1 | #if 0 |
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2 | MAGELLAN Generic |
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3 | Copyright (C) 2011 Onno Hommes (ohommes@alumni.cmu.edu) |
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4 | |
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5 | This library is free software; you can redistribute it and/or |
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6 | modify it under the terms of the GNU Lesser General Public |
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7 | License as published by the Free Software Foundation; either |
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8 | version 2.1 of the License, or (at your option) any later version. |
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9 | |
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10 | This library is distributed in the hope that it will be useful, |
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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13 | Lesser General Public License for more details. |
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14 | |
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15 | You should have received a copy of the GNU Lesser General Public |
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16 | License along with this library; if not, write to the Free Software |
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17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
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18 | |
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19 | #endif |
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20 | |
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21 | #include <stdio.h> |
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22 | #include <stdlib.h> |
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23 | #include <string.h> |
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24 | #include <stdarg.h> |
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25 | #include <math.h> |
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26 | #include <unistd.h> |
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27 | #include <time.h> |
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28 | #include <sys/time.h> |
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29 | |
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30 | #include "magellandriver.h" |
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31 | #include "magellan1.h" |
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32 | |
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33 | #include <config.h> |
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34 | |
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35 | Magellan1 *telescope = NULL; |
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36 | |
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37 | extern char* me; |
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38 | |
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39 | #define COMM_GROUP "Communication" |
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40 | #define BASIC_GROUP "Position" |
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41 | |
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42 | #define MAGELLAN_TRACK 0 |
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43 | #define MAGELLAN_SYNC 1 |
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44 | |
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45 | /* Handy Macros */ |
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46 | #define currentRA EquatorialCoordsRN[0].value |
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47 | #define currentDEC EquatorialCoordsRN[1].value |
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48 | #define targetRA EquatorialCoordsWN[0].value |
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49 | #define targetDEC EquatorialCoordsWN[1].value |
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50 | |
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51 | static void ISPoll(void *); |
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52 | static void retryConnection(void *); |
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53 | |
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54 | /*INDI Propertries */ |
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55 | |
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56 | /**********************************************************************************************/ |
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57 | /************************************ GROUP: Communication ************************************/ |
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58 | /**********************************************************************************************/ |
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59 | |
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60 | /******************************************** |
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61 | Property: Connection |
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62 | *********************************************/ |
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63 | static ISwitch ConnectS[] = {{"CONNECT" , "Connect" , ISS_OFF, 0, 0},{"DISCONNECT", "Disconnect", ISS_ON, 0, 0}}; |
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64 | ISwitchVectorProperty ConnectSP = { mydev, "CONNECTION" , "Connection", COMM_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, ConnectS, NARRAY(ConnectS), "", 0}; |
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65 | |
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66 | /******************************************** |
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67 | Property: Device Port |
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68 | *********************************************/ |
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69 | /*wildi removed static */ |
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70 | static IText PortT[] = {{"PORT", "Port", 0, 0, 0, 0}}; |
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71 | ITextVectorProperty PortTP = { mydev, "DEVICE_PORT", "Ports", COMM_GROUP, IP_RW, 0, IPS_IDLE, PortT, NARRAY(PortT), "", 0}; |
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72 | |
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73 | /**********************************************************************************************/ |
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74 | /************************************ GROUP: Position Display**********************************/ |
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75 | /**********************************************************************************************/ |
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76 | |
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77 | /******************************************** |
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78 | Property: Equatorial Coordinates JNow |
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79 | Perm: Transient WO. |
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80 | Timeout: 120 seconds. |
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81 | *********************************************/ |
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82 | INumber EquatorialCoordsWN[] = { {"RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, {"DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0} }; |
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83 | INumberVectorProperty EquatorialCoordsWNP= { mydev, "EQUATORIAL_EOD_COORD_REQUEST", "Equatorial JNow", BASIC_GROUP, IP_WO, 120, IPS_IDLE, EquatorialCoordsWN, NARRAY(EquatorialCoordsWN), "", 0}; |
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84 | |
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85 | /******************************************** |
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86 | Property: Equatorial Coordinates JNow |
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87 | Perm: RO |
