1 | /******************************************************************************* |
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2 | Copyright(c) 2011 Gerry Rozema, Jasem Mutlaq. All rights reserved. |
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3 | |
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4 | This library is free software; you can redistribute it and/or |
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5 | modify it under the terms of the GNU Library General Public |
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6 | License version 2 as published by the Free Software Foundation. |
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7 | |
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8 | This library is distributed in the hope that it will be useful, |
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9 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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10 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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11 | Library General Public License for more details. |
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12 | |
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13 | You should have received a copy of the GNU Library General Public License |
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14 | along with this library; see the file COPYING.LIB. If not, write to |
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15 | the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, |
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16 | Boston, MA 02110-1301, USA. |
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17 | *******************************************************************************/ |
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18 | |
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19 | #ifndef INDI_TELESCOPE_H |
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20 | #define INDI_TELESCOPE_H |
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21 | |
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22 | #include "defaultdriver.h" |
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23 | |
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24 | /** |
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25 | * \class INDI::Telescope |
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26 | \brief Class to provide general functionality of a telescope device. |
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27 | |
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28 | Developers need to subclass INDI::Telescope to implement any driver for telescopes within INDI. |
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29 | |
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30 | Implementing a basic telescope driver involves the child class performing the following steps: |
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31 | <ul> |
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32 | <li>If the telescope has additional properties, the child class should override initProperties and initilize the respective additional properties.</li> |
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33 | <li>Once the parent class calls Connect(), the child class attempts to connect to the telescope and return either success of failure</li> |
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34 | <li>INDI::Telescope calls updateProperties() to enable the child class to define which properties to send to the client upon connection</li> |
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35 | <li>INDI::Telescope calls ReadScopeStatus() to check the link to the telescope and update its state and position. The child class should call newRaDec() whenever |
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36 | a new value is read from the telescope.</li> |
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37 | <li>The child class should implmenet Goto() and Sync(), and Park() if applicable.</li> |
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38 | <li>INDI::Telescope calls disconnect() when the client request a disconnection. The child class should remove any additional properties it defined in updateProperties() if applicable</li> |
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39 | </ul> |
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40 | |
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41 | \author Gerry Rozema, Jasem Mutlaq |
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42 | \see TelescopeSimulator and SynScan drivers for examples of implementations of INDI::Telescope. |
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43 | */ |
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44 | class INDI::Telescope : public INDI::DefaultDriver |
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45 | { |
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46 | private: |
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47 | |
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48 | public: |
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49 | Telescope(); |
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50 | virtual ~Telescope(); |
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51 | |
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52 | enum TelescopeStatus { SCOPE_IDLE, SCOPE_SLEWING, SCOPE_TRACKING, SCOPE_PARKING, SCOPE_PARKED }; |
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53 | enum TelescopeMotionNS { MOTION_NORTH, MOTION_SOUTH }; |
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54 | enum TelescopeMotionWE { MOTION_WEST, MOTION_EAST }; |
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55 | |
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56 | virtual bool ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n); |
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57 | virtual bool ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n); |
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58 | virtual bool ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n); |
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59 | virtual void ISGetProperties (const char *dev); |
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60 | |
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61 | /** \brief Called to initialize basic properties required all the time */ |
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62 | virtual bool initProperties(); |
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63 | /** \brief Called when connected state changes, to add/remove properties */ |
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64 | virtual bool updateProperties(); |
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65 | |
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66 | /** \brief Called when setTimer() time is up */ |
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67 | virtual void TimerHit(); |
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68 | |
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69 | /** \brief Connect to the telescope. |
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70 | \return True if connection is successful, false otherwise |
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71 | */ |
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72 | virtual bool Connect(); |
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73 | |
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74 | /** \brief Disconnect from telescope |
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75 | \return True if successful, false otherwise */ |
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76 | virtual bool Disconnect(); |
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77 | |
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78 | /** \brief INDI::Telescope implementation of Connect() assumes 9600 baud, 8 bit word, even parity, and no stop bit. Override function if communication paramaters |
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79 | are different |
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80 | \param port Port to connect to |
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81 | \return True if connection is successful, false otherwise |
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82 | \warning Do not call this function directly, it is called by INDI::Telescope Connect() function. |
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83 | */ |
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84 | virtual bool Connect(const char *port); |
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85 | |
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86 | protected: |
