance = .{ .azimuth = 1, .elevation = 1 },
+    .angle_offset = .{ .azimuth = 0, .elevation = 0 },
 },
 
 pub const VoltAngle = struct { voltage: f64, angle: f64 };
@@ -104,6 +105,7 @@ const ControllerConfig = struct {
     loop_interval_ns: u64,
     parking_posture: AzEl,
     angle_tolerance: AzEl,
+    angle_offset: AzEl,
 
     const OutPair = struct {
         increase: lj.DigitalOutputChannel,

src/LabjackYaesu.zig

@@ -44,6 +44,13 @@ pub fn setTarget(self: LabjackYaesu, target: AzEl) void {
     controller.requested_state = .running;
 }
 
+pub fn position(self: LabjackYaesu) AzEl {
+    self.lock.lock();
+    defer self.lock.unlock();
+
+    return self.controller.position;
+}
+
 pub fn startCalibration(self: LabjackYaesu) void {
     // there are two different types of calibration:
     // 1. feedback calibration, running to the extents of the rotator

src/RotCtl.zig

@@ -51,7 +51,9 @@ pub fn run(allocator: std.mem.Allocator) !void {
 
         while (interface.running) : (fbs.reset()) {
             reader.streamUntilDelimiter(fbs.writer(), '\n', readbuffer.len) catch break;
-            try interface.handleHamlibCommand(fbs.getWritten());
+            try interface.handleHamlibCommand(
+                std.mem.trim(u8, fbs.getWritten(), &std.ascii.whitespace),
+            );
         }
     }
 }
@@ -65,6 +67,11 @@ 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,
@@ -74,25 +81,26 @@ fn handleHamlibCommand(
     const first = tokens.next().?;
     if (first.len == 1 or first[0] == '\\') {
         switch (first[0]) {
-            'q' => {
+            'q', 'Q' => {
                 self.running = false;
-                self.replyStatus(.okay) catch return;
+                self.replyStatus(.okay) catch {};
+                self.rotator.stop();
+            },
+            'P' => {
+                const pos = self.rotator.position();
+                try self.printReply("{d:.1} {d:.1}", .{ pos.azimuth, pos.elevation });
             },
             '\\' => {
-                return try self.parseLongCommand(first[1..], &tokens);
+                try self.parseLongCommand(first[1..], &tokens);
             },
-            else => |cmd| {
-                log.err("unknown command {}", .{cmd});
+            else => {
+                log.err("unknown short command '{s}'", .{command});
                 try self.replyStatus(.not_implemented);
             },
         }
-    } else if (std.mem.eql(u8, first, "AOS")) {
-        // gpredict just kind of shoves this message in on top of the HamLib
-        // protocol.
-        try self.replyStatus(.okay);
-    } else if (std.mem.eql(u8, first, "LOS")) {
-        try self.replyStatus(.okay);
-    } else try self.replyStatus(.not_supported);
+    } else {
+        try self.parseLongCommand(first, &tokens);
+    }
 }
 
 fn parseLongCommand(
@@ -105,12 +113,12 @@ fn parseLongCommand(
     for (rotctl_commands) |check| {
         if (check.long) |long| {
             if (command.len >= long.len and std.mem.eql(u8, long, command)) {
-                log.warn("Unsupported command {s}", .{command});
+                log.warn("Unsupported long command {s}", .{command});
                 break;
             }
         }
     } else {
-        log.warn("Unknown command {s}", .{command});
+        log.warn("Unknown long command '{s}'", .{command});
     }
     return self.replyStatus(.not_supported);
 }
@@ -154,6 +162,8 @@ const HamlibCommand = struct {
 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)