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ROTCTL(1) Hamlib Utilities ROTCTL(1) NAME rotctl - control antenna rotators SYNOPSIS rotctl [-hiIlLuV] [-m id] [-r device] [-R device2] [-s baud] [-t char] [-C parm=val] [-o azoffset] [-O eloffset] [-v[-Z]] [command|-] DESCRIPTION Control antenna rotators. rotctl accepts commands from the command line as well as in interactive mode if none are provided on the command line. Keep in mind that Hamlib is BETA level software. While a lot of back- end libraries lack complete rotator support, the basic functions are usually well supported. Please report bugs and provide feedback at the e-mail address given in the BUGS section below. Patches and code enhancements sent to the same address are welcome. OPTIONS This program follows the usual GNU command line syntax. Short options that take an argument may have the value follow immediately or be sepa- rated by a space. Long options starting with two dashes (`-') require an `=' between the option and any argument. Here is a summary of the supported options: -m, --model=id Select rotator model number. See model list (use "rotctl -l"). Note: rotctl (or third party software using the C API) will use rotator model 2 for NET rotctl (communicating with rotctld). -r, --rot-file=device Use device as the file name of the port connected to the rota- tor. Often a serial port, but could be a USB to serial adapter. Typ- ically /dev/ttyS0, /dev/ttyS1, /dev/ttyUSB0, etc. on Linux, COM1, COM2, etc. on MS Windows. The BSD flavors and Mac OS/X have their own designations. See your system's documentation. -R, --rot-file2=device Use device as the file name of the port connected to the 2nd ro- tator. e.g. 2nd rotator used for elevation. Often a serial port, but could be a USB to serial adapter. Typ- ically /dev/ttyS0, /dev/ttyS1, /dev/ttyUSB0, etc. on Linux, COM1, COM2, etc. on MS Windows. The BSD flavors and Mac OS/X have their own designations. See your system's documentation. -s, --serial-speed=baud Set serial speed to baud rate. Uses maximum serial speed from rotator backend capabilities as the default. -t, --send-cmd-term=char Change the termination char for text protocol when using the send_cmd command. The default value is ASCII CR (`0x0D'). ASCII non-printing characters can be given as the ASCII number in hexadecimal for- mat prepended with "0x". You may pass an empty string for no termination char. The string "-1" tells rotctl to switch to bi- nary protocol. See the send_cmd command for further explana- tion. Note: The semicolon (`;') is a common terminator for rotators that accept ASCII character strings. -o, --set-azoffset Azimuth correction floating point -- during set value is added, during get value is subtracted. -O, --set-eloffset Elevation correction floating point -- during set value is added, during get value is subtracted. -L, --show-conf List all configuration parameters for the rotator defined with -m above. -C, --set-conf=parm=val[,parm=val] Set rotator configuration parameter(s), e.g. stop_bits=2. Use the -L option above for a list of configuration parameters for a given model number. -u, --dump-caps Dump capabilities for the rotator defined with -m above and exit. -l, --list List all rotator model numbers defined in Hamlib and exit. The list is sorted by model number. Note: In Linux the list can be scrolled back using Shift- PageUp/Shift-PageDown, or using the scrollbars of a virtual ter- minal in X or the cmd window in Windows. The output can be piped to more(1) or less(1), e.g. "rotctl -l | more". -i, --read-history Read previously saved command and argument history from a file (default $HOME/.rotctl_history) for the current session. Available when rotctl is built with Readline support (see READ- LINE below). Note: To read a history file stored in another directory, set the ROTCTL_HIST_DIR environment variable, e.g. "ROTCTL_HIST_DIR=$HOME/tmp rotctl -i". When ROTCTL_HIST_DIR is not set, the value of HOME is used. -I, --save-history Write current session (and any previous session(s), if -i option is also given) command and argument history to a file (default $HOME/.rotctl_history) at the end of the current session. Complete commands with arguments are saved as a single line to be recalled and used or edited. Available when rotctl is built with Readline support (see READLINE below). Note: To write a history file in another directory, set the ROTCTL_HIST_DIR environment variable, e.g. "ROTCTL_HIST_DIR=$HOME/tmp rotctl -I". When ROTCTL_HIST_DIR is not set, the value of HOME is used. -v, --verbose Set verbose mode, cumulative (see DIAGNOSTICS below). -Z, --debug-time-stamps Enable time stamps for the debug messages. Use only in combination with the -v option as it generates no output on its own. -h, --help Show a summary of these options and exit. -V, --version Show version of rotctl and exit. - Stop option processing and read commands from