1 | #if 0 |
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2 | Temma INDI driver |
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3 | Copyright (C) 2004 Francois Meyer (dulle @ free.fr) |
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4 | Remi Petitdemange for the temma protocol |
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5 | Reference site is http://dulle.free.fr/alidade/indi.php |
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6 | |
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7 | This library is free software; you can redistribute it and/or |
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8 | modify it under the terms of the GNU Lesser General Public |
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9 | License as published by the Free Software Foundation; either |
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10 | version 2.1 of the License, or (at your option) any later version. |
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11 | |
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12 | This library is distributed in the hope that it will be useful, |
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13 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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15 | Lesser General Public License for more details. |
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16 | |
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17 | You should have received a copy of the GNU Lesser General Public |
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18 | License along with this library; if not, write to the Free Software |
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19 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
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20 | |
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21 | #endif |
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22 | |
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23 | #include <stdio.h> |
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24 | #include <stdlib.h> |
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25 | #include <string.h> |
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26 | #include <stdarg.h> |
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27 | #include <math.h> |
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28 | #include <sys/time.h> |
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29 | #include <unistd.h> |
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30 | #include <fcntl.h> |
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31 | #include <termios.h> |
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32 | #include <time.h> |
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33 | |
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34 | #include <config.h> |
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35 | |
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36 | #include <libnova.h> |
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37 | |
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38 | #include "indicom.h" |
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39 | #include "indidevapi.h" |
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40 | #include "eventloop.h" |
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41 | #include "indicom.h" |
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42 | #include "temmadriver.h" |
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43 | |
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44 | |
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45 | char errormes[][128]={ |
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46 | "I/O Timeout", |
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47 | "Error reading from io port", |
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48 | "Error writing to io port", |
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49 | "Unrecognized message" |
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50 | }; |
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51 | |
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52 | char answer[32]; |
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53 | int fd; |
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54 | int read_ret, write_ret; |
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55 | unsigned char buffer[256]; |
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56 | unsigned char buffer2[256]; |
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57 | |
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58 | |
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59 | #if 1 |
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60 | /* Initlization routine */ |
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61 | static void mountInit() |
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62 | { |
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63 | static int inited; /* set once mountInit is called */ |
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64 | |
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65 | if (inited) |
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66 | return; |
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67 | |
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68 | /* setting default comm port */ |
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69 | PortT->text = realloc(PortT->text, 10); |
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70 | TemmaNoteT[0].text = realloc( TemmaNoteT[0].text, 64); |
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71 | TemmaNoteT[1].text = realloc( TemmaNoteT[1].text, 64); |
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72 | |
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73 | if (!PortT->text || !TemmaNoteT[0].text || !TemmaNoteT[1].text){ |
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74 | fprintf(stderr,"Memory allocation error"); |
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75 | return; |
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76 | } |
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77 | strcpy(PortT->text, "/dev/ttyS0"); |
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78 | strcpy(TemmaNoteT[0].text, "Experimental Driver"); |
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79 | strcpy(TemmaNoteT[1].text, "http://dulle.free.fr/alidade/indi.php"); |
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80 | |
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81 | inited = 1; |
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82 | } |
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83 | #endif |
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84 | |
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85 | void ISGetProperties (const char *dev) { |
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86 | if (dev && strcmp (mydev, dev)) |
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87 | return; |
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88 | |
