[490] | 1 | /* |
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| 2 | OrionAtlas (EQ-G/EQ-6 with SkyScan/SynScan controller) |
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| 3 | Copyright (C) 2005 Bruce Bockius (bruceb@WhiteAntelopeSoftware.com) |
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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 | */ |
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| 20 | |
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| 21 | #include "orionatlas.h" |
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| 22 | |
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| 23 | #include <stdio.h> |
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| 24 | #include <stdlib.h> |
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| 25 | #include <string.h> |
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| 26 | #include <stdarg.h> |
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| 27 | #include <math.h> |
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| 28 | #include <unistd.h> |
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| 29 | #include <time.h> |
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| 30 | #include <sys/ioctl.h> |
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| 31 | #include <fcntl.h> |
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| 32 | #include <termios.h> |
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| 33 | |
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| 34 | #define mydev "Orion Atlas" |
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| 35 | #define ATLAS_DEBUG 1 |
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| 36 | #define POLLMS 5000 |
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| 37 | |
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| 38 | #define lat geo[0].value |
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| 39 | #define lon geo[1].value |
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| 40 | |
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| 41 | OrionAtlas *telescope = NULL; |
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| 42 | |
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| 43 | |
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| 44 | /* There is _one_ binary for all LX200 drivers, but each binary is renamed |
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| 45 | ** to its device name (i.e. lx200gps, lx200_16..etc). The main function will |
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| 46 | ** fetch from std args the binary name and ISInit will create the apporpiate |
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| 47 | ** device afterwards. If the binary name does not match any known devices, |
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| 48 | ** we simply create a generic device |
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| 49 | */ |
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| 50 | extern char* me; |
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| 51 | |
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| 52 | #define COMM_GROUP "Communication" |
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| 53 | #define BASIC_GROUP "Main Control" |
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| 54 | #define SETUP_GROUP "Setup" |
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| 55 | |
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| 56 | #define ATLAS_MIN_RA 0.0 |
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| 57 | #define ATLAS_MAX_RA 24.0 |
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| 58 | #define ATLAS_MIN_DEC -90.0 |
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| 59 | #define ATLAS_MAX_DEC 90.0 |
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| 60 | |
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| 61 | #define ATLAS_MIN_AZ 0.0 |
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| 62 | #define ATLAS_MAX_AZ 360.0 |
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| 63 | #define ATLAS_MIN_ALT -90.0 |
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| 64 | #define ATLAS_MAX_ALT 90.0 |
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| 65 | |
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| 66 | static void ISPoll(void *); |
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| 67 | |
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| 68 | //static ISwitch abortSlewS[] = {{"ABORT", "Abort", ISS_OFF, 0, 0}}; |
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| 69 | |
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| 70 | /* Fundamental group */ |
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| 71 | static ISwitch PowerS[] = {{"CONNECT","Connect",ISS_OFF,0,0},{"DISCONNECT","Disconnect",ISS_ON,0,0},{"RECONNECT","Reconnect",ISS_OFF,0,0}}; |
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| 72 | static ISwitchVectorProperty PowerSw = { mydev, "CONNECTION" , "Connection", COMM_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, PowerS, NARRAY(PowerS), "", 0}; |
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| 73 | static IText PortT[] = {{"PORT", "Port", 0, 0, 0, 0}}; |
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| 74 | static ITextVectorProperty Port = { mydev, "DEVICE_PORT", "Ports", COMM_GROUP, IP_RW, 0, IPS_OK, PortT, NARRAY(PortT), "", 0}; |
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| 75 | |
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| 76 | /* Movement group */ |
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| 77 | //static ISwitchVectorProperty abortSlewSw = { mydev, "ABORT_MOTION", "Abort Slew/Track", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, abortSlewS, NARRAY(abortSlewS), "", 0}; |
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| 78 | static INumber eq[] = { |
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| 79 | {"RA", "RA (hh:mm.m)", "%010.5m", ATLAS_MIN_RA, ATLAS_MAX_RA, 0., 0., 0, 0, 0}, |
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| 80 | {"DEC", "Dec (dd:mm.m)", "%010.5m", ATLAS_MIN_DEC, ATLAS_MAX_DEC, 0., 0., 0, 0, 0}}; |
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| 81 | // Azimuth/Altitude |
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| 82 | static INumber aa[] = { |