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88 | *********************************************/ |
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89 | INumber EquatorialCoordsRN[] = { {"RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, {"DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0}}; |
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90 | INumberVectorProperty EquatorialCoordsRNP= { mydev, "EQUATORIAL_EOD_COORD", "Equatorial JNow", BASIC_GROUP, IP_RO, 120, IPS_IDLE, EquatorialCoordsRN, NARRAY(EquatorialCoordsRN), "", 0}; |
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91 | |
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92 | |
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93 | /*****************************************************************************************************/ |
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94 | /**************************************** END PROPERTIES *********************************************/ |
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95 | /*****************************************************************************************************/ |
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96 | |
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97 | /* send client definitions of all properties */ |
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98 | void ISInit() |
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99 | { |
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100 | if (telescope == NULL) |
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101 | { |
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102 | IUSaveText(&PortT[0], "/dev/ttyS0"); |
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103 | telescope = new Magellan1(); |
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104 | telescope->setCurrentDeviceName(mydev); |
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105 | } |
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106 | } |
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107 | |
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108 | void ISGetProperties (const char *dev) |
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109 | { ISInit(); telescope->ISGetProperties(dev); IEAddTimer (POLLMS, ISPoll, NULL);} |
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110 | |
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111 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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112 | { ISInit(); telescope->ISNewSwitch(dev, name, states, names, n);} |
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113 | |
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114 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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115 | { ISInit(); telescope->ISNewText(dev, name, texts, names, n);} |
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116 | |
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117 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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118 | { ISInit(); telescope->ISNewNumber(dev, name, values, names, n);} |
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119 | |
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120 | void ISPoll (void *p) |
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121 | { telescope->ISPoll(); IEAddTimer (POLLMS, ISPoll, NULL); p=p;} |
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122 | |
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123 | void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) |
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124 | { |
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125 | INDI_UNUSED(dev); |
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126 | INDI_UNUSED(name); |
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127 | INDI_UNUSED(sizes); |
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128 | INDI_UNUSED(blobsizes); |
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129 | INDI_UNUSED(blobs); |
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130 | INDI_UNUSED(formats); |
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131 | INDI_UNUSED(names); |
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132 | INDI_UNUSED(n); |
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133 | } |
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134 | |
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135 | void ISSnoopDevice (XMLEle *root) |
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136 | { |
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137 | telescope->ISSnoopDevice(root); |
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138 | } |
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139 | |
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140 | /************************************************** |
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141 | *** MAGELLAN1 Implementation |
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142 | ***************************************************/ |
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143 | |
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144 | Magellan1::Magellan1() |
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145 | { |
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146 | currentSiteNum = 1; |
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147 | trackingMode = MAGELLAN_TRACK_DEFAULT; |
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148 | lastSet = -1; |
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149 | fault = false; |
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150 | simulation = false; |
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151 | currentSet = 0; |
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152 | fd = -1; |
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153 | |
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154 | // Children call parent routines, this is the default |
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155 | IDLog("INDI Library v%g\n", INDI_LIBV); |
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156 | IDLog("Initializing from MAGELLAN device...\n"); |
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157 | IDLog("Driver Version: 2011-07-28\n"); |
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158 | } |
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159 | |
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160 | Magellan1::~Magellan1() |
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161 | { |
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162 | } |
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163 | |
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164 | void Magellan1::setCurrentDeviceName(const char * devName) |
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165 | { |
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166 | strcpy(thisDevice, devName); |
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167 | } |
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168 | |
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169 | void Magellan1::ISGetProperties(const char *dev) |
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170 | { |
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171 | |
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172 | if (dev && strcmp (thisDevice, dev)) |
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173 | return; |
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174 | |
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175 | // COMM_GROUP |
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176 | IDDefSwitch (&ConnectSP, NULL); |
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177 | IDDefText (&PortTP, NULL); |
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178 | |
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179 | // POSITION_GROUP |
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180 | IDDefNumber (&EquatorialCoordsRNP, NULL); |
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181 | |