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89 | mountInit(); |
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90 | |
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91 | IDDefSwitch (&powSw, NULL); |
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92 | IDDefNumber (&eqTemma, NULL); |
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93 | IDDefNumber (&eqNum, NULL); |
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94 | IDDefSwitch (&OnCoordSetSw, NULL); |
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95 | IDDefSwitch (&abortSlewSw, NULL); |
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96 | IDDefText (&TemmaNoteTP, NULL); |
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97 | IDDefSwitch (&RAmotorSw, NULL); |
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98 | IDDefSwitch (&trackmodeSw, NULL); |
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99 | IDDefText (&Port, NULL); |
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100 | IDDefText (&TemmaVersion, NULL); |
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101 | IDDefNumber (&Time, NULL); |
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102 | IDDefNumber (&SDTime, NULL); |
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103 | IDDefNumber (&cometNum, NULL); |
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104 | IDDefNumber (&geoNum, NULL); |
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105 | } |
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106 | |
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107 | void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) |
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108 | { |
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109 | INDI_UNUSED(dev); |
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110 | INDI_UNUSED(name); |
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111 | INDI_UNUSED(sizes); |
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112 | INDI_UNUSED(blobsizes); |
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113 | INDI_UNUSED(blobs); |
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114 | INDI_UNUSED(formats); |
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115 | INDI_UNUSED(names); |
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116 | INDI_UNUSED(n); |
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117 | } |
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118 | void ISSnoopDevice (XMLEle *root) |
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119 | { |
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120 | INDI_UNUSED(root); |
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121 | } |
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122 | |
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123 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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124 | { |
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125 | |
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126 | INDI_UNUSED(names); |
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127 | INDI_UNUSED(n); |
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128 | |
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129 | if (strcmp (dev, mydev)) |
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130 | return; |
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131 | |
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132 | if (!strcmp (name, Port.name)) { |
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133 | IUSaveText(PortT, texts[0]); |
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134 | Port.s = IPS_OK; |
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135 | IDSetText (&Port, NULL); |
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136 | } |
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137 | return; |
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138 | } |
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139 | |
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140 | /* client is sending us a new value for a Numeric vector property */ |
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141 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) { |
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142 | /* ignore if not ours */ |
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143 | if (strcmp (dev, mydev)) |
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144 | return; |
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145 | |
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146 | if (!strcmp (name, eqNum.name)) { |
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147 | /* new equatorial target coords */ |
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148 | /*double newra = 0, newdec = 0;*/ |
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149 | int i, nset; |
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150 | |
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151 | /* Check power, if it is off, then return */ |
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152 | if (power[0].s != ISS_ON) |
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153 | { |
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154 | eqNum.s = IPS_IDLE; |
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155 | IDSetNumber(&eqNum, "Power is off"); |
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156 | return; |
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157 | } |
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158 | |
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159 | for (nset = i = 0; i < n; i++) { |
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160 | /* Find numbers with the passed names in the eqNum property */ |
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161 | INumber *eqp = IUFindNumber (&eqNum, names[i]); |
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162 | |
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163 | /* If the number found is Right ascension (eq[0]) then process it */ |
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164 | if (eqp == &eq[0]) |
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165 | { |
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166 | currentRA = (values[i]); |
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167 | nset += currentRA >= 0 && currentRA <= 24; |
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168 | } |
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169 | /* Otherwise, if the number found is Declination (eq[1]) then process it */ |
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170 | else if (eqp == &eq[1]) { |
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171 | currentDec = (values[i]); |
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172 | nset += currentDec >= -90 && currentDec <= 90; |
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173 | } |
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174 | } /* end for */ |
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175 | |
