1 | /* |
---|
2 | LX200 Astro-Physics INDI driver, tested with controller software version D |
---|
3 | Copyright (C) 2007 Markus Wildi based on the work of Jasem Mutlaq |
---|
4 | (mutlaqja@ikarustech.com) |
---|
5 | |
---|
6 | This library is free software; you can redistribute it and/or |
---|
7 | modify it under the terms of the GNU Lesser General Public |
---|
8 | License as published by the Free Software Foundation; either |
---|
9 | version 2.1 of the License, or (at your option) any later version. |
---|
10 | |
---|
11 | This library is distributed in the hope that it will be useful, |
---|
12 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
---|
13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
---|
14 | Lesser General Public License for more details. |
---|
15 | |
---|
16 | You should have received a copy of the GNU Lesser General Public |
---|
17 | License along with this library; if not, write to the Free Software |
---|
18 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
---|
19 | |
---|
20 | */ |
---|
21 | |
---|
22 | |
---|
23 | //HAVE_NOVASCC_H: NOVAS-C, Version 2.0.1, Astronomical Applications Dept. |
---|
24 | //U.S. Naval Observatory, Washington, DC 20392-5420 http://aa.usno.navy.mil/AA/ |
---|
25 | //#define HAVE_NOVASCC_H |
---|
26 | //HAVE_NOVA_H: http://libnova.sourceforge.net/ |
---|
27 | //#define HAVE_NOVA_H |
---|
28 | |
---|
29 | #include "lx200ap.h" |
---|
30 | #include "lx200driver.h" |
---|
31 | #include "lx200apdriver.h" |
---|
32 | #include "lx200aplib.h" |
---|
33 | |
---|
34 | #include <config.h> |
---|
35 | |
---|
36 | #ifdef HAVE_NOVA_H |
---|
37 | #include <libnova.h> |
---|
38 | #endif |
---|
39 | |
---|
40 | #include <stdio.h> |
---|
41 | #include <stdlib.h> |
---|
42 | #include <string.h> |
---|
43 | #include <unistd.h> |
---|
44 | |
---|
45 | #define COMM_GROUP "Communication" |
---|
46 | #define BASIC_GROUP "Main Control" |
---|
47 | #define MOTION_GROUP "Motion Control" |
---|
48 | #define FIRMWARE_GROUP "Firmware data" |
---|
49 | #define SETTINGS_GROUP "Settings" |
---|
50 | #define ATMOSPHERE_GROUP "Atmosphere" |
---|
51 | #define MOUNT_GROUP "Mounting" |
---|
52 | |
---|
53 | /* Handy Macros */ |
---|
54 | #define currentRA EquatorialCoordsRNP.np[0].value |
---|
55 | #define currentDEC EquatorialCoordsRNP.np[1].value |
---|
56 | #define targetRA EquatorialCoordsWNP.np[0].value |
---|
57 | #define targetDEC EquatorialCoordsWNP.np[1].value |
---|
58 | #define currentAZ HorizontalCoordsRNP.np[0].value |
---|
59 | #define currentALT HorizontalCoordsRNP.np[1].value |
---|
60 | #define targetAZ HorizontalCoordsWNP.np[0].value |
---|
61 | #define targetALT HorizontalCoordsWNP.np[1].value |
---|
62 | |
---|
63 | /* SNOOP */ |
---|
64 | |
---|
65 | #define CONTROL_GROUP "Control" |
---|
66 | |
---|
67 | /* Do not forget to remove static in lx200generic.cpp */ |
---|
68 | extern INumberVectorProperty EquatorialCoordsWNP; |
---|
69 | extern INumberVectorProperty EquatorialCoordsRNP; |
---|
70 | extern ITextVectorProperty PortTP ; |
---|
71 | extern ISwitchVectorProperty MovementNSSP ; |
---|
72 | extern ISwitchVectorProperty MovementWESP ; |
---|
73 | extern ISwitchVectorProperty ConnectSP ; |
---|
74 | extern ISwitchVectorProperty AbortSlewSP ; |
---|
75 | extern ISwitchVectorProperty OnCoordSetSP ; |
---|
76 | extern INumberVectorProperty geoNP ; |
---|
77 | extern INumberVectorProperty TrackingAccuracyNP ; |
---|
78 | extern INumberVectorProperty SlewAccuracyNP ; |
---|
79 | |
---|
80 | /* Communication */ |
---|
81 | |
---|
82 | static ISwitch DomeControlS[] = |
---|
83 | { |
---|
84 | {"ON" , "on" , ISS_ON, 0, 0}, |
---|
85 | {"OFF" , "off" , ISS_OFF, 0, 0}, |
---|
86 | }; |
---|
87 | |
---|
88 | ISwitchVectorProperty DomeControlSP = |
---|
89 | { |
---|
90 | myapdev, "DOMECONTROL" , "Dome control", COMM_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, DomeControlS, NARRAY(DomeControlS), "", 0 |
---|
91 | }; |
---|
92 | |
---|
93 | static ISwitch StartUpS[] = |
---|
94 | { |
---|
95 | {"COLD" , "cold" , ISS_OFF, 0, 0}, |
---|
96 | {"WARM" , "warm" , ISS_ON, 0, 0}, |
---|
97 | }; |
---|
98 | |
---|
99 | ISwitchVectorProperty StartUpSP = |
---|
100 | { |
---|
101 | myapdev, "STARTUP" , "Mount init.", COMM_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, StartUpS, NARRAY(StartUpS), "", 0 |
---|
102 | }; |
---|
103 | |
---|
104 | /* Main control */ |
---|
105 | #if defined HAVE_NOVA_H || defined HAVE_NOVASCC_H |
---|
106 | static ISwitch ApparentToObservedS[] = |
---|
107 | { |
---|
108 | {"NCTC" , "identity" , ISS_ON, 0, 0}, |
---|
109 | {"NATR" , "app. to refracted" , ISS_OFF, 0, 0}, |
---|
110 | {"NARTT" , "app., refr., telescope" , ISS_OFF, 0, 0}, |
---|
111 | {"NARTTO" , "app., refr., tel., observed" , ISS_OFF, 0, 0}, |
---|
112 | }; |
---|
113 | |
---|
114 | ISwitchVectorProperty ApparentToObservedSP = |
---|
115 | { |
---|
116 | myapdev, "TRANSFORMATION" , "Transformation", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, ApparentToObservedS, NARRAY(ApparentToObservedS), "", 0 |
---|
117 | }; |
---|
118 | #endif |
---|
119 | |
---|
120 | static INumber HourangleCoordsN[] = |
---|
121 | { |
---|
122 | {"HA", "HA H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, |
---|
123 | {"Dec", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0}, |
---|
124 | }; |
---|
125 | static INumberVectorProperty HourangleCoordsNP = |
---|
126 | { |
---|
127 | myapdev, "HOURANGLE_COORD", "Hourangle Coords", BASIC_GROUP, IP_RO, 0., IPS_IDLE, HourangleCoordsN, NARRAY( HourangleCoordsN), "", 0 |
---|
128 | }; |
---|
129 | static INumber HorizontalCoordsRN[] = |
---|
130 | { |
---|
131 | {"AZ", "Az D:M:S", "%10.6m", 0., 360., 0., 0., 0, 0, 0}, |
---|
132 | {"ALT", "Alt D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0} |
---|
133 | }; |
---|
134 | static INumberVectorProperty HorizontalCoordsRNP = |
---|
135 | { |
---|
136 | myapdev, "HORIZONTAL_COORD", "Horizontal Coords", BASIC_GROUP, IP_RO, 120, IPS_IDLE, HorizontalCoordsRN, NARRAY(HorizontalCoordsRN), "", 0 |
---|
137 | }; |
---|
138 | |
---|
139 | /* Horizontal Coordinates: Request Only */ |
---|
140 | static INumber HorizontalCoordsWN[] = |
---|
141 | { |
---|
142 | {"AZ", "Az D:M:S", "%10.6m", 0., 360., 0., 0., 0, 0, 0}, |
---|
143 | {"ALT", "Alt D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0} |
---|
144 | }; |
---|
145 | static INumberVectorProperty HorizontalCoordsWNP = |
---|
146 | { |
---|
147 | myapdev, "HORIZONTAL_COORD_REQUEST", "Horizontal Coords", BASIC_GROUP, IP_WO, 120, IPS_IDLE, HorizontalCoordsWN, NARRAY(HorizontalCoordsWN), "", 0 |
---|
148 | }; |
---|
149 | /* Difference of the equatorial coordinates, used to estimate the applied corrections */ |
---|
150 | static INumber DiffEquatorialCoordsN[] = |
---|
151 | { |
---|
152 | {"RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, |
---|
153 | {"Dec", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0}, |
---|
154 | }; |
---|
155 | static INumberVectorProperty DiffEquatorialCoordsNP = |
---|
156 | { |
---|
157 | myapdev, "DIFFEQUATORIAL_COORD", "Diff. Eq.", BASIC_GROUP, IP_RO, 0., IPS_IDLE, DiffEquatorialCoordsN, NARRAY( DiffEquatorialCoordsN), "", 0 |
---|
158 | }; |
---|
159 | |
---|
160 | static ISwitch TrackModeS[] = { |
---|
161 | {"LUNAR" , "lunar" , ISS_OFF, 0, 0}, |
---|
162 | {"SOLAR" , "solar" , ISS_OFF, 0, 0}, |
---|
163 | {"SIDEREAL", "sidereal" , ISS_OFF, 0, 0}, |
---|
164 | {"ZERO" , "zero" , ISS_ON, 0, 0}, |
---|
165 | }; |
---|
166 | ISwitchVectorProperty TrackModeSP = |
---|
167 | { |
---|
168 | myapdev, "TRACKINGMODE" , "Tracking mode", MOTION_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, TrackModeS, NARRAY(TrackModeS), "", 0 |
---|
169 | }; |
---|
170 | static ISwitch MoveToRateS[] = { |
---|
171 | {"1200" , "1200x" , ISS_OFF, 0, 0}, |
---|
172 | {"600" , "600x" , ISS_OFF, 0, 0}, |
---|
173 | {"64" , "64x" , ISS_ON, 0, 0}, |
---|
174 | {"12" , "12x" , ISS_OFF, 0, 0}, |
---|
175 | }; |
---|
176 | |
---|
177 | ISwitchVectorProperty MoveToRateSP = |
---|
178 | { |
---|
179 | myapdev, "MOVETORATE" , "Move to rate", MOTION_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, MoveToRateS, NARRAY(MoveToRateS), "", 0 |
---|
180 | }; |
---|
181 | static ISwitch SlewRateS[] = { |
---|
182 | {"1200" , "1200x" , ISS_OFF, 0, 0}, |
---|
183 | {"900" , "900x" , ISS_OFF, 0, 0}, |
---|
184 | {"600" , "600x" , ISS_ON, 0, 0}, |
---|
185 | }; |
---|
186 | |
---|
187 | ISwitchVectorProperty SlewRateSP = |
---|
188 | { |
---|
189 | myapdev, "SLEWRATE" , "Slew rate", MOTION_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, SlewRateS, NARRAY(SlewRateS), "", 0 |
---|
190 | }; |
---|
191 | static ISwitch SwapS[] = { |
---|
192 | {"NS" , "North/Sounth" , ISS_OFF, 0, 0}, |
---|
193 | {"EW" , "East/West" , ISS_OFF, 0, 0}, |
---|
194 | }; |
---|
195 | |
---|
196 | ISwitchVectorProperty SwapSP = |
---|
197 | { |
---|
198 | myapdev, "SWAP" , "Swap buttons", MOTION_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, SwapS, NARRAY(SwapS), "", 0 |
---|
199 | }; |
---|
200 | static ISwitch SyncCMRS[] = { |
---|
201 | {":CM#" , ":CM#" , ISS_ON, 0, 0}, |
---|
202 | {":CMR#" , ":CMR#" , ISS_OFF, 0, 0}, |
---|
203 | }; |
---|
204 | |
---|
205 | ISwitchVectorProperty SyncCMRSP = |
---|
206 | { |
---|
207 | myapdev, "SYNCCMR" , "Sync", MOTION_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, SyncCMRS, NARRAY(SyncCMRS), "", 0 |
---|
208 | }; |
---|
209 | |
---|
210 | /* Firmware data */ |
---|
211 | |
---|
212 | static IText VersionT[] = |
---|
213 | { |
---|
214 | // AP has only versionnumber |
---|
215 | { "Number", "", 0, 0, 0 ,0} |
---|
216 | }; |
---|
217 | |
---|
218 | static ITextVectorProperty VersionInfo = |
---|
219 | { |
---|
220 | myapdev, "Firmware Info", "", FIRMWARE_GROUP, IP_RO, 0, IPS_IDLE, VersionT, NARRAY(VersionT), "" ,0 |
---|
221 | }; |
---|
222 | |
---|
223 | /* Mount */ |
---|
224 | |
---|
225 | static IText DeclinationAxisT[] = |
---|
226 | { |
---|
227 | { "RELHA", "rel. to HA", 0, 0, 0, 0} , |
---|
228 | }; |
---|
229 | |
---|
230 | static ITextVectorProperty DeclinationAxisTP = |
---|
231 | { |
---|
232 | myapdev, "DECLINATIONAXIS", "Declination axis", MOUNT_GROUP, IP_RO, 0, IPS_IDLE, DeclinationAxisT, NARRAY(DeclinationAxisT), "" ,0 |
---|
233 | }; |
---|
234 | static INumber APLocalTimeN[] = |
---|
235 | { |
---|
236 | {"VALUE", "H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, |
---|
237 | }; |
---|
238 | static INumberVectorProperty APLocalTimeNP = |
---|
239 | { |
---|
240 | myapdev, "APLOCALTIME", "AP local time", MOUNT_GROUP, IP_RO, 0., IPS_IDLE, APLocalTimeN, NARRAY(APLocalTimeN), "", 0 |
---|
241 | }; |
---|
242 | static INumber APSiderealTimeN[] = |
---|
243 | { |
---|
244 | {"VALUE", "H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, |
---|
245 | }; |
---|
246 | static INumberVectorProperty APSiderealTimeNP = |
