1 | /* |
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2 | INDI Developers Manual |
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3 | Tutorial #2 |
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4 | |
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5 | "Simple Telescope Simulator" |
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6 | |
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7 | In this tutorial, we create a simple simulator. We will use a few handy utility functions provided by INDI |
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8 | like timers, string <---> number conversion, and more. |
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9 | |
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10 | Refer to README, which contains instruction on how to build this driver, and use it |
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11 | with an INDI-compatible client. |
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12 | |
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13 | */ |
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14 | |
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15 | /** \file tutorial_two.c |
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16 | \brief Implement a simple telescope simulator using more complex INDI concepts. |
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17 | \author Jasem Mutlaq |
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18 | */ |
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19 | |
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20 | /* Standard headers */ |
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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 <math.h> |
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25 | #include <unistd.h> |
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26 | #include <sys/time.h> |
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27 | |
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28 | #include <sys/time.h> |
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29 | #include <time.h> |
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30 | |
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31 | void show_runtime(int state) { |
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32 | static struct timeval tv; |
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33 | struct timeval tv1; |
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34 | double x, y; |
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35 | |
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36 | if (state) { |
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37 | gettimeofday(&tv, NULL); |
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38 | } else { |
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39 | gettimeofday(&tv1, NULL); |
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40 | fprintf(stderr, "Ran for: %fmsec\n", (double)(tv1.tv_sec * 1000.0 + tv1.tv_usec / 1000.0) - (double)(tv.tv_sec * 1000.0 + tv.tv_usec / 1000.0)); |
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41 | } |
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42 | } |
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43 | |
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44 | /* INDI Core headers */ |
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45 | |
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46 | /* indidevapi.h contains API declerations */ |
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47 | #include "indidevapi.h" |
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48 | |
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49 | /* INDI Eventloop mechanism */ |
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50 | #include "eventloop.h" |
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51 | |
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52 | /* INDI Common Routines */ |
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53 | #include "indicom.h" |
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54 | |
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55 | /* Definitions */ |
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56 | |
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57 | #define mydev "Telescope Simulator" /* Device name */ |
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58 | #define MAIN_GROUP "Main Control" /* Group name */ |
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59 | #define SLEWRATE 1 /* slew rate, degrees/s */ |
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60 | #define POLLMS 250 /* poll period, ms */ |
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61 | #define SIDRATE 0.004178 /* sidereal rate, degrees/s */ |
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62 | |
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63 | /* Function protptypes */ |
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64 | static void connectTelescope (void); |
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65 | static void mountSim (void *); |
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66 | |
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67 | /* operational info */ |
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68 | static double targetRA; |
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69 | static double targetDEC; |
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70 | |
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71 | /* main connection switch |
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72 | Note that the switch will appear to the user as On and Off (versus Connect and Disconnect in tutorial one) |
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73 | Nevertheless, the members _names_ are still CONNECT and DISCONNECT and therefore this is a perfectly legal standard property decleration |
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74 | */ |
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75 | static ISwitch connectS[] = { |
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76 | {"CONNECT", "On", ISS_OFF, 0, 0}, {"DISCONNECT", "Off", ISS_ON, 0, 0}}; |
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77 | |
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78 | static ISwitchVectorProperty connectSP = { mydev, "CONNECTION", "Connection", MAIN_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, connectS, NARRAY(connectS), "", 0 }; |
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79 | |
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80 | /* Equatorial position. EQUATORIAL_EOD_COORD is one of INDI's reserved Standard Properties */ |
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81 | static INumber eqN[] = { |
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82 | /* 1st member is Right ascension */ |
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83 | {"RA" /* 1st Number name */ |
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84 | ,"RA H:M:S" /* Number label */ |
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85 | , "%10.6m" /* Format. Refer to the indiapi.h for details on number formats */ |
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86 | ,0. /* Minimum value */ |
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87 | , 24. /* Maximum value */ |
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88 | , 0. /* Steps */ |
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89 | , 0. /* Initial value */ |
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90 | , 0 /* Pointer to parent, we don't use it, so set it to 0 */ |
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91 | , 0 /* Auxiluary member, set it to 0 */ |
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92 | , 0}, /* Autxiluar member, set it to 0 */ |
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93 | |
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94 | /* 2nd member is Declination */ |
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95 | {"DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0} |
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96 | }; |
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97 | |
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98 | static INumberVectorProperty eqNP = { mydev, "EQUATORIAL_EOD_COORD", "Equatorial JNow", MAIN_GROUP , IP_RO, 0, IPS_IDLE, eqN, NARRAY(eqN), "", 0}; |
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99 | |
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100 | |
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101 | /* Equatorial EOD Coord Request. This property is for requesting changes to target equatorial coordinates. However, the CURRENT coordinates are reported in EQUATORIAL_EOD_COORDS above.*/ |
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102 | static INumber eqNR[] = {{"RA" ,"RA H:M:S" , "%10.6m" ,0. , 24., 0., 0., 0, 0, 0}, |
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103 | {"DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0}}; |
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104 | static INumberVectorProperty eqNPR = { mydev, "EQUATORIAL_EOD_COORD_REQUEST", "Equatorial Request", MAIN_GROUP , IP_RW, 0, IPS_IDLE, eqNR, NARRAY(eqNR), "", 0}; |
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105 | |
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106 | /* Property naming convention. All property names are lower case with a postfix to indicate their type. connectS is a switch, |
