1 | /* |
---|
2 | * Telescope Control Protocol for Celestron NexStar GPS telescopes |
---|
3 | * |
---|
4 | * Copyright 2003 John Kielkopf |
---|
5 | * John Kielkopf (kielkopf@louisville.edu) |
---|
6 | * |
---|
7 | This library is free software; you can redistribute it and/or |
---|
8 | modify it under the terms of the GNU Lesser General Public |
---|
9 | License as published by the Free Software Foundation; either |
---|
10 | version 2.1 of the License, or (at your option) any later version. |
---|
11 | |
---|
12 | This library is distributed in the hope that it will be useful, |
---|
13 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
---|
14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
---|
15 | Lesser General Public License for more details. |
---|
16 | |
---|
17 | You should have received a copy of the GNU Lesser General Public |
---|
18 | License along with this library; if not, write to the Free Software |
---|
19 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
---|
20 | * |
---|
21 | * 15 May 2003 -- Version 2.00 |
---|
22 | * |
---|
23 | * |
---|
24 | * |
---|
25 | */ |
---|
26 | |
---|
27 | |
---|
28 | #include <stdio.h> |
---|
29 | #include <errno.h> |
---|
30 | #include <time.h> |
---|
31 | #include <string.h> |
---|
32 | #include <sys/time.h> |
---|
33 | #include <sys/types.h> |
---|
34 | #include <unistd.h> |
---|
35 | #include <sys/stat.h> |
---|
36 | #include <sys/ioctl.h> |
---|
37 | #include <fcntl.h> |
---|
38 | |
---|
39 | /* do NOT change this to config-kstars.h! |
---|
40 | INDI is independent of KStars*/ |
---|
41 | #ifdef HAVE_CONFIG_H |
---|
42 | #include <config.h> |
---|
43 | #endif |
---|
44 | |
---|
45 | #ifndef _WIN32 |
---|
46 | #include <termios.h> |
---|
47 | #endif |
---|
48 | |
---|
49 | |
---|
50 | #include <math.h> |
---|
51 | #include "celestronprotocol.h" |
---|
52 | |
---|
53 | #define NULL_PTR(x) (x *)0 |
---|
54 | |
---|
55 | /* There are two classes of routines defined here: */ |
---|
56 | |
---|
57 | /* XmTel commands to allow easy NexStar access. These */ |
---|
58 | /* include routines that mimic the extensive LX200 command */ |
---|
59 | /* language and, for the most part, trap calls and */ |
---|
60 | /* respond with an error message to the console. */ |
---|
61 | |
---|
62 | /* NexStar specific commands and data. */ |
---|
63 | |
---|
64 | /* The NexStar command set as documented by Celestron */ |
---|
65 | /* is very limited. This version of xmtel uses ta few */ |
---|
66 | /* auxilliary commands which permit direct access to the motor */ |
---|
67 | /* controllers. */ |
---|
68 | |
---|
69 | |
---|
70 | /* XmTel compatibility commands */ |
---|
71 | |
---|
72 | int ConnectTel(char *port); |
---|
73 | void DisconnectTel(void); |
---|
74 | int CheckConnectTel(void); |
---|
75 | |
---|
76 | void SetRate(int newRate); |
---|
77 | void SetLimits(double limitLower, double limitHigher); |
---|
78 | void StartSlew(int direction); |
---|
79 | void StopSlew(int direction); |
---|
80 | double GetRA(void); |
---|
81 | double GetDec(void); |
---|
82 | int SlewToCoords(double newRA, double newDec); |
---|