---|
247 | { |
---|
248 | myapdev, "APSIDEREALTIME", "AP sidereal time", MOUNT_GROUP, IP_RO, 0., IPS_IDLE, APSiderealTimeN, NARRAY(APSiderealTimeN), "", 0 |
---|
249 | }; |
---|
250 | |
---|
251 | static INumber APUTCOffsetN[] = |
---|
252 | { |
---|
253 | {"VALUE", "H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, |
---|
254 | }; |
---|
255 | static INumberVectorProperty APUTCOffsetNP = |
---|
256 | { |
---|
257 | myapdev, "APUTCOFFSET", "AP UTC Offset", MOUNT_GROUP, IP_RW, 0., IPS_IDLE, APUTCOffsetN, NARRAY(APUTCOffsetN), "", 0 |
---|
258 | }; |
---|
259 | |
---|
260 | static INumber HourAxisN[] = |
---|
261 | { |
---|
262 | {"THETA", "Theta D:M:S", "%10.6m", 0., 360., 0., 0., 0, 0, 0}, // 0., it points to the apparent pole |
---|
263 | {"GAMMA", "Gamma D:M:S", "%10.6m", 0., 90., 0., 0., 0, 0, 0}, |
---|
264 | }; |
---|
265 | static INumberVectorProperty HourAxisNP = |
---|
266 | { |
---|
267 | myapdev, "HOURAXIS", "Hour axis", MOUNT_GROUP, IP_RW, 0., IPS_IDLE, HourAxisN, NARRAY(HourAxisN), "", 0 |
---|
268 | }; |
---|
269 | |
---|
270 | /* Atmosphere */ |
---|
271 | static INumber AirN[] = |
---|
272 | { |
---|
273 | {"TEMPERATURE", "Temperature K", "%10.2f", 0., 383.1, 0., 283.1, 0, 0, 0}, |
---|
274 | {"PRESSURE", "Pressure hPa", "%10.2f", 0., 1300., 0., 975., 0, 0, 0}, |
---|
275 | {"HUMIDITY", "Humidity Perc.", "%10.2f", 0., 100., 0., 70., 0, 0, 0}, |
---|
276 | }; |
---|
277 | static INumberVectorProperty AirNP = |
---|
278 | { |
---|
279 | myapdev, "ATMOSPHERE", "Atmosphere", ATMOSPHERE_GROUP, IP_RW, 0., IPS_IDLE, AirN, NARRAY(AirN), "", 0 |
---|
280 | }; |
---|
281 | |
---|
282 | /* Settings Group */ |
---|
283 | static IText ConnectionDCODT[] = |
---|
284 | { |
---|
285 | { "DEVICE", "Device", 0, 0, 0, 0} , |
---|
286 | { "PROPERTY", "Property", 0, 0, 0, 0} |
---|
287 | }; |
---|
288 | static ITextVectorProperty ConnectionDCODTP = |
---|
289 | { |
---|
290 | myapdev, "SNOOPCONNECTIONDC", "Snoop dc connection", SETTINGS_GROUP, IP_RW, 0, IPS_IDLE, ConnectionDCODT, NARRAY(ConnectionDCODT), "" ,0 |
---|
291 | }; |
---|
292 | static IText MasterAlarmODT[]= |
---|
293 | { |
---|
294 | { "DEVICE", "Device", 0, 0, 0, 0} , |
---|
295 | { "PROPERTY", "Property", 0, 0, 0, 0} |
---|
296 | }; |
---|
297 | static ITextVectorProperty MasterAlarmODTP = |
---|
298 | { |
---|
299 | myapdev, "SNOOPMASTERALARM", "Snoop dc master alarm", SETTINGS_GROUP, IP_RW, 0, IPS_IDLE, MasterAlarmODT, NARRAY(MasterAlarmODT), "" ,0 |
---|
300 | }; |
---|
301 | static IText ModeDCODT[] = |
---|
302 | { |
---|
303 | { "DEVICE", "Device", 0, 0, 0, 0} , |
---|
304 | { "PROPERTY", "Property", 0, 0, 0, 0} |
---|
305 | }; |
---|
306 | static ITextVectorProperty ModeDCODTP = |
---|
307 | { |
---|
308 | myapdev, "SNOOPMODEDC", "Snoop dc mode", SETTINGS_GROUP, IP_RW, 0, IPS_IDLE, ModeDCODT, NARRAY(ModeDCODT), "" ,0 |
---|
309 | }; |
---|
310 | /******************************************** |
---|
311 | Property: Park telescope to HOME |
---|
312 | *********************************************/ |
---|
313 | |
---|
314 | static ISwitch ParkS[] = |
---|
315 | { |
---|
316 | {"PARK", "Park", ISS_OFF, 0, 0}, |
---|
317 | }; |
---|
318 | static ISwitchVectorProperty ParkSP = |
---|
319 | { |
---|
320 | myapdev, "TELESCOPE_PARK", "Park Scope", BASIC_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE, ParkS, NARRAY(ParkS), "", 0 |
---|
321 | }; |
---|
322 | |
---|
323 | /* SNOOPed properties */ |
---|
324 | |
---|
325 | static ISwitch ConnectionDCS[] = |
---|
326 | { |
---|
327 | {"CONNECT", "Connect", ISS_OFF, 0, 0}, |
---|
328 | {"DISCONNECT", "Disconnect", ISS_OFF, 0, 0}, |
---|
329 | }; |
---|
330 | |
---|
331 | static ISwitchVectorProperty ConnectionDCSP = |
---|
332 | { |
---|
333 | "dc", "CONNECTION", "Connection", CONTROL_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, ConnectionDCS, NARRAY(ConnectionDCS), "", 0 |
---|
334 | }; |
---|
335 | |
---|
336 | static ISwitch MasterAlarmS[] = |
---|
337 | { |
---|
338 | {"OFF", "off", ISS_OFF, 0, 0}, |
---|
339 | {"DANGER", "danger", ISS_OFF, 0, 0}, |
---|
340 | {"ON", "ON", ISS_OFF, 0, 0}, |
---|
341 | {"RESET", "reset", ISS_OFF, 0, 0}, |
---|
342 | }; |
---|
343 | |
---|
344 | static ISwitchVectorProperty MasterAlarmSP = |
---|
345 | { |
---|
346 | "dc", "MASTERALARM", "Master alarm", CONTROL_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, MasterAlarmS, NARRAY(MasterAlarmS), "", 0 |
---|
347 | }; |
---|
348 | static ISwitch ModeS[] = { |
---|
349 | {"MANUAL", "manual", ISS_ON, 0, 0}, |
---|
350 | {"DOMECONTROL", "dome control", ISS_OFF, 0, 0} |
---|
351 | }; |
---|
352 | |
---|
353 | static ISwitchVectorProperty ModeSP = { |
---|
354 | "dc", "MODE", "Mode", CONTROL_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, ModeS, NARRAY(ModeS), "", 0 |
---|
355 | }; |
---|
356 | |
---|
357 | void changeLX200AstroPhysicsDeviceName(const char *newName) |
---|
358 | { |
---|
359 | strcpy(VersionInfo.device, newName); |
---|
360 | strcpy(ParkSP.device, newName); |
---|
361 | strcpy(AirNP.device, newName); |
---|
362 | strcpy(ConnectionDCODTP.device, newName); |
---|
363 | strcpy(MasterAlarmODTP.device, newName); |
---|
364 | strcpy(ModeDCODTP.device, newName); |
---|
365 | strcpy(TrackModeSP.device, newName); |
---|
366 | strcpy(MovementNSSP.device, newName); |
---|
367 | strcpy(MovementWESP.device, newName); |
---|
368 | strcpy(MoveToRateSP.device, newName); |
---|
369 | strcpy(SlewRateSP.device, newName); |
---|
370 | strcpy(SwapSP.device, newName); |
---|
371 | strcpy(SyncCMRSP.device, newName); |
---|
372 | strcpy(DeclinationAxisTP.device, newName); |
---|
373 | strcpy(APLocalTimeNP.device, newName); |
---|
374 | strcpy(APSiderealTimeNP.device, newName); |
---|
375 | strcpy(HourAxisNP.device, newName); |
---|
376 | strcpy(APUTCOffsetNP.device, newName); |
---|
377 | #if defined HAVE_NOVA_H || defined HAVE_NOVASCC_H |
---|
378 | strcpy(ApparentToObservedSP.device, newName); |
---|
379 | #endif |
---|
380 | strcpy(HourangleCoordsNP.device, newName); |
---|
381 | strcpy(HorizontalCoordsWNP.device, newName); |
---|
382 | strcpy(HorizontalCoordsRNP.device, newName); |
---|
383 | strcpy(EquatorialCoordsWNP.device, newName); |
---|
384 | strcpy(EquatorialCoordsRNP.device, newName); |
---|
385 | strcpy(DiffEquatorialCoordsNP.device, newName); |
---|
386 | strcpy(StartUpSP.device, newName); |
---|
387 | strcpy(DomeControlSP.device, newName); |
---|
388 | } |
---|
389 | |
---|
390 | /* Constructor */ |
---|
391 | |
---|
392 | LX200AstroPhysics::LX200AstroPhysics() : LX200Generic() |
---|
393 | { |
---|
394 | const char dev[]= "/dev/apmount" ; |
---|
395 | const char status[]= "undefined" ; |
---|
396 | IUSaveText(&ConnectionDCODT[0], ConnectionDCSP.device); |
---|
397 | IUSaveText(&ConnectionDCODT[1], ConnectionDCSP.name); |
---|
398 | IUSaveText(&MasterAlarmODT[0], MasterAlarmSP.device); |
---|
399 | IUSaveText(&MasterAlarmODT[1], MasterAlarmSP.name); |
---|
400 | IUSaveText(&ModeDCODT[0], ModeSP.device); |
---|
401 | IUSaveText(&ModeDCODT[1], ModeSP.name); |
---|
402 | |
---|
403 | |
---|
404 | IUSaveText(&PortTP.tp[0], dev); |
---|
405 | IUSaveText(&DeclinationAxisTP.tp[0], status); |
---|
406 | } |
---|
407 | void LX200AstroPhysics::ISGetProperties (const char *dev) |
---|
408 | { |
---|
409 | if (dev && strcmp (thisDevice, dev)) |
---|
410 | return; |
---|
411 | |
---|
412 | LX200Generic::ISGetProperties(dev); |
---|
413 | |
---|
414 | IDDelete(thisDevice, "TELESCOPE_PARK", NULL); |
---|
415 | IDDefSwitch (&ParkSP, NULL); |
---|
416 | IDDefText(&VersionInfo, NULL); |
---|
417 | |
---|
418 | /* Communication group */ |
---|
419 | |
---|
420 | // AstroPhysics has no alignment mode |
---|
421 | IDDelete(thisDevice, "Alignment", NULL); |
---|
422 | IDDefSwitch (&StartUpSP, NULL); |
---|
423 | IDDefSwitch (&DomeControlSP, NULL); |
---|
424 | |
---|
425 | /* Main Group */ |
---|
426 | #if defined HAVE_NOVA_H || defined HAVE_NOVASCC_H |
---|
427 | IDDefSwitch(&ApparentToObservedSP, NULL); |
---|
428 | #endif |
---|
429 | IDDefNumber(&HourangleCoordsNP, NULL) ; |
---|
430 | IDDefNumber(&HorizontalCoordsWNP, NULL); |
---|
431 | IDDefNumber(&HorizontalCoordsRNP, NULL); |
---|
432 | IDDelete(thisDevice, "EQUATORIAL_EOD_COORD_REQUEST", NULL); |
---|
433 | IDDelete(thisDevice, "EQUATORIAL_EOD_COORD", NULL); |
---|
434 | IDDefNumber(&EquatorialCoordsWNP, NULL); |
---|
435 | IDDefNumber(&EquatorialCoordsRNP, NULL); |
---|
436 | IDDefNumber(&DiffEquatorialCoordsNP, NULL); |
---|
437 | /* Date&Time group */ |
---|
438 | IDDelete(thisDevice, "TIME_UTC_OFFSET", NULL); |
---|
439 | IDDefText(&DeclinationAxisTP, NULL); |
---|
440 | /* Mount group */ |
---|
441 | |
---|
442 | IDDefText(&DeclinationAxisTP, NULL); |
---|
443 | IDDefNumber(&APLocalTimeNP, NULL); |
---|
444 | IDDefNumber(&APSiderealTimeNP, NULL); |
---|
445 | IDDefNumber(&APUTCOffsetNP, NULL); |
---|
446 | IDDefNumber(&HourAxisNP, NULL); |
---|
447 | |
---|
448 | /* Atmosphere group */ |
---|
449 | |
---|
450 | IDDefNumber (&AirNP, NULL); |
---|
451 | |
---|
452 | /* Settings group */ |
---|
453 | |
---|
454 | IDDefText (&ConnectionDCODTP, NULL); |
---|
455 | IDDefText (&MasterAlarmODTP, NULL); |
---|
456 | IDDefText (&ModeDCODTP, NULL); |
---|
457 | |
---|
458 | // AstroPhysics, we have no focuser, therefore, we don't need the classical one |
---|
459 | IDDelete(thisDevice, "FOCUS_MODE", NULL); |
---|
460 | IDDelete(thisDevice, "FOCUS_MOTION", NULL); |
---|
461 | IDDelete(thisDevice, "FOCUS_TIMER", NULL); |
---|
462 | |
---|
463 | /* Motion group */ |
---|
464 | IDDelete(thisDevice, "Slew rate", NULL); |
---|
465 | IDDelete(thisDevice, "Tracking Mode", NULL); |
---|
466 | IDDelete(thisDevice, "Tracking Frequency", NULL); /* AP does not have :GT, :ST commands */ |
---|
467 | |
---|
468 | IDDefSwitch (&TrackModeSP, NULL); |
---|
469 | IDDefSwitch (&MovementNSSP, NULL); |
---|
470 | IDDefSwitch (&MovementWESP, NULL); |
---|
471 | IDDefSwitch (&MoveToRateSP, NULL); |
---|
472 | IDDefSwitch (&SlewRateSP, NULL); |
---|
473 | IDDefSwitch (&SwapSP, NULL); |
---|
474 | IDDefSwitch (&SyncCMRSP, NULL); |
---|
475 | |
---|
476 | /* Site management */ |
---|
477 | /* Astro Physics has no commands to retrieve the values */ |
---|
478 | /* True for all three control boxes and the software and C-KE1, G-L*/ |
---|
479 | IDDelete(thisDevice, "Sites", NULL); |
---|
480 | IDDelete(thisDevice, "Site Name", NULL); |
---|
481 | |
---|
482 | } |
---|
483 | |
---|
484 | void LX200AstroPhysics::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
---|
485 | { |
---|
486 | IText *tp=NULL; |
---|
487 | |
---|
488 | // ignore if not ours // |
---|
489 | if (strcmp (dev, thisDevice)) |
---|
490 | return; |
---|
491 | |
---|
492 | // =================================== |
---|
493 | // Snoop DC Connection |
---|
494 | // =================================== |
---|
495 | if (!strcmp(name, ConnectionDCODTP.name) ) |