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107 | * connectSP is a switch vector. eqN is a number, eqNP is a number property, and so on. While this is not strictly required, it makes the code easier to read. */ |
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108 | |
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109 | #define currentRA eqN[0].value /* scope's current simulated RA, rads. Handy macro to right ascension from eqN[] */ |
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110 | #define currentDec eqN[1].value /* scope's current simulated Dec, rads. Handy macro to declination from eqN[] */ |
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111 | |
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112 | /******************************************** |
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113 | Property: Movement (Arrow keys on handset). North/South |
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114 | *********************************************/ |
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115 | static ISwitch MovementNSS[] = {{"MOTION_NORTH", "North", ISS_OFF, 0, 0}, {"MOTION_SOUTH", "South", ISS_OFF, 0, 0}}; |
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116 | ISwitchVectorProperty MovementNSSP = { mydev, "TELESCOPE_MOTION_NS", "North/South", MAIN_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE, MovementNSS, NARRAY(MovementNSS), "", 0}; |
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117 | |
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118 | /******************************************** |
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119 | Property: Movement (Arrow keys on handset). West/East |
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120 | *********************************************/ |
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121 | static ISwitch MovementWES[] = {{"MOTION_WEST", "West", ISS_OFF, 0, 0}, {"MOTION_EAST", "East", ISS_OFF, 0, 0}}; |
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122 | ISwitchVectorProperty MovementWESP = { mydev, "TELESCOPE_MOTION_WE", "West/East", MAIN_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE, MovementWES, NARRAY(MovementWES), "", 0}; |
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123 | |
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124 | /* Initlization routine */ |
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125 | static void mountInit() |
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126 | { |
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127 | static int inited; /* set once mountInit is called */ |
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128 | |
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129 | if (inited) |
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130 | return; |
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131 | |
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132 | /* start timer to simulate mount motion |
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133 | The timer will call function mountSim after POLLMS milliseconds */ |
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134 | IEAddTimer (POLLMS, mountSim, NULL); |
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135 | |
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136 | inited = 1; |
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137 | |
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138 | } |
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139 | |
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140 | /* send client definitions of all properties */ |
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141 | void ISGetProperties (const char *dev) |
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142 | { |
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143 | if (dev && strcmp (mydev, dev)) |
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144 | return; |
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145 | |
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146 | IDDefSwitch (&connectSP, NULL); |
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147 | IDDefNumber (&eqNP, NULL); |
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148 | IDDefNumber (&eqNPR, NULL); |
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149 | IDDefSwitch (&MovementNSSP, NULL); |
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150 | IDDefSwitch (&MovementWESP, NULL); |
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151 | |
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152 | } |
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153 | |
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154 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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155 | { |
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156 | return; |
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157 | } |
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158 | |
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159 | /* client is sending us a new value for a Numeric vector property */ |
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160 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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161 | { |
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162 | /* Make sure to initalize */ |
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163 | mountInit(); |
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164 | |
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165 | /* ignore if not ours */ |
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166 | if (strcmp (dev, mydev)) |
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167 | return; |
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168 | |
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169 | if (!strcmp (name, eqNPR.name)) { |
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170 | /* new equatorial target coords */ |
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171 | double newra = 0, newdec = 0; |
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172 | int i, nset; |
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173 | |
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174 | /* Check connectSP, if it is idle, then return */ |
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175 | if (connectSP.s == IPS_IDLE) |
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176 | { |
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177 | eqNPR.s = IPS_IDLE; |
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178 | IDSetNumber(&eqNP, "Telescope is offline."); |
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179 | return; |
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180 | } |
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181 | |
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182 | for (nset = i = 0; i < n; i++) |
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183 | { |
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184 | /* Find numbers with the passed names in the eqNP property */ |
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185 | INumber *eqp = IUFindNumber (&eqNPR, names[i]); |
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186 | |
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187 | /* If the number found is Right ascension (eqN[0]) then process it */ |
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188 | if (eqp == &eqNR[0]) |
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189 | { |
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190 | newra = (values[i]); |
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191 | nset += newra >= 0 && newra <= 24; |
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192 | } |
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193 | /* Otherwise, if the number found is Declination (eqN[1]) then process it */ |
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194 | else if (eqp == &eqNR[1]) { |
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195 | newdec = (values[i]); |
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196 | nset += newdec >= -90 && newdec <= 90; |
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197 | } |
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198 | } /* end for */ |
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199 | |
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200 | /* Did we process the two numbers? */ |
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201 | if (nset == 2) |
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202 | { |
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203 | char r[32], d[32]; |
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204 | |
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205 | /* Set the mount state to BUSY */ |
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206 | eqNP.s = IPS_BUSY; |
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207 | eqNPR.s = IPS_BUSY; |
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208 | |
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209 | /* Set the new target coordinates */ |
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210 | targetRA = newra; |
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211 | targetDEC = newdec; |
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212 | |
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213 | /* Convert the numeric coordinates to a sexagesmal string (H:M:S) */ |