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182 | /* Send the basic data to the new client if the previous client(s) are already connected. */ |
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183 | if (ConnectSP.s == IPS_OK) |
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184 | getBasicData(); |
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185 | } |
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186 | |
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187 | void Magellan1::ISSnoopDevice (XMLEle *root) |
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188 | { |
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189 | INDI_UNUSED(root); |
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190 | } |
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191 | |
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192 | void Magellan1::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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193 | { |
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194 | IText *tp; |
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195 | |
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196 | /* Ignore other devices */ |
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197 | if (strcmp (dev, thisDevice)) |
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198 | return; |
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199 | |
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200 | /* See if the port is updated */ |
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201 | if (!strcmp(name, PortTP.name) ) |
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202 | { |
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203 | PortTP.s = IPS_OK; |
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204 | tp = IUFindText( &PortTP, names[0] ); |
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205 | if (!tp) |
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206 | return; |
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207 | |
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208 | IUSaveText(&PortTP.tp[0], texts[0]); |
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209 | IDSetText (&PortTP, NULL); |
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210 | return; |
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211 | } |
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212 | } |
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213 | |
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214 | void Magellan1::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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215 | { |
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216 | INDI_UNUSED(dev); |
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217 | INDI_UNUSED(name); |
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218 | INDI_UNUSED(values); |
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219 | INDI_UNUSED(names); |
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220 | INDI_UNUSED(n); |
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221 | } |
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222 | |
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223 | void Magellan1::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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224 | { |
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225 | INDI_UNUSED(names); |
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226 | |
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227 | /* Ignore other devices */ |
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228 | if (strcmp (thisDevice, dev)) |
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229 | return; |
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230 | |
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231 | // FIRST Switch ALWAYS for Connection |
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232 | if (!strcmp (name, ConnectSP.name)) |
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233 | { |
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234 | bool connectionEstablished = (ConnectS[0].s == ISS_ON); |
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235 | if (IUUpdateSwitch(&ConnectSP, states, names, n) < 0) return; |
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236 | if ( (connectionEstablished && ConnectS[0].s == ISS_ON) || (!connectionEstablished && ConnectS[1].s == ISS_ON)) |
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237 | { |
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238 | ConnectSP.s = IPS_OK; |
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239 | IDSetSwitch(&ConnectSP, NULL); |
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240 | return; |
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241 | } |
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242 | connectTelescope(); |
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243 | return; |
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244 | } |
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245 | } |
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246 | |
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247 | void Magellan1::handleError(ISwitchVectorProperty *svp, int err, const char *msg) |
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248 | { |
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249 | |
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250 | svp->s = IPS_ALERT; |
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251 | |
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252 | /* First check to see if the telescope is connected */ |
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253 | if (check_magellan_connection(fd)) |
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254 | { |
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255 | /* The telescope is off locally */ |
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256 | ConnectS[0].s = ISS_OFF; |
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257 | ConnectS[1].s = ISS_ON; |
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258 | ConnectSP.s = IPS_BUSY; |
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259 | IDSetSwitch(&ConnectSP, "Telescope is not responding to commands, will retry in 10 seconds."); |
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260 | |
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261 | IDSetSwitch(svp, NULL); |
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262 | IEAddTimer(10000, retryConnection, &fd); |
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263 | return; |
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264 | } |
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265 | |
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266 | /* If the error is a time out, then the device doesn't support this property or busy*/ |
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267 | if (err == -2) |
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268 | { |
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269 | svp->s = IPS_ALERT; |
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270 | IDSetSwitch(svp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg); |
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271 | } |
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272 | else |
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273 | /* Changing property failed, user should retry. */ |
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274 | IDSetSwitch( svp , "%s failed.", msg); |
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275 | |
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276 | fault = true; |
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277 | } |
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278 | |
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279 | void Magellan1::handleError(INumberVectorProperty *nvp, int err, const char *msg) |
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280 | { |
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281 | |