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87 | |
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88 | virtual bool saveConfigItems(FILE *fp); |
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89 | |
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90 | /** \brief The child class calls this function when it has updates */ |
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91 | void NewRaDec(double ra,double dec); |
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92 | |
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93 | /** \brief Read telescope status. |
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94 | This function checks the following: |
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95 | <ol> |
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96 | <li>Check if the link to the telescope is alive.</li> |
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97 | <li>Update telescope status: Idle, Slewing, Parking..etc.</li> |
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98 | <li>Read coordinates</li> |
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99 | </ol> |
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100 | \return True if reading scope status is OK, false if an error is encounterd. |
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101 | \note This function is not implemented in INDI::Telescope, it must be implemented in the child class */ |
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102 | virtual bool ReadScopeStatus(); |
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103 | |
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104 | /** \brief Move the scope to the supplied RA and DEC coordinates |
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105 | \return True if successful, false otherewise |
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106 | \note This function is not implemented in INDI::Telescope, it must be implemented in the child class |
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107 | */ |
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108 | virtual bool Goto(double ra,double dec); |
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109 | |
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110 | /** \brief Set the telescope current RA and DEC coordinates to the supplied RA and DEC coordinates |
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111 | \return True if successful, false otherewise |
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112 | \note This function is not implemented in INDI::Telescope, it must be implemented in the child class |
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113 | */ |
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114 | virtual bool Sync(double ra,double dec); |
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115 | |
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116 | /** \brief Move the telescope in the direction dir. |
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117 | \return True if successful, false otherewise |
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118 | \note This function is not implemented in INDI::Telescope, it must be implemented in the child class |
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119 | */ |
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120 | virtual bool MoveNS(TelescopeMotionNS dir); |
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121 | |
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122 | /** \brief Move the telescope in the direction dir. |
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123 | \return True if successful, false otherewise |
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124 | \note This function is not implemented in INDI::Telescope, it must be implemented in the child class |
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125 | */ |
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126 | virtual bool MoveWE(TelescopeMotionWE dir); |
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127 | |
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128 | /** \brief Part the telescope to its home position. |
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129 | \return True if successful, false otherewise |
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130 | \note This function is not implemented in INDI::Telescope, it must be implemented in the child class |
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131 | */ |
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132 | virtual bool Park(); |
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133 | |
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134 | |
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135 | // Since every mount I know of actually uses a serial port for control |
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136 | // We put the serial helper into the base telescope class |
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137 | // One less piece to worry about in the hardware specific |
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138 | // low level stuff |
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139 | int PortFD; |
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140 | |
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141 | // This is a variable filled in by the ReadStatus telescope |
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142 | // low level code, used to report current state |
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143 | // are we slewing, tracking, or parked. |
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144 | TelescopeStatus TrackState; |
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145 | |
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146 | // All telescopes should produce equatorial co-ordinates |
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147 | INumberVectorProperty *EqNV; |
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148 | INumber EqN[2]; |
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149 | |
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150 | // And we need a vector to store requests, ie, where are we asked to go |
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151 | INumberVectorProperty *EqReqNV; |
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152 | INumber EqReqN[2]; |
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153 | |
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154 | ISwitchVectorProperty *CoordSV; // A switch vector that stores how we should readct |
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155 | ISwitch CoordS[3]; // On a coord_set message, sync, or slew |
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156 | |
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157 | ISwitchVectorProperty *ConfigSV; // A switch vector that stores how we should readct |
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158 | ISwitch ConfigS[3]; // On a coord_set message, sync, or slew |
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159 | |
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160 | INumberVectorProperty *LocationNV; // A number vector that stores lattitude and longitude |
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161 | INumber LocationN[2]; |
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162 | |
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163 | ISwitchVectorProperty *ParkSV; // A Switch in the client interface to park the scope |
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164 | ISwitch ParkS[1]; |
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165 | |
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166 | ITextVectorProperty *PortTV; // A text vector that stores out physical port name |
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167 | IText PortT[1]; |
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168 | |
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169 | ISwitch MovementNSS[2]; // A switch for North/South motion |
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170 | ISwitchVectorProperty *MovementNSSP; |
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171 | |
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172 | ISwitch MovementWES[2]; // A switch for West/East motion |
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173 | ISwitchVectorProperty *MovementWESP; |
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174 | |
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175 | |
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176 | }; |
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177 | |
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178 | #endif // INDI::Telescope_H |
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