1 | #if 0 |
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2 | LX200 Basic Driver |
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3 | Copyright (C) 2005 Jasem Mutlaq (mutlaqja@ikarustech.com) |
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4 | |
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5 | This library is free software; you can redistribute it and/or |
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6 | modify it under the terms of the GNU Lesser General Public |
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7 | License as published by the Free Software Foundation; either |
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8 | version 2.1 of the License, or (at your option) any later version. |
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9 | |
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10 | This library is distributed in the hope that it will be useful, |
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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13 | Lesser General Public License for more details. |
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14 | |
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15 | You should have received a copy of the GNU Lesser General Public |
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16 | License along with this library; if not, write to the Free Software |
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17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
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18 | |
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19 | #endif |
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20 | |
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21 | #include <stdio.h> |
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22 | #include <stdlib.h> |
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23 | #include <string.h> |
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24 | #include <stdarg.h> |
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25 | #include <math.h> |
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26 | #include <unistd.h> |
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27 | #include <time.h> |
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28 | #include <memory> |
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29 | |
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30 | #include <config.h> |
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31 | |
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32 | /* INDI Common Library Routines */ |
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33 | #include "indicom.h" |
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34 | |
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35 | /* LX200 Command Set */ |
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36 | #include "lx200driver.h" |
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37 | |
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38 | /* Our driver header */ |
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39 | #include "lx200basic.h" |
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40 | |
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41 | using namespace std; |
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42 | |
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43 | /* Our telescope auto pointer */ |
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44 | auto_ptr<LX200Basic> telescope(0); |
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45 | |
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46 | const int POLLMS = 1000; // Period of update, 1 second. |
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47 | const char *mydev = "LX200 Basic"; // Name of our device. |
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48 | |
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49 | const char *BASIC_GROUP = "Main Control"; // Main Group |
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50 | const char *OPTIONS_GROUP = "Options"; // Options Group |
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51 | |
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52 | /* Handy Macros */ |
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53 | #define currentRA EquatorialCoordsRN[0].value |
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54 | #define currentDEC EquatorialCoordsRN[1].value |
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55 | #define targetRA EquatorialCoordsWN[0].value |
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56 | #define targetDEC EquatorialCoordsWN[1].value |
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57 | |
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58 | static void ISPoll(void *); |
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59 | static void retry_connection(void *); |
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60 | |
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61 | /************************************************************************************** |
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62 | ** Send client definitions of all properties. |
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63 | ***************************************************************************************/ |
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64 | void ISInit() |
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65 | { |
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66 | static int isInit=0; |
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67 | |
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68 | if (isInit) |
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69 | return; |
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70 | |
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71 | if (telescope.get() == 0) telescope.reset(new LX200Basic()); |
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72 | |
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73 | isInit = 1; |
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74 | |
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75 | IEAddTimer (POLLMS, ISPoll, NULL); |
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76 | } |
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77 | |
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78 | /************************************************************************************** |
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79 | ** |
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80 | ***************************************************************************************/ |
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81 | void ISGetProperties (const char *dev) |
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82 | { |
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83 | ISInit(); |
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84 | telescope->ISGetProperties(dev); |
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85 | } |
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86 | |
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87 | /************************************************************************************** |
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88 | ** |
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89 | ***************************************************************************************/ |
