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source: BAORadio/libindi/v1.0.1/drivers/telescope/lx200basic.cpp@ 618

Last change on this file since 618 was 501, checked in by frichard, 15 years ago
-BAOControl : petite interface permettant de contrôler les antennes via le pilote indi_BAO -Le pilote indi_BAO utilise désormais libindi v 0.7
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1	#if 0
2	LX200 Basic Driver
3	Copyright (C) 2005 Jasem Mutlaq (mutlaqja@ikarustech.com)
4
5	This library is free software; you can redistribute it and/or
6	modify it under the terms of the GNU Lesser General Public
7	License as published by the Free Software Foundation; either
8	version 2.1 of the License, or (at your option) any later version.
9
10	This library is distributed in the hope that it will be useful,
11	but WITHOUT ANY WARRANTY; without even the implied warranty of
12	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13	Lesser General Public License for more details.
14
15	You should have received a copy of the GNU Lesser General Public
16	License along with this library; if not, write to the Free Software
17	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18
19	#endif
20
21	#include <stdio.h>
22	#include <stdlib.h>
23	#include <string.h>
24	#include <stdarg.h>
25	#include <math.h>
26	#include <unistd.h>
27	#include <time.h>
28	#include <memory>
29
30	#include <config.h>
31
32	/* INDI Common Library Routines */
33	#include "indicom.h"
34
35	/* LX200 Command Set */
36	#include "lx200driver.h"
37
38	/* Our driver header */
39	#include "lx200basic.h"
40
41	using namespace std;
42
43	/* Our telescope auto pointer */
44	auto_ptr<LX200Basic> telescope(0);
45
46	const int POLLMS = 1000; // Period of update, 1 second.
47	const char *mydev = "LX200 Basic"; // Name of our device.
48
49	const char *BASIC_GROUP = "Main Control"; // Main Group
50	const char *OPTIONS_GROUP = "Options"; // Options Group
51
52	/* Handy Macros */
53	#define currentRA EquatorialCoordsRN[0].value
54	#define currentDEC EquatorialCoordsRN[1].value
55	#define targetRA EquatorialCoordsWN[0].value
56	#define targetDEC EquatorialCoordsWN[1].value
57
58	static void ISPoll(void *);
59	static void retry_connection(void *);
60
61	/**************************************************************************************
62	** Send client definitions of all properties.
63	***************************************************************************************/
64	void ISInit()
65	{
66	static int isInit=0;
67
68	if (isInit)
69	return;
70
71	if (telescope.get() == 0) telescope.reset(new LX200Basic());
72
73	isInit = 1;
74
75	IEAddTimer (POLLMS, ISPoll, NULL);
76	}
77
78	/**************************************************************************************
79	**
80	***************************************************************************************/
81	void ISGetProperties (const char *dev)
82	{
83	ISInit();
84	telescope->ISGetProperties(dev);
85	}
86
87	/**************************************************************************************
88	**
89	***************************************************************************************/
90	void ISNewSwitch (const char dev, const char name, ISState states, char names[], int n)
91	{
92	ISInit();
93	telescope->ISNewSwitch(dev, name, states, names, n);
94	}
95
96	/**************************************************************************************
97	**
98	***************************************************************************************/
99	void ISNewText (const char dev, const char name, char texts[], char names[], int n)
100	{
101	ISInit();
102	telescope->ISNewText(dev, name, texts, names, n);
103	}
104
105	/**************************************************************************************
106	**
107	***************************************************************************************/
108	void ISNewNumber (const char dev, const char name, double values[], char *names[], int n)
109	{
110	ISInit();
111	telescope->ISNewNumber(dev, name, values, names, n);
112	}
113
114	/**************************************************************************************
115	**
116	***************************************************************************************/
117	void ISPoll (void *p)
118	{
119	INDI_UNUSED(p);
120
121	telescope->ISPoll();
122	IEAddTimer (POLLMS, ISPoll, NULL);
123	}
124
125	/**************************************************************************************
126	**
127	***************************************************************************************/
128	void ISNewBLOB (const char dev, const char name, int sizes[], int blobsizes[], char blobs[], char formats[], char *names[], int n)
129	{
130	INDI_UNUSED(dev);
131	INDI_UNUSED(name);
132	INDI_UNUSED(sizes);
133	INDI_UNUSED(blobsizes);
134	INDI_UNUSED(blobs);
135	INDI_UNUSED(formats);
136	INDI_UNUSED(names);
137	INDI_UNUSED(n);
138	}
139
140	/**************************************************************************************
141	**
142	***************************************************************************************/
143	void ISSnoopDevice (XMLEle *root)
144	{
145	INDI_UNUSED(root);
146	}
147
148	/**************************************************************************************
149	** LX200 Basic constructor
150	***************************************************************************************/
151	LX200Basic::LX200Basic()
152	{
153	init_properties();
154
155	lastSet = -1;
156	fd = -1;
157	simulation = false;
158	lastRA = 0;
159	lastDEC = 0;
160	currentSet = 0;
161
162	IDLog("Initilizing from LX200 Basic device...\n");
163	IDLog("Driver Version: 2007-09-28\n");
164
165	enable_simulation(false);
166
167	}
168
169	/**************************************************************************************
170	**
171	***************************************************************************************/
172	LX200Basic::~LX200Basic()
173	{
174
175	}
176
177	/**************************************************************************************
178	** Initialize all properties & set default values.