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176 | /* Did we process the two numbers? */ |
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177 | if (nset == 2) { |
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178 | /*char r[32], d[32];*/ |
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179 | |
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180 | /* Set the mount state to BUSY */ |
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181 | eqNum.s = IPS_BUSY; |
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182 | |
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183 | if (SLEWSW==ISS_ON || TRACKSW==ISS_ON){ |
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184 | IDSetNumber(&eqNum, "Moving to RA Dec %f %f", currentRA, |
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185 | currentDec); |
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186 | do_TemmaGOTO(); |
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187 | } |
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188 | |
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189 | if (SYNCSW==ISS_ON){ |
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190 | IDSetNumber(&eqNum, "Syncing to RA Dec %f %f", currentRA, currentDec); |
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191 | set_TemmaCurrentpos(); |
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192 | } |
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193 | eqNum.s = IPS_OK; |
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194 | IDSetNumber(&eqNum, "Synced"); |
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195 | } |
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196 | /* We didn't process the two number correctly, report an error */ |
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197 | else { |
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198 | /* Set property state to idle */ |
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199 | eqNum.s = IPS_IDLE; |
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200 | |
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201 | IDSetNumber(&eqNum, "RA or Dec absent or bogus."); |
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202 | } |
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203 | return; |
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204 | } |
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205 | } |
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206 | |
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207 | /* client is sending us a new value for a Switch property */ |
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208 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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209 | { |
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210 | ISwitch *sp; |
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211 | |
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212 | /* ignore if not ours */ |
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213 | if (strcmp (dev, mydev)) |
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214 | return; |
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215 | |
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216 | if (!strcmp (name, powSw.name)) { |
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217 | sp = IUFindSwitch (&powSw, names[0]); |
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218 | if (!sp) |
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219 | return; |
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220 | |
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221 | fprintf(stderr,"new state %s\n",names[0]); |
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222 | |
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223 | sp->s = states[0]; |
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224 | if (!strcmp(names[0],"CONNECT")) { |
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225 | connectMount(); |
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226 | } |
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227 | if (!strcmp(names[0],"DISCONNECT")) { |
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228 | disconnectMount(); |
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229 | } |
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230 | } |
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231 | |
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232 | if (!strcmp (name, abortSlewSw.name)) { |
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233 | if (POWSW){ |
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234 | TemmaabortSlew(); |
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235 | IDSetSwitch (&abortSlewSw, "Abort slew"); |
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236 | } |
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237 | else { |
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238 | IDSetSwitch (&abortSlewSw, "Power is off"); |
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239 | } |
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240 | } |
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241 | |
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242 | if (!strcmp (name, RAmotorSw.name)) { |
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243 | if (POWSW){ |
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244 | sp = IUFindSwitch (&RAmotorSw, names[0]); |
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245 | if (!sp) |
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246 | return; |
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247 | |
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248 | fprintf(stderr,"new state %s\n",names[0]); |
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249 | |
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250 | sp->s = states[0]; |
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251 | |
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252 | RAmotorSw.s = IPS_BUSY; |
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253 | if (!strcmp(names[0],"RUN")) { |
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254 | set_TemmaStandbyState(0); |
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255 | } |
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256 | |
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257 | if (!strcmp(names[0],"STOP")) { |
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258 | set_TemmaStandbyState(1); |
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259 | } |
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260 | |
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261 | if(get_TemmaStandbyState(buffer)){ |
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262 | RAmotorSw.s = IPS_IDLE; |
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263 | IDSetSwitch (&RAmotorSw, "Error writing to port"); |
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264 | return; |
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265 | } |
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266 | } |
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267 | else { |