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90 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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91 | { |
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92 | ISInit(); |
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93 | telescope->ISNewSwitch(dev, name, states, names, n); |
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94 | } |
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95 | |
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96 | /************************************************************************************** |
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97 | ** |
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98 | ***************************************************************************************/ |
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99 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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100 | { |
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101 | ISInit(); |
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102 | telescope->ISNewText(dev, name, texts, names, n); |
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103 | } |
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104 | |
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105 | /************************************************************************************** |
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106 | ** |
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107 | ***************************************************************************************/ |
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108 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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109 | { |
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110 | ISInit(); |
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111 | telescope->ISNewNumber(dev, name, values, names, n); |
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112 | } |
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113 | |
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114 | /************************************************************************************** |
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115 | ** |
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116 | ***************************************************************************************/ |
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117 | void ISPoll (void *p) |
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118 | { |
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119 | INDI_UNUSED(p); |
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120 | |
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121 | telescope->ISPoll(); |
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122 | IEAddTimer (POLLMS, ISPoll, NULL); |
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123 | } |
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124 | |
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125 | /************************************************************************************** |
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126 | ** |
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127 | ***************************************************************************************/ |
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128 | void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) |
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129 | { |
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130 | INDI_UNUSED(dev); |
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131 | INDI_UNUSED(name); |
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132 | INDI_UNUSED(sizes); |
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133 | INDI_UNUSED(blobsizes); |
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134 | INDI_UNUSED(blobs); |
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135 | INDI_UNUSED(formats); |
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136 | INDI_UNUSED(names); |
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137 | INDI_UNUSED(n); |
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138 | } |
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139 | |
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140 | /************************************************************************************** |
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141 | ** |
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142 | ***************************************************************************************/ |
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143 | void ISSnoopDevice (XMLEle *root) |
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144 | { |
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145 | INDI_UNUSED(root); |
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146 | } |
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147 | |
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148 | /************************************************************************************** |
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149 | ** LX200 Basic constructor |
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150 | ***************************************************************************************/ |
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151 | LX200Basic::LX200Basic() |
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152 | { |
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153 | init_properties(); |
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154 | |
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155 | lastSet = -1; |
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156 | fd = -1; |
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157 | simulation = false; |
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158 | lastRA = 0; |
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159 | lastDEC = 0; |
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160 | currentSet = 0; |
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161 | |
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162 | IDLog("Initilizing from LX200 Basic device...\n"); |
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163 | IDLog("Driver Version: 2007-09-28\n"); |
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164 | |
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165 | enable_simulation(false); |
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166 | |
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167 | } |
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168 | |
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169 | /************************************************************************************** |
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170 | ** |
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171 | ***************************************************************************************/ |
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172 | LX200Basic::~LX200Basic() |
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173 | { |
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174 | |
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175 | } |
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176 | |