179	***************************************************************************************/
180	void LX200Basic::init_properties()
181	{
182	// Connection
183	IUFillSwitch(&ConnectS[0], "CONNECT", "Connect", ISS_OFF);
184	IUFillSwitch(&ConnectS[1], "DISCONNECT", "Disconnect", ISS_ON);
185	IUFillSwitchVector(&ConnectSP, ConnectS, NARRAY(ConnectS), mydev, "CONNECTION", "Connection", BASIC_GROUP, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
186
187	// Coord Set
188	IUFillSwitch(&OnCoordSetS[0], "SLEW", "Slew", ISS_ON);
189	IUFillSwitch(&OnCoordSetS[1], "TRACK", "Track", ISS_OFF);
190	IUFillSwitch(&OnCoordSetS[2], "SYNC", "Sync", ISS_OFF);
191	IUFillSwitchVector(&OnCoordSetSP, OnCoordSetS, NARRAY(OnCoordSetS), mydev, "ON_COORD_SET", "On Set", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
192
193	// Abort
194	IUFillSwitch(&AbortSlewS[0], "ABORT", "Abort", ISS_OFF);
195	IUFillSwitchVector(&AbortSlewSP, AbortSlewS, NARRAY(AbortSlewS), mydev, "ABORT_MOTION", "Abort Slew/Track", BASIC_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE);
196
197	// Port
198	IUFillText(&PortT[0], "PORT", "Port", "/dev/ttyS0");
199	IUFillTextVector(&PortTP, PortT, NARRAY(PortT), mydev, "DEVICE_PORT", "Ports", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
200
201	// Object Name
202	IUFillText(&ObjectT[0], "OBJECT_NAME", "Name", "--");
203	IUFillTextVector(&ObjectTP, ObjectT, NARRAY(ObjectT), mydev, "OBJECT_INFO", "Object", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
204
205	// Equatorial Coords - SET
206	IUFillNumber(&EquatorialCoordsWN[0], "RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0.);
207	IUFillNumber(&EquatorialCoordsWN[1], "DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0.);
208	IUFillNumberVector(&EquatorialCoordsWNP, EquatorialCoordsWN, NARRAY(EquatorialCoordsWN), mydev, "EQUATORIAL_EOD_COORD_REQUEST" , "Equatorial JNow", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
209
210	// Equatorial Coords - READ
211	IUFillNumber(&EquatorialCoordsRN[0], "RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0.);
212	IUFillNumber(&EquatorialCoordsRN[1], "DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0.);
213	IUFillNumberVector(&EquatorialCoordsRNP, EquatorialCoordsRN, NARRAY(EquatorialCoordsRN), mydev, "EQUATORIAL_EOD_COORD" , "Equatorial JNow", BASIC_GROUP, IP_RO, 0, IPS_IDLE);
214
215	// Slew threshold
216	IUFillNumber(&SlewAccuracyN[0], "SlewRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0);
217	IUFillNumber(&SlewAccuracyN[1], "SlewDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0);
218	IUFillNumberVector(&SlewAccuracyNP, SlewAccuracyN, NARRAY(SlewAccuracyN), mydev, "Slew Accuracy", "", OPTIONS_GROUP, IP_RW, 0, IPS_IDLE);
219
220	// Track threshold
221	IUFillNumber(&TrackAccuracyN[0], "TrackRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0);
222	IUFillNumber(&TrackAccuracyN[1], "TrackDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0);
223	IUFillNumberVector(&TrackAccuracyNP, TrackAccuracyN, NARRAY(TrackAccuracyN), mydev, "Tracking Accuracy", "", OPTIONS_GROUP, IP_RW, 0, IPS_IDLE);
224	}
225
226	/**************************************************************************************
227	** Define LX200 Basic properties to clients.
