DVR Advice

I’m looking for a DVR that I can hook to my satellite box for recording. I don’t want Tivo or any other box that requires you to have a monthly subscription. If there’s one out there that can control turn my sat box on and change channels that would be great, but I would except one in which I have to turn the sat. box on and off and set the channel. Any suggestions? I do have a Slingbox Pro HD but the computer I would use it on isn’t hooked up to the TV, but would consider a low cost solution using the Slingbox and a media streaming box.