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177 | /************************************************************************************** |
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178 | ** Initialize all properties & set default values. |
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179 | ***************************************************************************************/ |
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180 | void LX200Basic::init_properties() |
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181 | { |
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182 | // Connection |
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183 | IUFillSwitch(&ConnectS[0], "CONNECT", "Connect", ISS_OFF); |
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184 | IUFillSwitch(&ConnectS[1], "DISCONNECT", "Disconnect", ISS_ON); |
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185 | IUFillSwitchVector(&ConnectSP, ConnectS, NARRAY(ConnectS), mydev, "CONNECTION", "Connection", BASIC_GROUP, IP_RW, ISR_1OFMANY, 60, IPS_IDLE); |
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186 | |
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187 | // Coord Set |
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188 | IUFillSwitch(&OnCoordSetS[0], "SLEW", "Slew", ISS_ON); |
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189 | IUFillSwitch(&OnCoordSetS[1], "TRACK", "Track", ISS_OFF); |
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190 | IUFillSwitch(&OnCoordSetS[2], "SYNC", "Sync", ISS_OFF); |
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191 | IUFillSwitchVector(&OnCoordSetSP, OnCoordSetS, NARRAY(OnCoordSetS), mydev, "ON_COORD_SET", "On Set", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE); |
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192 | |
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193 | // Abort |
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194 | IUFillSwitch(&AbortSlewS[0], "ABORT", "Abort", ISS_OFF); |
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195 | IUFillSwitchVector(&AbortSlewSP, AbortSlewS, NARRAY(AbortSlewS), mydev, "ABORT_MOTION", "Abort Slew/Track", BASIC_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE); |
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196 | |
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197 | // Port |
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198 | IUFillText(&PortT[0], "PORT", "Port", "/dev/ttyS0"); |
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199 | IUFillTextVector(&PortTP, PortT, NARRAY(PortT), mydev, "DEVICE_PORT", "Ports", BASIC_GROUP, IP_RW, 0, IPS_IDLE); |
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200 | |
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201 | // Object Name |
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202 | IUFillText(&ObjectT[0], "OBJECT_NAME", "Name", "--"); |
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203 | IUFillTextVector(&ObjectTP, ObjectT, NARRAY(ObjectT), mydev, "OBJECT_INFO", "Object", BASIC_GROUP, IP_RW, 0, IPS_IDLE); |
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204 | |
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205 | // Equatorial Coords - SET |
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206 | IUFillNumber(&EquatorialCoordsWN[0], "RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0.); |
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207 | IUFillNumber(&EquatorialCoordsWN[1], "DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0.); |
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208 | IUFillNumberVector(&EquatorialCoordsWNP, EquatorialCoordsWN, NARRAY(EquatorialCoordsWN), mydev, "EQUATORIAL_EOD_COORD_REQUEST" , "Equatorial JNow", BASIC_GROUP, IP_RW, 0, IPS_IDLE); |
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209 | |
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210 | // Equatorial Coords - READ |
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211 | IUFillNumber(&EquatorialCoordsRN[0], "RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0.); |
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212 | IUFillNumber(&EquatorialCoordsRN[1], "DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0.); |
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213 | IUFillNumberVector(&EquatorialCoordsRNP, EquatorialCoordsRN, NARRAY(EquatorialCoordsRN), mydev, "EQUATORIAL_EOD_COORD" , "Equatorial JNow", BASIC_GROUP, IP_RO, 0, IPS_IDLE); |
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214 | |
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215 | // Slew threshold |
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216 | IUFillNumber(&SlewAccuracyN[0], "SlewRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0); |
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217 | IUFillNumber(&SlewAccuracyN[1], "SlewDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0); |
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218 | IUFillNumberVector(&SlewAccuracyNP, SlewAccuracyN, NARRAY(SlewAccuracyN), mydev, "Slew Accuracy", "", OPTIONS_GROUP, IP_RW, 0, IPS_IDLE); |
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219 | |
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220 | // Track threshold |
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221 | IUFillNumber(&TrackAccuracyN[0], "TrackRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0); |
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222 | IUFillNumber(&TrackAccuracyN[1], "TrackDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0); |
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223 | IUFillNumberVector(&TrackAccuracyNP, TrackAccuracyN, NARRAY(TrackAccuracyN), mydev, "Tracking Accuracy", "", OPTIONS_GROUP, IP_RW, 0, IPS_IDLE); |
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224 | } |
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225 | |
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226 | /************************************************************************************** |
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227 | ** Define LX200 Basic properties to clients. |
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228 | ***************************************************************************************/ |
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229 | void LX200Basic::ISGetProperties(const char *dev) |
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230 | { |
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231 | |
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232 | if (dev && strcmp (mydev, dev)) |
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233 | return; |
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234 | |
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235 | // Main Control |
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236 | IDDefSwitch(&ConnectSP, NULL); |
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237 | IDDefText(&PortTP, NULL); |
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238 | IDDefText(&ObjectTP, NULL); |
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239 | IDDefNumber(&EquatorialCoordsWNP, NULL); |
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240 | IDDefNumber(&EquatorialCoordsRNP, NULL); |
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241 | IDDefSwitch(&OnCoordSetSP, NULL); |
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242 | IDDefSwitch(&AbortSlewSP, NULL); |