---|
496 | { |
---|
497 | tp = IUFindText( &ConnectionDCODTP, names[0] ); |
---|
498 | if (!tp) |
---|
499 | return; |
---|
500 | |
---|
501 | IUSaveText(tp, texts[0]); |
---|
502 | tp = IUFindText( &ConnectionDCODTP, names[1] ); |
---|
503 | if (!tp) |
---|
504 | return; |
---|
505 | |
---|
506 | ConnectionDCODTP.s = IPS_OK; |
---|
507 | IUSaveText(tp, texts[1]); |
---|
508 | |
---|
509 | IDSnoopDevice( ConnectionDCODT[0].text, ConnectionDCODT[1].text); |
---|
510 | |
---|
511 | ConnectionDCODTP.s= IPS_OK ; |
---|
512 | IDSetText (&ConnectionDCODTP, "Snooping property %s at device %s", ConnectionDCODT[1].text, ConnectionDCODT[0].text); |
---|
513 | return; |
---|
514 | } |
---|
515 | |
---|
516 | // =================================== |
---|
517 | // Master Alarm |
---|
518 | // =================================== |
---|
519 | if (!strcmp(name, MasterAlarmODTP.name) ) |
---|
520 | { |
---|
521 | tp = IUFindText( &MasterAlarmODTP, names[0] ); |
---|
522 | if (!tp) |
---|
523 | return; |
---|
524 | |
---|
525 | IUSaveText(tp, texts[0]); |
---|
526 | |
---|
527 | tp = IUFindText( &MasterAlarmODTP, names[1] ); |
---|
528 | if (!tp) |
---|
529 | return; |
---|
530 | IUSaveText(tp, texts[1]); |
---|
531 | |
---|
532 | IDSnoopDevice( MasterAlarmODT[0].text, MasterAlarmODT[1].text); |
---|
533 | |
---|
534 | MasterAlarmODTP.s= IPS_OK ; |
---|
535 | IDSetText (&MasterAlarmODTP, "Snooping property %s at device %s", MasterAlarmODT[1].text, MasterAlarmODT[0].text) ; |
---|
536 | return; |
---|
537 | } |
---|
538 | |
---|
539 | // =================================== |
---|
540 | // Snope DC Mode |
---|
541 | // =================================== |
---|
542 | if (!strcmp(name, ModeDCODTP.name) ) |
---|
543 | { |
---|
544 | tp = IUFindText( &ModeDCODTP, names[0] ); |
---|
545 | if (!tp) |
---|
546 | return; |
---|
547 | |
---|
548 | IUSaveText(tp, texts[0]); |
---|
549 | tp = IUFindText( &ModeDCODTP, names[1] ); |
---|
550 | if (!tp) |
---|
551 | return; |
---|
552 | |
---|
553 | ModeDCODTP.s = IPS_OK; |
---|
554 | IUSaveText(tp, texts[1]); |
---|
555 | |
---|
556 | IDSnoopDevice( ModeDCODT[0].text, ModeDCODT[1].text); |
---|
557 | |
---|
558 | ModeDCODTP.s= IPS_OK ; |
---|
559 | IDSetText (&ModeDCODTP, "Snooping property %s at device %s", ModeDCODT[1].text, ModeDCODT[0].text); |
---|
560 | return; |
---|
561 | } |
---|
562 | |
---|
563 | LX200Generic::ISNewText (dev, name, texts, names, n); |
---|
564 | } |
---|
565 | |
---|
566 | |
---|
567 | void LX200AstroPhysics::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
---|
568 | { |
---|
569 | int i=0, nset=0; |
---|
570 | INumber *np=NULL; |
---|
571 | |
---|
572 | // ignore if not ours |
---|
573 | if (strcmp (dev, thisDevice)) |
---|
574 | return; |
---|
575 | |
---|
576 | // =================================== |
---|
577 | // Atmosphere |
---|
578 | // =================================== |
---|
579 | if (!strcmp (name, AirNP.name)) |
---|
580 | { |
---|
581 | double newTemperature ; |
---|
582 | double newPressure ; |
---|
583 | double newHumidity ; |
---|
584 | if (checkPower(&AirNP)) |
---|
585 | return; |
---|
586 | |
---|
587 | for (nset = i = 0; i < n; i++) |
---|
588 | { |
---|
589 | np = IUFindNumber (&AirNP, names[i]); |
---|
590 | if( np == &AirN[0]) |
---|
591 | { |
---|
592 | newTemperature = values[i]; |
---|
593 | nset++ ; |
---|
594 | } |
---|
595 | else if( np == &AirN[1]) |
---|
596 | { |
---|
597 | newPressure = values[i]; |
---|
598 | nset++ ; |
---|
599 | } |
---|
600 | else if( np == &AirN[2]) |
---|
601 | { |
---|
602 | newHumidity = values[i]; |
---|
603 | nset++ ; |
---|
604 | } |
---|
605 | } |
---|
606 | |
---|
607 | if (nset == 3) |
---|
608 | { |
---|
609 | AirNP.s = IPS_OK; |
---|
610 | AirN[0].value = newTemperature; |
---|
611 | AirN[1].value = newPressure; |
---|
612 | AirN[2].value = newHumidity; |
---|
613 | |
---|
614 | IDSetNumber(&AirNP, NULL); |
---|
615 | } |
---|
616 | else |
---|
617 | { |
---|
618 | AirNP.s = IPS_ALERT; |
---|
619 | IDSetNumber(&AirNP, "Temperature, Pressure or Humidity missing or invalid"); |
---|
620 | } |
---|
621 | return; |
---|
622 | } |
---|
623 | |
---|
624 | // =================================== |
---|
625 | // AP UTC Offset |
---|
626 | // =================================== |
---|
627 | if ( !strcmp (name, APUTCOffsetNP.name) ) |
---|
628 | { |
---|
629 | int ret ; |
---|
630 | if (checkPower(&APUTCOffsetNP)) |
---|
631 | return; |
---|
632 | |
---|
633 | if (values[0] <= 0.0 || values[0] > 24.0) |
---|
634 | { |
---|
635 | APUTCOffsetNP.s = IPS_IDLE; |
---|
636 | IDSetNumber(&APUTCOffsetNP , "UTC offset invalid"); |
---|
637 | return; |
---|
638 | } |
---|
639 | |
---|
640 | if(( ret = setAPUTCOffset(fd, values[0]) < 0) ) |
---|
641 | { |
---|
642 | handleError(&APUTCOffsetNP, ret, "Setting AP UTC offset"); |
---|
643 | return; |
---|
644 | } |
---|
645 | |
---|
646 | APUTCOffsetN[0].value = values[0]; |
---|
647 | APUTCOffsetNP.s = IPS_OK; |
---|
648 | |
---|
649 | IDSetNumber(&APUTCOffsetNP, NULL); |
---|
650 | |
---|
651 | return; |
---|
652 | } |
---|
653 | |
---|
654 | // ======================================= |
---|
655 | // Hour axis' intersection with the sphere |
---|
656 | // ======================================= |
---|
657 | if (!strcmp (name, HourAxisNP.name)) |
---|
658 | { |
---|
659 | int i=0, nset=0; |
---|
660 | double newTheta, newGamma ; |
---|
661 | |
---|
662 | if (checkPower(&HourAxisNP)) |
---|
663 | return; |
---|
664 | |
---|
665 | for (nset = i = 0; i < n; i++) |
---|
666 | { |
---|
667 | np = IUFindNumber (&HourAxisNP, names[i]); |
---|
668 | if ( np == &HourAxisN[0]) |
---|
669 | { |
---|
670 | newTheta = values[i]; |
---|
671 | nset += newTheta >= 0 && newTheta <= 360.0; |
---|
672 | } |
---|
673 | else if ( np == &HourAxisN[1]) |
---|
674 | { |
---|
675 | newGamma = values[i]; |
---|
676 | nset += newGamma >= 0. && newGamma <= 90.0; |
---|
677 | } |
---|
678 | } |
---|
679 | |
---|
680 | if (nset == 2) |
---|
681 | { |
---|
682 | HourAxisNP.s = IPS_OK; |
---|
683 | HourAxisN[0].value = newTheta; |
---|
684 | HourAxisN[1].value = newGamma; |
---|
685 | IDSetNumber(&HourAxisNP, NULL); |
---|
686 | } |
---|
687 | else |
---|
688 | { |
---|
689 | HourAxisNP.s = IPS_ALERT; |
---|
690 | IDSetNumber(&HourAxisNP, "Theta or gamma missing or invalid"); |
---|
691 | } |
---|
692 | |
---|
693 | return; |
---|
694 | } |
---|
695 | |
---|
696 | // ======================================= |
---|
697 | // Equatorial Coord - SET |
---|
698 | // ======================================= |
---|
699 | if (!strcmp (name, EquatorialCoordsWNP.name)) |
---|
700 | { |
---|
701 | int err ; |
---|
702 | int i=0, nset=0; |
---|
703 | double newRA, newDEC ; |
---|
704 | if (checkPower(&EquatorialCoordsWNP)) |
---|
705 | return; |
---|
706 | |
---|
707 | for (nset = i = 0; i < n; i++) |
---|
708 | { |
---|
709 | INumber *np = IUFindNumber (&EquatorialCoordsWNP, names[i]); |
---|
710 | if (np == &EquatorialCoordsWNP.np[0]) |
---|
711 | { |
---|
712 | newRA = values[i]; |
---|
713 | nset += newRA >= 0 && newRA <= 24.0; |
---|
714 | } else if (np == &EquatorialCoordsWNP.np[1]) |
---|
715 | { |
---|
716 | newDEC = values[i]; |
---|
717 | nset += newDEC >= -90.0 && newDEC <= 90.0; |
---|
718 | } |
---|
719 | } |
---|
720 | |
---|
721 | if (nset == 2) |
---|
722 | { |
---|
723 | int ret ; |
---|
724 | #if defined HAVE_NOVA_H || defined HAVE_NOVASCC_H |
---|
725 | |
---|
726 | double geo[6] ; |
---|
727 | double eqt[2] ; |
---|
728 | double eqn[2] ; |
---|
729 | double hxt[2] ; |
---|
730 | #endif |
---|
731 | /*EquatorialCoordsWNP.s = IPS_BUSY;*/ |
---|
732 | char RAStr[32], DecStr[32]; |
---|
733 | |
---|
734 | fs_sexa(RAStr, newRA, 2, 3600); |
---|
735 | fs_sexa(DecStr, newDEC, 2, 3600); |
---|
736 | |
---|
737 | #ifdef INDI_DEBUG |
---|
738 | IDLog("We received JNOW RA %g - DEC %g\n", newRA, newDEC); |
---|
739 | IDLog("We received JNOW RA %s - DEC %s\n", RAStr, DecStr); |
---|
740 | #endif |
---|
741 | #if defined HAVE_NOVA_H || defined HAVE_NOVASCC_H |
---|
742 | // Transfor the coordinates |
---|
743 | /* Get the current time. */ |
---|
744 | geo[0]= geoNP.np[0].value ; |
---|
745 | geo[1]= geoNP.np[1].value ; |
---|
746 | geo[2]= geoNP.np[2].value ; |
---|
747 | geo[3]= AirN[0].value ; |
---|
748 | geo[4]= AirN[1].value ; |
---|
749 | geo[5]= AirN[2].value ; |
---|
750 | |
---|
751 | eqn[0]= newRA ; |
---|
752 | eqn[1]= newDEC ; |
---|
753 | hxt[0]= HourAxisN[0].value ; |
---|
754 | hxt[1]= HourAxisN[1].value ; |
---|
755 | |
---|
756 | if((ret = LDAppToX( getOnSwitch(&ApparentToObservedSP), eqn, ln_get_julian_from_sys(), geo, hxt, eqt)) != 0) |
---|
757 | { |
---|
758 | IDMessage( myapdev, "ISNewNumber: transformation %d failed", getOnSwitch(&ApparentToObservedSP)) ; |
---|
759 | exit(1) ; |
---|
760 | } ; |
---|
761 | /*EquatorialCoordsWNP.s = IPS_BUSY;*/ |
---|
762 | targetRA= eqt[0]; |
---|
763 | targetDEC= eqt[1]; |
---|
764 | #else |
---|
765 | targetRA= newRA; |
---|
766 | targetDEC= newDEC; |
---|
767 | #endif |
---|
768 | if ( (ret = setAPObjectRA(fd, targetRA)) < 0 || ( ret = setAPObjectDEC(fd, targetDEC)) < 0) |
---|
769 | { |
---|
770 | DiffEquatorialCoordsNP.s= IPS_ALERT; |
---|
771 | IDSetNumber(&DiffEquatorialCoordsNP, NULL); |
---|
772 | handleError(&EquatorialCoordsRNP, err, "Setting RA/DEC"); |
---|
773 | return; |
---|
774 | } |
---|
775 | EquatorialCoordsWNP.s = IPS_OK; |
---|
776 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
---|
777 | |
---|
778 | DiffEquatorialCoordsNP.np[0].value= targetRA - currentRA ; |
---|
779 | DiffEquatorialCoordsNP.np[1].value= targetDEC - currentDEC; |
---|
780 | DiffEquatorialCoordsNP.s= IPS_OK; |
---|
781 | IDSetNumber(&DiffEquatorialCoordsNP, NULL); |
---|
782 | |
---|
783 | // ToDo don't we need to stop the motion (:Q#)? |
---|
784 | if (MovementNSSP.s == IPS_BUSY || MovementWESP.s == IPS_BUSY) |
---|
785 | { |
---|
786 | IUResetSwitch(&MovementNSSP); |
---|
787 | IUResetSwitch(&MovementWESP); |
---|
788 | MovementNSSP.s = MovementWESP.s = IPS_IDLE; |
---|
789 | IDSetSwitch(&MovementNSSP, NULL); |
---|
790 | IDSetSwitch(&MovementWESP, NULL); |
---|
791 | } |
---|
792 | handleEqCoordSet() ; |
---|
793 | //ToDo : conversion to boolean { |
---|
794 | // EquatorialCoordsWNP.s = IPS_ALERT; |
---|
795 | // IDSetNumber(&EquatorialCoordsWNP, NULL); |
---|
796 | |
---|
797 | // } |
---|
798 | } // end nset |
---|
799 | else |
---|
800 | { |
---|
801 | EquatorialCoordsWNP.s = IPS_ALERT; |
---|
802 | IDSetNumber(&EquatorialCoordsWNP, "RA or Dec missing or invalid"); |
---|
803 | } |
---|
804 | return ; |
---|
805 | } |
---|
806 | |
---|
807 | // ======================================= |
---|
808 | // Horizontal Coords - SET |
---|
809 | // ======================================= |
---|
810 | if ( !strcmp (name, HorizontalCoordsWNP.name) ) |
---|
811 | { |
---|