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282 | nvp->s = IPS_ALERT; |
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283 | |
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284 | /* First check to see if the telescope is connected */ |
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285 | if (check_magellan_connection(fd)) |
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286 | { |
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287 | /* The telescope is off locally */ |
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288 | ConnectS[0].s = ISS_OFF; |
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289 | ConnectS[1].s = ISS_ON; |
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290 | ConnectSP.s = IPS_BUSY; |
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291 | IDSetSwitch(&ConnectSP, "Telescope is not responding to commands, will retry in 10 seconds."); |
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292 | |
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293 | IDSetNumber(nvp, NULL); |
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294 | IEAddTimer(10000, retryConnection, &fd); |
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295 | return; |
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296 | } |
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297 | |
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298 | /* If the error is a time out, then the device doesn't support this property */ |
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299 | if (err == -2) |
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300 | { |
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301 | nvp->s = IPS_ALERT; |
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302 | IDSetNumber(nvp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg); |
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303 | } |
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304 | else |
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305 | /* Changing property failed, user should retry. */ |
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306 | IDSetNumber( nvp , "%s failed.", msg); |
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307 | |
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308 | fault = true; |
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309 | } |
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310 | |
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311 | void Magellan1::handleError(ITextVectorProperty *tvp, int err, const char *msg) |
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312 | { |
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313 | |
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314 | tvp->s = IPS_ALERT; |
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315 | |
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316 | /* First check to see if the telescope is connected */ |
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317 | if (check_magellan_connection(fd)) |
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318 | { |
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319 | /* The telescope is off locally */ |
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320 | ConnectS[0].s = ISS_OFF; |
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321 | ConnectS[1].s = ISS_ON; |
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322 | ConnectSP.s = IPS_BUSY; |
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323 | IDSetSwitch(&ConnectSP, "Telescope is not responding to commands, will retry in 10 seconds."); |
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324 | |
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325 | IDSetText(tvp, NULL); |
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326 | IEAddTimer(10000, retryConnection, &fd); |
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327 | return; |
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328 | } |
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329 | |
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330 | /* If the error is a time out, then the device doesn't support this property */ |
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331 | if (err == -2) |
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332 | { |
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333 | tvp->s = IPS_ALERT; |
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334 | IDSetText(tvp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg); |
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335 | } |
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336 | |
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337 | else |
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338 | { |
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339 | /* Changing property failed, user should retry. */ |
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340 | IDSetText( tvp , "%s failed.", msg); |
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341 | } |
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342 | |
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343 | fault = true; |
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344 | } |
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345 | |
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346 | void Magellan1::correctFault() |
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347 | { |
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348 | |
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349 | fault = false; |
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350 | IDMessage(thisDevice, "Telescope is online."); |
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351 | |
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352 | } |
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353 | |
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354 | bool Magellan1::isTelescopeOn(void) |
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355 | { |
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356 | return (ConnectSP.sp[0].s == ISS_ON); |
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357 | } |
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358 | |
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359 | static void retryConnection(void * p) |
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360 | { |
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361 | int fd = *( (int *) p); |
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362 | |
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363 | if (check_magellan_connection(fd)) |
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364 | { |
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365 | ConnectSP.s = IPS_IDLE; |
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366 | IDSetSwitch(&ConnectSP, "The connection to the telescope is lost."); |
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367 | return; |
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368 | } |
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369 | |
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370 | ConnectS[0].s = ISS_ON; |
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371 | ConnectS[1].s = ISS_OFF; |
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372 | ConnectSP.s = IPS_OK; |
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373 | |
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374 | IDSetSwitch(&ConnectSP, "The connection to the telescope has been resumed."); |
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375 | |
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376 | } |
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377 | |
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378 | void Magellan1::ISPoll() |
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379 | { |
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380 | int err=0; |
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381 | |
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382 | if (!isTelescopeOn()) |
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383 | return; |
