source: BAORadio/libindi/v1.0.1/drivers/telescope/lx200autostar.cpp @ 614

/*
    LX200 Autostar
    Copyright (C) 2003 Jasem Mutlaq (mutlaqja@ikarustech.com)

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA

*/

#include "lx200autostar.h"
#include "lx200driver.h"

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#define BASIC_GROUP   "Main Control"
#define FIRMWARE_GROUP "Firmware data"
#define FOCUS_GROUP   "Focus Control"


extern LX200Generic *telescope;
extern int MaxReticleFlashRate;
extern ITextVectorProperty TimeTP;
extern INumberVectorProperty SDTimeNP;
extern INumberVectorProperty EquatorialCoordsWNP;
extern INumberVectorProperty EquatorialCoordsRNP;
extern INumberVectorProperty FocusTimerNP;
extern ISwitchVectorProperty ConnectSP;
extern ISwitchVectorProperty FocusMotionSP;
extern ISwitchVectorProperty AbortSlewSP;
extern ISwitchVectorProperty MovementNSSP;
extern ISwitchVectorProperty MovementWESP;


static IText   VersionT[] ={{ "Date", "", 0, 0, 0, 0} ,
                           { "Time", "", 0, 0, 0, 0} ,
                           { "Number", "", 0, 0, 0 ,0} ,
                           { "Full", "", 0, 0, 0, 0} ,
                           { "Name", "" ,0 ,0 ,0 ,0}};

static ITextVectorProperty VersionInfo = {mydev, "Firmware Info", "", FIRMWARE_GROUP, IP_RO, 0, IPS_IDLE, VersionT, NARRAY(VersionT), "" ,0};

// Focus Control
static INumber  FocusSpeedN[]    = {{"SPEED", "Speed", "%0.f", 0.0, 4.0, 1.0, 0.0, 0, 0, 0}};
static INumberVectorProperty    FocusSpeedNP  = {mydev, "FOCUS_SPEED", "Speed", FOCUS_GROUP, IP_RW, 0, IPS_IDLE, FocusSpeedN, NARRAY(FocusSpeedN), "", 0};

/********************************************
 Property: Park telescope to HOME
*********************************************/
static ISwitch ParkS[]                  = { {"PARK", "Park", ISS_OFF, 0, 0} };
ISwitchVectorProperty ParkSP            = {mydev, "TELESCOPE_PARK", "Park Scope", BASIC_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE, ParkS, NARRAY(ParkS), "", 0 };


void changeLX200AutostarDeviceName(const char *newName)
{
  strcpy(VersionInfo.device, newName);
  strcpy(FocusSpeedNP.device, newName);
  strcpy(ParkSP.device, newName);
}

LX200Autostar::LX200Autostar() : LX200Generic()
{

}

void LX200Autostar::ISGetProperties (const char *dev)
{

if (dev && strcmp (thisDevice, dev))
    return;

    LX200Generic::ISGetProperties(dev);

    IDDefSwitch (&ParkSP, NULL);
    IDDefText   (&VersionInfo, NULL);
    IDDefNumber (&FocusSpeedNP, NULL);

    // For Autostar, we have a different focus speed method
    // Therefore, we don't need the classical one
    IDDelete(thisDevice, "FOCUS_MODE", NULL);

}

void LX200Autostar::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
{
        // ignore if not ours //
        if (strcmp (dev, thisDevice))
            return;

        // suppress warning
        n=n;

  LX200Generic::ISNewText (dev, name, texts, names, n);

}


void LX200Autostar::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
{
        // ignore if not ours
        if (strcmp (dev, thisDevice))
            return;

        // Focus speed
        if (!strcmp (name, FocusSpeedNP.name))
        {
          if (checkPower(&FocusSpeedNP))
           return;

          if (IUUpdateNumber(&FocusSpeedNP, values, names, n) < 0)
                return;

          setGPSFocuserSpeed(fd,  ( (int) FocusSpeedN[0].value));
          FocusSpeedNP.s = IPS_OK;
          IDSetNumber(&FocusSpeedNP, NULL);
          return;
        }