812 | int i=0, nset=0; |
---|
813 | double newAz, newAlt ; |
---|
814 | int ret ; |
---|
815 | char altStr[64], azStr[64]; |
---|
816 | |
---|
817 | if (checkPower(&HorizontalCoordsWNP)) |
---|
818 | return; |
---|
819 | |
---|
820 | for (nset = i = 0; i < n; i++) |
---|
821 | { |
---|
822 | np = IUFindNumber (&HorizontalCoordsWNP, names[i]); |
---|
823 | if (np == &HorizontalCoordsWN[0]) |
---|
824 | { |
---|
825 | newAz = values[i]; |
---|
826 | nset += newAz >= 0. && newAz <= 360.0; |
---|
827 | } |
---|
828 | else if (np == &HorizontalCoordsWN[1]) |
---|
829 | { |
---|
830 | newAlt = values[i]; |
---|
831 | nset += newAlt >= -90. && newAlt <= 90.0; |
---|
832 | } |
---|
833 | } |
---|
834 | if (nset == 2) |
---|
835 | { |
---|
836 | if ( (ret = setAPObjectAZ(fd, newAz)) < 0 || (ret = setAPObjectAlt(fd, newAlt)) < 0) |
---|
837 | { |
---|
838 | handleError(&HorizontalCoordsWNP, ret, "Setting Alt/Az"); |
---|
839 | return; |
---|
840 | } |
---|
841 | targetAZ= newAz; |
---|
842 | targetALT= newAlt; |
---|
843 | HorizontalCoordsWNP.s = IPS_OK; |
---|
844 | IDSetNumber(&HorizontalCoordsWNP, NULL) ; |
---|
845 | |
---|
846 | fs_sexa(azStr, targetAZ, 2, 3600); |
---|
847 | fs_sexa(altStr, targetALT, 2, 3600); |
---|
848 | |
---|
849 | //IDSetNumber (&HorizontalCoordsWNP, "Attempting to slew to Alt %s - Az %s", altStr, azStr); |
---|
850 | handleAltAzSlew(); |
---|
851 | } |
---|
852 | else |
---|
853 | { |
---|
854 | HorizontalCoordsWNP.s = IPS_ALERT; |
---|
855 | IDSetNumber(&HorizontalCoordsWNP, "Altitude or Azimuth missing or invalid"); |
---|
856 | } |
---|
857 | |
---|
858 | return; |
---|
859 | } |
---|
860 | |
---|
861 | // ======================================= |
---|
862 | // Geographical Location |
---|
863 | // ======================================= |
---|
864 | if (!strcmp (name, geoNP.name)) |
---|
865 | { |
---|
866 | // new geographic coords |
---|
867 | double newLong = 0, newLat = 0; |
---|
868 | int i, nset, err; |
---|
869 | char msg[128]; |
---|
870 | |
---|
871 | if (checkPower(&geoNP)) |
---|
872 | return; |
---|
873 | |
---|
874 | for (nset = i = 0; i < n; i++) |
---|
875 | { |
---|
876 | np = IUFindNumber (&geoNP, names[i]); |
---|
877 | if (np == &geoNP.np[0]) |
---|
878 | { |
---|
879 | newLat = values[i]; |
---|
880 | nset += newLat >= -90.0 && newLat <= 90.0; |
---|
881 | } else if (np == &geoNP.np[1]) |
---|
882 | { |
---|
883 | newLong = values[i]; |
---|
884 | nset += newLong >= 0.0 && newLong < 360.0; |
---|
885 | } |
---|
886 | } |
---|
887 | |
---|
888 | if (nset == 2) |
---|
889 | { |
---|
890 | char l[32], L[32]; |
---|
891 | geoNP.s = IPS_OK; |
---|
892 | fs_sexa (l, newLat, 3, 3600); |
---|
893 | fs_sexa (L, newLong, 4, 3600); |
---|
894 | |
---|
895 | if ( ( err = setAPSiteLongitude(fd, 360.0 - newLong) < 0) ) |
---|
896 | { |
---|
897 | handleError(&geoNP, err, "Setting site coordinates"); |
---|
898 | return; |
---|
899 | } |
---|
900 | if ( ( err = setAPSiteLatitude(fd, newLat) < 0) ) |
---|
901 | { |
---|
902 | handleError(&geoNP, err, "Setting site coordinates"); |
---|
903 | return; |
---|
904 | } |
---|
905 | |
---|
906 | geoNP.np[0].value = newLat; |
---|
907 | geoNP.np[1].value = newLong; |
---|
908 | snprintf (msg, sizeof(msg), "Site location updated to Lat %.32s - Long %.32s", l, L); |
---|
909 | } |
---|
910 | else |
---|
911 | { |
---|
912 | geoNP.s = IPS_IDLE; |
---|
913 | strcpy(msg, "Lat or Long missing or invalid"); |
---|
914 | } |
---|
915 | IDSetNumber (&geoNP, "%s", msg); |
---|
916 | return; |
---|
917 | } |
---|
918 | |
---|
919 | LX200Generic::ISNewNumber (dev, name, values, names, n); |
---|
920 | } |
---|
921 | |
---|
922 | void LX200AstroPhysics::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
---|
923 | { |
---|
924 | int err=0; |
---|
925 | |
---|
926 | // ignore if not ours // |
---|
927 | if (strcmp (thisDevice, dev)) |
---|
928 | return; |
---|
929 | |
---|
930 | // ======================================= |
---|
931 | // Connect |
---|
932 | // ======================================= |
---|
933 | if (!strcmp (name, ConnectSP.name)) |
---|
934 | { |
---|
935 | IUUpdateSwitch(&ConnectSP, states, names, n) ; |
---|
936 | |
---|
937 | connectTelescope(); |
---|
938 | return; |
---|
939 | } |
---|
940 | |
---|
941 | // ============================================================ |
---|
942 | // Satisfy AP mount initialization, see AP key pad manual p. 76 |
---|
943 | // ============================================================ |
---|
944 | if (!strcmp (name, StartUpSP.name)) |
---|
945 | { |
---|
946 | int ret ; |
---|
947 | int switch_nr ; |
---|
948 | static int mount_status= MOUNTNOTINITIALIZED ; |
---|
949 | |
---|
950 | IUUpdateSwitch(&StartUpSP, states, names, n) ; |
---|
951 | |
---|
952 | if( mount_status == MOUNTNOTINITIALIZED) |
---|
953 | { |
---|
954 | mount_status=MOUNTINITIALIZED; |
---|
955 | |
---|
956 | if(( ret= setBasicDataPart0())< 0) |
---|
957 | { |
---|
958 | // ToDo do something if needed |
---|
959 | StartUpSP.s = IPS_ALERT ; |
---|
960 | IDSetSwitch(&StartUpSP, "Mount initialization failed") ; |
---|
961 | return ; |
---|
962 | } |
---|
963 | if( StartUpSP.sp[0].s== ISS_ON) // do it only in case a power on (cold start) |
---|
964 | { |
---|
965 | if(( ret= setBasicDataPart1())< 0) |
---|
966 | { |
---|
967 | // ToDo do something if needed |
---|
968 | StartUpSP.s = IPS_ALERT ; |
---|
969 | IDSetSwitch(&StartUpSP, "Mount initialization failed") ; |
---|
970 | return ; |
---|
971 | } |
---|
972 | } |
---|
973 | // Make sure that the mount is setup according to the properties |
---|
974 | switch_nr = getOnSwitch(&TrackModeSP); |
---|
975 | |
---|
976 | if ( ( err = selectAPTrackingMode(fd, switch_nr) < 0) ) |
---|
977 | { |
---|
978 | handleError(&TrackModeSP, err, "StartUpSP: Setting tracking mode."); |
---|
979 | return; |
---|
980 | } |
---|
981 | TrackModeSP.s = IPS_OK; |
---|
982 | IDSetSwitch(&TrackModeSP, NULL); |
---|
983 | //ToDo set button swapping acording telescope east west |
---|
984 | // ... some code here |
---|
985 | |
---|
986 | switch_nr = getOnSwitch(&MoveToRateSP); |
---|
987 | |
---|
988 | if ( ( err = selectAPMoveToRate(fd, switch_nr) < 0) ) |
---|
989 | { |
---|
990 | handleError(&MoveToRateSP, err, "StartUpSP: Setting move to rate."); |
---|
991 | return; |
---|
992 | } |
---|
993 | MoveToRateSP.s = IPS_OK; |
---|
994 | |
---|
995 | IDSetSwitch(&MoveToRateSP, NULL); |
---|
996 | switch_nr = getOnSwitch(&SlewRateSP); |
---|
997 | |
---|
998 | if ( ( err = selectAPSlewRate(fd, switch_nr) < 0) ) |
---|
999 | { |
---|
1000 | handleError(&SlewRateSP, err, "StartUpSP: Setting slew rate."); |
---|
1001 | return; |
---|
1002 | } |
---|
1003 | SlewRateSP.s = IPS_OK; |
---|
1004 | IDSetSwitch(&SlewRateSP, NULL); |
---|
1005 | |
---|
1006 | StartUpSP.s = IPS_OK ; |
---|
1007 | IDSetSwitch(&StartUpSP, "Mount initialized") ; |
---|
1008 | // Fetch the coordinates and set RNP and WNP |
---|
1009 | getLX200RA( fd, ¤tRA); |
---|
1010 | getLX200DEC(fd, ¤tDEC); |
---|
1011 | |
---|
1012 | // make a IDSet in order the dome controller is aware of the initial values |
---|
1013 | targetRA= currentRA ; |
---|
1014 | targetDEC= currentDEC ; |
---|
1015 | EquatorialCoordsWNP.s = IPS_BUSY; /* dome controller sets target only if this state is busy */ |
---|
1016 | IDSetNumber(&EquatorialCoordsWNP, "EquatorialCoordsWNP.s = IPS_BUSY after initialization"); |
---|
1017 | |
---|
1018 | // sleep for 100 mseconds |
---|
1019 | usleep(100000); |
---|
1020 | |
---|
1021 | EquatorialCoordsWNP.s = IPS_OK; |
---|
1022 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
---|
1023 | |
---|
1024 | getLX200Az(fd, ¤tAZ); |
---|
1025 | getLX200Alt(fd, ¤tALT); |
---|
1026 | |
---|
1027 | HorizontalCoordsRNP.s = IPS_OK ; |
---|
1028 | IDSetNumber (&HorizontalCoordsRNP, NULL); |
---|
1029 | |
---|
1030 | VersionInfo.tp[0].text = new char[64]; |
---|
1031 | getAPVersionNumber(fd, VersionInfo.tp[0].text); |
---|
1032 | |
---|
1033 | VersionInfo.s = IPS_OK ; |
---|
1034 | IDSetText(&VersionInfo, NULL); |
---|
1035 | |
---|
1036 | if(( getOnSwitch(&DomeControlSP))== DOMECONTROL) |
---|
1037 | { |
---|
1038 | //ToDo compare that with other driver, not the best way |
---|
1039 | IDSnoopDevice( MasterAlarmODTP.tp[0].text, MasterAlarmODTP.tp[1].text); |
---|
1040 | MasterAlarmODTP.s= IPS_OK ; |
---|
1041 | IDSetText (&MasterAlarmODTP, "SNOOPing %s on device %s", MasterAlarmODTP.tp[1].text, MasterAlarmODTP.tp[0].text); |
---|
1042 | |
---|
1043 | IDSnoopDevice( ConnectionDCODTP.tp[0].text, ConnectionDCODTP.tp[1].text); |
---|
1044 | ConnectionDCODTP.s= IPS_OK ; |
---|
1045 | IDSetText (&ConnectionDCODTP, "SNOOPing %s on device %s", ConnectionDCODTP.tp[1].text, ConnectionDCODTP.tp[0].text); |
---|
1046 | IDSnoopDevice( ConnectionDCODTP.tp[0].text, ConnectionDCODTP.tp[1].text); |
---|
1047 | |
---|
1048 | IDSnoopDevice( ModeDCODTP.tp[0].text, ModeDCODTP.tp[1].text); |
---|
1049 | ModeDCODTP.s= IPS_OK ; |
---|
1050 | IDSetText (&ModeDCODTP, "SNOOPing %s on device %s", ModeDCODTP.tp[1].text, ModeDCODTP.tp[0].text); |
---|
1051 | |
---|
1052 | // once chosen no unsnooping is possible |
---|
1053 | DomeControlSP.s= IPS_OK ; |
---|
1054 | IDSetSwitch(&DomeControlSP, NULL) ; |
---|
1055 | } |
---|
1056 | else |
---|
1057 | { |
---|
1058 | IDMessage( myapdev, "Not operating in dome control mode") ; |
---|
1059 | } |
---|
1060 | #ifndef HAVE_NOVA_H |
---|
1061 | IDMessage( myapdev, "Libnova not compiled in, consider to install it (http://libnova.sourceforge.net/)") ; |
---|
1062 | #endif |
---|
1063 | #ifndef HAVE_NOVASCC_H |
---|
1064 | IDMessage( myapdev, "NOVASCC not compiled in, consider to install it (http://aa.usno.navy.mil/AA/)") ; |
---|
1065 | #endif |
---|
1066 | } |
---|
1067 | else |
---|
1068 | { |
---|
1069 | StartUpSP.s = IPS_ALERT ; |
---|
1070 | IDSetSwitch(&StartUpSP, "Mount is already initialized") ; |
---|
1071 | } |
---|
1072 | return; |
---|
1073 | } |
---|
1074 | |
---|
1075 | // ======================================= |
---|
1076 | // Park |
---|
1077 | // ======================================= |
---|
1078 | if (!strcmp(name, ParkSP.name)) |
---|
1079 | { |
---|
1080 | if (checkPower(&ParkSP)) |
---|
1081 | return; |
---|
1082 | |
---|
1083 | if (EquatorialCoordsWNP.s == IPS_BUSY) |
---|
1084 | { |
---|
1085 | // ToDo handle return value |
---|
1086 | abortSlew(fd); |
---|
1087 | // sleep for 200 mseconds |
---|
1088 | usleep(200000); |
---|
1089 | AbortSlewSP.s = IPS_OK; |
---|
1090 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
1091 | |
---|
1092 | } |
---|
1093 | |
---|
1094 | if (setAPPark(fd) < 0) |
---|
1095 | { |
---|
1096 | ParkSP.s = IPS_ALERT; |
---|
1097 | IDSetSwitch(&ParkSP, "Parking Failed."); |
---|
1098 | return; |
---|
1099 | } |
---|
1100 | |
---|
1101 | ParkSP.s = IPS_OK; |
---|
1102 | IDSetSwitch(&ParkSP, "The telescope is parked. Turn off the telescope. Disconnecting..."); |