83 | int SyncToCoords(double newRA, double newDec); |
---|
84 | int CheckCoords(double desRA, double desDec, double tolRA, double tolDEC); |
---|
85 | |
---|
86 | void StopNSEW(void); |
---|
87 | int SetSlewRate(void); |
---|
88 | |
---|
89 | int SyncLST(double newTime); |
---|
90 | int SyncLocalTime(void); |
---|
91 | |
---|
92 | void Reticle(int reticle); |
---|
93 | void Focus(int focus); |
---|
94 | void Derotator(int rotate); |
---|
95 | void Fan(int fan); |
---|
96 | |
---|
97 | static int TelPortFD; |
---|
98 | static int TelConnectFlag = 0; |
---|
99 | |
---|
100 | |
---|
101 | /* NexStar local data */ |
---|
102 | |
---|
103 | static double returnRA; /* Last update of RA */ |
---|
104 | static double returnDec; /* Last update of Dec */ |
---|
105 | static int updateRA; /* Set if no RA inquiry since last update */ |
---|
106 | static int updateDec; /* Set if no Dec inquiry since last update */ |
---|
107 | static int slewRate; /* Rate for slew request in StartSlew */ |
---|
108 | |
---|
109 | |
---|
110 | /* Coordinate reported by NexStar = true coordinate + offset. */ |
---|
111 | |
---|
112 | static double offsetRA = 0; /* Correction to RA from NexStar */ |
---|
113 | static double offsetDec = 0; /* Correction to Dec from NexStar */ |
---|
114 | |
---|
115 | |
---|
116 | /* NexStar local commands */ |
---|
117 | |
---|
118 | void GetRAandDec(void); /* Update RA and Dec from NexStar */ |
---|
119 | |
---|
120 | |
---|
121 | /* Serial communication utilities */ |
---|
122 | |
---|
123 | |
---|
124 | typedef fd_set telfds; |
---|
125 | |
---|
126 | static int readn(int fd, char *ptr, int nbytes, int sec); |
---|
127 | static int writen(int fd, char *ptr, int nbytes); |
---|
128 | static int telstat(int fd,int sec,int usec); |
---|
129 | |
---|
130 | |
---|
131 | int CheckConnectTel(void) |
---|
132 | { |
---|
133 | return TelConnectFlag; |
---|
134 | } |
---|
135 | |
---|
136 | |
---|
137 | |
---|
138 | int ConnectTel(char *port) |
---|
139 | { |
---|
140 | #ifdef _WIN32 |
---|
141 | return -1; |
---|
142 | #else |
---|
143 | struct termios tty; |
---|
144 | char returnStr[128]; |
---|
145 | int numRead; |
---|
146 | |
---|
147 | fprintf(stderr, "Connecting to port: %s\n",port); |
---|
148 | |
---|
149 | if(TelConnectFlag != 0) |
---|
150 | return 0; |
---|
151 | |
---|
152 | /* Make the connection */ |
---|
153 | |
---|
154 | TelPortFD = open(port,O_RDWR); |
---|
155 | if(TelPortFD == -1) |
---|
156 | return -1; |
---|
157 | |
---|
158 | tcgetattr(TelPortFD,&tty); |
---|
159 | cfsetospeed(&tty, (speed_t) B9600); |
---|
160 | cfsetispeed(&tty, (speed_t) B9600); |
---|
161 | tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; |
---|
162 | tty.c_iflag = IGNBRK; |
---|
163 | tty.c_lflag = 0; |
---|
164 | tty.c_oflag = 0; |
---|
165 | tty.c_cflag |= CLOCAL | CREAD; |
---|
166 | tty.c_cc[VMIN] = 1; |
---|
167 | tty.c_cc[VTIME] = 5; |
---|
168 | tty.c_iflag &= ~(IXON|IXOFF|IXANY); |
---|
169 | tty.c_cflag &= ~(PARENB | PARODD); |
---|
170 | tcsetattr(TelPortFD, TCSANOW, &tty); |
---|
171 | |
---|
172 | /* Flush the input (read) buffer */ |
---|
173 | |
---|
174 | tcflush(TelPortFD,TCIOFLUSH); |