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243 | |
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244 | // Options |
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245 | IDDefNumber(&SlewAccuracyNP, NULL); |
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246 | IDDefNumber(&TrackAccuracyNP, NULL); |
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247 | |
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248 | } |
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249 | |
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250 | /************************************************************************************** |
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251 | ** Process Text properties |
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252 | ***************************************************************************************/ |
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253 | void LX200Basic::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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254 | { |
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255 | // Ignore if not ours |
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256 | if (strcmp (dev, mydev)) |
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257 | return; |
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258 | |
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259 | // =================================== |
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260 | // Port Name |
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261 | // =================================== |
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262 | if (!strcmp(name, PortTP.name) ) |
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263 | { |
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264 | if (IUUpdateText(&PortTP, texts, names, n) < 0) |
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265 | return; |
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266 | |
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267 | PortTP.s = IPS_OK; |
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268 | IDSetText (&PortTP, NULL); |
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269 | return; |
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270 | } |
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271 | |
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272 | if (is_connected() == false) |
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273 | { |
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274 | IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands."); |
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275 | reset_all_properties(); |
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276 | return; |
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277 | } |
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278 | |
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279 | // =================================== |
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280 | // Object Name |
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281 | // =================================== |
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282 | if (!strcmp (name, ObjectTP.name)) |
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283 | { |
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284 | |
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285 | if (IUUpdateText(&ObjectTP, texts, names, n) < 0) |
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286 | return; |
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287 | |
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288 | ObjectTP.s = IPS_OK; |
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289 | IDSetText(&ObjectTP, NULL); |
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290 | return; |
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291 | } |
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292 | } |
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293 | |
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294 | /************************************************************************************** |
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295 | ** |
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296 | ***************************************************************************************/ |
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297 | void LX200Basic::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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298 | { |
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299 | |
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300 | // Ignore if not ours |
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301 | if (strcmp (dev, mydev)) |
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302 | return; |
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303 | |
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304 | if (is_connected() == false) |
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305 | { |
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306 | IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands."); |
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307 | reset_all_properties(); |
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308 | return; |
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309 | } |
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310 | |
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311 | // =================================== |
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312 | // Equatorial Coords |
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313 | // =================================== |
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314 | if (!strcmp (name, EquatorialCoordsWNP.name)) |
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315 | { |
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316 | int i=0, nset=0, error_code=0; |
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317 | double newRA =0, newDEC =0; |
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318 | |
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319 | for (nset = i = 0; i < n; i++) |
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320 | { |
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321 | INumber *eqp = IUFindNumber (&EquatorialCoordsWNP, names[i]); |
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322 | if (eqp == &EquatorialCoordsWN[0]) |
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323 | { |
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324 | newRA = values[i]; |
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325 | nset += newRA >= 0 && newRA <= 24.0; |
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326 | } else if (eqp == &EquatorialCoordsWN[1]) |
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327 | { |
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328 | newDEC = values[i]; |
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329 | nset += newDEC >= -90.0 && newDEC <= 90.0; |
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330 | } |
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331 | } |
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332 | |
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333 | if (nset == 2) |
