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172 lines
9.5 KiB
C++
172 lines
9.5 KiB
C++
/*
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* positioner.h: Steerable dish positioning
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*
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* See the main source file 'vdr.c' for copyright information and
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* how to reach the author.
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*
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* $Id: positioner.h 3.2 2013/10/20 09:29:41 kls Exp $
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*/
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#ifndef __POSITIONER_H
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#define __POSITIONER_H
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#include "thread.h"
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#include "tools.h"
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/// A steerable satellite dish generally points to the south on the northern hemisphere,
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/// and to the north on the southern hemisphere (unless you're located directly on the
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/// equator, in which case the general direction is "up"). Therefore, moving the dish
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/// "east" or "west" means something different on either hemisphere. From the local dish
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/// motor's point of view, it makes more sense to speak of turning the dish "left" or
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/// "right", which is independent of the actual hemisphere the dish is located in.
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/// In the cPositioner class context, when a dish on the northern hemisphere moves "east",
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/// it is considered to be moving "left". Imagine standing behind the dish and looking
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/// towards the satellites, and clearly "east" is "left". On the southern hemisphere
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/// the same move to the "left" would go to the "west". So on the hardware level it is
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/// clear what "left" and "right" means. The user interface may present different labels
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/// to the viewer, depending on the hemisphere the dish is on.
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/// All angles in this context are given in "degrees * 10", which allows for an angular
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/// resolution of 0.1 degrees.
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class cPositioner {
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private:
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mutable cMutex mutex;
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static cPositioner *positioner;
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int capabilities;
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int frontend; // file descriptor of the DVB frontend
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mutable int lastLongitude; // the longitude the dish has last been moved to
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int targetLongitude; // the longitude the dish is supposed to be moved to
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mutable int lastHourAngle; // the hour angle the positioner has last been moved to
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int targetHourAngle; // the hour angle the positioner is supposed to be moved to
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int swingTime;
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cTimeMs movementStart;
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protected:
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cPositioner(void);
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virtual ~cPositioner();
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void SetCapabilities(int Capabilities) { capabilities = Capabilities; }
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///< A derived class shall call this function in its constructor to set the
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///< capability flags it supports.
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int Frontend(void) const { return frontend; }
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///< Returns the file descriptor of the DVB frontend the positioner is
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///< connected to. If the positioner is not connected to any DVB device,
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///< -1 will be returned.
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static int CalcHourAngle(int Longitude);
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///< Takes the longitude and latitude of the dish location from the system
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///< setup and the given Longitude to calculate the "hour angle" to which to move
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///< the dish to in order to point to the satellite at orbital position Longitude.
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///< An hour angle of zero means the dish shall point directly towards the
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///< celestial equator (which is south on the northern hemisphere, and north on
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///< the southern hemisphere). Negative values mean that the dish needs to be
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///< moved to the left (as seen from behind the dish), while positive values
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///< require a movement to the right.
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static int CalcLongitude(int HourAngle);
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///< Returns the longitude of the satellite position the dish points at when the
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///< positioner is moved to the given HourAngle.
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void StartMovementTimer(int Longitude);
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///< Starts a timer that estimates how long it will take to move the dish from
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///< the current position to the one given by Longitude. The default implementation
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///< of CurrentLongitude() uses this timer.
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public:
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enum ePositionerCapabilities {
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pcCanNothing = 0x0000,
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pcCanDrive = 0x0001,
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pcCanStep = 0x0002,
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pcCanHalt = 0x0004,
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pcCanSetLimits = 0x0008,
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pcCanDisableLimits = 0x0010,
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pcCanEnableLimits = 0x0020,
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pcCanStorePosition = 0x0040,
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pcCanRecalcPositions = 0x0080,
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pcCanGotoPosition = 0x0100,
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pcCanGotoAngle = 0x0200,
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};
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enum ePositionerDirection { pdLeft, pdRight };
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static int NormalizeAngle(int Angle);
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///< Normalizes the given Angle into the range -1800...1800.
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int Capabilities(void) const { return capabilities; }
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///< Returns a flag word defining all the things this positioner is
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///< capable of.