---|
175 | |
---|
176 | /* Test connection */ |
---|
177 | |
---|
178 | writen(TelPortFD,"Kx",2); |
---|
179 | numRead=readn(TelPortFD,returnStr,3,2); |
---|
180 | returnStr[numRead] = '\0'; |
---|
181 | |
---|
182 | /* Diagnostic tests */ |
---|
183 | |
---|
184 | fprintf(stderr, "ConnectTel read %d characters: %s\n",numRead,returnStr); |
---|
185 | fprintf(stderr, "TelConnectFlag set to: %d\n",TelConnectFlag); |
---|
186 | |
---|
187 | if (numRead == 2) |
---|
188 | { |
---|
189 | TelConnectFlag = 1; |
---|
190 | return (0); |
---|
191 | } |
---|
192 | else |
---|
193 | return -1; |
---|
194 | |
---|
195 | #endif |
---|
196 | } |
---|
197 | |
---|
198 | /* Assign and save slewRate for use in StartSlew */ |
---|
199 | |
---|
200 | void SetRate(int newRate) |
---|
201 | { |
---|
202 | if(newRate == SLEW) |
---|
203 | { |
---|
204 | slewRate = 9; |
---|
205 | } |
---|
206 | else if(newRate == FIND) |
---|
207 | { |
---|
208 | slewRate = 6; |
---|
209 | } |
---|
210 | else if(newRate == CENTER) |
---|
211 | { |
---|
212 | slewRate = 3; |
---|
213 | } |
---|
214 | else if(newRate == GUIDE) |
---|
215 | { |
---|
216 | slewRate = 1; |
---|
217 | } |
---|
218 | |
---|
219 | } |
---|
220 | |
---|
221 | |
---|
222 | /* Start a slew in chosen direction at slewRate */ |
---|
223 | /* Use auxilliary NexStar command set through the hand control computer */ |
---|
224 | |
---|
225 | void StartSlew(int direction) |
---|
226 | { |
---|
227 | char slewCmd[] = { 0x50, 0x02, 0x11, 0x24, 0x09, 0x00, 0x00, 0x00 }; |
---|
228 | char inputStr[2048]; |
---|
229 | |
---|
230 | if(direction == NORTH) |
---|
231 | { |
---|
232 | slewCmd[2] = 0x11; |
---|
233 | slewCmd[3] = 0x24; |
---|
234 | slewCmd[4] = slewRate; |
---|
235 | } |
---|
236 | else if(direction == EAST) |
---|
237 | { |
---|
238 | slewCmd[2] = 0x10; |
---|
239 | slewCmd[3] = 0x25; |
---|
240 | slewCmd[4] = slewRate; |
---|
241 | } |
---|
242 | else if(direction == SOUTH) |
---|
243 | { |
---|
244 | slewCmd[2] = 0x11; |
---|
245 | slewCmd[3] = 0x25; |
---|
246 | slewCmd[4] = slewRate; |
---|
247 | } |
---|
248 | else if(direction == WEST) |
---|
249 | { |
---|
250 | slewCmd[2] = 0x10; |
---|
251 | slewCmd[3] = 0x24; |
---|
252 | slewCmd[4] = slewRate; |
---|
253 | } |
---|
254 | |
---|
255 | writen(TelPortFD,slewCmd,8); |
---|
256 | |
---|
257 | /* Look for '#' acknowledgment of request*/ |
---|
258 | |
---|
259 | for (;;) |
---|
260 | { |
---|
261 | if ( readn(TelPortFD,inputStr,1,1) ) |
---|
262 | { |
---|
263 | if (inputStr[0] == '#') break; |
---|
264 | } |
---|
265 | else |
---|
266 | { |
---|
267 | fprintf(stderr,"No acknowledgment from telescope in StartSlew.\n"); |
---|
268 | } |
---|
269 | } |
---|
270 | } |
---|
271 | |
---|
272 | |
---|
273 | /* Stop the slew in chosen direction */ |
---|
274 | |
---|
275 | void StopSlew(int direction) |
---|
276 | { |
---|
277 | char slewCmd[] = { 0x50, 0x02, 0x11, 0x24, 0x00, 0x00, 0x00, 0x00 }; |
---|
278 | char inputStr[2048]; |
---|
279 | |
---|
280 | if(direction == NORTH) |
---|
281 | { |
---|
282 | slewCmd[2] = 0x11; |
---|
283 | slewCmd[3] = 0x24; |
---|
284 | } |
---|
285 | else if(direction == EAST) |