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268 | IDSetSwitch (&RAmotorSw, "Power is off"); |
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269 | } |
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270 | } |
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271 | |
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272 | if (!strcmp (name, OnCoordSetSw.name)) { |
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273 | if (POWSW){ |
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274 | IUResetSwitch(&OnCoordSetSw); |
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275 | sp = IUFindSwitch (&OnCoordSetSw, names[0]); |
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276 | if (!sp) |
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277 | return; |
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278 | |
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279 | fprintf(stderr,"new state %s\n",names[0]); |
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280 | |
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281 | sp->s = states[0]; |
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282 | |
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283 | IUResetSwitch(&OnCoordSetSw); |
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284 | IUUpdateSwitch(&OnCoordSetSw, states, names, n); |
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285 | /* currentSet = getOnSwitch(&OnCoordSetSw); */ |
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286 | OnCoordSetSw.s = IPS_OK; |
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287 | IDSetSwitch(&OnCoordSetSw, NULL); |
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288 | } |
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289 | else { |
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290 | IDSetSwitch (&OnCoordSetSw, "Power is off"); |
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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 | double calcLST(char *strlst){ |
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296 | double jd,gmst,lst; |
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297 | |
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298 | jd = ln_get_julian_from_sys(); |
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299 | gmst = ln_get_mean_sidereal_time(jd); |
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300 | |
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301 | lst=(gmst-longitude)/15; |
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302 | |
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303 | lst=(lst/24-(int)(lst/24))*24; |
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304 | |
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305 | if(lst>=24) |
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306 | lst-=24; |
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307 | sprintf(strlst,"%.2d%.2d%.2d", (int)lst, |
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308 | ((int)(lst*60))%60, |
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309 | ((int)(lst*3600))%60); |
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310 | currentLST=lst; |
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311 | IDSetNumber (&SDTime, NULL); |
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312 | IDSetNumber (&Time, NULL); |
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313 | |
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314 | return 0; |
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315 | } |
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316 | |
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317 | #if 1 |
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318 | /* update the mount over time */ |
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319 | void readMountcurrentpos (void *p) |
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320 | { |
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321 | INDI_UNUSED(p); |
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322 | |
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323 | char result[32]; |
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324 | |
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325 | if(POWSW){ |
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326 | get_TemmaCurrentpos(result); |
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327 | calcLST(result); |
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328 | |
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329 | /* This is a temporary workaround to allow |
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330 | clients with only one eq property to work */ |
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331 | currentRA=temmaRA; |
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332 | currentDec=temmaDec; |
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333 | |
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334 | /* again */ |
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335 | IEAddTimer (POLLMS, readMountcurrentpos, NULL); |
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336 | } |
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337 | } |
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338 | #endif |
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339 | |
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340 | static void connectMount () { |
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341 | fprintf(stderr,"opening mount port %s\n",PortT->text); |
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342 | if (power[0].s == ISS_ON){ |
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343 | if (Port.s != IPS_OK){ |
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344 | powSw.s = IPS_IDLE; |
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345 | power[0].s = ISS_OFF; |
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346 | |
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347 | IDSetSwitch (&powSw, "Port not set."); |
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348 | return; |
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349 | } |
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350 | else { |
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351 | if (TemmaConnect(PortT->text)==0){ |
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352 | IDSetText (&Port, "Port is opened."); |
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353 | if( !get_TemmaVERSION(buffer)){ |
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354 | powSw.s = IPS_OK; |
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355 | power[0].s = ISS_ON; |
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356 | power[1].s = ISS_OFF; |
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357 | snprintf(buffer2,sizeof( buffer2 ),"%s",buffer+4); |
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358 | |
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359 | IDSetText(&TemmaVersion , "Temma version set"); |
