source: BAORadio/libindi/libindi/examples/tutorial_two.c @ 700

/*
   INDI Developers Manual
   Tutorial #2
   
   "Simple Telescope Simulator"
   
   In this tutorial, we create a simple simulator. We will use a few handy utility functions provided by INDI
   like timers, string <---> number conversion, and more.
   
   Refer to README, which contains instruction on how to build this driver, and use it 
   with an INDI-compatible client.

*/

/** \file tutorial_two.c
    \brief Implement a simple telescope simulator using more complex INDI concepts.
    \author Jasem Mutlaq
*/

/* Standard headers */
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <sys/time.h>

#include <sys/time.h>
#include <time.h>

void show_runtime(int state) {
        static struct timeval tv;
        struct timeval tv1;
        double x, y;

        if (state) {
                gettimeofday(&tv, NULL);
        } else {
                gettimeofday(&tv1, NULL);
                fprintf(stderr, "Ran for: %fmsec\n", (double)(tv1.tv_sec * 1000.0 + tv1.tv_usec / 1000.0) - (double)(tv.tv_sec * 1000.0 + tv.tv_usec / 1000.0));
        }
}

/* INDI Core headers */

/* indidevapi.h contains API declerations */
#include "indidevapi.h"

/* INDI Eventloop mechanism */
#include "eventloop.h"

/* INDI Common Routines */
#include "indicom.h"

/* Definitions */

#define mydev           "Telescope Simulator"           /* Device name */
#define MAIN_GROUP      "Main Control"                  /* Group name */
#define SLEWRATE        1                               /* slew rate, degrees/s */
#define POLLMS          250                             /* poll period, ms */
#define SIDRATE         0.004178                        /* sidereal rate, degrees/s */

/* Function protptypes */
static void connectTelescope (void);
static void mountSim (void *);

/* operational info */
static double targetRA;
static double targetDEC;

/* main connection switch
  Note that the switch will appear to the user as On and Off (versus Connect and Disconnect in tutorial one)
  Nevertheless, the members _names_ are still CONNECT and DISCONNECT and therefore this is a perfectly legal standard property decleration
   */
static ISwitch connectS[] = {
    {"CONNECT",  "On",  ISS_OFF, 0, 0}, {"DISCONNECT", "Off", ISS_ON, 0, 0}};

static ISwitchVectorProperty connectSP = { mydev, "CONNECTION", "Connection",  MAIN_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE,  connectS, NARRAY(connectS), "", 0 };

/* Equatorial position. EQUATORIAL_EOD_COORD is one of INDI's reserved Standard  Properties */
static INumber eqN[] = {
                                /* 1st member is Right ascension */
                                {"RA"                           /* 1st Number name */
                                ,"RA  H:M:S"                    /* Number label */
                                , "%10.6m"                      /* Format. Refer to the indiapi.h for details on number formats */
                                ,0.                                     /* Minimum value */
                                , 24.                                   /* Maximum value */
                                , 0.                                    /* Steps */
                                , 0.                                    /* Initial value */
                                , 0                                     /* Pointer to parent, we don't use it, so set it to 0 */
                                , 0                                     /* Auxiluary member, set it to 0 */
                                , 0},                                   /* Autxiluar member, set it to 0 */
                                
                                /* 2nd member is Declination */
                                {"DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0}
};

static INumberVectorProperty eqNP = {  mydev, "EQUATORIAL_EOD_COORD", "Equatorial JNow",  MAIN_GROUP , IP_RO, 0, IPS_IDLE,  eqN, NARRAY(eqN), "", 0};


/* Equatorial EOD Coord Request. This property is for requesting changes to target equatorial coordinates. However, the CURRENT coordinates are reported in EQUATORIAL_EOD_COORDS above.*/
static INumber eqNR[] = {{"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}};
static INumberVectorProperty eqNPR = {  mydev, "EQUATORIAL_EOD_COORD_REQUEST", "Equatorial Request",  MAIN_GROUP , IP_WO, 0, IPS_IDLE,  eqNR, NARRAY(eqNR), "", 0};

/* Property naming convention. All property names are lower case with a postfix to indicate their type. connectS is a switch, 
 * connectSP is a switch vector. eqN is a number, eqNP is a number property, and so on. While this is not strictly required, it makes the code easier to read. */

#define currentRA       eqN[0].value            /* scope's current simulated RA, rads. Handy macro to right ascension from eqN[] */
#define currentDec      eqN[1].value            /* scope's current simulated Dec, rads. Handy macro to declination from eqN[] */