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| 83 | {"XAZ", "Az (ddd:mm.m)", "%010.5m", ATLAS_MIN_AZ, ATLAS_MAX_AZ, 0.0, 0.0, 0, 0, 0}, |
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| 84 | {"XALT", "Alt (dd:mm.m)", "%010.5m", ATLAS_MIN_ALT, ATLAS_MAX_ALT, 0.0, 0.0, 0, 0, 0}}; |
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| 85 | static INumberVectorProperty eqNum = { |
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| 86 | mydev, "EQUATORIAL_EOD_COORD", "Eq. Coordinates", BASIC_GROUP, IP_RW, 0, IPS_OK, eq, NARRAY(eq), "", 0}; |
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| 87 | |
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| 88 | static INumberVectorProperty aaNum = { |
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| 89 | mydev, "XHORIZONTAL_COORD", "Horz. Coordinates", BASIC_GROUP, IP_RW, 0, IPS_OK, aa, NARRAY(aa), "", 0}; |
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| 90 | |
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| 91 | static ISwitch OnCoordSetS[] = {{"TRACK", "Track", ISS_ON, 0, 0}}; // switch does nothing, but some clients won't let you track w/o it. |
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| 92 | static ISwitchVectorProperty OnCoordSetSw = { |
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| 93 | mydev, "ON_COORD_SET", "On Set", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, OnCoordSetS, NARRAY(OnCoordSetS), "", 0}; |
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| 94 | static ISwitch UpdateS[] = {{"UPDATE1", "On", ISS_ON, 0, 0},{"UPDATE0","Off", ISS_OFF,0,0}}; |
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| 95 | static ISwitch MovementRADecS[] = {{"XRAPLUS", "RA+", ISS_OFF, 0, 0}, {"XRAMINUS", "RA-", ISS_OFF, 0, 0}, {"XDECPLUS", "Dec+", ISS_OFF, 0, 0}, {"XDECMINUS", "Dec-", ISS_OFF, 0, 0}}; |
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| 96 | static ISwitch MovementAzAltS[] = {{"XAZPLUS", "Az+", ISS_OFF, 0, 0}, {"XAZMINUS", "Az-", ISS_OFF, 0, 0}, {"XALTPLUS", "Alt+", ISS_OFF, 0, 0}, {"XALTMINUS", "Alt-", ISS_OFF, 0, 0}}; |
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| 97 | static ISwitchVectorProperty MovementRADecSw = { mydev, "XRADECMOVEMENT", "Nudge", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, MovementRADecS, NARRAY(MovementRADecS), "", 0}; |
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| 98 | static ISwitchVectorProperty MovementAzAltSw = { mydev, "XAZALTMOVEMENT", "Nudge", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, MovementAzAltS, NARRAY(MovementAzAltS), "", 0}; |
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| 99 | static ISwitchVectorProperty UpdateSw = { mydev, "XUPDATE", "Update Coords", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, UpdateS, NARRAY(UpdateS), "", 0}; |
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| 100 | |
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| 101 | /* Telescope Parameters group */ |
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| 102 | // Setup group |
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| 103 | static INumber steps[] = { |
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| 104 | {"XRASTEP", "RA Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}, |
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| 105 | {"XDECSTEP", "Dec Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}, |
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| 106 | {"XAZSTEP", "Az Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}, |
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| 107 | {"XALTSTEP", "Alt Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}}; |
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| 108 | // geographic position |
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| 109 | static INumber geo[] = { |
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| 110 | {"LAT", "Lat (dd:mm.m)", "%010.5m", -90.0, 90.0, 0.0, 0.0, 0, 0, 0}, |
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| 111 | {"LONG", "Lon (ddd:mm.m)", "%010.5m", -180.0, 360.0, 0.0, 0.0, 0, 0, 0}}; |
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| 112 | static INumberVectorProperty geoNum = { |
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| 113 | mydev, "GEOGRAPHIC_COORD", "Scope Location", SETUP_GROUP, IP_RW, 0, IPS_OK, geo, NARRAY(geo), "", 0}; |
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| 114 | static INumberVectorProperty stepNum = { |
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| 115 | mydev, "XSTEPS", "Nudge Steps", SETUP_GROUP, IP_RW, 0, IPS_OK, steps, NARRAY(steps), "", 0}; |
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| 116 | |
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| 117 | /* send client definitions of all properties */ |
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| 118 | void ISInit() |
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| 119 | { |
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| 120 | static int isInit=0; |
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| 121 | |
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| 122 | if (isInit) return; |
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| 123 | |
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| 124 | isInit = 1; |
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| 125 | |
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| 126 | PortT[0].text = strcpy(new char[32], "/dev/ttyUSB0"); |
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| 127 | steps[0].value=1.0/60.0; |
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| 128 | steps[1].value=1.0/60.0; |
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| 129 | steps[2].value=1.0/60.0; |
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| 130 | steps[3].value=1.0/60.0; |
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| 131 | |
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| 132 | telescope = new OrionAtlas(); |
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| 133 | |
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| 134 | IEAddTimer (POLLMS, ISPoll, NULL); |
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| 135 | } |
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| 136 | |