---|
286 | { |
---|
287 | slewCmd[2] = 0x10; |
---|
288 | slewCmd[3] = 0x24; |
---|
289 | } |
---|
290 | else if(direction == SOUTH) |
---|
291 | { |
---|
292 | slewCmd[2] = 0x11; |
---|
293 | slewCmd[3] = 0x24; |
---|
294 | } |
---|
295 | else if(direction == WEST) |
---|
296 | { |
---|
297 | slewCmd[2] = 0x10; |
---|
298 | slewCmd[3] = 0x24; |
---|
299 | } |
---|
300 | |
---|
301 | writen(TelPortFD,slewCmd,8); |
---|
302 | |
---|
303 | /* Look for '#' acknowledgment of request*/ |
---|
304 | |
---|
305 | for (;;) |
---|
306 | { |
---|
307 | if ( readn(TelPortFD,inputStr,1,1) ) |
---|
308 | { |
---|
309 | if (inputStr[0] == '#') break; |
---|
310 | } |
---|
311 | else |
---|
312 | { |
---|
313 | fprintf(stderr,"No acknowledgment from telescope in StartSlew.\n"); |
---|
314 | } |
---|
315 | } |
---|
316 | } |
---|
317 | |
---|
318 | void DisconnectTel(void) |
---|
319 | { |
---|
320 | /* printf("DisconnectTel\n"); */ |
---|
321 | if(TelConnectFlag == 1) |
---|
322 | close(TelPortFD); |
---|
323 | TelConnectFlag = 0; |
---|
324 | } |
---|
325 | |
---|
326 | |
---|
327 | /* Test update status and return the telescope right ascension */ |
---|
328 | /* Set updateRA flag false */ |
---|
329 | /* Last telescope readout will be returned if no RA inquiry since then */ |
---|
330 | /* Otherwise force a new readout */ |
---|
331 | /* Two successive calls to GetRA will always force a new readout */ |
---|
332 | |
---|
333 | double GetRA(void) |
---|
334 | { |
---|
335 | if( updateRA != 1) GetRAandDec(); |
---|
336 | updateRA = 0; |
---|
337 | return returnRA; |
---|
338 | } |
---|
339 | |
---|
340 | |
---|
341 | /* Test update status and return the telescope declination */ |
---|
342 | /* Set updateDec flag false */ |
---|
343 | /* Last telescope readout will returned if no Dec inquiry since then */ |
---|
344 | /* Otherwise force a new readout */ |
---|
345 | /* Two successive calls to GetDec will always force a new readout */ |
---|
346 | |
---|
347 | double GetDec(void) |
---|
348 | { |
---|
349 | if( updateDec != 1) GetRAandDec(); |
---|
350 | updateDec = 0; |
---|
351 | return returnDec; |
---|
352 | } |
---|
353 | |
---|
354 | |
---|
355 | /* Read the telescope right ascension and declination and set update status */ |
---|
356 | |
---|
357 | void GetRAandDec(void) |
---|
358 | { |
---|
359 | char returnStr[12]; |
---|
360 | int countRA,countDec; |
---|
361 | int numRead; |
---|
362 | |
---|
363 | writen(TelPortFD,"E",1); |
---|
364 | numRead=readn(TelPortFD,returnStr,10,1); |
---|
365 | returnStr[4] = returnStr[9] = '\0'; |
---|
366 | |
---|
367 | /* Diagnostic |
---|
368 | * |
---|
369 | * printf("GetRAandDec: %d read %x\n",numRead,returnStr); |
---|
370 | * |
---|
371 | */ |
---|
372 | |
---|
373 | sscanf(returnStr,"%x",&countRA); |
---|
374 | sscanf(returnStr+5,"%x:",&countDec); |
---|
375 | returnRA = (double) countRA; |
---|
376 | returnRA = returnRA / (3. * 15. * 60. * 65536./64800.); |
---|
377 | returnDec = (double) countDec; |
---|
378 | returnDec = returnDec / (3. * 60. * 65536./64800.); |
---|
379 | |
---|
380 | |
---|
381 | /* Account for the quadrant in declination */ |