---|
1103 | // avoid sending anything to the mount controller |
---|
1104 | tty_disconnect( fd); |
---|
1105 | ConnectSP.s = IPS_IDLE; |
---|
1106 | ConnectSP.sp[0].s = ISS_OFF; |
---|
1107 | ConnectSP.sp[1].s = ISS_ON; |
---|
1108 | |
---|
1109 | IDSetSwitch(&ConnectSP, NULL); |
---|
1110 | |
---|
1111 | StartUpSP.s = IPS_IDLE ; |
---|
1112 | IDSetSwitch(&StartUpSP, NULL) ; |
---|
1113 | |
---|
1114 | // ToDo reset all values |
---|
1115 | |
---|
1116 | return; |
---|
1117 | } |
---|
1118 | |
---|
1119 | // ======================================= |
---|
1120 | // Tracking Mode |
---|
1121 | // ======================================= |
---|
1122 | if (!strcmp (name, TrackModeSP.name)) |
---|
1123 | { |
---|
1124 | if (checkPower(&TrackModeSP)) |
---|
1125 | return; |
---|
1126 | |
---|
1127 | IUResetSwitch(&TrackModeSP); |
---|
1128 | IUUpdateSwitch(&TrackModeSP, states, names, n); |
---|
1129 | trackingMode = getOnSwitch(&TrackModeSP); |
---|
1130 | |
---|
1131 | if ( ( err = selectAPTrackingMode(fd, trackingMode) < 0) ) |
---|
1132 | { |
---|
1133 | handleError(&TrackModeSP, err, "Setting tracking mode."); |
---|
1134 | return; |
---|
1135 | } |
---|
1136 | TrackModeSP.s = IPS_OK; |
---|
1137 | IDSetSwitch(&TrackModeSP, NULL); |
---|
1138 | if( trackingMode != 3) /* not zero */ |
---|
1139 | { |
---|
1140 | AbortSlewSP.s = IPS_IDLE; |
---|
1141 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
1142 | } |
---|
1143 | return; |
---|
1144 | } |
---|
1145 | |
---|
1146 | // ======================================= |
---|
1147 | // Swap Buttons |
---|
1148 | // ======================================= |
---|
1149 | if (!strcmp(name, SwapSP.name)) |
---|
1150 | { |
---|
1151 | int currentSwap ; |
---|
1152 | |
---|
1153 | if (checkPower(&SwapSP)) |
---|
1154 | return; |
---|
1155 | |
---|
1156 | IUResetSwitch(&SwapSP); |
---|
1157 | IUUpdateSwitch(&SwapSP, states, names, n); |
---|
1158 | currentSwap = getOnSwitch(&SwapSP); |
---|
1159 | |
---|
1160 | if(( err = swapAPButtons(fd, currentSwap) < 0) ) |
---|
1161 | { |
---|
1162 | handleError(&SwapSP, err, "Swapping buttons."); |
---|
1163 | return; |
---|
1164 | } |
---|
1165 | |
---|
1166 | SwapS[0].s= ISS_OFF ; |
---|
1167 | SwapS[1].s= ISS_OFF ; |
---|
1168 | SwapSP.s = IPS_OK; |
---|
1169 | IDSetSwitch(&SwapSP, NULL); |
---|
1170 | return ; |
---|
1171 | } |
---|
1172 | |
---|
1173 | // ======================================= |
---|
1174 | // Swap to rate |
---|
1175 | // ======================================= |
---|
1176 | if (!strcmp (name, MoveToRateSP.name)) |
---|
1177 | { |
---|
1178 | int moveToRate ; |
---|
1179 | |
---|
1180 | if (checkPower(&MoveToRateSP)) |
---|
1181 | return; |
---|
1182 | |
---|
1183 | IUResetSwitch(&MoveToRateSP); |
---|
1184 | IUUpdateSwitch(&MoveToRateSP, states, names, n); |
---|
1185 | moveToRate = getOnSwitch(&MoveToRateSP); |
---|
1186 | |
---|
1187 | if ( ( err = selectAPMoveToRate(fd, moveToRate) < 0) ) |
---|
1188 | { |
---|
1189 | handleError(&MoveToRateSP, err, "Setting move to rate."); |
---|
1190 | return; |
---|
1191 | } |
---|
1192 | MoveToRateSP.s = IPS_OK; |
---|
1193 | IDSetSwitch(&MoveToRateSP, NULL); |
---|
1194 | return; |
---|
1195 | } |
---|
1196 | |
---|
1197 | // ======================================= |
---|
1198 | // Slew Rate |
---|
1199 | // ======================================= |
---|
1200 | if (!strcmp (name, SlewRateSP.name)) |
---|
1201 | { |
---|
1202 | int slewRate ; |
---|
1203 | |
---|
1204 | if (checkPower(&SlewRateSP)) |
---|
1205 | return; |
---|
1206 | |
---|
1207 | IUResetSwitch(&SlewRateSP); |
---|
1208 | IUUpdateSwitch(&SlewRateSP, states, names, n); |
---|
1209 | slewRate = getOnSwitch(&SlewRateSP); |
---|
1210 | |
---|
1211 | if ( ( err = selectAPSlewRate(fd, slewRate) < 0) ) |
---|
1212 | { |
---|
1213 | handleError(&SlewRateSP, err, "Setting slew rate."); |
---|
1214 | return; |
---|
1215 | } |
---|
1216 | |
---|
1217 | |
---|
1218 | SlewRateSP.s = IPS_OK; |
---|
1219 | IDSetSwitch(&SlewRateSP, NULL); |
---|
1220 | return; |
---|
1221 | } |
---|
1222 | |
---|
1223 | // ======================================= |
---|
1224 | // Choose the appropriate sync command |
---|
1225 | // ======================================= |
---|
1226 | if (!strcmp(name, SyncCMRSP.name)) |
---|
1227 | { |
---|
1228 | int currentSync ; |
---|
1229 | if (checkPower(&SyncCMRSP)) |
---|
1230 | return; |
---|
1231 | |
---|
1232 | IUResetSwitch(&SyncCMRSP); |
---|
1233 | IUUpdateSwitch(&SyncCMRSP, states, names, n); |
---|
1234 | currentSync = getOnSwitch(&SyncCMRSP); |
---|
1235 | SyncCMRSP.s = IPS_OK; |
---|
1236 | IDSetSwitch(&SyncCMRSP, NULL); |
---|
1237 | return ; |
---|
1238 | } |
---|
1239 | |
---|
1240 | #if defined HAVE_NOVA_H || defined HAVE_NOVASCC_H |
---|
1241 | // ======================================= |
---|
1242 | // Set various transformations |
---|
1243 | // ======================================= |
---|
1244 | if (!strcmp (name, ApparentToObservedSP.name)) |
---|
1245 | { |
---|
1246 | int trans_to ; |
---|
1247 | if (checkPower(&ApparentToObservedSP)) |
---|
1248 | return; |
---|
1249 | |
---|
1250 | IUResetSwitch(&ApparentToObservedSP); |
---|
1251 | IUUpdateSwitch(&ApparentToObservedSP, states, names, n); |
---|
1252 | trans_to = getOnSwitch(&ApparentToObservedSP); |
---|
1253 | |
---|
1254 | ApparentToObservedSP.s = IPS_OK; |
---|
1255 | IDSetSwitch(&ApparentToObservedSP, "Transformation %d", trans_to); |
---|
1256 | return; |
---|
1257 | } |
---|
1258 | #endif |
---|
1259 | if (!strcmp (name, DomeControlSP.name)) |
---|
1260 | { |
---|
1261 | if((DomeControlSP.s== IPS_OK) &&( DomeControlSP.sp[0].s== ISS_ON)) |
---|
1262 | { |
---|
1263 | #ifdef INDI_DEBUG |
---|
1264 | IDLog("Once in dome control mode no return is possible (INDI has no \"unsnoop\")\n") ; |
---|
1265 | #endif |
---|
1266 | DomeControlSP.s= IPS_ALERT ; |
---|
1267 | IDSetSwitch(&DomeControlSP, "Once in dome control mode no return is possible (INDI has no \"unsnoop\")") ; |
---|
1268 | } |
---|
1269 | else |
---|
1270 | { |
---|
1271 | int last_state= getOnSwitch(&DomeControlSP) ; |
---|
1272 | IUResetSwitch(&DomeControlSP); |
---|
1273 | IUUpdateSwitch(&DomeControlSP, states, names, n) ; |
---|
1274 | DomeControlSP.s= IPS_OK ; |
---|
1275 | IDSetSwitch(&DomeControlSP, NULL) ; |
---|
1276 | |
---|
1277 | if(( DomeControlSP.s== IPS_OK) &&( last_state== NOTDOMECONTROL)) /* dome control mode after mount init. */ |
---|
1278 | { |
---|
1279 | //ToDo compare that with other driver, not the best way |
---|
1280 | IDSnoopDevice( MasterAlarmODTP.tp[0].text, MasterAlarmODTP.tp[1].text); |
---|
1281 | MasterAlarmODTP.s= IPS_OK ; |
---|
1282 | IDSetText (&MasterAlarmODTP, "SNOOPing %s on device %s", MasterAlarmODTP.tp[1].text, MasterAlarmODTP.tp[0].text); |
---|
1283 | |
---|
1284 | IDSnoopDevice( ConnectionDCODTP.tp[0].text, ConnectionDCODTP.tp[1].text); |
---|
1285 | ConnectionDCODTP.s= IPS_OK ; |
---|
1286 | IDSetText (&ConnectionDCODTP, "SNOOPing %s on device %s", ConnectionDCODTP.tp[1].text, ConnectionDCODTP.tp[0].text); |
---|
1287 | IDSnoopDevice( ConnectionDCODTP.tp[0].text, ConnectionDCODTP.tp[1].text); |
---|
1288 | |
---|
1289 | IDSnoopDevice( ModeDCODTP.tp[0].text, ModeDCODTP.tp[1].text); |
---|
1290 | ModeDCODTP.s= IPS_OK ; |
---|
1291 | IDSetText (&ModeDCODTP, "SNOOPing %s on device %s", ModeDCODTP.tp[1].text, ModeDCODTP.tp[0].text); |
---|
1292 | } |
---|
1293 | } |
---|
1294 | return; |
---|
1295 | } |
---|
1296 | |
---|
1297 | LX200Generic::ISNewSwitch (dev, name, states, names, n); |
---|
1298 | } |
---|
1299 | void LX200AstroPhysics::ISSnoopDevice (XMLEle *root) |
---|
1300 | { |
---|
1301 | int err ; |
---|
1302 | if (IUSnoopSwitch(root, &MasterAlarmSP) == 0) |
---|
1303 | { |
---|
1304 | //IDMessage( myapdev, "ISCollisionStatusS received new values %s: %d, %s: %d, %s: %d.", names[0], states[0],names[1], states[1],names[2], states[2]); |
---|
1305 | if( MasterAlarmS[1].s == ISS_ON) /* Approaching a critical situation */ |
---|
1306 | { |
---|
1307 | /* Stop if possible any motion */ |
---|
1308 | // ToDo |
---|
1309 | abortSlew(fd); |
---|
1310 | AbortSlewSP.s = IPS_OK; |
---|
1311 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
1312 | |
---|
1313 | if ( ( err = selectAPTrackingMode(fd, 3) < 0) ) /* Tracking Mode 3 = zero */ |
---|
1314 | { |
---|
1315 | IDMessage( myapdev, "FAILED: Setting tracking mode ZERO."); |
---|
1316 | return; |
---|
1317 | } |
---|
1318 | IUResetSwitch(&TrackModeSP); |
---|
1319 | TrackModeSP.sp[0].s= ISS_OFF ; /* lunar */ |
---|
1320 | TrackModeSP.sp[1].s= ISS_OFF ; /* solar */ |
---|
1321 | TrackModeSP.sp[2].s= ISS_OFF ; /* sidereal */ |
---|
1322 | TrackModeSP.sp[3].s= ISS_ON ; /* zero */ |
---|
1323 | |
---|
1324 | TrackModeSP.s = IPS_ALERT; |
---|
1325 | IDSetSwitch(&TrackModeSP, "Device %s MasterAlarm OFF: approaching a critical situation, avoided by apmount, stopped motors, no tracking!", MasterAlarmODT[0].text); |
---|
1326 | } |
---|
1327 | else if( MasterAlarmS[2].s == ISS_ON) /* a critical situation */ |
---|
1328 | { |
---|
1329 | |
---|
1330 | /* If Master Alarm is on it is "too" late. So we do the same as under MasterAlarmS[1].s == ISS_ON*/ |
---|
1331 | /* The device setting up the Master Alarm should switch power off*/ |
---|
1332 | // ToDo |
---|
1333 | abortSlew(fd); |
---|
1334 | AbortSlewSP.s = IPS_OK; |
---|
1335 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
1336 | |
---|
1337 | |
---|
1338 | if ( ( err = selectAPTrackingMode(fd, 3) < 0) ) /* Tracking Mode 3 = zero */ |
---|
1339 | { |
---|
1340 | IDMessage( myapdev, "FAILED: Setting tracking mode ZERO."); |
---|
1341 | return; |
---|
1342 | } |
---|
1343 | IUResetSwitch(&TrackModeSP); |
---|
1344 | TrackModeSP.sp[0].s= ISS_OFF ; /* lunar */ |
---|
1345 | TrackModeSP.sp[1].s= ISS_OFF ; /* solar */ |
---|
1346 | TrackModeSP.sp[2].s= ISS_OFF ; /* sidereal */ |
---|
1347 | TrackModeSP.sp[3].s= ISS_ON ; /* zero */ |
---|
1348 | |
---|
1349 | TrackModeSP.s = IPS_ALERT; |
---|
1350 | IDSetSwitch(&TrackModeSP, "Device %s MasterAlarm ON: critical situation avoided, stopped motors, no tracking!", MasterAlarmODT[0].text); |
---|
1351 | } |
---|
1352 | else if((MasterAlarmS[2].s == ISS_OFF) && (MasterAlarmS[1].s == ISS_OFF) && (MasterAlarmS[0].s == ISS_OFF)) |
---|
1353 | { |
---|
1354 | //ToDo make the mastar alarm indicator more visible!! |
---|
1355 | TrackModeSP.s = IPS_OK; |
---|
1356 | IDSetSwitch(&TrackModeSP, "MasterAlarm Status ok"); |
---|
1357 | // values obtained via ISPoll |
---|
1358 | IDSetNumber(&EquatorialCoordsWNP, "Setting (sending) EquatorialCoordsRNP on reset MasterAlarm"); |
---|
1359 | } |
---|
1360 | else |
---|
1361 | { |
---|
1362 | if ( ( err = selectAPTrackingMode(fd, 3) < 0) ) /* Tracking Mode 3 = zero */ |
---|
1363 | { |
---|
1364 | IDMessage( myapdev, "FAILED: Setting tracking mode ZERO."); |