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334 | { |
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335 | char RAStr[32], DecStr[32]; |
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336 | |
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337 | fs_sexa(RAStr, newRA, 2, 3600); |
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338 | fs_sexa(DecStr, newDEC, 2, 3600); |
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339 | |
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340 | #ifdef INDI_DEBUG |
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341 | IDLog("We received JNow RA %g - DEC %g\n", newRA, newDEC); |
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342 | IDLog("We received JNow RA %s - DEC %s\n", RAStr, DecStr); |
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343 | #endif |
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344 | |
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345 | if (!simulation && ( (error_code = setObjectRA(fd, newRA)) < 0 || ( error_code = setObjectDEC(fd, newDEC)) < 0)) |
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346 | { |
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347 | handle_error(&EquatorialCoordsWNP, error_code, "Setting RA/DEC"); |
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348 | return; |
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349 | } |
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350 | |
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351 | targetRA = newRA; |
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352 | targetDEC = newDEC; |
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353 | |
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354 | if (process_coords() == false) |
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355 | { |
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356 | EquatorialCoordsWNP.s = IPS_ALERT; |
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357 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
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358 | |
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359 | } |
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360 | } // end nset |
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361 | else |
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362 | { |
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363 | EquatorialCoordsWNP.s = IPS_ALERT; |
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364 | IDSetNumber(&EquatorialCoordsWNP, "RA or Dec missing or invalid"); |
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365 | } |
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366 | |
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367 | return; |
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368 | } /* end EquatorialCoordsWNP */ |
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369 | |
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370 | // =================================== |
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371 | // Update tracking precision limits |
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372 | // =================================== |
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373 | if (!strcmp (name, TrackAccuracyNP.name)) |
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374 | { |
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375 | if (IUUpdateNumber(&TrackAccuracyNP, values, names, n) < 0) |
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376 | return; |
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377 | |
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378 | TrackAccuracyNP.s = IPS_OK; |
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379 | |
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380 | if (TrackAccuracyN[0].value < 3 || TrackAccuracyN[1].value < 3) |
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381 | IDSetNumber(&TrackAccuracyNP, "Warning: Setting the tracking accuracy too low may result in a dead lock"); |
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382 | else |
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383 | IDSetNumber(&TrackAccuracyNP, NULL); |
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384 | return; |
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385 | } |
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386 | |
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387 | // =================================== |
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388 | // Update slew precision limit |
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389 | // =================================== |
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390 | if (!strcmp(name, SlewAccuracyNP.name)) |
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391 | { |
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392 | if (IUUpdateNumber(&SlewAccuracyNP, values, names, n) < 0) |
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393 | return; |
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394 | |
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395 | SlewAccuracyNP.s = IPS_OK; |
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396 | |
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397 | if (SlewAccuracyN[0].value < 3 || SlewAccuracyN[1].value < 3) |
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398 | IDSetNumber(&TrackAccuracyNP, "Warning: Setting the slew accuracy too low may result in a dead lock"); |
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399 | |
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400 | IDSetNumber(&SlewAccuracyNP, NULL); |
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401 | return; |
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402 | |
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403 | |
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404 | } |
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405 | } |
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406 | |
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407 | /************************************************************************************** |
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408 | ** |
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409 | ***************************************************************************************/ |
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410 | void LX200Basic::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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411 | { |
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412 | // ignore if not ours // |
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413 | if (strcmp (mydev, dev)) |
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414 | return; |
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415 | |
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416 | // =================================== |
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417 | // Connect Switch |
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418 | // =================================== |
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419 | if (!strcmp (name, ConnectSP.name)) |
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420 | { |
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421 | if (IUUpdateSwitch(&ConnectSP, states, names, n) < 0) |
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422 | return; |