228	***************************************************************************************/
229	void LX200Basic::ISGetProperties(const char *dev)
230	{
231
232	if (dev && strcmp (mydev, dev))
233	return;
234
235	// Main Control
236	IDDefSwitch(&ConnectSP, NULL);
237	IDDefText(&PortTP, NULL);
238	IDDefText(&ObjectTP, NULL);
239	IDDefNumber(&EquatorialCoordsWNP, NULL);
240	IDDefNumber(&EquatorialCoordsRNP, NULL);
241	IDDefSwitch(&OnCoordSetSP, NULL);
242	IDDefSwitch(&AbortSlewSP, NULL);
243
244	// Options
245	IDDefNumber(&SlewAccuracyNP, NULL);
246	IDDefNumber(&TrackAccuracyNP, NULL);
247
248	}
249
250	/**************************************************************************************
251	** Process Text properties
252	***************************************************************************************/
253	void LX200Basic::ISNewText (const char dev, const char name, char texts[], char names[], int n)
254	{
255	// Ignore if not ours
256	if (strcmp (dev, mydev))
257	return;
258
259	// ===================================
260	// Port Name
261	// ===================================
262	if (!strcmp(name, PortTP.name) )
263	{
264	if (IUUpdateText(&PortTP, texts, names, n) < 0)
265	return;
266
267	PortTP.s = IPS_OK;
268	IDSetText (&PortTP, NULL);
269	return;
270	}
271
272	if (is_connected() == false)
273	{
274	IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands.");
275	reset_all_properties();
276	return;
277	}
278
279	// ===================================
280	// Object Name
281	// ===================================
282	if (!strcmp (name, ObjectTP.name))
283	{
284
285	if (IUUpdateText(&ObjectTP, texts, names, n) < 0)
286	return;
287
288	ObjectTP.s = IPS_OK;
289	IDSetText(&ObjectTP, NULL);
290	return;
291	}
292	}
293
294	/**************************************************************************************
295	**
296	***************************************************************************************/
297	void LX200Basic::ISNewNumber (const char dev, const char name, double values[], char *names[], int n)
298	{
299
300	// Ignore if not ours
301	if (strcmp (dev, mydev))
302	return;
303
304	if (is_connected() == false)
305	{
306	IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands.");
307	reset_all_properties();
308	return;
309	}
310
311	// ===================================
312	// Equatorial Coords
313	// ===================================
314	if (!strcmp (name, EquatorialCoordsWNP.name))
315	{
316	int i=0, nset=0, error_code=0;
317	double newRA =0, newDEC =0;
318
319	for (nset = i = 0; i < n; i++)
320	{
321	INumber *eqp = IUFindNumber (&EquatorialCoordsWNP, names[i]);
322	if (eqp == &EquatorialCoordsWN[0])
323	{
324	newRA = values[i];
325	nset += newRA >= 0 && newRA <= 24.0;
326	} else if (eqp == &EquatorialCoordsWN[1])
327	{
328	newDEC = values[i];
329	nset += newDEC >= -90.0 && newDEC <= 90.0;
330	}
331	}
332
333	if (nset == 2)
334	{
335	char RAStr[32], DecStr[32];
336
337	fs_sexa(RAStr, newRA, 2, 3600);
338	fs_sexa(DecStr, newDEC, 2, 3600);
339
340	#ifdef INDI_DEBUG
341	IDLog("We received JNow RA %g - DEC %g\n", newRA, newDEC);
342	IDLog("We received JNow RA %s - DEC %s\n", RAStr, DecStr);
343	#endif
344
345	if (!simulation && ( (error_code = setObjectRA(fd, newRA)) < 0 \|\| ( error_code = setObjectDEC(fd, newDEC)) < 0))
346	{
347	handle_error(&EquatorialCoordsWNP, error_code, "Setting RA/DEC");
348	return;
349	}
350
351	targetRA = newRA;
352	targetDEC = newDEC;
353
354	if (process_coords() == false)
355	{
356	EquatorialCoordsWNP.s = IPS_ALERT;
357	IDSetNumber(&EquatorialCoordsWNP, NULL);
358
359	}
360	} // end nset
361	else
362	{
363	EquatorialCoordsWNP.s = IPS_ALERT;
364	IDSetNumber(&EquatorialCoordsWNP, "RA or Dec missing or invalid");
365	}
366
367	return;
368	} /* end EquatorialCoordsWNP */
369
370	// ===================================
371	// Update tracking precision limits
372	// ===================================
373	if (!strcmp (name, TrackAccuracyNP.name))
374	{
375	if (IUUpdateNumber(&TrackAccuracyNP, values, names, n) < 0)
376	return;
377
378	TrackAccuracyNP.s = IPS_OK;
379
380	if (TrackAccuracyN[0].value < 3 \|\| TrackAccuracyN[1].value < 3)
381	IDSetNumber(&TrackAccuracyNP, "Warning: Setting the tracking accuracy too low may result in a dead lock");
382	else
383	IDSetNumber(&TrackAccuracyNP, NULL);
384	return;
385	}
386
387	// ===================================