---|
1365 | return; |
---|
1366 | } |
---|
1367 | IUResetSwitch(&TrackModeSP); |
---|
1368 | TrackModeSP.sp[0].s= ISS_OFF ; /* lunar */ |
---|
1369 | TrackModeSP.sp[1].s= ISS_OFF ; /* solar */ |
---|
1370 | TrackModeSP.sp[2].s= ISS_OFF ; /* sidereal */ |
---|
1371 | TrackModeSP.sp[3].s= ISS_ON ; /* zero */ |
---|
1372 | |
---|
1373 | TrackModeSP.s = IPS_ALERT; |
---|
1374 | TrackModeSP.s = IPS_ALERT; |
---|
1375 | IDSetSwitch(&TrackModeSP, "Device %s MASTER ALARM Unknown Status", MasterAlarmODT[0].text); |
---|
1376 | } |
---|
1377 | } |
---|
1378 | else if (IUSnoopSwitch(root, &ConnectionDCSP) == 0) |
---|
1379 | { |
---|
1380 | if( ConnectionDCS[0].s != ISS_ON) |
---|
1381 | { |
---|
1382 | // ToDo |
---|
1383 | abortSlew(fd); |
---|
1384 | AbortSlewSP.s = IPS_OK; |
---|
1385 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
1386 | |
---|
1387 | |
---|
1388 | if ( ( err = selectAPTrackingMode(fd, 3) < 0) ) /* Tracking Mode 3 = zero */ |
---|
1389 | { |
---|
1390 | IDMessage( myapdev, "FAILED: Setting tracking mode ZERO."); |
---|
1391 | return; |
---|
1392 | } |
---|
1393 | IUResetSwitch(&TrackModeSP); |
---|
1394 | TrackModeSP.sp[0].s= ISS_OFF ; /* lunar */ |
---|
1395 | TrackModeSP.sp[1].s= ISS_OFF ; /* solar */ |
---|
1396 | TrackModeSP.sp[2].s= ISS_OFF ; /* sidereal */ |
---|
1397 | TrackModeSP.sp[3].s= ISS_ON ; /* zero */ |
---|
1398 | |
---|
1399 | TrackModeSP.s = IPS_ALERT; |
---|
1400 | IDSetSwitch(&TrackModeSP, "Driver %s disconnected: critical situation avoided, stopped motors, no tracking!", MasterAlarmODT[0].text); |
---|
1401 | } |
---|
1402 | } |
---|
1403 | else if (IUSnoopSwitch(root, &ModeSP) == 0) |
---|
1404 | { |
---|
1405 | if( ModeS[1].s == ISS_ON) /* late dome control mode */ |
---|
1406 | { |
---|
1407 | getLX200RA( fd, ¤tRA); |
---|
1408 | getLX200DEC(fd, ¤tDEC); |
---|
1409 | |
---|
1410 | targetRA= currentRA ; |
---|
1411 | targetDEC= currentDEC ; |
---|
1412 | EquatorialCoordsWNP.s = IPS_BUSY; /* dome controller sets target only if this state is busy */ |
---|
1413 | IDSetNumber(&EquatorialCoordsWNP, "Setting (sending) EquatorialCoordsRNP on ModeS[1].s != ISS_ON"); |
---|
1414 | // sleep for 100 mseconds |
---|
1415 | usleep(100000); |
---|
1416 | EquatorialCoordsWNP.s = IPS_OK; |
---|
1417 | IDSetNumber(&EquatorialCoordsWNP, NULL) ; |
---|
1418 | } |
---|
1419 | } |
---|
1420 | } |
---|
1421 | bool LX200AstroPhysics::isMountInit(void) |
---|
1422 | { |
---|
1423 | return (StartUpSP.s != IPS_IDLE); |
---|
1424 | } |
---|
1425 | |
---|
1426 | void LX200AstroPhysics::ISPoll() |
---|
1427 | { |
---|
1428 | int ret ; |
---|
1429 | // int ddd, mm ; |
---|
1430 | if (!isMountInit()) |
---|
1431 | return; |
---|
1432 | // #ifdef INDI_DEBUG |
---|
1433 | // getSiteLongitude(fd, &ddd, &mm) ; |
---|
1434 | // IDLog("longitude %d:%d\n", ddd, mm); |
---|
1435 | // getSiteLatitude(fd, &ddd, &mm) ; |
---|
1436 | // IDLog("latitude %d:%d\n", ddd, mm); |
---|
1437 | // getAPUTCOffset( fd, &APUTCOffsetN[0].value) ; |
---|
1438 | // IDLog("UTC offset %10.6f\n", APUTCOffsetN[0].value); |
---|
1439 | // #endif |
---|
1440 | |
---|
1441 | |
---|
1442 | //============================================================ |
---|
1443 | // #1 Call LX200Generic ISPoll |
---|
1444 | //============================================================ |
---|
1445 | LX200Generic::ISPoll(); |
---|
1446 | |
---|
1447 | |
---|
1448 | //============================================================ |
---|
1449 | // #2 Get Local Time |
---|
1450 | //============================================================ |
---|
1451 | if(( ret= getLocalTime24( fd, &APLocalTimeN[0].value)) == 0) |
---|
1452 | { |
---|
1453 | APLocalTimeNP.s = IPS_OK ; |
---|
1454 | } |
---|
1455 | else |
---|
1456 | { |
---|
1457 | APLocalTimeNP.s = IPS_ALERT ; |
---|
1458 | } |
---|
1459 | IDSetNumber(&APLocalTimeNP, NULL); |
---|
1460 | |
---|
1461 | // #ifdef INDI_DEBUG |
---|
1462 | // IDLog("localtime %f\n", APLocalTimeN[0].value) ; |
---|
1463 | // #endif |
---|
1464 | |
---|
1465 | //============================================================ |
---|
1466 | // #3 Get Sidereal Time |
---|
1467 | //============================================================ |
---|
1468 | if(( ret= getSDTime( fd, &APSiderealTimeN[0].value)) == 0) |
---|
1469 | { |
---|
1470 | APSiderealTimeNP.s = IPS_OK ; |
---|
1471 | } |
---|
1472 | else |
---|
1473 | { |
---|
1474 | APSiderealTimeNP.s = IPS_ALERT ; |
---|
1475 | } |
---|
1476 | IDSetNumber(&APSiderealTimeNP, NULL); |
---|
1477 | // #ifdef INDI_DEBUG |
---|
1478 | // IDLog("siderealtime %f\n", APSiderealTimeN[0].value) ; |
---|
1479 | // #endif |
---|
1480 | |
---|
1481 | //============================================================ |
---|
1482 | // #4 Get UTC Offset |
---|
1483 | //============================================================ |
---|
1484 | if(( ret= getAPUTCOffset( fd, &APUTCOffsetN[0].value)) == 0) |
---|
1485 | { |
---|
1486 | APUTCOffsetNP.s = IPS_OK ; |
---|
1487 | } |
---|
1488 | else |
---|
1489 | { |
---|
1490 | APUTCOffsetNP.s = IPS_ALERT ; |
---|
1491 | } |
---|
1492 | IDSetNumber(&APUTCOffsetNP, NULL); |
---|
1493 | |
---|
1494 | //============================================================ |
---|
1495 | // #5 |
---|
1496 | //============================================================ |
---|
1497 | if(( ret= getAPDeclinationAxis( fd, DeclinationAxisT[0].text)) == 0) |
---|
1498 | { |
---|
1499 | DeclinationAxisTP.s = IPS_OK ; |
---|
1500 | } |
---|
1501 | else |
---|
1502 | |
---|
1503 | { |
---|
1504 | DeclinationAxisTP.s = IPS_ALERT ; |
---|
1505 | } |
---|
1506 | IDSetText(&DeclinationAxisTP, NULL) ; |
---|
1507 | |
---|
1508 | |
---|
1509 | /* LX200Generic should take care of this */ |
---|
1510 | //getLX200RA(fd, ¤tRA ); |
---|
1511 | //getLX200DEC(fd, ¤tDEC ); |
---|
1512 | //EquatorialCoordsRNP.s = IPS_OK ; |
---|
1513 | //IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
1514 | |
---|
1515 | |
---|
1516 | /* Calculate the hour angle */ |
---|
1517 | |
---|
1518 | HourangleCoordsNP.np[0].value= 180. /M_PI/15. * LDRAtoHA( 15.* currentRA /180. *M_PI, -geoNP.np[1].value/180. *M_PI); |
---|
1519 | HourangleCoordsNP.np[1].value= currentDEC; |
---|
1520 | |
---|
1521 | HourangleCoordsNP.s = IPS_OK; |
---|
1522 | IDSetNumber(&HourangleCoordsNP, NULL); |
---|
1523 | |
---|
1524 | getLX200Az(fd, ¤tAZ); |
---|
1525 | getLX200Alt(fd, ¤tALT); |
---|
1526 | |
---|
1527 | /* The state of RNP is coupled to the WNP |
---|
1528 | HorizontalCoordsRNP.s = IPS_OK ; |
---|
1529 | IDSetNumber (&HorizontalCoordsRNP, NULL); |
---|
1530 | */ |
---|
1531 | |
---|
1532 | // LX200generic has no HorizontalCoords(R|W)NP |
---|
1533 | if( HorizontalCoordsWNP.s == IPS_BUSY) /* telescope is syncing or slewing */ |
---|
1534 | { |
---|
1535 | |
---|
1536 | double dx = fabs ( targetAZ - currentAZ); |
---|
1537 | double dy = fabs ( targetALT - currentALT); |
---|
1538 | |
---|
1539 | if (dx <= (SlewAccuracyNP.np[0].value/(60.0*15.0)) && (dy <= SlewAccuracyNP.np[1].value/60.0)) |
---|
1540 | { |
---|
1541 | #ifdef INDI_DEBUG |
---|
1542 | IDLog("Slew completed.\n"); |
---|
1543 | #endif |
---|
1544 | HorizontalCoordsWNP.s = IPS_OK ; |
---|
1545 | IDSetNumber(&HorizontalCoordsWNP, "Slew completed") ; |
---|
1546 | } |
---|
1547 | else |
---|
1548 | { |
---|
1549 | #ifdef INDI_DEBUG |
---|
1550 | IDLog("Slew in progress.\n"); |
---|
1551 | #endif |
---|
1552 | } |
---|
1553 | } |
---|
1554 | if(StartUpSP.s== IPS_OK) /* the dome controller needs to be informed even in case dc has been started long after lx200ap*/ |
---|
1555 | { |
---|
1556 | StartUpSP.s = IPS_OK ; |
---|
1557 | IDSetSwitch(&StartUpSP, NULL) ; |
---|
1558 | } |
---|
1559 | else |
---|
1560 | { |
---|
1561 | StartUpSP.s = IPS_ALERT ; |
---|
1562 | IDSetSwitch(&StartUpSP, NULL) ; |
---|
1563 | } |
---|
1564 | |
---|
1565 | } |
---|
1566 | int LX200AstroPhysics::setBasicDataPart0() |
---|
1567 | { |
---|
1568 | int err ; |
---|
1569 | #ifdef HAVE_NOVA_H |
---|
1570 | struct ln_date utm; |
---|
1571 | struct ln_zonedate ltm; |
---|
1572 | #endif |
---|
1573 | if(setAPClearBuffer( fd) < 0) |
---|
1574 | { |
---|
1575 | handleError(&ConnectSP, err, "Clearing the buffer"); |
---|
1576 | return -1; |
---|
1577 | } |
---|
1578 | if(setAPLongFormat( fd) < 0) |
---|
1579 | { |
---|
1580 | IDMessage( myapdev, "Setting long format failed") ; |
---|
1581 | return -1; |
---|
1582 | } |
---|
1583 | |
---|
1584 | // ToDo make a property |
---|
1585 | if(setAPBackLashCompensation(fd, 0,0,0) < 0) |
---|
1586 | { |
---|
1587 | handleError(&ConnectSP, err, "Setting back lash compensation"); |
---|
1588 | return -1; |
---|
1589 | } |
---|
1590 | #if defined HAVE_NOVA_H |
---|
1591 | ln_get_date_from_sys( &utm) ; |
---|
1592 | ln_date_to_zonedate(&utm, <m, 3600); |
---|
1593 | |
---|
1594 | if(( err = setLocalTime(fd, ltm.hours, ltm.minutes, (int) ltm.seconds) < 0)) |
---|
1595 | { |
---|
1596 | handleError(&ConnectSP, err, "Setting local time"); |
---|
1597 | return -1; |
---|
1598 | } |
---|
1599 | if ( ( err = setCalenderDate(fd, ltm.days, ltm.months, ltm.years) < 0) ) |
---|
1600 | { |
---|
1601 | handleError(&ConnectSP, err, "Setting local date"); |
---|
1602 | return -1; |
---|
1603 | } |
---|
1604 | #ifdef INDI_DEBUG |
---|
1605 | IDLog("UT time is: %04d/%02d/%02d T %02d:%02d:%02d\n", utm.years, utm.months, utm.days, utm.hours, utm.minutes, (int)utm.seconds); |
---|
1606 | IDLog("Local time is: %04d/%02d/%02d T %02d:%02d:%02d\n", ltm.years, ltm.months, ltm.days, ltm.hours, ltm.minutes, (int)ltm.seconds); |
---|
1607 | #endif |
---|
1608 | |
---|
1609 | // ToDo: strange but true offset 22:56:07, -1:03:53 (valid for obs Vermes) |
---|
1610 | // Understand what happens with AP controller sidereal time, azimut coordinates |
---|
1611 | if((err = setAPUTCOffset( fd, -1.0647222)) < 0) |
---|
1612 | { |
---|
1613 | handleError(&ConnectSP, err,"Setting AP UTC offset") ; |
---|
1614 | return -1; |
---|
1615 | } |
---|
1616 | #else |
---|
1617 | IDMessage( myapdev, "Initialize %s manually or install libnova", myapdev) ; |
---|
1618 | #endif |
---|
1619 | |
---|
1620 | return 0 ; |
---|
1621 | } |
---|
1622 | int LX200AstroPhysics::setBasicDataPart1() |
---|
1623 | { |
---|
1624 | int err ; |
---|
1625 | |
---|
1626 | if((err = setAPUnPark( fd)) < 0) |
---|
1627 | { |
---|
1628 | handleError(&ConnectSP, err,"Unparking failed") ; |
---|
1629 | return -1; |
---|
1630 | } |
---|
1631 | #ifdef INDI_DEBUG |
---|
1632 | IDLog("Unparking successful\n"); |
---|
1633 | #endif |
---|
1634 | |
---|
1635 | if((err = setAPMotionStop( fd)) < 0) |
---|
1636 | { |
---|
1637 | handleError(&ConnectSP, err, "Stop motion (:Q#) failed, check the mount") ; |
---|
1638 | return -1; |
---|
1639 | } |
---|
1640 | #ifdef INDI_DEBUG |
---|
1641 | IDLog("Stopped any motion (:Q#)\n"); |
---|
1642 | #endif |
---|
1643 | |