    LX200Generic::ISNewNumber (dev, name, values, names, n);
}

 void LX200Autostar::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
 {
   int index=0, err=0;
 
   if (!strcmp(name, ParkSP.name))
   {
          if (checkPower(&ParkSP))
            return;
           
          if (EquatorialCoordsWNP.s == IPS_BUSY)
          {
             if (abortSlew(fd) < 0)
             {
                AbortSlewSP.s = IPS_ALERT;
                IDSetSwitch(&AbortSlewSP, NULL);
                slewError(err);
                return;
             }

             AbortSlewSP.s = IPS_OK;
             EquatorialCoordsWNP.s       = IPS_IDLE;
             IDSetSwitch(&AbortSlewSP, "Slew aborted.");
             IDSetNumber(&EquatorialCoordsWNP, NULL);

             if (MovementNSSP.s == IPS_BUSY || MovementWESP.s == IPS_BUSY)
             {
                MovementNSSP.s  = MovementWESP.s =  IPS_IDLE; 
                EquatorialCoordsWNP.s       = IPS_IDLE;
                IUResetSwitch(&MovementNSSP);
                IUResetSwitch(&MovementWESP);
                IUResetSwitch(&AbortSlewSP);

                IDSetSwitch(&MovementNSSP, NULL);
                IDSetSwitch(&MovementWESP, NULL);
              }

             // sleep for 200 mseconds
             usleep(200000);
          }

          if (slewToPark(fd) < 0)
          {
                ParkSP.s = IPS_ALERT;
                IDSetSwitch(&ParkSP, "Parking Failed.");
                return;
          }

          ParkSP.s = IPS_OK;
          ConnectSP.s   = IPS_IDLE;
          ConnectSP.sp[0].s = ISS_OFF;
          ConnectSP.sp[1].s = ISS_ON;
          tty_disconnect(fd);
          IDSetSwitch(&ParkSP, "The telescope is slewing to park position. Turn off the telescope after park is complete. Disconnecting...");
          IDSetSwitch(&ConnectSP, NULL);
          return;
    }

        // Focus Motion
        if (!strcmp (name, FocusMotionSP.name))
        {
          if (checkPower(&FocusMotionSP))
           return;

          IUResetSwitch(&FocusMotionSP);
          
          // If speed is "halt"
          if (FocusSpeedN[0].value == 0)
          {
            FocusMotionSP.s = IPS_IDLE;
            IDSetSwitch(&FocusMotionSP, NULL);
            return;
          }
          
          IUUpdateSwitch(&FocusMotionSP, states, names, n);
          index = getOnSwitch(&FocusMotionSP);
          
          
          if ( ( err = setFocuserMotion(fd, index) < 0) )
          {
             handleError(&FocusMotionSP, err, "Setting focuser speed");
             return;
          }
          
          FocusMotionSP.s = IPS_BUSY;
          
          // with a timer 
        if (FocusTimerNP.np[0].value > 0)  
        {
             FocusTimerNP.s  = IPS_BUSY;
             IDLog("Starting Focus Timer BUSY\n");
             IEAddTimer(50, LX200Generic::updateFocusTimer, this);
        }
          
          IDSetSwitch(&FocusMotionSP, NULL);
          return;
        }

   LX200Generic::ISNewSwitch (dev, name, states, names,  n);

 }

 void LX200Autostar::ISPoll ()
 {

      LX200Generic::ISPoll();

 }

 void LX200Autostar::getBasicData()
 {

   VersionInfo.tp[0].text = new char[64];
   getVersionDate(fd, VersionInfo.tp[0].text);
   VersionInfo.tp[1].text = new char[64];
   getVersionTime(fd, VersionInfo.tp[1].text);
   VersionInfo.tp[2].text = new char[64];
   getVersionNumber(fd, VersionInfo.tp[2].text);
   VersionInfo.tp[3].text = new char[128];
   getFullVersion(fd, VersionInfo.tp[3].text);
   VersionInfo.tp[4].text = new char[128];
   getProductName(fd, VersionInfo.tp[4].text);

   IDSetText(&VersionInfo, NULL);
   
   // process parent
   LX200Generic::getBasicData();

 }