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/*

 *  Hamlib Rotator backend - LinuxCNC no hardware port

 *  Copyright (c) 2015 by Robert Freeman

 *  Adapted from AMSAT code by Stephane Fillod

 *

 *   This library is free software; you can redistribute it and/or

 *   modify it under the terms of the GNU Lesser General Public

 *   License as published by the Free Software Foundation; either

 *   version 2.1 of the License, or (at your option) any later version.

 *

 *   This library is distributed in the hope that it will be useful,

 *   but WITHOUT ANY WARRANTY; without even the implied warranty of

 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

 *   Lesser General Public License for more details.

 *

 *   You should have received a copy of the GNU Lesser General Public

 *   License along with this library; if not, write to the Free Software

 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

 *

 */



#ifdef HAVE_CONFIG_H

#include "config.h"

#endif



#include <math.h>

#include <stdlib.h>

#include <string.h>  /* String function definitions */

#include <unistd.h>  /* UNIX standard function definitions */



#ifdef HAVE_SYS_IOCTL_H

#include <sys/ioctl.h>

#endif



#include "hamlib/rotator.h"

#include "misc.h"

#include "register.h"



char axcmd[512];



static int

cnctrk_set_position(ROT *rot, azimuth_t az, elevation_t el)

{

    int retval;



    retval = system ("/usr/bin/axis-remote --ping");

    if (retval != 0)

        return retval;



    sprintf(axcmd, "/usr/bin/axis-remote --mdi 'G00 X %6.2f Y %6.2f' \n", az, el);

    return retval = system (axcmd);



    return RIG_OK;

}





/** CNCTRK implements essentially only the set position function.

    it assumes there is a LinuxCNC running with the Axis GUI */

const struct rot_caps cnctrk_rot_caps = {

  .rot_model =      ROT_MODEL_CNCTRK,

  .model_name =     "CNCTRK",

  .mfg_name =       "CNCTRK",

  .version =        "0.1",

  .copyright = 	    "LGPL",

  .status =         RIG_STATUS_UNTESTED,

  .rot_type =       ROT_TYPE_OTHER,

  .port_type =      RIG_PORT_NONE,

  .write_delay =  0,

  .post_write_delay =  0,

  .timeout =  200,

  .retry =  3,



  .min_az = 	0,

  .max_az =  	360,

  .min_el = 	-20,

  .max_el =  	180,



  .set_position =  cnctrk_set_position,

};





/* ************************************************************************* */



DECLARE_INITROT_BACKEND(cnctrk)

{

	rig_debug(RIG_DEBUG_VERBOSE, "cnctrk: _init called\n");



	rot_register(&cnctrk_rot_caps);



	return RIG_OK;

}