standard input. See Standard Input below. Note: Some options may not be implemented by a given backend and will return an error. This is most likely to occur with the --set-conf and --show-conf options. Be aware that the backend for the rotator to be controlled, or the ro- tator itself may not support some commands. In that case, the opera- tion will fail with a Hamlib error code. COMMANDS Commands can be entered either as a single char, or as a long command name. The commands are not prefixed with a dash as the options are. They may be typed in when in interactive mode or provided as argu- ment(s) in command line interface mode. In interactive mode commands and their arguments may be entered on a single line (typed text shown in bold): P 123 45 Since most of the Hamlib operations have a set and a get method, an up- per case letter will often be used for a set method whereas the corre- sponding lower case letter refers to the get method. Each operation also has a long name; in interactive mode, prepend a backslash, `\', to enter a long command name. Example: Use "\get_info" in interactive mode to see the rotator's in- formation. Note: The backend for the rotator to be controlled, or the rota- tor itself may not support some commands. In that case, the op- eration will fail with a Hamlib error message. Standard Input As an alternative to the READLINE interactive command entry or a single command for each run, rotctl features a special option where a single dash (`-') may be used to read commands from standard input (stdin). Commands must be separated by whitespace similar to the commands given on the command line. Comments may be added using the `#' character, all text up until the end of the current line including the `#' charac- ter is ignored. A simple example: $ cat <<.EOF. >cmds.txt > # File of commands > set_pos 180.0 10.0 # rotate > pause 30 # wait for action to complete > get_pos # query rotator >.EOF. $ rotctl -m 1 - <cmds.txt set_pos 180.0 10.0 pause 30 get_pos 180.000000 10.000000 $ Rotator Commands A summary of commands is included below (In the case of set commands the quoted italicized string is replaced by the value in the descrip- tion. In the case of get commands the quoted italicized string is the key name of the value returned.): Q|q, exit rotctl Exit rotctl in interactive mode. When rotctl is controlling the rotator directly, will close the rotator backend and port. When rotctl is connected to rotctld (rotator model 2), the TCP/IP connection to rotctld is closed and rotctld remains running, available for another TCP/IP net- work connection. P, set_pos 'Azimuth' 'Elevation' Set position. 'Azimuth' and 'Elevation' are floating point values. Azimuth can be -180 to 540 depending on the rotator to allow for rotators facing south and the capabilities of the rotator. Elevation can be -20 to 210 depending on the rotator. For example: P 163.0 41.0 Note: If the rotator does not support setting elevation (most do not) supply "0.0" for 'Elevation'. p, get_pos Get position. 'Azimuth' and 'Elevation' are returned as double precision floating point values. M, move 'Direction' 'Speed' Move the rotator in a specific direction at the given rate. 'Direction' is an integer or keyword defined as `2' = UP, `4' = DOWN, `8' = LEFT or CCW, `16' = RIGHT or CW, `32' = UP_LEFT or UP_CCW, `R64' = UP_RIGHT = UP_CW, `128' = DOWN_LEFT or DOWN_CCW, `256' = DOWN_RIGHT or DOWN_CW 'Speed' is an integer between 1 and 100. Use -1 for no change to current speed. Note: Not all backends that implement the move command use the Speed value. S, stop Stop the rotator. K, park Park the rotator. C, set_conf 'Token' 'Value' Set a configuration parameter. 'Token' is a string; see the -C option and the -L output. 'Value' is a string of up to 20 characters. R, reset 'Reset' Reset the rotator. 'Reset' accepts an integer value of `1' for "Reset All". _, get_info Get miscellaneous information about the rotator. Returns 'Info' "Model Name" at present. dump_state Return certain state information about the rotator backend. 1, dump_caps Not a real rot remote command, it just dumps capabilities, i.e. what the backend knows about this model, and what it can do. w, send_cmd 'Cmd' Send a raw command string to the rotator. ASCII CR (or --send-cmd-term value, see -t option) is appended automatically at the end of the command for text protocols. For binary protocols, enter hexadecimal values as "\0xAA\0xBB". Locator Commands These commands offer conversions of Degrees Minutes Seconds to other formats, Maidenhead square locator conversions and distance and azimuth conversions. L, lonlat2loc 'Longitude' 'Latitude' 'Loc Len' Returns the Maidenhead 'Locator' for the given 'Longitude' and 'Latitude'. Floating point values are supplied. The precision of the re- turned square is controlled by 'Loc Len' which should be an even numbered integer value between 2 and 12. For example: L -170.0 -85.0 12 returns: Locator: AA55AA00AA00 l, loc2lonlat 'Locator' Returns 'Longitude' and 'Latitude' in decimal degrees at the ap- proximate center of the requested Maidenhead grid square. 