---|
382 | |
---|
383 | /* 90 to 180 */ |
---|
384 | |
---|
385 | if ( (returnDec > 90.) && (returnDec <= 180.) ) |
---|
386 | { |
---|
387 | returnDec = 180. - returnDec; |
---|
388 | } |
---|
389 | |
---|
390 | |
---|
391 | /* 180 to 270 */ |
---|
392 | |
---|
393 | if ( (returnDec > 180.) && (returnDec <= 270.) ) |
---|
394 | { |
---|
395 | returnDec = returnDec - 270.; |
---|
396 | } |
---|
397 | |
---|
398 | |
---|
399 | /* 270 to 360 */ |
---|
400 | |
---|
401 | if ( (returnDec > 270.) && (returnDec <= 360.) ) |
---|
402 | { |
---|
403 | returnDec = returnDec - 360.; |
---|
404 | } |
---|
405 | |
---|
406 | |
---|
407 | /* Set update flags */ |
---|
408 | |
---|
409 | updateRA = 1; |
---|
410 | updateDec = 1; |
---|
411 | |
---|
412 | |
---|
413 | /* Correct for offsets and return true coordinate */ |
---|
414 | /* Coordinate reported by NexStar = true coordinate + offset. */ |
---|
415 | |
---|
416 | returnRA = returnRA - offsetRA; |
---|
417 | returnDec = returnDec - offsetDec; |
---|
418 | |
---|
419 | } |
---|
420 | |
---|
421 | |
---|
422 | |
---|
423 | /* Reset telescope coordinates to new coordinates by adjusting offsets*/ |
---|
424 | /* Coordinate reported by NexStar = true coordinate + offset. */ |
---|
425 | |
---|
426 | int SyncToCoords(double newRA, double newDec) |
---|
427 | { |
---|
428 | offsetRA = 0.; |
---|
429 | offsetDec = 0.; |
---|
430 | GetRAandDec(); |
---|
431 | offsetRA = returnRA - newRA; |
---|
432 | offsetDec = returnDec - newDec; |
---|
433 | |
---|
434 | return (0); |
---|
435 | } |
---|
436 | |
---|
437 | |
---|
438 | /* Slew to new coordinates */ |
---|
439 | /* Coordinate sent to NexStar = true coordinate + offset. */ |
---|
440 | |
---|
441 | int SlewToCoords(double newRA, double newDec) |
---|
442 | { |
---|
443 | int countRA,countDec; |
---|
444 | char r0,r1,r2,r3,d0,d1,d2,d3; |
---|
445 | double degs, hrs; |
---|
446 | char outputStr[32], inputStr[2048]; |
---|
447 | |
---|
448 | /* Add offsets */ |
---|
449 | |
---|
450 | hrs = newRA + offsetRA; |
---|
451 | degs = newDec + offsetDec; |
---|
452 | |
---|
453 | /* Convert float RA to integer count */ |
---|
454 | |
---|
455 | hrs = hrs*(3. * 15. * 60. * 65536./64800.); |
---|
456 | countRA = (int) hrs; |
---|
457 | |
---|
458 | |
---|
459 | /* Account for the quadrant in declination */ |
---|
460 | |
---|
461 | if ( (newDec >= 0.0) && (newDec <= 90.0) ) |
---|
462 | { |
---|
463 | degs = degs*(3. * 60. * 65536./64800.); |
---|
464 | } |
---|
465 | else if ( (newDec < 0.0) && (newDec >= -90.0) ) |
---|
466 | { |
---|
467 | degs = (360. + degs)*(3. * 60. * 65536./64800.); |
---|
468 | } |
---|
469 | else |
---|
470 | { |
---|
471 | fprintf(stderr,"Invalid newDec in SlewToCoords.\n"); |
---|
472 | return 1; |
---|
473 | } |
---|
474 | |
---|
475 | |
---|
476 | |
---|
477 | /* Convert float Declination to integer count */ |
---|
478 | |
---|
479 | countDec = (int) degs; |
---|
480 | |
---|
481 | |
---|
482 | /* Convert each integer count to four HEX characters */ |
---|
483 | /* Inline coding just to be fast */ |
---|
484 | |
---|
485 | |
---|
486 | if(countRA < 65536) |
---|