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| 137 | void ISGetProperties (const char *dev) |
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| 138 | { ISInit(); telescope->ISGetProperties(dev);} |
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| 139 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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| 140 | { ISInit(); telescope->ISNewSwitch(dev, name, states, names, n);} |
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| 141 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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| 142 | { ISInit(); telescope->ISNewText(dev, name, texts, names, n);} |
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| 143 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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| 144 | { ISInit(); telescope->ISNewNumber(dev, name, values, names, n);} |
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| 145 | void ISPoll (void *p) { telescope->ISPoll(); IEAddTimer (POLLMS, ISPoll, NULL); p=p;} |
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| 146 | void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) |
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| 147 | { |
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| 148 | INDI_UNUSED(dev); |
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| 149 | INDI_UNUSED(name); |
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| 150 | INDI_UNUSED(sizes); |
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| 151 | INDI_UNUSED(blobsizes); |
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| 152 | INDI_UNUSED(blobs); |
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| 153 | INDI_UNUSED(formats); |
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| 154 | INDI_UNUSED(names); |
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| 155 | INDI_UNUSED(n); |
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| 156 | } |
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| 157 | void ISSnoopDevice (XMLEle *root) |
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| 158 | { |
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| 159 | INDI_UNUSED(root); |
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| 160 | } |
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| 161 | |
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| 162 | OrionAtlas::OrionAtlas() |
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| 163 | { |
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| 164 | geo[0].value=0; |
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| 165 | geo[1].value=0; |
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| 166 | lat=lon=-1000; |
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| 167 | |
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| 168 | TelConnectFlag=0; |
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| 169 | Updating=true; |
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| 170 | // Children call parent routines, this is the default |
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| 171 | IDLog("Initialized Orion Atlas EQ-G device, driver ver 0.101\n"); |
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| 172 | if (ATLAS_DEBUG) IDLog("Driver in DEBUG mode."); |
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| 173 | } |
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| 174 | |
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| 175 | void OrionAtlas::ISGetProperties(const char *dev) |
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| 176 | { |
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| 177 | |
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| 178 | if (dev && strcmp (mydev, dev)) |
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| 179 | return; |
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| 180 | |
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| 181 | // COMM_GROUP |
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| 182 | IDDefSwitch (&PowerSw, NULL); |
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| 183 | IDDefText (&Port, NULL); |
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| 184 | |
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| 185 | // BASIC_GROUP |
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| 186 | IDDefNumber (&eqNum, NULL); |
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| 187 | IDDefNumber (&aaNum, NULL); |
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| 188 | IDDefSwitch (&UpdateSw, NULL); |
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| 189 | // IDDefSwitch (&abortSlewSw, NULL); |
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| 190 | IDDefSwitch (&OnCoordSetSw,NULL); |
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| 191 | IDDefSwitch (&MovementRADecSw, NULL); |
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| 192 | IDDefSwitch (&MovementAzAltSw, NULL); |
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| 193 | |
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| 194 | // SETUP_GROUP |
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| 195 | IDDefNumber (&geoNum, NULL); |
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| 196 | IDDefNumber (&stepNum, NULL); |
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| 197 | |
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| 198 | /* Send the basic data to the new client if the previous client(s) are already connected. */ |
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| 199 | if (PowerSw.s == IPS_OK) { |
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| 200 | if (ATLAS_DEBUG) log("Initial call to getBasicData()\n"); |
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| 201 | getBasicData(); |
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| 202 | } |
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| 203 | } |
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| 204 | |
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| 205 | void OrionAtlas::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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| 206 | { |
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| 207 | IText *tp; |
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| 208 | |