/********************************************
 Property: Movement (Arrow keys on handset). North/South
*********************************************/
static ISwitch MovementNSS[]       = {{"MOTION_NORTH", "North", ISS_OFF, 0, 0}, {"MOTION_SOUTH", "South", ISS_OFF, 0, 0}};
ISwitchVectorProperty MovementNSSP      = { mydev, "TELESCOPE_MOTION_NS", "North/South", MAIN_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE, MovementNSS, NARRAY(MovementNSS), "", 0};

/********************************************
 Property: Movement (Arrow keys on handset). West/East
*********************************************/
static ISwitch MovementWES[]       = {{"MOTION_WEST", "West", ISS_OFF, 0, 0}, {"MOTION_EAST", "East", ISS_OFF, 0, 0}};
ISwitchVectorProperty MovementWESP      = { mydev, "TELESCOPE_MOTION_WE", "West/East", MAIN_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE, MovementWES, NARRAY(MovementWES), "", 0};

static ISwitch OnCoordSetS[] = {{"TRACK", "Track", ISS_ON, 0, 0}};
static ISwitchVectorProperty OnCoordSetSP = {mydev, "ON_COORD_SET", "On Set", MAIN_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, OnCoordSetS, NARRAY(OnCoordSetS), "", 0};


/* Initlization routine */
static void mountInit()
{
        static int inited;              /* set once mountInit is called */

        if (inited)
            return;
        
        /* start timer to simulate mount motion
           The timer will call function mountSim after POLLMS milliseconds */
        IEAddTimer (POLLMS, mountSim, NULL);

        inited = 1;
        
}

/* send client definitions of all properties */
void ISGetProperties (const char *dev)
{
        if (dev && strcmp (mydev, dev))
            return;

        IDDefSwitch (&connectSP, NULL);
        IDDefNumber (&eqNP, NULL);
        IDDefNumber (&eqNPR, NULL);
        IDDefSwitch (&MovementNSSP, NULL);
        IDDefSwitch (&MovementWESP, NULL);
        IDDefSwitch(&OnCoordSetSP, NULL);
        
}

void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
{
        return;
}

/* client is sending us a new value for a Numeric vector property */
void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
{
        /* Make sure to initalize */
        mountInit();
        
        /* ignore if not ours */
        if (strcmp (dev, mydev))
            return;

        if (!strcmp (name, eqNPR.name)) {
            /* new equatorial target coords */
            double newra = 0, newdec = 0;
            int i, nset;
            
            /* Check connectSP, if it is idle, then return */
            if (connectSP.s == IPS_IDLE)
            {
                eqNPR.s = IPS_IDLE;
                IDSetNumber(&eqNP, "Telescope is offline.");
                return;
            }
            
            for (nset = i = 0; i < n; i++) 
            {
                /* Find numbers with the passed names in the eqNP property */
                INumber *eqp = IUFindNumber (&eqNPR, names[i]);
                
                /* If the number found is Right ascension (eqN[0]) then process it */
                if (eqp == &eqNR[0])
                {
                    newra = (values[i]);
                    nset += newra >= 0 && newra <= 24;
                }
                /* Otherwise, if the number found is Declination (eqN[1]) then process it */ 
                else if (eqp == &eqNR[1]) {
                    newdec = (values[i]);
                    nset += newdec >= -90 && newdec <= 90;
                }
            } /* end for */
            
            /* Did we process the two numbers? */
            if (nset == 2)
            {
                char r[32], d[32];
                
                /* Set the mount state to BUSY */
                eqNP.s = IPS_BUSY;
                eqNPR.s = IPS_BUSY;
                
                /* Set the new target coordinates */
                targetRA = newra;
                targetDEC = newdec;
                
                /* Convert the numeric coordinates to a sexagesmal string (H:M:S) */
                fs_sexa (r, targetRA, 2, 3600);
                fs_sexa (d, targetDEC, 3, 3600);
                
                IDSetNumber(&eqNP, NULL);
                IDSetNumber(&eqNPR, "Moving to RA Dec %s %s", r, d);
            }
            /* We didn't process the two number correctly, report an error */
            else 
            {
                /* Set property state to ALERT */
                eqNPR.s = IPS_ALERT;
                
                IDSetNumber(&eqNP, "RA or Dec absent or bogus.");
            }
            
            return;
        }
}

/* client is sending us a new value for a Switch property */
void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
{
        ISwitch *sp;

        mountInit();
        