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360 | TemmaVersionT->text = realloc(TemmaVersionT->text, strlen(buffer2)+1); |
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361 | if (!TemmaVersionT->text){ |
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362 | fprintf(stderr,"Memory allocation error"); |
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363 | return; |
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364 | } |
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365 | IDSetSwitch (&powSw, "Mount is ready"); |
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366 | IDSetSwitch (&powSw, VERSION); |
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367 | |
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368 | strcpy(TemmaVersionT->text, buffer2); |
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369 | TemmaVersion.s = IPS_OK; |
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370 | IDSetText (&TemmaVersion, NULL); |
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371 | IDLog("%s", buffer2); |
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372 | /* start timer to read mount coords */ |
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373 | IEAddTimer (POLLMS, readMountcurrentpos, NULL); |
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374 | } |
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375 | else { |
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376 | powSw.s = IPS_IDLE; |
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377 | power[0].s = ISS_OFF; |
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378 | power[1].s = ISS_ON; |
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379 | IDSetText(&Port , "Com error"); |
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380 | IDSetSwitch (&powSw, "Port not set."); |
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381 | } |
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382 | |
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383 | if(get_TemmaStandbyState(answer)){ |
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384 | IDSetSwitch (&RAmotorSw, "Error writing to port"); |
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385 | return; |
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386 | } |
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387 | } |
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388 | else { |
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389 | powSw.s = IPS_IDLE; |
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390 | power[0].s = ISS_OFF; |
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391 | power[1].s = ISS_ON; |
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392 | |
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393 | IDSetSwitch (&powSw, "Failed to open port."); |
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394 | } |
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395 | } |
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396 | } |
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397 | } |
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398 | |
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399 | static void disconnectMount () { |
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400 | fprintf(stderr,"closing mount port %s\n",PortT->text); |
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401 | if (power[1].s == ISS_ON){ |
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402 | if (Port.s != IPS_OK){ |
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403 | powSw.s = IPS_IDLE; |
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404 | power[0].s = ISS_OFF; |
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405 | |
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406 | IDSetSwitch (&powSw, "Port not set."); |
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407 | return; |
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408 | } |
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409 | else { |
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410 | TemmaDisconnect(); |
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411 | powSw.s = IPS_IDLE; |
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412 | power[0].s = ISS_OFF; |
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413 | |
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414 | IDSetSwitch (&powSw, "Port is closed."); |
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415 | } |
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416 | } |
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417 | else { |
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418 | fprintf(stderr, "Already disconnected \n"); |
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419 | } |
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420 | } |
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421 | |
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422 | int TemmaConnect(const char *device) { |
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423 | fprintf(stderr, "Connecting to device %s\n", device); |
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424 | |
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425 | if (openPort(device) < 0){ |
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426 | fprintf(stderr, "Error connecting to device %s\n", device); |
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427 | return -1; |
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428 | } |
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429 | else{ |
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430 | return 0; |
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431 | } |
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432 | } |
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433 | |
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434 | int TemmaDisconnect() { |
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435 | fprintf(stderr, "Disconnected.\n"); |
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436 | close(fd); |
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437 | |
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438 | return 0; |
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439 | } |
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440 | |
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441 | int set_CometTracking(int RArate, int DECrate){ |
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442 | #if 0 |
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443 | Set Comet Tracking |
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444 | LM+/-99999,+/-9999 |
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445 | RA : Adjust Sidereal time by seconds per Day |
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446 | |
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447 | DEC : Adjust DEC tracking by Minutes Per Day |
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448 | valeur DEC min=-600 /max=+600 (+/-10 deg / jour) |
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449 | |
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450 | Example: |