---|
1644 | return 0 ; |
---|
1645 | } |
---|
1646 | void LX200AstroPhysics::connectTelescope() |
---|
1647 | { |
---|
1648 | static int established= NOTESTABLISHED ; |
---|
1649 | |
---|
1650 | switch (ConnectSP.sp[0].s) |
---|
1651 | { |
---|
1652 | case ISS_ON: |
---|
1653 | |
---|
1654 | if( ! established) |
---|
1655 | { |
---|
1656 | if (tty_connect(PortTP.tp[0].text, 9600, 8, 0, 1, &fd) != TTY_OK) |
---|
1657 | { |
---|
1658 | ConnectSP.sp[0].s = ISS_OFF; |
---|
1659 | ConnectSP.sp[1].s = ISS_ON; |
---|
1660 | IDSetSwitch (&ConnectSP, "Error connecting to port %s. Make sure you have BOTH write and read permission to your port.\n", PortTP.tp[0].text); |
---|
1661 | established= NOTESTABLISHED ; |
---|
1662 | return; |
---|
1663 | } |
---|
1664 | if (check_lx200ap_connection(fd)) |
---|
1665 | { |
---|
1666 | ConnectSP.sp[0].s = ISS_OFF; |
---|
1667 | ConnectSP.sp[1].s = ISS_ON; |
---|
1668 | IDSetSwitch (&ConnectSP, "Error connecting to Telescope. Telescope is offline."); |
---|
1669 | established= NOTESTABLISHED ; |
---|
1670 | return; |
---|
1671 | } |
---|
1672 | established= ESTABLISHED ; |
---|
1673 | #ifdef INDI_DEBUG |
---|
1674 | IDLog("Telescope test successful\n"); |
---|
1675 | #endif |
---|
1676 | // At this point e.g. no GEOGRAPHIC_COORD are available after the first client connects. |
---|
1677 | // Postpone set up of the telescope |
---|
1678 | // NO setBasicData() ; |
---|
1679 | |
---|
1680 | // ToDo what is that *((int *) UTCOffsetN[0].aux0) = 0; |
---|
1681 | // Jasem: This is just a way to know if the client has init UTC Offset, and if he did, then we set aux0 to 1, otherwise it stays at 0. When |
---|
1682 | // the client tries to change UTC, but has not set UTFOffset yet (that is, aux0 = 0) then we can tell him to set the UTCOffset first. Btw, |
---|
1683 | // the UTF & UTFOffset will be merged in one property for INDI v0.6 |
---|
1684 | ConnectSP.s = IPS_OK; |
---|
1685 | IDSetSwitch (&ConnectSP, "Telescope is online"); |
---|
1686 | } |
---|
1687 | else |
---|
1688 | { |
---|
1689 | ConnectSP.s = IPS_OK; |
---|
1690 | IDSetSwitch (&ConnectSP, "Connection already established."); |
---|
1691 | } |
---|
1692 | break; |
---|
1693 | |
---|
1694 | case ISS_OFF: |
---|
1695 | ConnectSP.sp[0].s = ISS_OFF; |
---|
1696 | ConnectSP.sp[1].s = ISS_ON; |
---|
1697 | ConnectSP.s = IPS_IDLE; |
---|
1698 | IDSetSwitch (&ConnectSP, "Telescope is offline."); |
---|
1699 | if (setAPPark(fd) < 0) |
---|
1700 | { |
---|
1701 | ParkSP.s = IPS_ALERT; |
---|
1702 | IDSetSwitch(&ParkSP, "Parking Failed."); |
---|
1703 | return; |
---|
1704 | } |
---|
1705 | |
---|
1706 | ParkSP.s = IPS_OK; |
---|
1707 | IDSetSwitch(&ParkSP, "The telescope is parked. Turn off the telescope. Disconnecting..."); |
---|
1708 | |
---|
1709 | tty_disconnect(fd); |
---|
1710 | established= NOTESTABLISHED ; |
---|
1711 | #ifdef INDI_DEBUG |
---|
1712 | IDLog("The telescope is parked. Turn off the telescope. Disconnected.\n"); |
---|
1713 | #endif |
---|
1714 | break; |
---|
1715 | } |
---|
1716 | } |
---|
1717 | // taken from lx200_16 |
---|
1718 | void LX200AstroPhysics::handleAltAzSlew() |
---|
1719 | { |
---|
1720 | int i=0; |
---|
1721 | char altStr[64], azStr[64]; |
---|
1722 | |
---|
1723 | if (HorizontalCoordsWNP.s == IPS_BUSY) |
---|
1724 | { |
---|
1725 | abortSlew(fd); |
---|
1726 | AbortSlewSP.s = IPS_OK; |
---|
1727 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
1728 | |
---|
1729 | // sleep for 100 mseconds |
---|
1730 | usleep(100000); |
---|
1731 | } |
---|
1732 | // ToDo is it ok ? |
---|
1733 | // if ((i = slewToAltAz(fd))) |
---|
1734 | if ((i = Slew(fd))) |
---|
1735 | { |
---|
1736 | HorizontalCoordsWNP.s = IPS_ALERT; |
---|
1737 | IDSetNumber(&HorizontalCoordsWNP, "Slew is not possible."); |
---|
1738 | return; |
---|
1739 | } |
---|
1740 | |
---|
1741 | HorizontalCoordsWNP.s = IPS_OK; |
---|
1742 | fs_sexa(azStr, targetAZ, 2, 3600); |
---|
1743 | fs_sexa(altStr, targetALT, 2, 3600); |
---|
1744 | |
---|
1745 | IDSetNumber(&HorizontalCoordsWNP, "Slewing to Alt %s - Az %s", altStr, azStr); |
---|
1746 | return; |
---|
1747 | } |
---|
1748 | void LX200AstroPhysics::handleEqCoordSet() |
---|
1749 | { |
---|
1750 | int sync ; |
---|
1751 | int err; |
---|
1752 | char syncString[256]; |
---|
1753 | char RAStr[32], DecStr[32]; |
---|
1754 | double dx, dy; |
---|
1755 | int syncOK= 0 ; |
---|
1756 | double targetHA ; |
---|
1757 | |
---|
1758 | #ifdef INDI_DEBUG |
---|
1759 | IDLog("In Handle AP EQ Coord Set(), switch %d\n", getOnSwitch(&OnCoordSetSP)); |
---|
1760 | #endif |
---|
1761 | switch (getOnSwitch(&OnCoordSetSP)) |
---|
1762 | { |
---|
1763 | // Slew |
---|
1764 | case LX200_TRACK: |
---|
1765 | lastSet = LX200_TRACK; |
---|
1766 | if (EquatorialCoordsWNP.s == IPS_BUSY) |
---|
1767 | { |
---|
1768 | #ifdef INDI_DEBUG |
---|
1769 | IDLog("Aborting Track\n"); |
---|
1770 | #endif |
---|
1771 | // ToDo |
---|
1772 | abortSlew(fd); |
---|
1773 | AbortSlewSP.s = IPS_OK; |
---|
1774 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
1775 | |
---|
1776 | // sleep for 100 mseconds |
---|
1777 | usleep(100000); |
---|
1778 | } |
---|
1779 | if ((err = Slew(fd))) /* Slew reads the '0', that is not the end of the slew */ |
---|
1780 | { |
---|
1781 | slewError(err); |
---|
1782 | // ToDo handle that with the handleError function |
---|
1783 | return ; |
---|
1784 | } |
---|
1785 | EquatorialCoordsWNP.s = IPS_BUSY; |
---|
1786 | fs_sexa(RAStr, targetRA, 2, 3600); |
---|
1787 | fs_sexa(DecStr, targetDEC, 2, 3600); |
---|
1788 | IDSetNumber(&EquatorialCoordsWNP, "Slewing to JNow RA %s - DEC %s", RAStr, DecStr); |
---|
1789 | #ifdef INDI_DEBUG |
---|
1790 | IDLog("Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr); |
---|
1791 | #endif |
---|
1792 | break; |
---|
1793 | |
---|
1794 | |
---|
1795 | // Sync |
---|
1796 | case LX200_SYNC: |
---|
1797 | |
---|
1798 | lastSet = LX200_SYNC; |
---|
1799 | |
---|
1800 | /* Astro-Physics has two sync options. In order that no collision occurs, the SYNCCMR */ |
---|
1801 | /* variant behaves for now identical like SYNCCM. Later this feature will be enabled.*/ |
---|
1802 | /* Calculate the hour angle of the target */ |
---|
1803 | |
---|
1804 | targetHA= 180. /M_PI/15. * LDRAtoHA( 15.* targetRA/180. *M_PI, -geoNP.np[1].value/180. *M_PI); |
---|
1805 | |
---|
1806 | if((sync=getOnSwitch(&SyncCMRSP))==SYNCCMR) |
---|
1807 | { |
---|
1808 | if (!strcmp("West", DeclinationAxisT[0].text)) |
---|
1809 | { |
---|
1810 | if(( targetHA > 12.0) && ( targetHA <= 24.0)) |
---|
1811 | { |
---|
1812 | syncOK= 1 ; |
---|
1813 | } |
---|
1814 | else |
---|
1815 | { |
---|
1816 | syncOK= 0 ; |
---|
1817 | } |
---|
1818 | } |
---|
1819 | else if (!strcmp("East", DeclinationAxisT[0].text)) |
---|
1820 | { |
---|
1821 | if(( targetHA >= 0.0) && ( targetHA <= 12.0)) |
---|
1822 | { |
---|
1823 | syncOK= 1 ; |
---|
1824 | } |
---|
1825 | else |
---|
1826 | { |
---|
1827 | syncOK= 0 ; |
---|
1828 | } |
---|
1829 | } |
---|
1830 | else |
---|
1831 | { |
---|
1832 | #ifdef INDI_DEBUG |
---|
1833 | IDLog("handleEqCoordSet(): SYNC NOK not East or West\n") ; |
---|
1834 | #endif |
---|
1835 | return ; |
---|
1836 | } |
---|
1837 | } |
---|
1838 | else if((sync=getOnSwitch(&SyncCMRSP))==SYNCCM) |
---|
1839 | { |
---|
1840 | syncOK = 1 ; |
---|
1841 | } |
---|
1842 | else |
---|
1843 | { |
---|
1844 | #ifdef INDI_DEBUG |
---|
1845 | IDLog("handleEqCoordSet(): SYNC NOK not SYNCCM or SYNCCMR\n") ; |
---|
1846 | #endif |
---|
1847 | return ; |
---|
1848 | } |
---|
1849 | if( syncOK == 1) |
---|
1850 | { |
---|
1851 | if( (sync=getOnSwitch(&SyncCMRSP))==SYNCCM) |
---|
1852 | { |
---|
1853 | if ( ( err = APSyncCM(fd, syncString) < 0) ) |
---|
1854 | { |
---|
1855 | EquatorialCoordsWNP.s = IPS_ALERT ; |
---|
1856 | IDSetNumber( &EquatorialCoordsWNP , "Synchronization failed."); |
---|
1857 | // ToDo handle with handleError function |
---|
1858 | return ; |
---|
1859 | } |
---|
1860 | } |
---|
1861 | else if((sync=getOnSwitch(&SyncCMRSP))==SYNCCMR) |
---|
1862 | { |
---|
1863 | if ( ( err = APSyncCMR(fd, syncString) < 0) ) |
---|
1864 | { |
---|
1865 | EquatorialCoordsWNP.s = IPS_ALERT ; |
---|
1866 | IDSetNumber( &EquatorialCoordsWNP, "Synchronization failed."); |
---|
1867 | // ToDo handle with handleError function |
---|
1868 | return ; |
---|
1869 | } |
---|
1870 | } |
---|
1871 | else |
---|
1872 | { |
---|
1873 | EquatorialCoordsWNP.s = IPS_ALERT ; |
---|
1874 | IDSetNumber( &EquatorialCoordsWNP , "SYNC NOK no valid SYNCCM, SYNCCMR"); |
---|
1875 | #ifdef INDI_DEBUG |
---|
1876 | IDLog("SYNC NOK no valid SYNCCM, SYNCCMR\n") ; |
---|
1877 | #endif |
---|
1878 | return ; |
---|
1879 | } |
---|
1880 | /* get the property DeclinationAxisTP first */ |
---|
1881 | if(( err = getAPDeclinationAxis( fd, DeclinationAxisT[0].text)) < 0) |
---|
1882 | { |
---|
1883 | //ToDo handleErr |
---|
1884 | DeclinationAxisTP.s = IPS_ALERT ; |
---|
1885 | IDSetText(&DeclinationAxisTP, "Declination axis undefined") ; |
---|
1886 | return ; |
---|
1887 | } |
---|
1888 | |
---|
1889 | DeclinationAxisTP.s = IPS_OK ; |
---|
1890 | #ifdef INDI_DEBUG |
---|
1891 | IDLog("Declination axis is on the %s side\n", DeclinationAxisT[0].text) ; |
---|
1892 | #endif |
---|
1893 | IDSetText(&DeclinationAxisTP, NULL) ; |
---|
1894 | |
---|
1895 | getLX200RA( fd, ¤tRA); |
---|
1896 | getLX200DEC(fd, ¤tDEC); |
---|
1897 | // The mount executed the sync command, now read back the values, make a IDSet in order the dome controller |
---|
1898 | // is aware of the new target |
---|
1899 | targetRA= currentRA ; |
---|
1900 | targetDEC= currentDEC ; |
---|
1901 | EquatorialCoordsWNP.s = IPS_BUSY; /* dome controller sets target only if this state is busy */ |
---|
1902 | IDSetNumber(&EquatorialCoordsWNP, "EquatorialCoordsWNP.s = IPS_BUSY after SYNC"); |
---|
1903 | } |
---|
1904 | else |
---|
1905 | { |
---|
1906 | #ifdef INDI_DEBUG |
---|
1907 | IDLog("Synchronization not allowed\n") ; |
---|
1908 | #endif |
---|
1909 | |
---|
1910 | EquatorialCoordsWNP.s = IPS_ALERT; |
---|
1911 | IDSetNumber(&EquatorialCoordsWNP, "Synchronization not allowed" ); |
---|
1912 | |
---|
1913 | #ifdef INDI_DEBUG |
---|
1914 | IDLog("Telescope is on the wrong side targetHA was %f\n", targetHA) ; |
---|
1915 | #endif |
---|
1916 | DeclinationAxisTP.s = IPS_ALERT ; |
---|
1917 | IDSetText(&DeclinationAxisTP, "Telescope is on the wrong side targetHA was %f", targetHA) ; |
---|
1918 | |
---|
1919 | return ; |
---|
1920 | } |
---|
1921 | #ifdef INDI_DEBUG |
---|
1922 | IDLog("Synchronization successful >%s<\n", syncString); |
---|
1923 | #endif |
---|
1924 | EquatorialCoordsWNP.s = IPS_OK; /* see above for dome controller dc */ |
---|
1925 | IDSetNumber(&EquatorialCoordsWNP, "Synchronization successful, EquatorialCoordsWNP.s = IPS_OK after SYNC"); |
---|
1926 | break; |
---|
1927 | } |
---|
1928 | return ; |