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void SetFrontend(int Frontend) { frontend = Frontend; }
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///< This function is called whenever the positioner is connected to
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///< a DVB frontend.
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static int HorizonLongitude(ePositionerDirection Direction);
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///< Returns the longitude of the satellite position that is just at the
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///< horizon when looking in the given Direction. Note that this function
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///< only delivers reasonable values for site latitudes between +/-81 degrees.
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///< Beyond these limits (i.e. near the north or south pole) a constant value
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///< of 0 will be returned.
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int HardLimitLongitude(ePositionerDirection Direction) const;
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///< Returns the longitude of the positioner's hard limit in the given
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///< Direction. Note that the value returned here may be larger (or smaller,
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///< depending on the Direction) than that returned by HorizonLongitude(),
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///< which would mean that it lies below that horizon.
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int LastLongitude(void) const { return lastLongitude; }
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///< Returns the longitude the dish has last been moved to.
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int TargetLongitude(void) const { return targetLongitude; }
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///< Returns the longitude the dish is supposed to be moved to. Once the target
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///< longitude has been reached, this is the same as the value returned by
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///< CurrentLongitude().
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virtual cString Error(void) const { return NULL; }
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///< Returns a short, single line string indicating an error condition (if
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///< the positioner is able to report any errors).
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///< NULL means there is no error.
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virtual void Drive(ePositionerDirection Direction) {}
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///< Continuously move the dish to the given Direction until Halt() is
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///< called or it hits the soft or hard limit.
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virtual void Step(ePositionerDirection Direction, uint Steps = 1) {}
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///< Move the dish the given number of Steps in the given Direction.
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///< The maximum number of steps a particular positioner can do in a single
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///< call may be limited.
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///< A "step" is the smallest possible movement the positioner can make, which
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///< is typically 0.1 degrees.
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virtual void Halt(void) {}
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///< Stop any ongoing motion of the dish.
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virtual void SetLimit(ePositionerDirection Direction) {}
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///< Set the soft limit of the dish movement in the given Direction to the
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///< current position.
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virtual void DisableLimits(void) {}
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///< Disables the soft limits for the dish movement.
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virtual void EnableLimits(void) {}
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///< Enables the soft limits for the dish movement.
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virtual void StorePosition(uint Number) {}
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///< Store the current position as a satellite position with the given Number.
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///< Number can be in the range 1...255. However, a particular positioner
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///< may only have a limited number of satellite positions it can store.
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virtual void RecalcPositions(uint Number) {}
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///< Take the difference betwen the current actual position of the dish and
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///< the position stored with teh given Number, and apply the difference to
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///< all stored positions.
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virtual void GotoPosition(uint Number, int Longitude);
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///< Move the dish to the satellite position stored under the given Number.
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///< Number must be one of the values previously used with StorePosition().
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///< The special value 0 shall move the dish to a "reference position",
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///< which usually is due south (or north, if you're on the southern hemisphere).
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///< Longitude will be used to calculate how long it takes to move the dish
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///< from its current position to the given Longitude.
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///< A derived class must call the base class function to have the target
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///< longitude stored.
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virtual void GotoAngle(int Longitude);
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///< Move the dish to the given angular position. Longitude can be in the range
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///< -1800...+1800. A positive sign indicates a position east of Greenwich,
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///< while western positions have a negative sign. The absolute value is in
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///< "degrees * 10", which allows for a resolution of 1/10 of a degree.
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///< A derived class must call the base class function to have the target
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///< longitude stored.
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virtual int CurrentLongitude(void) const;
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///< Returns the longitude the dish currently points to. If the dish is in motion,
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///< this may be an estimate based on the angular speed of the positioner.
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///< The default implementation takes the last and target longitude as well as
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///< the rotation speed of the positioner to calculate the estimated current
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///< longitude the dish points to.
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virtual bool IsMoving(void) const;
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///< Returns true if the dish is currently moving as a result of a call to
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///< GotoPosition() or GotoAngle().
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static cPositioner *GetPositioner(void);
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///< Returns a previously created positioner. If no plugin has created
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///< a positioner, there will always be the default DiSEqC positioner.
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static void DestroyPositioner(void);
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///< Destroys a previously created positioner.
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};
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#endif //__POSITIONER_H
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