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384 | |
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385 | if ( (err = getMAGELLANRA(fd, ¤tRA)) < 0 || (err = getMAGELLANDEC(fd, ¤tDEC)) < 0) |
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386 | { |
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387 | EquatorialCoordsRNP.s = IPS_ALERT; |
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388 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
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389 | handleError(&EquatorialCoordsRNP, err, "Getting RA/DEC"); |
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390 | return; |
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391 | } |
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392 | |
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393 | if (fault) correctFault(); |
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394 | |
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395 | EquatorialCoordsRNP.s = IPS_OK; |
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396 | |
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397 | lastRA = currentRA; |
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398 | lastDEC = currentDEC; |
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399 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
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400 | } |
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401 | |
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402 | void Magellan1::getBasicData() |
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403 | { |
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404 | char caldendarDate[10]; |
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405 | int err; |
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406 | |
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407 | /* Magellan 1 Get Calendar Date As a Test (always 1/1/96) */ |
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408 | if ( (err = getCalenderDate(fd, caldendarDate)) < 0) |
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409 | IDMessage(thisDevice, "Failed to retrieve calendar date from device."); |
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410 | else |
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411 | IDMessage(thisDevice, "Successfully retrieved calendar date from device."); |
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412 | |
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413 | |
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414 | /* Only 24 Time format on Magellan and you cant get to the local time |
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415 | which you can set in Magellan I */ |
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416 | timeFormat = MAGELLAN_24; |
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417 | |
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418 | if ( (err = getMAGELLANRA(fd, &targetRA)) < 0 || (err = getMAGELLANDEC(fd, &targetDEC)) < 0) |
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419 | { |
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420 | EquatorialCoordsRNP.s = IPS_ALERT; |
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421 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
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422 | handleError(&EquatorialCoordsRNP, err, "Getting RA/DEC"); |
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423 | return; |
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424 | } |
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425 | |
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426 | if (fault) correctFault(); |
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427 | |
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428 | EquatorialCoordsRNP.np[0].value = targetRA; |
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429 | EquatorialCoordsRNP.np[1].value = targetDEC; |
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430 | |
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431 | EquatorialCoordsRNP.s = IPS_OK; |
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432 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
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433 | |
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434 | } |
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435 | |
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436 | void Magellan1::connectTelescope() |
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437 | { |
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438 | switch (ConnectSP.sp[0].s) |
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439 | { |
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440 | case ISS_ON: |
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441 | |
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442 | /* Magellan I only has 1200 buad, 8 data bits, 0 parity and 1 stop bit */ |
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443 | if (tty_connect(PortTP.tp[0].text, 1200, 8, 0, 1, &fd) != TTY_OK) |
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444 | { |
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445 | ConnectS[0].s = ISS_OFF; |
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446 | ConnectS[1].s = ISS_ON; |
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447 | IDSetSwitch (&ConnectSP, "Error connecting to port %s. Make sure you have BOTH write and read permission to your port.\n", PortTP.tp[0].text); |
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448 | return; |
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449 | } |
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450 | if (check_magellan_connection(fd)) |
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451 | { |
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452 | ConnectS[0].s = ISS_OFF; |
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453 | ConnectS[1].s = ISS_ON; |
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454 | IDSetSwitch (&ConnectSP, "Error connecting to Telescope. Telescope is offline."); |
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455 | return; |
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456 | } |
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457 | |
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458 | #ifdef INDI_DEBUG |
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459 | IDLog("Telescope test successful.\n"); |
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460 | #endif |
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461 | |
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462 | ConnectSP.s = IPS_OK; |
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463 | IDSetSwitch (&ConnectSP, "Telescope is online. Retrieving basic data..."); |
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464 | getBasicData(); |
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465 | break; |
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466 | |
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467 | case ISS_OFF: |
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468 | ConnectS[0].s = ISS_OFF; |
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469 | ConnectS[1].s = ISS_ON; |
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470 | ConnectSP.s = IPS_IDLE; |
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471 | IDSetSwitch (&ConnectSP, "Telescope is offline."); |
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472 | IDLog("Telescope is offline."); |
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473 | tty_disconnect(fd); |
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474 | break; |
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475 | |
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476 | } |
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477 | |
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478 | } |
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479 | |
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480 | |
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481 | |
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