---|
1929 | } |
---|
1930 | |
---|
1931 | // ToDo Not yet used |
---|
1932 | void LX200AstroPhysics::handleAZCoordSet() |
---|
1933 | { |
---|
1934 | int err; |
---|
1935 | char AZStr[32], AltStr[32]; |
---|
1936 | |
---|
1937 | switch (getOnSwitch(&OnCoordSetSP)) |
---|
1938 | { |
---|
1939 | // Slew |
---|
1940 | case LX200_TRACK: |
---|
1941 | lastSet = LX200_TRACK; |
---|
1942 | if (HorizontalCoordsWNP.s == IPS_BUSY) |
---|
1943 | { |
---|
1944 | #ifdef INDI_DEBUG |
---|
1945 | IDLog("Aboring Slew\n"); |
---|
1946 | #endif |
---|
1947 | // ToDo |
---|
1948 | abortSlew(fd); |
---|
1949 | AbortSlewSP.s = IPS_OK; |
---|
1950 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
1951 | // sleep for 100 mseconds |
---|
1952 | usleep(100000); |
---|
1953 | } |
---|
1954 | |
---|
1955 | if ((err = Slew(fd))) |
---|
1956 | { |
---|
1957 | slewError(err); |
---|
1958 | //ToDo handle it |
---|
1959 | |
---|
1960 | return ; |
---|
1961 | } |
---|
1962 | |
---|
1963 | HorizontalCoordsWNP.s = IPS_BUSY; |
---|
1964 | fs_sexa(AZStr, targetAZ, 2, 3600); |
---|
1965 | fs_sexa(AltStr, targetALT, 2, 3600); |
---|
1966 | IDSetNumber(&HorizontalCoordsWNP, "Slewing to AZ %s - Alt %s", AZStr, AltStr); |
---|
1967 | #ifdef INDI_DEBUG |
---|
1968 | IDLog("Slewing to AZ %s - Alt %s\n", AZStr, AltStr); |
---|
1969 | #endif |
---|
1970 | break; |
---|
1971 | |
---|
1972 | // Sync |
---|
1973 | /* ToDo DO SYNC */ |
---|
1974 | case LX200_SYNC: |
---|
1975 | IDMessage( myapdev, "Sync not supported in ALT/AZ mode") ; |
---|
1976 | |
---|
1977 | break; |
---|
1978 | } |
---|
1979 | } |
---|
1980 | /*********Library Section**************/ |
---|
1981 | /*********Library Section**************/ |
---|
1982 | /*********Library Section**************/ |
---|
1983 | /*********Library Section**************/ |
---|
1984 | |
---|
1985 | double LDRAtoHA( double RA, double longitude) |
---|
1986 | { |
---|
1987 | #ifdef HAVE_NOVA_H |
---|
1988 | double HA ; |
---|
1989 | double JD ; |
---|
1990 | double theta_0= 0. ; |
---|
1991 | JD= ln_get_julian_from_sys() ; |
---|
1992 | |
---|
1993 | // #ifdef INDI_DEBUG |
---|
1994 | // IDLog("LDRAtoHA: JD %f\n", JD); |
---|
1995 | // #endif |
---|
1996 | |
---|
1997 | theta_0= 15. * ln_get_mean_sidereal_time( JD) ; |
---|
1998 | // #ifdef INDI_DEBUG |
---|
1999 | // IDLog("LDRAtoHA:1 theta_0 %f\n", theta_0); |
---|
2000 | // #endif |
---|
2001 | theta_0= fmod( theta_0, 360.) ; |
---|
2002 | |
---|
2003 | theta_0= theta_0 /180. * M_PI ; |
---|
2004 | |
---|
2005 | HA = fmod(theta_0 - longitude - RA, 2. * M_PI) ; |
---|
2006 | |
---|
2007 | if( HA < 0.) |
---|
2008 | { |
---|
2009 | HA += 2. * M_PI ; |
---|
2010 | } |
---|
2011 | return HA ; |
---|
2012 | #else |
---|
2013 | IDMessage( myapdev, "Initialize %s manually or install libnova", myapdev) ; |
---|
2014 | return 0 ; |
---|
2015 | #endif |
---|
2016 | |
---|
2017 | } |
---|
2018 | // Transformation from apparent to various coordinate systems |
---|
2019 | int LDAppToX( int trans_to, double *star_cat, double tjd, double *loc, double *hxt, double *star_trans) |
---|
2020 | { |
---|
2021 | #if defined HAVE_NOVASCC_H |
---|
2022 | short int error = 0; |
---|
2023 | |
---|
2024 | /* 'deltat' is the difference in time scales, TT - UT1. */ |
---|
2025 | |
---|
2026 | double deltat = 60.0; |
---|
2027 | double gst ; |
---|
2028 | |
---|
2029 | /* Set x,y in case where sub arcsec precission is required */ |
---|
2030 | |
---|
2031 | double x=0. ; |
---|
2032 | double y=0. ; |
---|
2033 | short int ref_option ; |
---|
2034 | |
---|
2035 | |
---|
2036 | double ra_ar, dec_ar; /* apparent and refracted EQ coordinate system */ |
---|
2037 | double az_ar, zd_ar ; /* apparent and refracted, AltAz coordinate system */ |
---|
2038 | double ra_art, dec_art ; /* apparent, refracted and telescope EQ coordinate system */ |
---|
2039 | |
---|
2040 | double ha_ar ; |
---|
2041 | double ha_art ; |
---|
2042 | |
---|
2043 | cat_entry star = {"FK5", "NONAME", 0, star_cat[0], star_cat[1], 0., 0., 0., 0.}; |
---|
2044 | |
---|
2045 | site_info geo_loc= {loc[0], loc[1], loc[2], loc[3], loc[4]} ; |
---|
2046 | |
---|
2047 | /* A structure containing the body designation for Earth.*/ |
---|
2048 | |
---|
2049 | body earth ; |
---|
2050 | |
---|
2051 | /* Set up the structure containing the body designation for Earth. */ |
---|
2052 | |
---|
2053 | if ((error = set_body (0,3,"Earth", &earth))) |
---|
2054 | { |
---|
2055 | IDMessage( myapdev, "LDAppToX: Error %d from set_body.\n", error); |
---|
2056 | return -1; |
---|
2057 | } |
---|
2058 | switch (trans_to) |
---|
2059 | { |
---|
2060 | case ATA: /* identity */ |
---|
2061 | |
---|
2062 | star_trans[0]= star.ra ; |
---|
2063 | star_trans[1]= star.dec ; |
---|
2064 | break ; |
---|
2065 | |
---|
2066 | case ATR: /* T4, apparent to refracted */ |
---|
2067 | |
---|
2068 | /* Alt Azimut refraction */ |
---|
2069 | |
---|
2070 | ref_option= 2 ; |
---|
2071 | |
---|
2072 | /* Set x,y in case where sub arcsec precission is required */ |
---|
2073 | |
---|
2074 | equ2hor(tjd, deltat, x, y, &geo_loc, star.ra, star.dec, ref_option, &zd_ar, &az_ar, &ra_ar, &dec_ar) ; |
---|
2075 | |
---|
2076 | if(ra_ar <0.) |
---|
2077 | { |
---|
2078 | ra_ar += 24. ; |
---|
2079 | } |
---|
2080 | |
---|
2081 | star_trans[0]= ra_ar ; |
---|
2082 | star_trans[1]= dec_ar ; |
---|
2083 | |
---|
2084 | break ; |
---|
2085 | |
---|
2086 | case ARTT: /* T4, apparent, refracted to telescope */ |
---|
2087 | |
---|
2088 | /* Alt Azimut refraction */ |
---|
2089 | |
---|
2090 | ref_option= 2 ; |
---|
2091 | |
---|
2092 | /* Set x,y in case where sub arcsec precission is required */ |
---|
2093 | |
---|
2094 | equ2hor(tjd, deltat, x, y, &geo_loc, star.ra, star.dec, ref_option, &zd_ar, &az_ar, &ra_ar, &dec_ar) ; |
---|
2095 | |
---|
2096 | /* Calculate the apparent refracted hour angle */ |
---|
2097 | |
---|
2098 | ha_ar= (gst + geo_loc.longitude/180. * 12. - ra_ar) ; |
---|
2099 | |
---|
2100 | if( ha_ar < 0.) |
---|
2101 | { |
---|
2102 | ha_ar += 24. ; |
---|
2103 | } |
---|
2104 | /* Equatorial system of the telescope, these are ra_art, dec_art needed for the setting */ |
---|
2105 | /* To be defined: sign of rotation theta= -7.5 ; */ |
---|
2106 | /* The values of hxt are defined in the local hour system, ha [hour]*/ |
---|
2107 | |
---|
2108 | if(( error= LDEqToEqT( ha_ar, dec_ar, hxt, &ha_art, &dec_art)) != 0) |
---|
2109 | { |
---|
2110 | IDMessage( myapdev, "LDAppToX: \nError in calculation\n\n"); |
---|
2111 | return -1 ; |
---|
2112 | } |
---|
2113 | ra_art = -ha_art + gst + geo_loc.longitude/180. * 12. ; |
---|
2114 | |
---|
2115 | if(ra_art <0.) |
---|
2116 | { |
---|
2117 | ra_art += 24. ; |
---|
2118 | } |
---|
2119 | |
---|
2120 | star_trans[0]= ra_art ; |
---|
2121 | star_trans[1]= dec_art ; |
---|
2122 | |
---|
2123 | break ; |
---|
2124 | case ARTTO: /* T5, apparent, refracted, telescope to observed*/ |
---|
2125 | IDMessage( myapdev, "LDAppToX: Not yet implemented, exiting...\n") ; |
---|
2126 | return -1; |
---|
2127 | break ; |
---|
2128 | default: |
---|
2129 | IDMessage(myapdev, "LDAppToX: No default, exiting\n") ; |
---|
2130 | return -1; |
---|
2131 | } |
---|
2132 | return 0; |
---|
2133 | #elif defined HAVE_NOVA_H |
---|
2134 | IDMessage( myapdev, "Only identity transformation is supported without HAVE_NOVASCC_H") ; |
---|
2135 | star_trans[0]= star_cat[0]; |
---|
2136 | star_trans[1]= star_cat[1]; |
---|
2137 | return 0 ; |
---|
2138 | #else |
---|
2139 | IDMessage( myapdev, "Install libnova to use this feature") ; // we never get here |
---|
2140 | return 0 ; |
---|
2141 | #endif |
---|
2142 | } |
---|
2143 | |
---|
2144 | // Trans form to the ideal telescope coordinate system (no mount defects) |
---|
2145 | int LDEqToEqT( double ra_h, double dec_d, double *hxt, double *rat_h, double *dect_d) |
---|
2146 | { |
---|
2147 | int res ; |
---|
2148 | int i,j; |
---|
2149 | double ra = ra_h / 12. * M_PI ; /* novas-c unit is hour */ |
---|
2150 | double dec= dec_d/180. * M_PI ; |
---|
2151 | |
---|
2152 | double theta= hxt[0]/180. * M_PI ; |
---|
2153 | double gamma= hxt[1]/180. * M_PI ; |
---|
2154 | |
---|
2155 | double unit_vector_in[3]= {cos(dec)*cos(ra), cos(dec)*sin(ra), sin(dec)} ; |
---|
2156 | double unit_vector_rot[3]= {0.,0.,0.} ; |
---|
2157 | double unit_vector_tmp[3]= {0.,0.,0.} ; |
---|
2158 | double rat ; |
---|
2159 | double dect ; |
---|
2160 | |
---|
2161 | /* theta rotation around polar axis, gamma around y axis */ |
---|
2162 | double rotation[3][3]= |
---|
2163 | { |
---|
2164 | {cos(gamma)*cos(theta),-(cos(gamma)*sin(theta)),-sin(gamma)}, |
---|
2165 | {sin(theta),cos(theta),0}, |
---|
2166 | {cos(theta)*sin(gamma),-(sin(gamma)*sin(theta)), cos(gamma)} |
---|
2167 | } ; |
---|
2168 | |
---|
2169 | |
---|
2170 | /* minus theta rotation around telescope polar axis */ |
---|
2171 | |
---|
2172 | /* Despite the above matrix is correct, no body has a telescope */ |
---|
2173 | /* with fixed setting circles in RA - or a telescope is usually */ |
---|
2174 | /* calibrated in RA/HA by choosing one star. The matrix below */ |
---|
2175 | /* takes that into account */ |
---|
2176 | |
---|
2177 | double rotation_minus_theta[3][3]= |
---|
2178 | { |
---|
2179 | { cos(theta), sin(theta), 0.}, |
---|
2180 | {-sin(theta), cos(theta), 0.}, |
---|
2181 | { 0., 0., 1.} |
---|
2182 | } ; |
---|
2183 | |
---|
2184 | unit_vector_in[0]= cos(dec)*cos(ra) ; |
---|
2185 | unit_vector_in[1]= cos(dec)*sin(ra) ; |
---|
2186 | unit_vector_in[2]= sin(dec) ; |
---|
2187 | |
---|
2188 | if( gamma < 0 ) |
---|
2189 | { |
---|
2190 | IDMessage(myapdev, "LDEqToEqT: gamma is the distance from the celestial pole and always positive\n") ; |
---|
2191 | return -1 ; |
---|
2192 | } |
---|
2193 | for( i=0; i < 3 ; i++) |
---|
2194 | { |
---|
2195 | for( j=0; j < 3 ; j++) |
---|
2196 | { |
---|
2197 | unit_vector_tmp[i] += rotation[i][j] * unit_vector_in[j] ; |
---|
2198 | } |
---|
2199 | } |
---|
2200 | |
---|
2201 | for( i=0; i < 3 ; i++) |
---|
2202 | { |
---|
2203 | for( j=0; j < 3 ; j++) |
---|
2204 | { |
---|
2205 | unit_vector_rot[i] += rotation_minus_theta[i][j] * unit_vector_tmp[j] ; |
---|
2206 | } |
---|
2207 | } |
---|
2208 | |
---|
2209 | if(( res= LDCartToSph( unit_vector_rot, &rat, &dect))!= 0) |
---|
2210 | { |
---|
2211 | return -1 ; |
---|
2212 | } |
---|
2213 | else |
---|
2214 | { |
---|
2215 | *rat_h = rat /M_PI * 12. ; |
---|
2216 | *dect_d= dect/M_PI * 180. ; |
---|
2217 | return 0 ; |
---|
2218 | } |
---|
2219 | } |
---|
2220 | int LDCartToSph( double *vec, double *ra, double *dec) |
---|
2221 | { |
---|
2222 | |
---|
2223 | if( vec[0] !=0.) |
---|
2224 | { |
---|
2225 | *ra = atan2( vec[1], vec[0]) ; |
---|
2226 | } |
---|
2227 | else |
---|
2228 | { |
---|
2229 | return -1 ; |
---|
2230 | } |
---|
2231 | *dec= asin( vec[2]) ; |
---|
2232 | return 0 ; |
---|
2233 | } |
---|