'Locator' can be from 2 to 12 characters in length. West longitude is expressed as a negative value. South latitude is expressed as a negative value. For example: l AA55AA00AA00 returns: Longitude: -169.999983 Latitude: -84.999991 Note: Despite the use of double precision variables internally, some rounding error occurs. 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 lon- gitude 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. READLINE If Readline library development files are found at configure time, rotctl will be conditionally built with Readline support for command and argument entry. Readline command key bindings are at their de- faults as described in the Readline manual <https://tiswww.cwru.edu/php/chet/readline/rluserman.html>. rotctl sets the name "rotctl" which can be used in Conditional Init Constructs in the Readline Init File ($HOME/.inputrc by default) for custom key- bindings unique to rotctl. Command history is available with Readline support as described in the Readline History manual <https://tiswww.case.edu/php/chet/readline/history.html#SEC1>. Command and argument strings are stored as single lines even when arguments are prompted for input individually. Commands and arguments are not vali- dated and are stored as typed with values separated by a single space. Normally session history is not saved, however, use of either of the -i/--read-history or -I/--save-history options when starting rotctl will cause any previously saved history to be read in and/or the cur- rent and any previous session history (assuming the -i and -I options are given together) will be written out when rotctl is closed. Each option is mutually exclusive, i.e. either may be given separately or in combination. This is useful to save a set of commands and then read them later but not write the modified history for a consistent set of test commands in interactive mode, for example. History is stored in $HOME/.rotctl_history by default although the des- tination directory may be changed by setting the ROTCTL_HIST_DIR envi- ronment variable. When ROTCTL_HIST_DIR is unset, the value of the HOME environment variable is used instead. Only the destination directory may be changed at this time. If Readline support is not found at configure time the original inter- nal command handler is used. Readline is not used for rotctl commands entered on the command line regardless if Readline support is built in or not. Note: Readline support is not included in the MS Windows 32 or 64 bit binary builds supplied by the Hamlib Project. Running rotctl on the MS Windows platform in the `cmd' shell does give session command line his- tory, however, it is not saved to disk between sessions. DIAGNOSTICS The -v, --verbose option allows different levels of diagnostics to be output to stderr and correspond to -v for BUG, -vv for ERR, -vvv for WARN, -vvvv for VERBOSE, or -vvvvv for TRACE. A given verbose level is useful for providing needed debugging informa- tion to the email address below. For example, TRACE output shows all of the values sent to and received from the radio which is very useful for radio backend library development and may be requested by the de- velopers. EXIT STATUS rotctl exits with: 0 if all operations completed normally; 1 if there was an invalid command line option or argument; 2 if an error was returned by Hamlib. EXAMPLES Start rotctl for RotorEZ using the first serial port on Linux: $ rotctl -m 401 -r /dev/ttyS0 Start rotctl for RotorEZ using COM2 on MS Windows: > rotctl -m 401 -r COM2 Connect to a running rotctld with rotator model 2 ("NET rotctl") on the local host and specifying the TCP port, and querying the position: $ rotctl -m 2 -r localhost:4533 t_pos BUGS Report bugs to: Hamlib Developer mailing list <hamlib-developer@lists.sourceforge.net> COPYING This file is part of Hamlib, a project to develop a library that sim- plifies radio, rotator, and amplifier control functions for developers of software primarily of interest to radio amateurs and those inter- ested in radio communications. Copyright (C) 2001-2011 Stephane Fillod Copyright (C) 2002-2017 the Hamlib Group (various contributors) Copyright (C) 2003-2020 Nate Bargmann This is free software; see the file COPYING for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. SEE ALSO less(1), more(1), rotctld(1), hamlib(7) COLOPHON Links to the Hamlib Wiki, Git repository, release archives, and daily snapshot archives are available via hamlib.org <http://www.hamlib.org>. Hamlib 2020-09-09 ROTCTL(1)
NAME | SYNOPSIS | DESCRIPTION | OPTIONS | COMMANDS | READLINE | DIAGNOSTICS | EXIT STATUS | EXAMPLES | BUGS | COPYING | SEE ALSO | COLOPHON
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