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451 | LM+120,+30 would slow the RA speed by 86164/86284 and |
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452 | the Dec would track at 30 Minutes a day. |
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453 | To stop tracking either send a LM0,0 (or a PS |
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454 | sauf erreur on constate en faite l inverse en RA |
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455 | retour Vsideral => LM0,0 ou LM+0,+0 |
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456 | #endif |
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457 | char local_buffer[16]; |
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458 | |
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459 | if (RArate<-21541){ |
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460 | RArate=-21541; |
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461 | } |
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462 | |
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463 | if (RArate>21541){ |
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464 | RArate=21541; |
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465 | } |
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466 | |
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467 | if (DECrate<-600){ |
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468 | DECrate=-600; |
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469 | } |
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470 | |
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471 | if (DECrate>600){ |
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472 | DECrate=600; |
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473 | } |
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474 | |
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475 | snprintf(local_buffer, sizeof( local_buffer ), "%+6d,%+5d", RArate, DECrate); |
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476 | set_TemmaCometTracking(local_buffer); |
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477 | |
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478 | return 0; |
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479 | } |
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480 | |
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481 | int TemmaabortSlew() { |
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482 | if (portWrite("PS") < 0) |
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483 | return -1; |
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484 | |
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485 | return 0; |
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486 | } |
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487 | |
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488 | int do_TemmaGOTO() { |
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489 | /* Temma Sync */ |
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490 | char command[16]; |
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491 | char sign; |
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492 | double dec; |
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493 | |
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494 | calcLST(buffer); |
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495 | set_TemmaLST(buffer); |
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496 | |
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497 | dec=fabs(currentDec); |
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498 | if (currentDec>0){ |
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499 | sign='+'; |
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500 | } |
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501 | else { |
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502 | sign='-'; |
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503 | } |
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504 | |
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505 | snprintf(buffer, sizeof(buffer),"%.2d%.2d%.2d%c%.2d%.2d%.1d", |
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506 | (int)currentRA,(int)(currentRA*(double)60)%60,((int)(currentRA*(double)6000))%100,sign, |
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507 | (int)dec,(int)(dec*(double)60)%60,((int)(dec*(double)600))%10); |
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508 | fprintf(stderr,"Goto %s\n", buffer); |
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509 | |
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510 | snprintf(command,14,"P%s",buffer); |
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511 | buffer[14]=0; |
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512 | fprintf(stderr,"Goto command:%s\n", command); |
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513 | portWrite(command); |
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514 | |
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515 | portRead(buffer,-1,TEMMA_TIMEOUT); |
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516 | if(command[0]=='R'){ |
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517 | return 0; |
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518 | } |
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519 | else |
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520 | return -1; |
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521 | } |
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522 | |
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523 | int extractRA(char *buf){ |
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524 | int r,h,m,s; |
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525 | /*double dra;*/ |
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526 | |
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527 | r=atoi(buf); |
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528 | h=r/10000; |
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529 | m=r/100-100*h; |
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530 | s=(r%100)*.6; |
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531 | temmaRA=((double)h+((double)m + (double)s/60)/60); |
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532 | IDSetNumber (&eqTemma, NULL); |
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533 | /* fprintf(stderr,"extractRA: %s %d %d %d %d %lf\n",buf,r,h,m,s,dra);*/ |
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534 | return 0; |
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535 | } |
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536 | |
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537 | int extractDEC(char *buf){ |
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538 | int dec,d,m,s; |
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539 | /*double ddec;*/ |
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540 | |
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541 | dec=atoi(buf+1); |
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542 | d=dec/1000; |