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| 209 | // suppress warning |
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| 210 | n=n; |
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| 211 | // ignore if not ours // |
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| 212 | if (strcmp (dev, mydev)) |
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| 213 | return; |
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| 214 | |
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| 215 | if (!strcmp(name, Port.name) ) { |
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| 216 | Port.s = IPS_OK; |
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| 217 | |
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| 218 | tp = IUFindText( &Port, names[0] ); |
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| 219 | if (!tp) |
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| 220 | return; |
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| 221 | |
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| 222 | tp->text = new char[strlen(texts[0])+1]; |
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| 223 | strcpy(tp->text, texts[0]); |
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| 224 | IDSetText (&Port, NULL); |
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| 225 | return; |
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| 226 | } |
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| 227 | else { |
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| 228 | if (ATLAS_DEBUG) log("ISNewText('%s')\n",name); |
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| 229 | } |
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| 230 | } |
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| 231 | |
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| 232 | void OrionAtlas::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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| 233 | { |
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| 234 | double newRA=0, newDEC=0, newAlt=0, newAz=0; |
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| 235 | |
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| 236 | // ignore if not ours // |
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| 237 | if (strcmp (dev, mydev)) |
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| 238 | return; |
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| 239 | |
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| 240 | if (!strcmp (name, eqNum.name)) { |
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| 241 | int i=0, nset=0; |
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| 242 | if (checkPower(&eqNum)) return; |
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| 243 | |
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| 244 | for (nset = i = 0; i < n; i++) { |
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| 245 | INumber *eqp = IUFindNumber (&eqNum, names[i]); |
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| 246 | if (eqp == &eq[0]) { |
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| 247 | newRA = values[i]; |
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| 248 | nset += newRA >= 0 && newRA <= 24.0; |
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| 249 | } else if (eqp == &eq[1]) { |
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| 250 | newDEC = values[i]; |
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| 251 | nset += newDEC >= -90.0 && newDEC <= 90.0; |
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| 252 | } |
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| 253 | } |
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| 254 | if (nset==2) { // both coords were valid. Slew. |
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| 255 | MoveScope(RADEC,newRA,newDEC); |
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| 256 | } |
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| 257 | } |
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| 258 | else if (!strcmp(name, aaNum.name)) { |
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| 259 | int i=0, nset=0; |
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| 260 | if (checkPower(&eqNum)) return; |
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| 261 | |
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| 262 | for (nset = i = 0; i < n; i++) { |
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| 263 | INumber *aap = IUFindNumber (&aaNum, names[i]); |
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| 264 | if (aap == &aa[1]) { |
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| 265 | newAlt = values[i]; |
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| 266 | nset += newAlt >= -90.0 && newAlt <= 90.0; |
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| 267 | } else if (aap == &aa[0]) { |
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| 268 | newAz = values[i]; |
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| 269 | nset += newAz >= 0.0 && newAz <=360.0; |
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| 270 | } |
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| 271 | } |
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| 272 | if (nset==2) { // both coords were valid. Slew. |
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| 273 | MoveScope(AZALT,newAz,newAlt); |
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| 274 | } |
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| 275 | } |
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| 276 | else if (!strcmp(name, geoNum.name)) { |
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| 277 | if (ATLAS_DEBUG) log("NewNumber(geoName)\n"); |
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| 278 | int i=0; |
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| 279 | for (i=0;i<n;i++) { |
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| 280 | INumber *geop = IUFindNumber(&geoNum, names[i]); |
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| 281 | geop->value=values[i]; |
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| 282 | } |
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| 283 | IDSetNumber(&geoNum,NULL); |
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| 284 | } |