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423 | |
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424 | connect_telescope(); |
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425 | return; |
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426 | } |
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427 | |
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428 | if (is_connected() == false) |
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429 | { |
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430 | IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands."); |
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431 | reset_all_properties(); |
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432 | return; |
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433 | } |
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434 | |
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435 | // =================================== |
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436 | // Coordinate Set |
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437 | // =================================== |
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438 | if (!strcmp(name, OnCoordSetSP.name)) |
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439 | { |
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440 | if (IUUpdateSwitch(&OnCoordSetSP, states, names, n) < 0) |
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441 | return; |
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442 | |
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443 | currentSet = get_switch_index(&OnCoordSetSP); |
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444 | OnCoordSetSP.s = IPS_OK; |
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445 | IDSetSwitch(&OnCoordSetSP, NULL); |
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446 | } |
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447 | |
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448 | // =================================== |
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449 | // Abort slew |
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450 | // =================================== |
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451 | if (!strcmp (name, AbortSlewSP.name)) |
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452 | { |
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453 | |
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454 | IUResetSwitch(&AbortSlewSP); |
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455 | abortSlew(fd); |
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456 | |
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457 | if (EquatorialCoordsWNP.s == IPS_BUSY) |
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458 | { |
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459 | AbortSlewSP.s = IPS_OK; |
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460 | EquatorialCoordsWNP.s = IPS_IDLE; |
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461 | EquatorialCoordsRNP.s = IPS_IDLE; |
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462 | IDSetSwitch(&AbortSlewSP, "Slew aborted."); |
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463 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
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464 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
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465 | } |
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466 | |
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467 | return; |
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468 | } |
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469 | |
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470 | } |
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471 | |
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472 | /************************************************************************************** |
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473 | ** Retry connecting to the telescope on error. Give up if there is no hope. |
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474 | ***************************************************************************************/ |
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475 | void LX200Basic::handle_error(INumberVectorProperty *nvp, int err, const char *msg) |
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476 | { |
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477 | |
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478 | nvp->s = IPS_ALERT; |
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479 | |
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480 | /* First check to see if the telescope is connected */ |
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481 | if (check_lx200_connection(fd)) |
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482 | { |
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483 | /* The telescope is off locally */ |
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484 | ConnectS[0].s = ISS_OFF; |
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485 | ConnectS[1].s = ISS_ON; |
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486 | ConnectSP.s = IPS_BUSY; |
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487 | IDSetSwitch(&ConnectSP, "Telescope is not responding to commands, will retry in 10 seconds."); |
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488 | |
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489 | IDSetNumber(nvp, NULL); |
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490 | IEAddTimer(10000, retry_connection, &fd); |
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491 | return; |
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492 | } |
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493 | |
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494 | /* If the error is a time out, then the device doesn't support this property */ |
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495 | if (err == -2) |
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496 | { |
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497 | nvp->s = IPS_ALERT; |
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498 | IDSetNumber(nvp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg); |
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499 | } |
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500 | else |
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501 | /* Changing property failed, user should retry. */ |
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502 | IDSetNumber( nvp , "%s failed.", msg); |
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503 | |
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504 | fault = true; |
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505 | } |
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506 | |
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507 | /************************************************************************************** |
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508 | ** Set all properties to idle and reset most switches to clean state. |
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509 | ***************************************************************************************/ |