487 | { |
---|
488 | r0 = countRA % 16; |
---|
489 | if(r0 < 10) |
---|
490 | { |
---|
491 | r0 = r0 + 48; |
---|
492 | } |
---|
493 | else |
---|
494 | { |
---|
495 | r0 = r0 + 55; |
---|
496 | } |
---|
497 | countRA = countRA/16; |
---|
498 | r1 = countRA % 16; |
---|
499 | if(r1 < 10) |
---|
500 | { |
---|
501 | r1 = r1 + 48; |
---|
502 | } |
---|
503 | else |
---|
504 | { |
---|
505 | r1 = r1 + 55; |
---|
506 | } |
---|
507 | countRA = countRA/16; |
---|
508 | r2 = countRA % 16; |
---|
509 | if(r2 < 10) |
---|
510 | { |
---|
511 | r2 = r2 + 48; |
---|
512 | } |
---|
513 | else |
---|
514 | { |
---|
515 | r2 = r2 + 55; |
---|
516 | } |
---|
517 | r3 = countRA/16; |
---|
518 | if(r3 < 10) |
---|
519 | { |
---|
520 | r3 = r3 + 48; |
---|
521 | } |
---|
522 | else |
---|
523 | { |
---|
524 | r3 = r3 + 55; |
---|
525 | } |
---|
526 | } |
---|
527 | else |
---|
528 | { |
---|
529 | printf("RA count overflow in SlewToCoords.\n"); |
---|
530 | return 2; |
---|
531 | } |
---|
532 | if(countDec < 65536) |
---|
533 | { |
---|
534 | d0 = countDec % 16; |
---|
535 | if(d0 < 10) |
---|
536 | { |
---|
537 | d0 = d0 + 48; |
---|
538 | } |
---|
539 | else |
---|
540 | { |
---|
541 | d0 = d0 + 55; |
---|
542 | } |
---|
543 | countDec = countDec/16; |
---|
544 | d1 = countDec % 16; |
---|
545 | if(d1 < 10) |
---|
546 | { |
---|
547 | d1 = d1 + 48; |
---|
548 | } |
---|
549 | else |
---|
550 | { |
---|
551 | d1 = d1 + 55; |
---|
552 | } |
---|
553 | countDec = countDec/16; |
---|
554 | d2 = countDec % 16; |
---|
555 | if(d2 < 10) |
---|
556 | { |
---|
557 | d2 = d2 + 48; |
---|
558 | } |
---|
559 | else |
---|
560 | { |
---|
561 | d2 = d2 + 55; |
---|
562 | } |
---|
563 | d3 = countDec/16; |
---|
564 | if(d3 < 10) |
---|
565 | { |
---|
566 | d3 = d3 + 48; |
---|
567 | } |
---|
568 | else |
---|
569 | { |
---|
570 | d3 = d3 + 55; |
---|
571 | } |
---|
572 | } |
---|
573 | else |
---|
574 | { |
---|
575 | fprintf(stderr,"Dec count overflow in SlewToCoords.\n"); |
---|
576 | return 3; |
---|
577 | } |
---|
578 | |
---|
579 | |
---|
580 | |
---|
581 | /* Send the command and characters to the NexStar */ |
---|
582 | |
---|
583 | sprintf(outputStr,"R%c%c%c%c,%c%c%c%c",r3,r2,r1,r0,d3,d2,d1,d0); |
---|
584 | writen(TelPortFD,outputStr,10); |
---|
585 | |
---|
586 | /* Look for '#' in response */ |
---|
587 | |
---|
588 | for (;;) |
---|
589 | { |
---|
590 | if ( readn(TelPortFD,inputStr,1,2) ) |
---|
591 | { |
---|
592 | if (inputStr[0] == '#') break; |
---|
593 | } |
---|
594 | else |
---|
595 | fprintf(stderr,"No acknowledgment from telescope after SlewToCoords.\n"); |
---|
596 | return 4; |
---|
597 | } |
---|
598 | return 0; |
---|
599 | } |
---|
600 | |
---|
601 | |
---|
602 | /* Test whether the destination has been reached */ |
---|
603 | /* With the NexStar we use the goto in progress query */ |
---|
604 | /* Return value is */ |
---|
605 | /* 0 -- goto in progress */ |
---|
606 | /* 1 -- goto complete within tolerance */ |
---|
607 | /* 2 -- goto complete but outside tolerance */ |
---|
608 | |
---|
609 | int CheckCoords(double desRA, double desDec, double tolRA, double tolDEC) |
---|
610 | { |