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| 285 | else if (!strcmp(name, stepNum.name)) { |
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| 286 | if (ATLAS_DEBUG) log("NewNumber(stepNum)\n"); |
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| 287 | for (int i=0;i<n;i++) { |
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| 288 | INumber *stepp = IUFindNumber(&stepNum, names[i]); |
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| 289 | stepp->value=values[i]; |
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| 290 | } |
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| 291 | IDSetNumber(&stepNum,NULL); |
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| 292 | } |
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| 293 | else { |
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| 294 | if (ATLAS_DEBUG) log("ISNewNumber('%s')\n",name); |
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| 295 | } |
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| 296 | } |
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| 297 | |
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| 298 | void OrionAtlas::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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| 299 | { |
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| 300 | |
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| 301 | INDI_UNUSED(names); |
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| 302 | |
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| 303 | // ignore if not ours // |
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| 304 | if (strcmp(dev,mydev)) |
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| 305 | return; |
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| 306 | |
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| 307 | // FIRST Switch ALWAYS for power |
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| 308 | if (!strcmp(name,PowerSw.name)) |
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| 309 | { |
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| 310 | if (IUUpdateSwitch(&PowerSw,states,names,n) < 0) |
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| 311 | return; |
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| 312 | |
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| 313 | if (PowerS[1].s == ISS_ON) |
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| 314 | DisconnectTel(); |
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| 315 | else |
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| 316 | ConnectTel(); |
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| 317 | return; |
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| 318 | } |
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| 319 | else if (!strcmp(name,UpdateSw.name)) { |
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| 320 | IUResetSwitch(&UpdateSw); |
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| 321 | IUUpdateSwitch(&UpdateSw,states,names,n); |
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| 322 | IDSetSwitch(&UpdateSw,NULL); |
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| 323 | Updating=!Updating; |
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| 324 | } |
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| 325 | else if (!strcmp(name,MovementRADecSw.name)) { |
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| 326 | if (!GetCoords(RADEC)) { |
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| 327 | IDMessage(mydev,"Invalid coordinates from scope - aborted nudge."); |
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| 328 | } |
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| 329 | log("before RA=%f Dec=%f\n",returnRA,returnDec); |
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| 330 | for (int i=0; i<n; i++) { |
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| 331 | states[i]=ISS_OFF; |
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| 332 | ISwitch *mvp = IUFindSwitch(&MovementRADecSw, names[i]); |
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| 333 | if (mvp == &MovementRADecS[0]) { |
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| 334 | // RA+ |
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| 335 | returnRA+=steps[0].value; |
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| 336 | } else if (mvp == &MovementRADecS[1]) { |
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| 337 | // RA- |
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| 338 | returnRA-=steps[0].value; |
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| 339 | } else if (mvp == &MovementRADecS[2]) { |
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| 340 | // Dec+ |
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| 341 | returnDec+=steps[1].value; |
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| 342 | } else if (mvp == &MovementRADecS[3]) { |
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| 343 | // Dec- |
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| 344 | returnDec-=steps[1].value; |
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| 345 | } |
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| 346 | } |
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| 347 | log("after RA=%f Dec=%f\n",returnRA,returnDec); |
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| 348 | IUResetSwitch(&MovementRADecSw); |
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| 349 | IUUpdateSwitch(&MovementRADecSw,states,names,n); |
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| 350 | IDSetSwitch(&MovementRADecSw,NULL); |
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| 351 | MoveScope(RADEC,returnRA,returnDec); |
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| 352 | UpdateCoords(); |
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| 353 | } |
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| 354 | else if (!strcmp(name,MovementAzAltSw.name)) { |
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| 355 | if (!GetCoords(AZALT)) { |
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| 356 | IDMessage(mydev,"Invalid coordinates from scope - aborted nudge."); |
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| 357 | } |