388	// Update slew precision limit
389	// ===================================
390	if (!strcmp(name, SlewAccuracyNP.name))
391	{
392	if (IUUpdateNumber(&SlewAccuracyNP, values, names, n) < 0)
393	return;
394
395	SlewAccuracyNP.s = IPS_OK;
396
397	if (SlewAccuracyN[0].value < 3 \|\| SlewAccuracyN[1].value < 3)
398	IDSetNumber(&TrackAccuracyNP, "Warning: Setting the slew accuracy too low may result in a dead lock");
399
400	IDSetNumber(&SlewAccuracyNP, NULL);
401	return;
402
403
404	}
405	}
406
407	/**************************************************************************************
408	**
409	***************************************************************************************/
410	void LX200Basic::ISNewSwitch (const char dev, const char name, ISState states, char names[], int n)
411	{
412	// ignore if not ours //
413	if (strcmp (mydev, dev))
414	return;
415
416	// ===================================
417	// Connect Switch
418	// ===================================
419	if (!strcmp (name, ConnectSP.name))
420	{
421	if (IUUpdateSwitch(&ConnectSP, states, names, n) < 0)
422	return;
423
424	connect_telescope();
425	return;
426	}
427
428	if (is_connected() == false)
429	{
430	IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands.");
431	reset_all_properties();
432	return;
433	}
434
435	// ===================================
436	// Coordinate Set
437	// ===================================
438	if (!strcmp(name, OnCoordSetSP.name))
439	{
440	if (IUUpdateSwitch(&OnCoordSetSP, states, names, n) < 0)
441	return;
442
443	currentSet = get_switch_index(&OnCoordSetSP);
444	OnCoordSetSP.s = IPS_OK;
445	IDSetSwitch(&OnCoordSetSP, NULL);
446	}
447
448	// ===================================
449	// Abort slew
450	// ===================================
451	if (!strcmp (name, AbortSlewSP.name))
452	{
453
454	IUResetSwitch(&AbortSlewSP);
455	abortSlew(fd);
456
457	if (EquatorialCoordsWNP.s == IPS_BUSY)
458	{
459	AbortSlewSP.s = IPS_OK;
460	EquatorialCoordsWNP.s = IPS_IDLE;
461	EquatorialCoordsRNP.s = IPS_IDLE;
462	IDSetSwitch(&AbortSlewSP, "Slew aborted.");
463	IDSetNumber(&EquatorialCoordsWNP, NULL);
464	IDSetNumber(&EquatorialCoordsRNP, NULL);
465	}
466
467	return;
468	}
469
470	}
471
472	/**************************************************************************************
473	** Retry connecting to the telescope on error. Give up if there is no hope.
474	***************************************************************************************/
475	void LX200Basic::handle_error(INumberVectorProperty nvp, int err, const char msg)
476	{
477
478	nvp->s = IPS_ALERT;
479
480	/* First check to see if the telescope is connected */
481	if (check_lx200_connection(fd))
482	{
483	/* The telescope is off locally */
484	ConnectS[0].s = ISS_OFF;
485	ConnectS[1].s = ISS_ON;
486	ConnectSP.s = IPS_BUSY;
487	IDSetSwitch(&ConnectSP, "Telescope is not responding to commands, will retry in 10 seconds.");
488
489	IDSetNumber(nvp, NULL);
490	IEAddTimer(10000, retry_connection, &fd);
491	return;
492	}
493
494	/* If the error is a time out, then the device doesn't support this property */
495	if (err == -2)
496	{
497	nvp->s = IPS_ALERT;
498	IDSetNumber(nvp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg);
499	}
500	else
501	/* Changing property failed, user should retry. */
502	IDSetNumber( nvp , "%s failed.", msg);
503
504	fault = true;
505	}
506
507	/**************************************************************************************
508	** Set all properties to idle and reset most switches to clean state.
509	***************************************************************************************/
510	void LX200Basic::reset_all_properties()
511	{
512	ConnectSP.s = IPS_IDLE;
513	OnCoordSetSP.s = IPS_IDLE;
514	AbortSlewSP.s = IPS_IDLE;
515	PortTP.s = IPS_IDLE;
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, &currentRA);
587	getLX200DEC(fd, &currentDEC);
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, &currentRA);
600	getLX200DEC(fd, &currentDEC);
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, &currentRA)) < 0 \|\| (error_code = getLX200DEC(fd, &currentDEC)) < 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, &currentRA);
855	getLX200DEC(fd, &currentDEC);
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	}

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