---|
611 | double errorRA, errorDec, nowRA, nowDec; |
---|
612 | char inputStr[2048]; |
---|
613 | |
---|
614 | writen(TelPortFD,"L",1); |
---|
615 | |
---|
616 | /* Look for '0#' in response indicating goto is not in progress */ |
---|
617 | |
---|
618 | for (;;) |
---|
619 | { |
---|
620 | if ( readn(TelPortFD,inputStr,2,2) ) |
---|
621 | { |
---|
622 | if ( (inputStr[0] == '0') && (inputStr[1] == '#')) break; |
---|
623 | } |
---|
624 | else |
---|
625 | return 0; |
---|
626 | } |
---|
627 | |
---|
628 | |
---|
629 | nowRA=GetRA(); |
---|
630 | errorRA = nowRA - desRA; |
---|
631 | nowDec=GetDec(); |
---|
632 | errorDec = nowDec - desDec; |
---|
633 | |
---|
634 | |
---|
635 | /* For 6 minute of arc precision; change as needed. */ |
---|
636 | |
---|
637 | if( fabs(errorRA) > tolRA || fabs(errorDec) > tolDEC) |
---|
638 | return 1; |
---|
639 | else |
---|
640 | return 2; |
---|
641 | } |
---|
642 | |
---|
643 | |
---|
644 | /* Set lower and upper limits to protect hardware */ |
---|
645 | |
---|
646 | void SetLimits(double limitLower, double limitHigher) |
---|
647 | { |
---|
648 | limitLower = limitHigher; |
---|
649 | fprintf(stderr,"NexStar does not support software limits.\n"); |
---|
650 | } |
---|
651 | |
---|
652 | |
---|
653 | /* Set slew speed limited by MAXSLEWRATE */ |
---|
654 | |
---|
655 | int SetSlewRate(void) |
---|
656 | { |
---|
657 | fprintf(stderr,"NexStar does not support remote setting of slew rate.\n"); |
---|
658 | return 0; |
---|
659 | } |
---|
660 | |
---|
661 | |
---|
662 | |
---|
663 | /* Stop all slew motion */ |
---|
664 | |
---|
665 | void StopNSEW(void) |
---|
666 | { |
---|
667 | char inputStr[2048]; |
---|
668 | |
---|
669 | writen(TelPortFD,"M",1); |
---|
670 | |
---|
671 | /* Look for '#' */ |
---|
672 | |
---|
673 | for (;;) |
---|
674 | { |
---|
675 | if ( readn(TelPortFD,inputStr,1,1) ) |
---|
676 | { |
---|
677 | if (inputStr[0] == '#') break; |
---|
678 | } |
---|
679 | else |
---|
680 | { |
---|
681 | fprintf(stderr,"No acknowledgment from telescope in StopNSEW.\n"); |
---|
682 | } |
---|
683 | } |
---|
684 | } |
---|
685 | |
---|
686 | |
---|
687 | |
---|
688 | /* Control the reticle function using predefined values */ |
---|
689 | |
---|
690 | void Reticle(int reticle) |
---|
691 | { |
---|
692 | reticle = reticle; |
---|
693 | fprintf(stderr,"NexStar does not support remote setting of reticle.\n"); |
---|
694 | } |
---|
695 | |
---|
696 | |
---|
697 | /* Control the focus using predefined values */ |
---|
698 | |
---|
699 | void Focus(int focus) |
---|
700 | { |
---|
701 | focus = focus; |
---|
702 | fprintf(stderr,"NexStar does not support remote setting of focus.\n"); |
---|
703 | } |
---|
704 | |
---|
705 | |
---|
706 | |
---|
707 | /* Control the derotator using predefined values */ |
---|
708 | |
---|
709 | void Derotator(int rotate) |
---|
710 | |
---|
711 | { |
---|
712 | rotate = rotate; |
---|
713 | fprintf(stderr,"NexStar does not support an image derotator.\n"); |
---|
714 | } |
---|
715 | |
---|
716 | |
---|
717 | /* Control the fan using predefined values */ |
---|
718 | |
---|
719 | void Fan(int fan) |
---|
720 | |