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| 358 | log("before Az=%f Alt=%f\n",returnAz,returnAlt); |
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| 359 | for (int i=0; i<n; i++) { |
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| 360 | states[i]=ISS_OFF; |
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| 361 | ISwitch *mvp = IUFindSwitch(&MovementAzAltSw, names[i]); |
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| 362 | if (mvp == &MovementAzAltS[0]) { |
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| 363 | // Az+ |
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| 364 | returnAz+=steps[2].value; |
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| 365 | } else if (mvp == &MovementAzAltS[1]) { |
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| 366 | // Az- |
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| 367 | returnAz-=steps[2].value; |
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| 368 | } else if (mvp == &MovementAzAltS[2]) { |
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| 369 | // Alt+ |
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| 370 | returnAlt+=steps[3].value; |
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| 371 | } else if (mvp == &MovementAzAltS[3]) { |
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| 372 | // Alt- |
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| 373 | returnAlt-=steps[3].value; |
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| 374 | } |
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| 375 | } |
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| 376 | log("commanded Az=%f Alt=%f\n",returnAz,returnAlt); |
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| 377 | IUResetSwitch(&MovementAzAltSw); |
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| 378 | IUUpdateSwitch(&MovementAzAltSw,states,names,n); |
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| 379 | IDSetSwitch(&MovementAzAltSw,NULL); |
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| 380 | MoveScope(AZALT,returnAz,returnAlt); |
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| 381 | UpdateCoords(); |
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| 382 | log("after Az=%f Alt=%f\n",returnAz,returnAlt); |
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| 383 | } |
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| 384 | else { |
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| 385 | if (ATLAS_DEBUG) log("ISNewSwitch('%s')\n",name); |
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| 386 | } |
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| 387 | } |
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| 388 | |
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| 389 | int OrionAtlas::checkPower(ISwitchVectorProperty *sp) |
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| 390 | { |
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| 391 | if (PowerSw.s != IPS_OK) { |
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| 392 | if (!strcmp(sp->label, "")) |
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| 393 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->name); |
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| 394 | else |
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| 395 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->label); |
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| 396 | sp->s = IPS_IDLE; |
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| 397 | IDSetSwitch(sp, NULL); |
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| 398 | return -1; |
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| 399 | } |
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| 400 | return 0; |
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| 401 | } |
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| 402 | |
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| 403 | int OrionAtlas::checkPower(INumberVectorProperty *np) |
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| 404 | { |
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| 405 | if (PowerSw.s != IPS_OK) { |
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| 406 | if (!strcmp(np->label, "")) |
---|
| 407 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->name); |
---|
| 408 | else |
---|
| 409 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->label); |
---|
| 410 | np->s = IPS_IDLE; |
---|
| 411 | IDSetNumber(np, NULL); |
---|
| 412 | return -1; |
---|
| 413 | } |
---|
| 414 | return 0; |
---|
| 415 | } |
---|
| 416 | |
---|
| 417 | int OrionAtlas::checkPower(ITextVectorProperty *tp) |
---|
| 418 | { |
---|
| 419 | if (PowerSw.s != IPS_OK) { |
---|
| 420 | if (!strcmp(tp->label, "")) |
---|
| 421 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->name); |
---|
| 422 | else |
---|
| 423 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->label); |
---|
| 424 | tp->s = IPS_IDLE; |
---|
| 425 | IDSetText(tp, NULL); |
---|
| 426 | return -1; |
---|
| 427 | } |
---|
| 428 | return 0; |
---|
| 429 | } |
---|
| 430 | |
---|
| 431 | void OrionAtlas::getBasicData() |
---|
| 432 | { |
---|
| 433 | if (ATLAS_DEBUG) log("getBasicData\n"); |
---|
| 434 | UpdateCoords(); |
---|
| 435 | } |
---|
| 436 | |
---|
| 437 | void OrionAtlas::ConnectTel() |
---|
| 438 | { |
---|
| 439 | if (PowerSw.sp[0].s==ISS_ON||PowerSw.sp[2].s==ISS_ON) { // CONNECT or RECONNECT |
---|
| 440 | if (ConnectTel(Port.tp[0].text) < 0) |
---|
| 441 | { |
---|
| 442 | PowerS[0].s = PowerS[2].s = ISS_OFF; |
---|
| 443 | PowerS[1].s = ISS_ON; |
---|
| 444 | IDSetSwitch (&PowerSw, "Error connecting to port %s", Port.tp[0].text); |
---|
| 445 | return; |
---|
| 446 | } |
---|
| 447 | PowerSw.s = IPS_OK; |
---|
| 448 | PowerS[0].s = ISS_ON; |
---|
| 449 | PowerS[1].s = PowerS[2].s= ISS_OFF; |
---|
| 450 | IDSetSwitch (&PowerSw, "Telescope is online. Updating coordinates."); |
---|
| 451 | if (ATLAS_DEBUG) log("Powered on scope, calling getBasicData()\n"); |
---|
| 452 | getBasicData(); |
---|
| 453 | } |
---|
| 454 | else if (PowerSw.sp[0].s==ISS_OFF) { |
---|
| 455 | IDSetSwitch (&PowerSw, "Telescope is offline."); |
---|
| 456 | DisconnectTel(); |
---|
| 457 | } |
---|
| 458 | } |
---|
| 459 | |
---|
| 460 | int OrionAtlas::CheckConnectTel(void) |
---|
| 461 | { |
---|
| 462 | return TelConnectFlag; |
---|
| 463 | } |
---|
