1 | /* |
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2 | LX200 Basic Driver |
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3 | Copyright (C) 2005 Jasem Mutlaq (mutlaqja@ikarustech.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 | #ifndef BAO_H |
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22 | #define BAO_H |
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23 | |
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24 | #include "indidevapi.h" |
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25 | #include "indicom.h" |
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26 | #include "ServerSocket.h" |
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27 | #include "SocketException.h" |
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28 | #include "astro.h" |
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29 | |
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30 | #define MAXCARACTERES 1024 |
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31 | |
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32 | #define MAXATTENTE 80 //Si une commande ne recoit pas d'acknowledge. Alors refaire 80 tentatives en renvoyant la commande |
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33 | #define MAXANOMALIES 2 //Si pas de réponse au bout de 80 tentatives -> erreur critique -> socket perdu ? |
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34 | #define MAXANOMALIESGOTO 1500 |
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35 | |
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36 | struct Position |
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37 | { |
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38 | int x; |
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39 | int y; |
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40 | }; |
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41 | |
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42 | struct DefSocket |
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43 | { |
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44 | ServerSocket new_sock; |
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45 | |
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46 | std::string IP; //IP de l'antenne |
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47 | |
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48 | bool Connected; //le micro-contrÎleur est-il connecté ? |
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49 | bool PosValides; //le micro-contrÎleur a-t-il donné une position valide ? |
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50 | char status; //status='B' pour busy 'R' pour READY |
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51 | int sendalertes; //une requête "send" a généré une erreur sur le réseau |
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52 | int AttenteExecution; //L'antenne parvient-elle à executer un cycle de commandes ? |
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53 | int AnomaliesExecution; //Erreur critique. L'antenne ne répond plus ! |
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54 | |
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55 | Position Pos; //derniÚre position retournée par le microcontrÎleur |
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56 | int etape; |
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57 | |
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58 | bool ack_status; //Etat des acknowledges ? |
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59 | bool ack_pos; |
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60 | bool ack_park; |
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61 | bool ack_abort; |
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62 | bool ack_goto; |
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63 | bool GotoOk; //Est-ce que le dernier goto est OK ? |
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64 | }; |
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65 | |
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66 | ServerSocket server( 8000 ); |
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67 | int SocketsNumber; |
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68 | bool InitThreadOK; |
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69 | DefSocket Sockets[MAXHOSTNAME + 1]; |
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70 | pthread_t th1; |
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71 | |
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72 | class BAO : public Astro |
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73 | { |
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74 | public: |
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75 | BAO(); |
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76 | ~BAO(); |
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77 | |
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78 | void ISGetProperties (const char *dev); |
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79 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n); |
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80 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n); |
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81 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n); |
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82 | void ISPoll (); |
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83 | void InitThread(); |
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84 | |
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85 | bool COMMANDE(int numsocket, char* Commande, char* Params); |
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86 | Position ExtractPosition(std::string str); |
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87 | |
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88 | void connection_lost(); |
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89 | void connection_resumed(); |
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90 | |
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91 | bool STATUS(int numsocket); |
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92 | bool POSITION(int numsocket); |
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93 | bool ABORT(int numsocket); |
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94 | bool PARK(int numsocket); |
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95 | bool GOTO(int numsocket, int deltaAz, int deltaAlt); |
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96 | void ADDEC2Motor(double newRA, double newDEC); |
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97 | int AntennesConnectees(); |
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98 | void InitAntennes(); |
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99 | |
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100 | |
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101 | |
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102 | private: |
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103 | |
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104 | enum BAO_STATUS { BAO_TRANSIT, BAO_TRACKING, BAO_PARK }; |
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105 | |
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106 | /* Switches */ |
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107 | ISwitch ConnectS[2]; |
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108 | ISwitch OnCoordSetS[2]; |
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109 | ISwitch AbortSlewS[1]; |
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110 | ISwitch ParkS[1]; |
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111 | |
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112 | /* Texts */ |
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113 | IText PortT[1]; |
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114 | IText ObjectT[1]; |
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115 | |
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116 | /* Numbers */ |
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117 | //INumber EquatorialCoordsRN[2]; |
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118 | INumber EquatorialCoordsWN[2]; |
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119 | INumber GeographicCoordsWN[2]; |
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120 | INumber ActualisationN1[1]; |
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121 | INumber ActualisationN2[1]; |
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122 | |
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123 | //INumber SlewAccuracyN[2]; |
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124 | //INumber TrackAccuracyN[2]; |
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125 | |
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126 | /* Switch Vectors */ |
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127 | ISwitchVectorProperty ConnectSP; |
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128 | ISwitchVectorProperty OnCoordSetSP; |
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129 | ISwitchVectorProperty AbortSlewSP; |
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130 | ISwitchVectorProperty ParkSP; |
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131 | |
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132 | /* Number Vectors */ |
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133 | //INumberVectorProperty EquatorialCoordsRNP; |
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134 | INumberVectorProperty EquatorialCoordsWNP; |
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135 | INumberVectorProperty GeographicCoordsWNP; |
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136 | //INumberVectorProperty SlewAccuracyNP; |
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137 | //INumberVectorProperty TrackAccuracyNP; |
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138 | INumberVectorProperty ActualisationNP1; |
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139 | INumberVectorProperty ActualisationNP2; |
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140 | |
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141 | |
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142 | /* Text Vectors */ |
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143 | ITextVectorProperty PortTP; |
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144 | ITextVectorProperty ObjectTP; |
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145 | |
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146 | /*******************************************************/ |
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147 | /* Connection Routines |
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148 | ********************************************************/ |
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149 | void init_properties(); |
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150 | void get_initial_data(); |
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151 | void connect_telescope(); |
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152 | bool is_connected(void); |
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153 | |
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154 | /*******************************************************/ |
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155 | /* Misc routines |
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156 | ********************************************************/ |
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157 | bool process_coords(); |
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158 | int get_switch_index(ISwitchVectorProperty *sp); |
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159 | |
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160 | /*******************************************************/ |
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161 | /* Simulation Routines |
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162 | ********************************************************/ |
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163 | void enable_simulation(bool enable); |
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164 | |
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165 | /*******************************************************/ |
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166 | /* Error handling routines |
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167 | ********************************************************/ |
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168 | void slew_error(int slewCode); |
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169 | void reset_all_properties(); |
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170 | void handle_error(INumberVectorProperty *nvp, int err, const char *msg); |
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171 | void correct_fault(); |
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172 | |
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173 | protected: |
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174 | |
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175 | double JD; /* Julian Date */ |
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176 | double lastRA; |
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177 | double lastDEC; |
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178 | double JJAnc; // Sauvegarde du jour julien de la derniÚre actualisation de la position (fct Goto) |
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179 | double ActualisationTM1; |
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180 | double ActualisationTM2; |
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181 | bool simulation; |
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182 | bool fault; |
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183 | bool LecturePosition; // étape dans le processus d'actualisation de la position |
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184 | bool Abort; |
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185 | bool Park; |
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186 | bool Goto; |
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187 | bool BAOConnected; |
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188 | bool LastGotoOK; |
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189 | |
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190 | int fd; /* Telescope tty file descriptor */ |
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191 | int currentSet; |
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192 | int lastSet; |
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193 | int TrackingMode; //1 : Transit 2: Tracking |
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194 | |
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195 | Position TargetPosition; //Position à atteindre en coordonnées équatoriales |
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196 | }; |
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197 | |
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198 | #endif |
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