---|
721 | { |
---|
722 | fan = fan; |
---|
723 | fprintf(stderr,"NexStar does not have a fan.\n"); |
---|
724 | } |
---|
725 | |
---|
726 | |
---|
727 | /* Time synchronization utilities */ |
---|
728 | |
---|
729 | /* Reset the telescope sidereal time */ |
---|
730 | |
---|
731 | int SyncLST(double newTime) |
---|
732 | { |
---|
733 | newTime = newTime; |
---|
734 | fprintf(stderr,"NexStar does not support remote setting of sidereal time.\n"); |
---|
735 | return -1; |
---|
736 | } |
---|
737 | |
---|
738 | |
---|
739 | /* Reset the telescope local time */ |
---|
740 | |
---|
741 | int SyncLocalTime() |
---|
742 | { |
---|
743 | fprintf(stderr,"NexStar does not support remote setting of local time.\n"); |
---|
744 | return -1; |
---|
745 | } |
---|
746 | |
---|
747 | |
---|
748 | |
---|
749 | |
---|
750 | /* Serial port utilities */ |
---|
751 | |
---|
752 | static int writen(fd, ptr, nbytes) |
---|
753 | int fd; |
---|
754 | char *ptr; |
---|
755 | int nbytes; |
---|
756 | { |
---|
757 | int nleft, nwritten; |
---|
758 | nleft = nbytes; |
---|
759 | while (nleft > 0) |
---|
760 | { |
---|
761 | nwritten = write (fd, ptr, nleft); |
---|
762 | if (nwritten <=0 ) break; |
---|
763 | nleft -= nwritten; |
---|
764 | ptr += nwritten; |
---|
765 | } |
---|
766 | return (nbytes - nleft); |
---|
767 | } |
---|
768 | |
---|
769 | static int readn(fd, ptr, nbytes, sec) |
---|
770 | int fd; |
---|
771 | char *ptr; |
---|
772 | int nbytes; |
---|
773 | int sec; |
---|
774 | { |
---|
775 | int status; |
---|
776 | int nleft, nread; |
---|
777 | nleft = nbytes; |
---|
778 | while (nleft > 0) |
---|
779 | { |
---|
780 | status = telstat(fd,sec,0); |
---|
781 | if (status <= 0 ) break; |
---|
782 | nread = read (fd, ptr, nleft); |
---|
783 | |
---|
784 | /* Diagnostic */ |
---|
785 | |
---|
786 | /* printf("readn: %d read\n", nread); */ |
---|
787 | |
---|
788 | if (nread <= 0) break; |
---|
789 | nleft -= nread; |
---|
790 | ptr += nread; |
---|
791 | } |
---|
792 | return (nbytes - nleft); |
---|
793 | } |
---|
794 | |
---|
795 | /* |
---|
796 | * Examines the read status of a file descriptor. |
---|
797 | * The timeout (sec, usec) specifies a maximum interval to |
---|
798 | * wait for data to be available in the descriptor. |
---|
799 | * To effect a poll, the timeout (sec, usec) should be 0. |
---|
800 | * Returns non-negative value on data available. |
---|
801 | * 0 indicates that the time limit referred by timeout expired. |
---|
802 | * On failure, it returns -1 and errno is set to indicate the |
---|
803 | * error. |
---|
804 | */ |
---|
805 | static int telstat(fd,sec,usec) |
---|
806 | register int fd, sec, usec; |
---|
807 | { |
---|
808 | int ret; |
---|
809 | int width; |
---|
810 | struct timeval timeout; |
---|
811 | telfds readfds; |
---|
812 | |
---|
813 | memset((char *)&readfds,0,sizeof(readfds)); |
---|
814 | FD_SET(fd, &readfds); |
---|
815 | width = fd+1; |
---|
816 | timeout.tv_sec = sec; |
---|
817 | timeout.tv_usec = usec; |
---|
818 | ret = select(width,&readfds,NULL_PTR(telfds),NULL_PTR(telfds),&timeout); |
---|
819 | return(ret); |
---|
820 | } |
---|
821 | |
---|