| 464 | |
---|
| 465 | int OrionAtlas::ConnectTel(char *port) |
---|
| 466 | { |
---|
| 467 | struct termios tty; |
---|
| 468 | unsigned char returnStr[128]; |
---|
| 469 | int numRead; |
---|
| 470 | |
---|
| 471 | if (ATLAS_DEBUG) log( "Connecting to port: %s\n",port); |
---|
| 472 | |
---|
| 473 | if(TelConnectFlag != 0) |
---|
| 474 | return 0; |
---|
| 475 | |
---|
| 476 | /* Make the connection */ |
---|
| 477 | |
---|
| 478 | TelPortFD = open(port,O_RDWR); |
---|
| 479 | if(TelPortFD == -1) { |
---|
| 480 | IDMessage(mydev,"Could not open the supplied port!"); |
---|
| 481 | return -1; |
---|
| 482 | } |
---|
| 483 | |
---|
| 484 | tcgetattr(TelPortFD,&tty); |
---|
| 485 | cfsetospeed(&tty, (speed_t) B9600); |
---|
| 486 | cfsetispeed(&tty, (speed_t) B9600); |
---|
| 487 | tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; |
---|
| 488 | tty.c_iflag = IGNBRK; |
---|
| 489 | tty.c_lflag = 0; |
---|
| 490 | tty.c_oflag = 0; |
---|
| 491 | tty.c_cflag |= CLOCAL | CREAD; |
---|
| 492 | tty.c_cc[VMIN] = 1; |
---|
| 493 | tty.c_cc[VTIME] = 5; |
---|
| 494 | tty.c_iflag &= ~(IXON|IXOFF|IXANY); |
---|
| 495 | tty.c_cflag &= ~(PARENB | PARODD); |
---|
| 496 | tcsetattr(TelPortFD, TCSANOW, &tty); |
---|
| 497 | |
---|
| 498 | /* Flush the input (read) buffer */ |
---|
| 499 | |
---|
| 500 | tcflush(TelPortFD,TCIOFLUSH); |
---|
| 501 | |
---|
| 502 | /* Test connection */ |
---|
| 503 | |
---|
| 504 | writen(TelPortFD,(unsigned char*)"?",1); |
---|
| 505 | numRead=readn(TelPortFD,returnStr,1,2); |
---|
| 506 | returnStr[numRead] = '\0'; |
---|
| 507 | |
---|
| 508 | if (numRead == 1 && returnStr[0]=='#') { |
---|
| 509 | TelConnectFlag = 1; |
---|
| 510 | IDMessage(mydev,"Successfully connected."); |
---|
| 511 | return (0); |
---|
| 512 | } |
---|
| 513 | else if (numRead>0) { |
---|
| 514 | IDMessage(mydev,"Connect failure: Did not detect an Orion Atlas EQ-G on this port!"); |
---|
| 515 | return -2; |
---|
| 516 | } |
---|
| 517 | else { |
---|
| 518 | IDMessage(mydev,"Connect failure: Did not detect any device on this port!"); |
---|
| 519 | return -3; |
---|
| 520 | } |
---|
| 521 | } |
---|
| 522 | |
---|
| 523 | void OrionAtlas::DisconnectTel(void) |
---|
| 524 | { |
---|
| 525 | if(TelConnectFlag == 1) |
---|
| 526 | close(TelPortFD); |
---|
| 527 | TelConnectFlag = 0; |
---|
| 528 | IDMessage(mydev,"Telescope is offline."); |
---|
| 529 | } |
---|
| 530 | |
---|
| 531 | // If System=RADEC, c1=RA, c2=Dec |
---|
| 532 | // =AZALT, c1=Az, c2=Alt |
---|
| 533 | int OrionAtlas::MoveScope(int System, double c1, double c2) |
---|
| 534 | { |
---|
| 535 | MovementRADecSw.s=MovementAzAltSw.s=eqNum.s=aaNum.s=OnCoordSetSw.s=IPS_BUSY; |
---|
| 536 | IDSetSwitch(&MovementRADecSw,NULL); |
---|
| 537 | IDSetSwitch(&MovementAzAltSw,NULL); |
---|
| 538 | IDSetSwitch(&OnCoordSetSw,NULL); |
---|
| 539 | IDSetNumber(&eqNum,NULL); |
---|
| 540 | IDSetNumber(&aaNum,NULL); |
---|
| 541 | union { |
---|
| 542 | signed short int ints[2]; |
---|
| 543 | unsigned short int uints[2]; |
---|
| 544 | unsigned char bytes[4]; |
---|
| 545 | }; |
---|
| 546 | |
---|
| 547 | char Command=' '; |
---|
| 548 | while (1) { |
---|
| 549 | if (System==RADEC) Command='R'; |
---|
| 550 | else if (System==AZALT) Command='A'; |
---|
| 551 | else { |
---|
| 552 | log("Invalid command '%c' to MoveScope!",Command); |
---|
| 553 | break; |
---|
| 554 | } |
---|
| 555 | unsigned char sendStr[5]; |
---|
| 556 | writen(TelPortFD,(unsigned char*)"?",1); |
---|
| 557 | int numRead=readn(TelPortFD,sendStr,1,3); |
---|
| 558 | if (numRead!=1 || sendStr[0]!='#') { |
---|
| 559 | IDMessage(mydev,"Failure: Scope not ready for movement command!"); |
---|
| 560 | break; |
---|
| 561 | } |
---|
| 562 | |
---|
| 563 | if (Command=='R') { |
---|
| 564 | IDMessage(mydev,"Beginning slew to RA=%f Dec=%f\n",c1,c2); |
---|
| 565 | // RA: |
---|
| 566 | uints[0]= (unsigned short int) (c1*65536.0/24.0); |
---|
| 567 | ints[1]= (signed short int) (c2*65536.0/360.0); |
---|
| 568 | sendStr[2]=bytes[0]; sendStr[1]=bytes[1]; |
---|
| 569 | sendStr[4]=bytes[2]; sendStr[3]=bytes[3]; |
---|
| 570 | } |
---|
| 571 | else { |
---|
| 572 | //c2=c2-lat+90.0; // decorrect |
---|
| 573 | IDMessage(mydev,"Beginning slew to Az=%f Alt=%f\n",c1,c2); |
---|
| 574 | // Az |
---|
| 575 | uints[0]= (unsigned short int) (c1*65536.0/360.0); |
---|
| 576 | ints[1]= (signed short int) (c2*65536.0/360.0); |
---|
| 577 | sendStr[2]=bytes[0]; sendStr[1]=bytes[1]; |
---|
| 578 | sendStr[4]=bytes[2]; sendStr[3]=bytes[3]; |
---|
| 579 | } |
---|
| 580 | sendStr[0]=Command; |
---|
| 581 | if (ATLAS_DEBUG) log("Sending '%c' %X %X %X %X\n",Command,sendStr[1],sendStr[2],sendStr[3],sendStr[4]); |
---|
| 582 | writen(TelPortFD,sendStr,5); |
---|
| 583 | // it should send us an '@' when done slewing |
---|
| 584 | numRead=readn(TelPortFD,sendStr,1,60); |
---|
| 585 | if (numRead!=1||sendStr[0]!='@') { |
---|
| 586 | IDMessage(mydev,"Timeout waiting for scope to complete slewing."); |
---|
| 587 | break; |
---|
| 588 | } |
---|
| 589 | IDMessage(mydev,"Slewing complete."); |
---|
| 590 | |
---|
| 591 | MovementRADecSw.s=MovementAzAltSw.s=eqNum.s=aaNum.s=OnCoordSetSw.s=IPS_OK; |
---|
| 592 | IDSetSwitch(&MovementRADecSw,NULL); |
---|
| 593 | IDSetSwitch(&MovementAzAltSw,NULL); |
---|
| 594 | IDSetSwitch(&OnCoordSetSw,NULL); |
---|
| 595 | IDSetNumber(&eqNum,NULL); |
---|
| 596 | IDSetNumber(&aaNum,NULL); |
---|
| 597 | return 1; |
---|
| 598 | } |
---|
| 599 | // only here if break = error |
---|
| 600 | MovementRADecSw.s=MovementAzAltSw.s=eqNum.s=aaNum.s=OnCoordSetSw.s=IPS_ALERT; |
---|
| 601 | IDSetSwitch(&MovementRADecSw,NULL); |
---|
| 602 | IDSetSwitch(&MovementAzAltSw,NULL); |
---|
| 603 | IDSetSwitch(&OnCoordSetSw,NULL); |
---|
| 604 | IDSetNumber(&eqNum,NULL); |
---|
| 605 | IDSetNumber(&aaNum,NULL); |
---|
| 606 | return 0; |
---|
| 607 | } |
---|
| 608 | |
---|
| 609 | /* Read the telescope coordinates */ |
---|
| 610 | int OrionAtlas::GetCoords(int System) |
---|
| 611 | { |
---|
| 612 | UpdateSw.s=IPS_BUSY; |
---|
| 613 | IDSetSwitch(&UpdateSw,NULL); |
---|
| 614 | unsigned char returnStr[4]; |
---|
| 615 | union { |
---|
| 616 | signed short int ints[2]; |
---|
| 617 | unsigned short int uints[2]; |
---|
| 618 | unsigned char bytes[4]; |
---|
| 619 | }; |
---|
| 620 | |
---|
| 621 | while (1) { |
---|
| 622 | if (System&AZALT) { |