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543 | m=dec/10-100*d; |
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544 | s=(dec%10)*6; |
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545 | temmaDec=((double)d+((double)m + (double)s/60)/60); |
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546 | if (*buf=='-') |
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547 | temmaDec*=-1; |
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548 | |
---|
549 | IDSetNumber (&eqTemma, NULL); |
---|
550 | |
---|
551 | |
---|
552 | /* fprintf(stderr,"extractDEC: %s %d %d %d %d %lf\n",buf,dec,d,m,s,ddec);*/ |
---|
553 | return 0; |
---|
554 | } |
---|
555 | |
---|
556 | |
---|
557 | int get_TemmaCurrentpos(char *local_buffer){ |
---|
558 | char buf[16]; |
---|
559 | |
---|
560 | if (portWrite("E") < 0) |
---|
561 | return -1; |
---|
562 | |
---|
563 | if(portRead(local_buffer,-1,TEMMA_TIMEOUT)==SUCCESS){ |
---|
564 | if(strstr(local_buffer, "E")==local_buffer){ |
---|
565 | strncpy(buf,local_buffer+1,6); |
---|
566 | buf[6]=0; |
---|
567 | extractRA(buf); |
---|
568 | |
---|
569 | strncpy(buf,local_buffer+7,6); |
---|
570 | buf[6]=0; |
---|
571 | extractDEC(buf); |
---|
572 | return 0; |
---|
573 | } |
---|
574 | else { |
---|
575 | return -1; |
---|
576 | } |
---|
577 | } |
---|
578 | |
---|
579 | return 0; |
---|
580 | } |
---|
581 | |
---|
582 | int set_TemmaCurrentpos(void) { |
---|
583 | /* Temma Sync */ |
---|
584 | char buf[16], sign; |
---|
585 | double dec; |
---|
586 | |
---|
587 | calcLST(buf); |
---|
588 | set_TemmaLST(buf); |
---|
589 | portWrite("Z"); |
---|
590 | calcLST(buf); |
---|
591 | set_TemmaLST(buf); |
---|
592 | |
---|
593 | dec=fabs(currentDec); |
---|
594 | if (currentDec>0){ |
---|
595 | sign='+'; |
---|
596 | } |
---|
597 | else { |
---|
598 | sign='-'; |
---|
599 | } |
---|
600 | |
---|
601 | sprintf(buffer,"%.2d%.2d%.2d%c%.2d%.2d%.1d", |
---|
602 | (int)currentRA,(int)(currentRA*(double)60)%60,((int)(currentRA*(double)6000))%100,sign, |
---|
603 | (int)dec,(int)(dec*(double)60)%60,((int)(dec*(double)600))%10); |
---|
604 | fprintf(stderr,"sync to %s %f %f\n", buffer,currentRA,dec); |
---|
605 | |
---|
606 | snprintf(buf, sizeof(buf), "D%s",buffer); |
---|
607 | buf[13]=0; |
---|
608 | portWrite(buf); |
---|
609 | *buffer=0; |
---|
610 | |
---|
611 | portRead(buffer,-1,TEMMA_TIMEOUT); |
---|
612 | if(buffer[0]=='R'){ |
---|
613 | return 0; |
---|
614 | } |
---|
615 | else{ |
---|
616 | return -1; |
---|
617 | } |
---|
618 | } |
---|
619 | |
---|
620 | int do_TemmaSLEW(char mode){ |
---|
621 | /*char command[16];*/ |
---|
622 | |
---|
623 | sprintf(buffer,"M%c",mode); /* see bit definition in Temmadriver.h */ |
---|
624 | |
---|
625 | if (portWrite(buffer) < 0) |
---|
626 | return -1; |
---|
627 | |
---|
628 | return 0; |
---|
629 | } |
---|
630 | |
---|
631 | int get_TemmaVERSION(char *local_buffer){ |
---|
632 | int err; |
---|
633 | |
---|
634 | if ((err=portWrite("v")) < 0){ |
---|
635 | return err; |
---|
636 | } |
---|
637 | |
---|
638 | portRead(local_buffer,-1,TEMMA_TIMEOUT); |
---|
639 | if(strstr(local_buffer, "ver")==local_buffer){ |
---|
640 | return 0; |
---|
641 | } |
---|
642 | else |
---|
643 | return EREAD; |
---|
644 | } |
---|
645 | |
---|
646 | int get_TemmaGOTOstatus(char *local_buffer){ |
---|
647 | /* |
---|
648 | 0 no ongoing goto |
---|
649 | 1 ongoing Goto |
---|
650 | -1 error |
---|
651 | */ |
---|
652 | if (portWrite("s") < 0) |
---|
653 | return -1; |
---|
654 | |
---|
655 | portRead(local_buffer,-1,TEMMA_TIMEOUT); |
---|
656 | if(strstr(local_buffer, "s")==local_buffer){ |
---|
657 | return 0; |
---|
658 | } |
---|
659 | else |
---|
660 | return -1; |
---|
661 | } |
---|
662 | |
---|
663 | int get_TemmaBOTHcorrspeed(char *local_buffer){ |
---|
664 | if (portWrite("lg") < 0) |
---|
665 | return -1; |
---|
666 | portRead(local_buffer,-1,TEMMA_TIMEOUT); |
---|
667 | if(strstr(local_buffer, "lg")==local_buffer){ |
---|
668 | return 0; |
---|
669 | } |
---|
670 | else |
---|
671 | return -1; |
---|
672 | } |
---|
673 | |
---|
674 | int get_TemmaDECcorrspeed(char *local_buffer){ |
---|
675 | if (portWrite("lb") < 0) |
---|
676 | return -1; |
---|
677 | portRead(local_buffer,-1,TEMMA_TIMEOUT); |
---|
678 | if(strstr(local_buffer, "lb")==local_buffer){ |
---|
679 | return 0; |
---|
680 | } |
---|
681 | else |
---|
682 | return -1; |
---|
683 | } |
---|
684 | |
---|
685 | int set_TemmaDECcorrspeed(char *local_buffer){ |
---|
686 | char command[16]; |
---|
687 | |
---|
688 | snprintf(command, 4, "LB%s",local_buffer); |
---|
689 | |
---|
690 | if (portWrite(command) < 0) |
---|
691 | return -1; |
---|
692 | return 0; |
---|
693 | } |
---|
694 | |
---|
695 | int get_TemmaRAcorrspeed(char *local_buffer){ |
---|
696 | if (portWrite("la") < 0) |
---|
697 | return -1; |
---|
698 | |
---|
699 | portRead(local_buffer,-1,TEMMA_TIMEOUT); |
---|
700 | if(strstr(local_buffer, "la")==local_buffer){ |
---|
701 | return 0; |
---|
702 | } |
---|
703 | else |
---|
704 | return -1; |
---|
705 | } |
---|
706 | |
---|
707 | int set_TemmaRAcorrspeed(char *local_buffer){ |
---|
708 | char command[16]; |
---|
709 | |
---|
710 | snprintf(command, 4,"LA%s",local_buffer); |
---|
711 | |
---|
712 | if (portWrite(command) < 0) |
---|
713 | return -1; |
---|
714 | return 0; |
---|
715 | } |
---|
716 | |
---|
717 | int get_TemmaLatitude(char *local_buffer){ |
---|
718 | if (portWrite("i") < 0) |
---|
719 | return -1; |
---|
720 | portRead(local_buffer,-1,TEMMA_TIMEOUT); |
---|
721 | if(local_buffer[0]=='i'){ |
---|
722 | return 0; |
---|
723 | } |
---|
724 | else |
---|
725 | return -1; |
---|
726 | } |
---|
727 | |
---|
728 | int set_TemmaLatitude(char *local_buffer){ |
---|
729 | char command[16]; |
---|
730 | double lat; |
---|
731 | char sign; |
---|
732 | |
---|
733 | lat=fabs(latitude); |
---|
734 | if (latitude>0){ |
---|
735 | sign='+'; |
---|
736 | } |
---|
737 | else { |
---|
738 | sign='-'; |
---|
739 | } |
---|
740 | |
---|
741 | sprintf(command,"I%c%.2d%.2d%.1d", sign, |
---|
742 | (int)lat, |
---|
743 | (int)(lat*(double)60)%60, |
---|
744 | ((int)(lat*(double)600))%10); |
---|
745 | |
---|
746 | if (portWrite(command) < 0) |
---|
747 | return -1; |
---|
748 | return 0; |
---|
749 | } |
---|
750 | |
---|
751 | int get_TemmaLST(char *local_buffer){ |
---|
752 | if (portWrite("g") < 0) |
---|
753 | return -1; |
---|
754 | |
---|
755 | portRead(local_buffer,-1,TEMMA_TIMEOUT); |
---|
756 | if(local_buffer[0]=='g'){ |
---|
757 | return 0; |
---|
758 | } |
---|
759 | else |
---|
760 | return -1; |
---|
761 | } |
---|
762 | |
---|
763 | |
---|
764 | int set_TemmaLST(char *local_buffer){ |
---|
765 | char command[16]; |
---|
766 | snprintf(command,7,"T%s",local_buffer); |
---|
767 | |
---|
768 | if (portWrite(command) < 0) |
---|
769 | return -1; |
---|
770 | return 0; |
---|
771 | } |
---|
772 | |
---|
773 | |
---|
774 | int get_TemmaCometTracking(char *local_buffer){ |
---|
775 | if (portWrite("lm") < 0) |
---|
776 | return -1; |
---|
777 | portRead(local_buffer,-1,TEMMA_TIMEOUT); |
---|
778 | if(strstr(local_buffer, "lm")==local_buffer){ |
---|
779 | return 0; |
---|
780 | } |
---|
781 | else |
---|
782 | return -1; |
---|
783 | } |
---|