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510 | void LX200Basic::reset_all_properties() |
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511 | { |
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512 | ConnectSP.s = IPS_IDLE; |
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513 | OnCoordSetSP.s = IPS_IDLE; |
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514 | AbortSlewSP.s = IPS_IDLE; |
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515 | PortTP.s = IPS_IDLE; |
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516 | ObjectTP.s = IPS_IDLE; |
---|
517 | EquatorialCoordsWNP.s = IPS_IDLE; |
---|
518 | EquatorialCoordsRNP.s = IPS_IDLE; |
---|
519 | SlewAccuracyNP.s = IPS_IDLE; |
---|
520 | TrackAccuracyNP.s = IPS_IDLE; |
---|
521 | |
---|
522 | IUResetSwitch(&OnCoordSetSP); |
---|
523 | IUResetSwitch(&AbortSlewSP); |
---|
524 | |
---|
525 | OnCoordSetS[0].s = ISS_ON; |
---|
526 | ConnectS[0].s = ISS_OFF; |
---|
527 | ConnectS[1].s = ISS_ON; |
---|
528 | |
---|
529 | IDSetSwitch(&ConnectSP, NULL); |
---|
530 | IDSetSwitch(&OnCoordSetSP, NULL); |
---|
531 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
532 | IDSetText(&PortTP, NULL); |
---|
533 | IDSetText(&ObjectTP, NULL); |
---|
534 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
---|
535 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
---|
536 | IDSetNumber(&SlewAccuracyNP, NULL); |
---|
537 | IDSetNumber(&TrackAccuracyNP, NULL); |
---|
538 | } |
---|
539 | |
---|
540 | /************************************************************************************** |
---|
541 | ** |
---|
542 | ***************************************************************************************/ |
---|
543 | void LX200Basic::correct_fault() |
---|
544 | { |
---|
545 | fault = false; |
---|
546 | IDMessage(mydev, "Telescope is online."); |
---|
547 | } |
---|
548 | |
---|
549 | /************************************************************************************** |
---|
550 | ** |
---|
551 | ***************************************************************************************/ |
---|
552 | bool LX200Basic::is_connected() |
---|
553 | { |
---|
554 | if (simulation) return true; |
---|
555 | |
---|
556 | return (ConnectSP.sp[0].s == ISS_ON); |
---|
557 | } |
---|
558 | |
---|
559 | /************************************************************************************** |
---|
560 | ** |
---|
561 | ***************************************************************************************/ |
---|
562 | static void retry_connection(void * p) |
---|
563 | { |
---|
564 | int fd = *((int *) p); |
---|
565 | |
---|
566 | if (check_lx200_connection(fd)) |
---|
567 | telescope->connection_lost(); |
---|
568 | else |
---|
569 | telescope->connection_resumed(); |
---|
570 | } |
---|
571 | |
---|
572 | /************************************************************************************** |
---|
573 | ** |
---|
574 | ***************************************************************************************/ |
---|
575 | void LX200Basic::ISPoll() |
---|
576 | { |
---|
577 | if (is_connected() == false || simulation) |
---|
578 | return; |
---|
579 | |
---|
580 | double dx, dy; |
---|
581 | int error_code=0; |
---|
582 | |
---|
583 | switch (EquatorialCoordsWNP.s) |
---|
584 | { |
---|
585 | case IPS_IDLE: |
---|
586 | getLX200RA(fd, ¤tRA); |
---|
587 | getLX200DEC(fd, ¤tDEC); |
---|
588 | |
---|
589 | // Only update values if there are some interesting changes |
---|
590 | if ( fabs (currentRA - lastRA) > 0.01 || fabs (currentDEC - lastDEC) > 0.01) |
---|
591 | { |
---|
592 | lastRA = currentRA; |
---|
593 | lastDEC = currentDEC; |
---|
594 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
595 | } |
---|
596 | break; |
---|
597 | |
---|
598 | case IPS_BUSY: |
---|
599 | getLX200RA(fd, ¤tRA); |
---|
600 | getLX200DEC(fd, ¤tDEC); |
---|
601 | dx = targetRA - currentRA; |
---|
602 | dy = targetDEC - currentDEC; |
---|
603 | |
---|
604 | // Wait until acknowledged or within threshold |
---|
605 | if ( fabs(dx) <= (SlewAccuracyN[0].value/(900.0)) && fabs(dy) <= (SlewAccuracyN[1].value/60.0)) |
---|
606 | { |
---|
607 | lastRA = currentRA; |
---|
608 | lastDEC = currentDEC; |
---|
609 | IUResetSwitch(&OnCoordSetSP); |
---|
610 | OnCoordSetSP.s = IPS_OK; |
---|
611 | EquatorialCoordsWNP.s = IPS_OK; |
---|
612 | EquatorialCoordsRNP.s = IPS_OK; |
---|
613 | IDSetNumber (&EquatorialCoordsWNP, NULL); |
---|
614 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
615 | |
---|
616 | switch (currentSet) |
---|
617 | { |
---|
618 | case LX200_SLEW: |
---|
619 | OnCoordSetSP.sp[LX200_SLEW].s = ISS_ON; |
---|
620 | IDSetSwitch (&OnCoordSetSP, "Slew is complete."); |
---|
621 | break; |
---|
622 | |
---|
623 | case LX200_TRACK: |
---|
624 | OnCoordSetSP.sp[LX200_TRACK].s = ISS_ON; |
---|
625 | IDSetSwitch (&OnCoordSetSP, "Slew is complete. Tracking..."); |
---|
626 | break; |
---|
627 | |
---|
628 | case LX200_SYNC: |
---|
629 | break; |
---|
630 | } |
---|
631 | |
---|
632 | } |
---|
633 | else |
---|
634 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
635 | break; |
---|
636 | |
---|
637 | case IPS_OK: |
---|
638 | |
---|
639 | if ( (error_code = getLX200RA(fd, ¤tRA)) < 0 || (error_code = getLX200DEC(fd, ¤tDEC)) < 0) |
---|
640 | { |
---|
641 | handle_error(&EquatorialCoordsRNP, error_code, "Getting RA/DEC"); |
---|
642 | return; |
---|
643 | } |
---|
644 | |
---|
645 | if (fault == true) |
---|
646 | correct_fault(); |
---|
647 | |
---|
648 | if ( (currentRA != lastRA) || (currentDEC != lastDEC)) |
---|
649 | { |
---|
650 | lastRA = currentRA; |
---|
651 | lastDEC = currentDEC; |
---|
652 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
653 | } |
---|
654 | break; |
---|
655 | |
---|
656 | case IPS_ALERT: |
---|
657 | break; |
---|
658 | } |
---|
659 | } |
---|
660 | |
---|
661 | /************************************************************************************** |
---|
662 | ** |
---|
663 | ***************************************************************************************/ |
---|
664 | bool LX200Basic::process_coords() |
---|
665 | { |
---|
666 | |
---|
667 | int error_code; |
---|
668 | char syncString[256]; |
---|
669 | char RAStr[32], DecStr[32]; |
---|
670 | double dx, dy; |
---|
671 | |
---|
672 | switch (currentSet) |
---|
673 | { |
---|
674 | |
---|
675 | // Slew |
---|
676 | case LX200_SLEW: |
---|
677 | lastSet = LX200_SLEW; |
---|
678 | if (EquatorialCoordsWNP.s == IPS_BUSY) |
---|
679 | { |
---|
680 | IDLog("Aboring Slew\n"); |
---|
681 | abortSlew(fd); |
---|
682 | |
---|
683 | // sleep for 100 mseconds |
---|
684 | usleep(100000); |
---|
685 | } |
---|
686 | |
---|
687 | if ( !simulation && (error_code = Slew(fd))) |
---|
688 | { |
---|
689 | slew_error(error_code); |
---|
690 | return false; |
---|
691 | } |
---|
692 | |
---|
693 | EquatorialCoordsWNP.s = IPS_BUSY; |
---|
694 | EquatorialCoordsRNP.s = IPS_BUSY; |
---|
695 | fs_sexa(RAStr, targetRA, 2, 3600); |
---|
696 | fs_sexa(DecStr, targetDEC, 2, 3600); |
---|
697 | IDSetNumber(&EquatorialCoordsWNP, "Slewing to JNow RA %s - DEC %s", RAStr, DecStr); |
---|
698 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
---|
699 | IDLog("Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr); |
---|
700 | break; |
---|
701 | |
---|
702 | // Track |
---|
703 | case LX200_TRACK: |
---|
704 | //IDLog("We're in LX200_TRACK\n"); |
---|
705 | if (EquatorialCoordsWNP.s == IPS_BUSY) |
---|
706 | { |
---|
707 | IDLog("Aboring Slew\n"); |
---|
708 | abortSlew(fd); |
---|
709 | |
---|
710 | // sleep for 200 mseconds |
---|
711 | usleep(200000); |
---|