        /* ignore if not ours */
        if (strcmp (dev, mydev))
            return;

        
        if (!strcmp(name, connectSP.name))
        {
                /* We update switches. This is different from the way we used to update switches in tutorial 1. This is 
                * to illustrate that there are several ways to update the switches. Here, we try to find the switch with names[0],
                * and if found, we update its state to states[0] and call connectTelescope(). We must call IUResetSwitches to erase any previous history */
         
                sp = IUFindSwitch (&connectSP, names[0]);
        
                if (sp)
                {
                        IUResetSwitch(&connectSP);
                        sp->s = states[0];
                        connectTelescope();
                }
        }
        else if (! strcmp(name, MovementNSSP.name)) {
                sp = IUFindSwitch (&MovementNSSP, names[0]);
                if (sp) {
                        IUResetSwitch(&MovementNSSP);
                        sp->s = states[0];
                        show_runtime(sp->s);
                        IDSetSwitch (&MovementNSSP, "Toggle North/South.");
                }
        }
        else if (! strcmp(name, MovementWESP.name)) {
                sp = IUFindSwitch (&MovementWESP, names[0]);
                if (sp) {
                        IUResetSwitch(&MovementWESP);
                        sp->s = states[0];
                        show_runtime(sp->s);
                        IDSetSwitch (&MovementWESP, "Toggle West/East.");
                }
        }
        else if (! strcmp(name, OnCoordSetSP.name))
        {
            OnCoordSetSP.s = IPS_OK;
            IDSetSwitch(&OnCoordSetSP, NULL);
        }
        
        
}

/* update the "mount" over time */
void mountSim (void *p)
{
        static struct timeval ltv;
        struct timeval tv;
        double dt, da, dx;
        int nlocked;

        /* If telescope is not on, do not simulate */
        if (connectSP.s == IPS_IDLE)
        {
                IEAddTimer (POLLMS, mountSim, NULL);
                return;
        }

        /* update elapsed time since last poll, don't presume exactly POLLMS */
        gettimeofday (&tv, NULL);
        
        if (ltv.tv_sec == 0 && ltv.tv_usec == 0)
            ltv = tv;
            
        dt = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec)/1e6;
        ltv = tv;
        da = SLEWRATE*dt;

        /* Process per current state. We check the state of EQUATORIAL_EOD_COORDS_REQUEST and act acoordingly */
        switch (eqNPR.s)
        {
        
        /* #1 State is idle, update telesocpe at sidereal rate */
        case IPS_IDLE:
            /* RA moves at sidereal, Dec stands still */
            currentRA += (SIDRATE*dt/15.);
            IDSetNumber(&eqNP, NULL);
            break;

        case IPS_BUSY:
            /* slewing - nail it when both within one pulse @ SLEWRATE */
            nlocked = 0;

            dx = targetRA - currentRA;
            
            if (fabs(dx) <= da)
            {
                currentRA = targetRA;
                nlocked++;
            }
            else if (dx > 0)
                currentRA += da/15.;
            else 
                currentRA -= da/15.;
            

            dx = targetDEC - currentDec;
            if (fabs(dx) <= da)
            {
                currentDec = targetDEC;
                nlocked++;
            }
            else if (dx > 0)
              currentDec += da;
            else
              currentDec -= da;

            if (nlocked == 2)
            {
                eqNP.s = IPS_OK;
                eqNPR.s = IPS_OK;
                IDSetNumber(&eqNP, NULL);
                IDSetNumber(&eqNPR, "Now tracking");
            } else
                IDSetNumber(&eqNP, NULL);

            break;

        case IPS_OK:
            /* tracking */
           IDSetNumber(&eqNP, NULL);
            break;

        case IPS_ALERT:
            break;
        }

        /* again */
        IEAddTimer (POLLMS, mountSim, NULL);
}

/* Note that we must define ISNewBLOB and ISSnoopDevice even if we don't use them, otherwise, the driver will NOT compile */
void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) {}
void ISSnoopDevice (XMLEle *root) {}


static void connectTelescope ()
{
        if (connectS[0].s == ISS_ON)
        {
            connectSP.s   = IPS_OK;
            IDSetSwitch (&connectSP, "Telescope is connected.");
        } 
        else
        {
            connectSP.s   = IPS_IDLE;
            IDSetSwitch (&connectSP, "Telescope is disconnected.");
        }
}