---|
| 623 | returnAz=returnAlt=-1000; |
---|
| 624 | if (System&RADEC) {returnRA=returnDec=-1000;} |
---|
| 625 | // is scope ready? |
---|
| 626 | writen(TelPortFD,(unsigned char*)"?",1); |
---|
| 627 | int numRead=readn(TelPortFD,returnStr,1,3); |
---|
| 628 | if (numRead!=1 || returnStr[0]!='#') { |
---|
| 629 | IDMessage(mydev,"Failure: Scope not ready for Z command"); |
---|
| 630 | break; |
---|
| 631 | } |
---|
| 632 | // Send request for current Az/Alt coords |
---|
| 633 | writen(TelPortFD,(unsigned char*)"Z",1); |
---|
| 634 | numRead=readn(TelPortFD,returnStr,4,1); |
---|
| 635 | if (numRead!=4) break; |
---|
| 636 | // bytes as expected |
---|
| 637 | if (ATLAS_DEBUG) log("Received '%c' %02x %02x %02x %02x\n",'Z',returnStr[0],returnStr[1],returnStr[2],returnStr[3]); |
---|
| 638 | |
---|
| 639 | bytes[0]=returnStr[1]; bytes[1]=returnStr[0]; |
---|
| 640 | bytes[2]=returnStr[3]; bytes[3]=returnStr[2]; |
---|
| 641 | returnAz=uints[0]/65536.0*360.0; |
---|
| 642 | returnAlt=ints[1]/65536.0*360.0; |
---|
| 643 | // returnAlt=returnAlt+lat-90.0; |
---|
| 644 | } |
---|
| 645 | |
---|
| 646 | if (System&RADEC) { |
---|
| 647 | returnRA=returnDec=-1000; |
---|
| 648 | // Check scope is ready |
---|
| 649 | writen(TelPortFD,(unsigned char*)"?",1); |
---|
| 650 | int numRead=readn(TelPortFD,returnStr,1,3); |
---|
| 651 | if (numRead!=1 || returnStr[0]!='#') { |
---|
| 652 | IDMessage(mydev,"Failure: Scope not ready for E command"); |
---|
| 653 | break; |
---|
| 654 | } |
---|
| 655 | // Send get RA/Dec |
---|
| 656 | writen(TelPortFD,(unsigned char*)"E",1); |
---|
| 657 | numRead=readn(TelPortFD,returnStr,4,1); |
---|
| 658 | if (ATLAS_DEBUG) log("Received '%c' %02x %02x %02x %02x\n",'E',returnStr[0],returnStr[1],returnStr[2],returnStr[3]); |
---|
| 659 | if (numRead!=4) break; |
---|
| 660 | // bytes read is as expected |
---|
| 661 | |
---|
| 662 | bytes[0]=returnStr[1]; bytes[1]=returnStr[0]; |
---|
| 663 | bytes[2]=returnStr[3]; bytes[3]=returnStr[2]; |
---|
| 664 | returnRA=uints[0]/65536.0*24.0; |
---|
| 665 | returnDec=ints[1]/65536.0*360.0; |
---|
| 666 | } |
---|
| 667 | // Yep, data is valid. |
---|
| 668 | UpdateSw.s=IPS_OK; |
---|
| 669 | IDSetSwitch(&UpdateSw,NULL); |
---|
| 670 | return(1); |
---|
| 671 | } |
---|
| 672 | // only here if break -> error! |
---|
| 673 | UpdateSw.s=IPS_ALERT; |
---|
| 674 | IDSetSwitch(&UpdateSw,NULL); |
---|
| 675 | return 0; |
---|
| 676 | } |
---|
| 677 | |
---|
| 678 | // Get coords from scope and update INumbers |
---|
| 679 | void OrionAtlas::UpdateCoords(int System) |
---|
| 680 | { |
---|
| 681 | if (GetCoords(System)) { |
---|
| 682 | if (System&RADEC) { |
---|
| 683 | eqNum.np[0].value = returnRA; |
---|
| 684 | eqNum.np[1].value = returnDec; |
---|
| 685 | IDSetNumber(&eqNum, NULL); |
---|
| 686 | } |
---|
| 687 | if (System&AZALT) { |
---|
| 688 | aaNum.np[1].value = returnAlt; |
---|
| 689 | aaNum.np[0].value = returnAz; |
---|
| 690 | IDSetNumber(&aaNum, NULL); |
---|
| 691 | } |
---|
| 692 | } |
---|
| 693 | } |
---|
| 694 | |
---|
| 695 | int OrionAtlas::writen(int fd, unsigned char* ptr, int nbytes) |
---|
| 696 | { |
---|
| 697 | int nleft, nwritten; |
---|
| 698 | nleft = nbytes; |
---|
| 699 | while (nleft > 0) { |
---|
| 700 | nwritten = write (fd, ptr, nleft); |
---|
| 701 | if (nwritten <=0 ) break; |
---|
| 702 | nleft -= nwritten; |
---|
| 703 | ptr += nwritten; |
---|
| 704 | } |
---|
| 705 | return (nbytes - nleft); |
---|
| 706 | } |
---|
| 707 | |
---|
| 708 | int OrionAtlas::readn(int fd, unsigned char* ptr, int nbytes, int sec) |
---|
| 709 | { |
---|
| 710 | int status; |
---|
| 711 | int nleft, nread; |
---|
| 712 | nleft = nbytes; |
---|
| 713 | while (nleft > 0) { |
---|
| 714 | status = telstat(fd,sec,0); |
---|
| 715 | if (status <= 0 ) break; |
---|
| 716 | nread = read (fd, ptr, nleft); |
---|
| 717 | |
---|
| 718 | /* Diagnostic */ |
---|
| 719 | |
---|
| 720 | /* printf("readn: %d read\n", nread); */ |
---|
| 721 | |
---|
| 722 | if (nread <= 0) break; |
---|
| 723 | nleft -= nread; |
---|
| 724 | ptr += nread; |
---|
| 725 | } |
---|
| 726 | return (nbytes - nleft); |
---|
| 727 | } |
---|
| 728 | |
---|
| 729 | /* |
---|
| 730 | * Examines the read status of a file descriptor. |
---|
| 731 | * The timeout (sec, usec) specifies a maximum interval to |
---|
| 732 | * wait for data to be available in the descriptor. |
---|
| 733 | * To effect a poll, the timeout (sec, usec) should be 0. |
---|
| 734 | * Returns non-negative value on data available. |
---|
| 735 | * 0 indicates that the time limit referred by timeout expired. |
---|
| 736 | * On failure, it returns -1 and errno is set to indicate the |
---|
| 737 | * error. |
---|
| 738 | */ |
---|
| 739 | |
---|
| 740 | int OrionAtlas::telstat(int fd,int sec,int usec) |
---|
| 741 | { |
---|
| 742 | int ret; |
---|
| 743 | int width; |
---|
| 744 | struct timeval timeout; |
---|
| 745 | telfds readfds; |
---|
| 746 | |
---|
| 747 | memset((char *)&readfds,0,sizeof(readfds)); |
---|
| 748 | FD_SET(fd, &readfds); |
---|
| 749 | width = fd+1; |
---|
| 750 | timeout.tv_sec = sec; |
---|
| 751 | timeout.tv_usec = usec; |
---|
| 752 | ret = select(width,&readfds,(telfds *)0,(telfds *)0,&timeout); |
---|
| 753 | return(ret); |
---|
| 754 | } |
---|
| 755 | |
---|
| 756 | void OrionAtlas::ISPoll() |
---|
| 757 | { |
---|
| 758 | // Called every 2 seconds. |
---|
| 759 | if (!TelConnectFlag) return; |
---|
| 760 | if (!Updating) return; |
---|
| 761 | // Check status of |
---|
| 762 | if (eqNum.s==IPS_IDLE||eqNum.s==IPS_OK) { |
---|
| 763 | GetCoords(); |
---|
| 764 | eqNum.np[0].value=returnRA; |
---|
| 765 | eqNum.np[1].value=returnDec; |
---|
| 766 | aaNum.np[0].value=returnAz; |
---|
| 767 | aaNum.np[1].value=returnAlt; |
---|
| 768 | IDSetNumber(&eqNum,NULL); |
---|
| 769 | IDSetNumber(&aaNum,NULL); |
---|
| 770 | } |
---|
| 771 | else { // Slewing. Don't get coords yet. |
---|
| 772 | if (ATLAS_DEBUG) log(" (still slewing)\n"); |
---|
| 773 | } |
---|
| 774 | } |
---|
| 775 | |
---|
| 776 | void OrionAtlas::log(const char *fmt,...) |
---|
| 777 | { |
---|
| 778 | if (fmt) { |
---|
| 779 | va_list ap; |
---|
| 780 | va_start (ap, fmt); |
---|
| 781 | fprintf(stderr, "%i: ", ((int) time(NULL))); |
---|
| 782 | vfprintf(stderr, fmt, ap); |
---|
| 783 | va_end(ap); |
---|
| 784 | } |
---|
| 785 | } |
---|