784 | |
---|
785 | int set_TemmaStandbyState(int on){ |
---|
786 | if (on){ |
---|
787 | return portWrite("STN-ON"); |
---|
788 | } |
---|
789 | else{ |
---|
790 | return portWrite("STN-OFF"); |
---|
791 | } |
---|
792 | return 0; |
---|
793 | } |
---|
794 | |
---|
795 | int get_TemmaStandbyState(unsigned char *local_buffer){ |
---|
796 | int nb; |
---|
797 | int status; |
---|
798 | |
---|
799 | if ((nb=portWrite("STN-COD")) < 0){ |
---|
800 | IDSetSwitch (&RAmotorSw, "I/O error when asking RAmotor status"); |
---|
801 | return -1; |
---|
802 | } |
---|
803 | |
---|
804 | if((status=portRead(local_buffer,-1,TEMMA_TIMEOUT)==SUCCESS)){ |
---|
805 | if(strstr(local_buffer, "stn")==local_buffer){ |
---|
806 | local_buffer[7]=0; |
---|
807 | if (strstr(local_buffer,"on")){ /* stanby on */ |
---|
808 | RAmotorSw.s = IPS_OK; |
---|
809 | RAmotor[0].s = ISS_OFF; |
---|
810 | RAmotor[1].s = ISS_ON; |
---|
811 | IDSetSwitch (&RAmotorSw, "RA motor is off."); |
---|
812 | } |
---|
813 | else{ |
---|
814 | if (strstr(local_buffer,"off")){ /* stanby off */ |
---|
815 | RAmotorSw.s = IPS_OK; |
---|
816 | RAmotor[0].s = ISS_ON; |
---|
817 | RAmotor[1].s = ISS_OFF; |
---|
818 | IDSetSwitch (&RAmotorSw, "RA motor is on."); |
---|
819 | } |
---|
820 | else { |
---|
821 | RAmotorSw.s = IPS_OK; |
---|
822 | IDSetSwitch (&RAmotorSw, "I/O error when getting RAmotor status"); |
---|
823 | } |
---|
824 | } |
---|
825 | } |
---|
826 | return 0; |
---|
827 | } |
---|
828 | if (status<=ETIMEOUT && status >=ECOMMAND){ |
---|
829 | IDSetSwitch(&RAmotorSw, "%s", errormes[ETIMEOUT - status]); |
---|
830 | } |
---|
831 | |
---|
832 | return -1; |
---|
833 | } |
---|
834 | |
---|
835 | int set_TemmaCometTracking(char *local_buffer){ |
---|
836 | char command[16]; |
---|
837 | |
---|
838 | snprintf(command,15,"LM%s",local_buffer); |
---|
839 | if (portWrite(command) < 0) |
---|
840 | return -1; |
---|
841 | return 0; |
---|
842 | } |
---|
843 | |
---|
844 | int set_TemmaSolarRate(void){ |
---|
845 | if (portWrite("LK") < 0) |
---|
846 | return -1; |
---|
847 | return 0; |
---|
848 | } |
---|
849 | |
---|
850 | int set_TemmaStellarRate(void){ |
---|
851 | if (portWrite("LL") < 0) |
---|
852 | return -1; |
---|
853 | return 0; |
---|
854 | } |
---|
855 | |
---|
856 | |
---|
857 | int switch_Temmamountside(void){ |
---|
858 | if (portWrite("PT") < 0) |
---|
859 | return -1; |
---|
860 | return 0; |
---|
861 | } |
---|
862 | |
---|
863 | /********************************************************************** |
---|
864 | * Comm |
---|
865 | **********************************************************************/ |
---|
866 | |
---|
867 | int openPort(const char *portID) { |
---|
868 | struct termios ttyOptions; |
---|
869 | |
---|
870 | if ( (fd = open(portID, O_RDWR)) == -1) |
---|
871 | return -1; |
---|
872 | memset(&ttyOptions, 0, sizeof(ttyOptions)); |
---|
873 | tcgetattr(fd, &ttyOptions); |
---|
874 | |
---|
875 | /* 8 bit, enable read */ |
---|
876 | ttyOptions.c_cflag |= CS8; |
---|
877 | /* parity */ |
---|
878 | ttyOptions.c_cflag |= PARENB; |
---|
879 | ttyOptions.c_cflag &= ~PARODD; |
---|
880 | ttyOptions.c_cflag &= ~CSTOPB; |
---|
881 | ttyOptions.c_cflag |= CRTSCTS; |
---|
882 | |
---|
883 | /* set baud rate */ |
---|
884 | cfsetispeed(&ttyOptions, B19200); |
---|
885 | cfsetospeed(&ttyOptions, B19200); |
---|
886 | |
---|
887 | /* set input/output flags */ |
---|
888 | ttyOptions.c_iflag = IGNBRK; |
---|
889 | |
---|
890 | /* Read at least one byte */ |
---|
891 | ttyOptions.c_cc[VMIN] = 1; |
---|
892 | ttyOptions.c_cc[VTIME] = 5; |
---|
893 | |
---|
894 | /* Misc. */ |
---|
895 | ttyOptions.c_lflag = 0; |
---|
896 | ttyOptions.c_oflag = 0; |
---|
897 | |
---|
898 | /* set attributes */ |
---|
899 | tcsetattr(fd, TCSANOW, &ttyOptions); |
---|
900 | |
---|
901 | /* flush the channel */ |
---|
902 | tcflush(fd, TCIOFLUSH); |
---|
903 | return (fd); |
---|
904 | } |
---|
905 | |
---|
906 | int portWrite(char * buf) { |
---|
907 | int nbytes=strlen(buf); /*, totalBytesWritten;*/ |
---|
908 | int bytesWritten = 0; |
---|
909 | /*int retry=10;*/ |
---|
910 | |
---|
911 | bytesWritten = write(fd, buf, nbytes); |
---|
912 | bytesWritten += write(fd, "\r\n", 2); |
---|
913 | /*fprintf(stderr,"portwrite :%d octets %s\n", bytesWritten, buf);*/ |
---|
914 | |
---|
915 | if (bytesWritten!=nbytes+2){ |
---|
916 | perror("write error: "); |
---|
917 | IDLog("Error writing to port"); |
---|
918 | return EWRITE; |
---|
919 | } |
---|
920 | return (bytesWritten); |
---|
921 | } |
---|
922 | |
---|
923 | int portRead(char *buf, int nbytes, int timeout) { |
---|
924 | /* |
---|
925 | A very basic finite state machine monitors |
---|
926 | the bytes read ; |
---|
927 | state 0 : read regular bytes |
---|
928 | state 1 : just read a \n, waiting for a \r |
---|
929 | state 2 : read a \n and a \r, command is over. |
---|
930 | |
---|
931 | Not sure it is useful here but I use a more |
---|
932 | sophisticated version of this with a GPS receiver |
---|
933 | and it is robust and reliable |
---|
934 | |
---|
935 | We return a null terminated string. |
---|
936 | */ |
---|
937 | |
---|
938 | int bytesRead = 0, state=0, /*i=0,*/ current=0; |
---|
939 | /*int totalBytesRead = 0;*/ |
---|
940 | int err; |
---|
941 | |
---|
942 | if ( (err = TemmareadOut(timeout)) ){ |
---|
943 | switch (err){ |
---|
944 | case ETIMEOUT: |
---|
945 | IDLog("Error: timeout while reading"); |
---|
946 | return err; |
---|
947 | } |
---|
948 | } |
---|
949 | |
---|
950 | while (read(fd,buf+bytesRead,1)==1){ |
---|
951 | /* fprintf(stderr,"%c",buf[bytesRead]); */ |
---|
952 | fflush(NULL); |
---|
953 | switch (state) { |
---|
954 | case 0: |
---|
955 | if(buf[bytesRead]==13) |
---|
956 | state=1; |
---|
957 | break; |
---|
958 | |
---|
959 | case 1: |
---|
960 | if(buf[bytesRead]==10) |
---|
961 | state=2; |
---|
962 | else |
---|
963 | if(buf[bytesRead]==13) |
---|
964 | state=1; |
---|
965 | else |
---|
966 | state=0; |
---|
967 | break; |
---|
968 | } |
---|
969 | |
---|
970 | ++current; |
---|
971 | |
---|
972 | if (state==2){ |
---|
973 | /*process(buf);*/ |
---|
974 | buf[bytesRead+1]=0; |
---|
975 | state=current=0; |
---|
976 | return SUCCESS; |
---|
977 | } |
---|
978 | |
---|
979 | bytesRead=current; |
---|
980 | } |
---|
981 | return state; |
---|
982 | } |
---|
983 | |
---|
984 | int TemmareadOut(int timeout) { |
---|
985 | struct timeval tv; |
---|
986 | fd_set readout; |
---|
987 | int retval; |
---|
988 | |
---|
989 | FD_ZERO(&readout); |
---|
990 | FD_SET(fd, &readout); |
---|
991 | |
---|
992 | /* wait for 'timeout' seconds */ |
---|
993 | tv.tv_sec = timeout; |
---|
994 | tv.tv_usec = 0; |
---|
995 | |
---|
996 | /* Wait till we have a change in the fd status */ |
---|
997 | retval = select (fd+1, &readout, NULL, NULL, &tv); |
---|
998 | |
---|
999 | /* Return 0 on successful fd change */ |
---|
1000 | if (retval > 0) |
---|
1001 | return 0; |
---|
1002 | /* Return -1 due to an error */ |
---|
1003 | else if (retval == EREAD) |
---|
1004 | return retval; |
---|
1005 | /* Return -2 if time expires before anything interesting happens */ |
---|
1006 | else { |
---|
1007 | return ETIMEOUT; |
---|
1008 | } |
---|
1009 | } |
---|
1010 | |
---|