712 | } |
---|
713 | |
---|
714 | dx = fabs ( targetRA - currentRA ); |
---|
715 | dy = fabs (targetDEC - currentDEC); |
---|
716 | |
---|
717 | if (dx >= (TrackAccuracyN[0].value/(60.0*15.0)) || (dy >= TrackAccuracyN[1].value/60.0)) |
---|
718 | { |
---|
719 | if ( !simulation && (error_code = Slew(fd))) |
---|
720 | { |
---|
721 | slew_error(error_code); |
---|
722 | return false; |
---|
723 | } |
---|
724 | |
---|
725 | fs_sexa(RAStr, targetRA, 2, 3600); |
---|
726 | fs_sexa(DecStr, targetDEC, 2, 3600); |
---|
727 | EquatorialCoordsWNP.s = IPS_BUSY; |
---|
728 | EquatorialCoordsRNP.s = IPS_BUSY; |
---|
729 | IDSetNumber(&EquatorialCoordsWNP, "Slewing to JNow RA %s - DEC %s", RAStr, DecStr); |
---|
730 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
---|
731 | IDLog("Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr); |
---|
732 | } |
---|
733 | else |
---|
734 | { |
---|
735 | //IDLog("Tracking called, but tracking threshold not reached yet.\n"); |
---|
736 | EquatorialCoordsWNP.s = IPS_OK; |
---|
737 | EquatorialCoordsRNP.s = IPS_OK; |
---|
738 | |
---|
739 | if (lastSet != LX200_TRACK) |
---|
740 | IDSetNumber(&EquatorialCoordsWNP, "Tracking..."); |
---|
741 | else |
---|
742 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
---|
743 | |
---|
744 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
---|
745 | } |
---|
746 | lastSet = LX200_TRACK; |
---|
747 | break; |
---|
748 | |
---|
749 | // Sync |
---|
750 | case LX200_SYNC: |
---|
751 | lastSet = LX200_SYNC; |
---|
752 | EquatorialCoordsWNP.s = IPS_IDLE; |
---|
753 | |
---|
754 | if ( !simulation && ( error_code = Sync(fd, syncString) < 0) ) |
---|
755 | { |
---|
756 | IDSetNumber( &EquatorialCoordsWNP , "Synchronization failed."); |
---|
757 | return false; |
---|
758 | } |
---|
759 | |
---|
760 | if (simulation) |
---|
761 | { |
---|
762 | EquatorialCoordsRN[0].value = EquatorialCoordsWN[0].value; |
---|
763 | EquatorialCoordsRN[1].value = EquatorialCoordsWN[1].value; |
---|
764 | } |
---|
765 | |
---|
766 | EquatorialCoordsWNP.s = IPS_OK; |
---|
767 | EquatorialCoordsRNP.s = IPS_OK; |
---|
768 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
---|
769 | IDLog("Synchronization successful %s\n", syncString); |
---|
770 | IDSetNumber(&EquatorialCoordsWNP, "Synchronization successful."); |
---|
771 | break; |
---|
772 | } |
---|
773 | |
---|
774 | return true; |
---|
775 | |
---|
776 | } |
---|
777 | |
---|
778 | /************************************************************************************** |
---|
779 | ** |
---|
780 | ***************************************************************************************/ |
---|
781 | int LX200Basic::get_switch_index(ISwitchVectorProperty *sp) |
---|
782 | { |
---|
783 | for (int i=0; i < sp->nsp ; i++) |
---|
784 | if (sp->sp[i].s == ISS_ON) |
---|
785 | return i; |
---|
786 | |
---|
787 | return -1; |
---|
788 | } |
---|
789 | |
---|
790 | /************************************************************************************** |
---|
791 | ** |
---|
792 | ***************************************************************************************/ |
---|
793 | void LX200Basic::connect_telescope() |
---|
794 | { |
---|
795 | switch (ConnectSP.sp[0].s) |
---|
796 | { |
---|
797 | case ISS_ON: |
---|
798 | |
---|
799 | if (simulation) |
---|
800 | { |
---|
801 | ConnectSP.s = IPS_OK; |
---|
802 | IDSetSwitch (&ConnectSP, "Simulated telescope is online."); |
---|
803 | return; |
---|
804 | } |
---|
805 | |
---|
806 | if (tty_connect(PortT[0].text, 9600, 8, 0, 1, &fd) != TTY_OK) |
---|
807 | { |
---|
808 | ConnectS[0].s = ISS_OFF; |
---|
809 | ConnectS[1].s = ISS_ON; |
---|
810 | IDSetSwitch (&ConnectSP, "Error connecting to port %s. Make sure you have BOTH read and write permission to the port.", PortT[0].text); |
---|
811 | return; |
---|
812 | } |
---|
813 | |
---|
814 | if (check_lx200_connection(fd)) |
---|
815 | { |
---|
816 | ConnectS[0].s = ISS_OFF; |
---|
817 | ConnectS[1].s = ISS_ON; |
---|
818 | IDSetSwitch (&ConnectSP, "Error connecting to Telescope. Telescope is offline."); |
---|
819 | return; |
---|
820 | } |
---|
821 | |
---|
822 | ConnectSP.s = IPS_OK; |
---|
823 | IDSetSwitch (&ConnectSP, "Telescope is online. Retrieving basic data..."); |
---|
824 | get_initial_data(); |
---|
825 | break; |
---|
826 | |
---|
827 | case ISS_OFF: |
---|
828 | ConnectS[0].s = ISS_OFF; |
---|
829 | ConnectS[1].s = ISS_ON; |
---|
830 | ConnectSP.s = IPS_IDLE; |
---|
831 | if (simulation) |
---|
832 | { |
---|
833 | IDSetSwitch (&ConnectSP, "Simulated Telescope is offline."); |
---|
834 | return; |
---|
835 | } |
---|
836 | IDSetSwitch (&ConnectSP, "Telescope is offline."); |
---|
837 | IDLog("Telescope is offline."); |
---|
838 | |
---|
839 | tty_disconnect(fd); |
---|
840 | break; |
---|
841 | } |
---|
842 | } |
---|
843 | |
---|
844 | /************************************************************************************** |
---|
845 | ** |
---|
846 | ***************************************************************************************/ |
---|
847 | void LX200Basic::get_initial_data() |
---|
848 | { |
---|
849 | |
---|
850 | // Make sure short |
---|
851 | checkLX200Format(fd); |
---|
852 | |
---|
853 | // Get current RA/DEC |
---|
854 | getLX200RA(fd, ¤tRA); |
---|
855 | getLX200DEC(fd, ¤tDEC); |
---|
856 | |
---|
857 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
858 | } |
---|
859 | |
---|
860 | /************************************************************************************** |
---|
861 | ** |
---|
862 | ***************************************************************************************/ |
---|
863 | void LX200Basic::slew_error(int slewCode) |
---|
864 | { |
---|
865 | OnCoordSetSP.s = IPS_IDLE; |
---|
866 | |
---|
867 | if (slewCode == 1) |
---|
868 | IDSetSwitch (&OnCoordSetSP, "Object below horizon."); |
---|
869 | else if (slewCode == 2) |
---|
870 | IDSetSwitch (&OnCoordSetSP, "Object below the minimum elevation limit."); |
---|
871 | else |
---|
872 | IDSetSwitch (&OnCoordSetSP, "Slew failed."); |
---|
873 | } |
---|
874 | |
---|
875 | /************************************************************************************** |
---|
876 | ** |
---|
877 | ***************************************************************************************/ |
---|
878 | void LX200Basic::enable_simulation(bool enable) |
---|
879 | { |
---|
880 | simulation = enable; |
---|
881 | |
---|
882 | if (simulation) |
---|
883 | IDLog("Warning: Simulation is activated.\n"); |
---|
884 | else |
---|
885 | IDLog("Simulation is disabled.\n"); |
---|
886 | } |
---|
887 | |
---|
888 | /************************************************************************************** |
---|
889 | ** |
---|
890 | ***************************************************************************************/ |
---|
891 | void LX200Basic::connection_lost() |
---|
892 | { |
---|
893 | ConnectSP.s = IPS_IDLE; |
---|
894 | IDSetSwitch(&ConnectSP, "The connection to the telescope is lost."); |
---|
895 | return; |
---|
896 | |
---|
897 | } |
---|
898 | |
---|
899 | /************************************************************************************** |
---|
900 | ** |
---|
901 | ***************************************************************************************/ |
---|
902 | void LX200Basic::connection_resumed() |
---|
903 | { |
---|
904 | ConnectS[0].s = ISS_ON; |
---|
905 | ConnectS[1].s = ISS_OFF; |
---|
906 | ConnectSP.s = IPS_OK; |
---|
907 | |
---|
908 | IDSetSwitch(&ConnectSP, "The connection to the telescope has been resumed."); |
---|
909 | } |
---|