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214 | fs_sexa (r, targetRA, 2, 3600); |
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215 | fs_sexa (d, targetDEC, 3, 3600); |
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216 | |
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217 | IDSetNumber(&eqNP, NULL); |
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218 | IDSetNumber(&eqNPR, "Moving to RA Dec %s %s", r, d); |
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219 | } |
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220 | /* We didn't process the two number correctly, report an error */ |
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221 | else |
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222 | { |
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223 | /* Set property state to ALERT */ |
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224 | eqNPR.s = IPS_ALERT; |
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225 | |
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226 | IDSetNumber(&eqNP, "RA or Dec absent or bogus."); |
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227 | } |
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228 | |
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229 | return; |
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230 | } |
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231 | } |
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232 | |
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233 | /* client is sending us a new value for a Switch property */ |
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234 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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235 | { |
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236 | ISwitch *sp; |
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237 | |
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238 | mountInit(); |
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239 | |
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240 | /* ignore if not ours */ |
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241 | if (strcmp (dev, mydev)) |
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242 | return; |
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243 | |
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244 | |
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245 | if (!strcmp(name, connectSP.name)) |
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246 | { |
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247 | /* We update switches. This is different from the way we used to update switches in tutorial 1. This is |
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248 | * to illustrate that there are several ways to update the switches. Here, we try to find the switch with names[0], |
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249 | * and if found, we update its state to states[0] and call connectTelescope(). We must call IUResetSwitches to erase any previous history */ |
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250 | |
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251 | sp = IUFindSwitch (&connectSP, names[0]); |
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252 | |
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253 | if (sp) |
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254 | { |
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255 | IUResetSwitch(&connectSP); |
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256 | sp->s = states[0]; |
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257 | connectTelescope(); |
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258 | } |
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259 | } |
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260 | else if (! strcmp(name, MovementNSSP.name)) { |
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261 | sp = IUFindSwitch (&MovementNSSP, names[0]); |
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262 | if (sp) { |
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263 | IUResetSwitch(&MovementNSSP); |
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264 | sp->s = states[0]; |
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265 | show_runtime(sp->s); |
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266 | IDSetSwitch (&MovementNSSP, "Toggle North/South."); |
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267 | } |
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268 | } |
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269 | else if (! strcmp(name, MovementWESP.name)) { |
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270 | sp = IUFindSwitch (&MovementWESP, names[0]); |
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271 | if (sp) { |
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272 | IUResetSwitch(&MovementWESP); |
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273 | sp->s = states[0]; |
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274 | show_runtime(sp->s); |
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275 | IDSetSwitch (&MovementWESP, "Toggle West/East."); |
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276 | } |
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277 | } |
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278 | |
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279 | |
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280 | } |
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281 | |
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282 | /* update the "mount" over time */ |
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283 | void mountSim (void *p) |
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284 | { |
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285 | static struct timeval ltv; |
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286 | struct timeval tv; |
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287 | double dt, da, dx; |
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288 | int nlocked; |
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289 | |
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290 | /* If telescope is not on, do not simulate */ |
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291 | if (connectSP.s == IPS_IDLE) |
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292 | { |
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293 | IEAddTimer (POLLMS, mountSim, NULL); |
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294 | return; |
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295 | } |
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296 | |
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297 | /* update elapsed time since last poll, don't presume exactly POLLMS */ |
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298 | gettimeofday (&tv, NULL); |
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299 | |
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300 | if (ltv.tv_sec == 0 && ltv.tv_usec == 0) |
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301 | ltv = tv; |
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302 | |
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303 | dt = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec)/1e6; |
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304 | ltv = tv; |
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305 | da = SLEWRATE*dt; |
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306 | |
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307 | /* Process per current state. We check the state of EQUATORIAL_EOD_COORDS_REQUEST and act acoordingly */ |
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308 | switch (eqNPR.s) |
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309 | { |
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310 | |
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311 | /* #1 State is idle, update telesocpe at sidereal rate */ |
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312 | case IPS_IDLE: |
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313 | /* RA moves at sidereal, Dec stands still */ |
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314 | currentRA += (SIDRATE*dt/15.); |
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315 | IDSetNumber(&eqNP, NULL); |
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316 | break; |
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317 | |
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318 | case IPS_BUSY: |
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319 | /* slewing - nail it when both within one pulse @ SLEWRATE */ |
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320 | nlocked = 0; |
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321 | |
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322 | dx = targetRA - currentRA; |
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323 | |
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324 | if (fabs(dx) <= da) |
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325 | { |
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326 | currentRA = targetRA; |
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327 | nlocked++; |
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328 | } |
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329 | else if (dx > 0) |
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330 | currentRA += da/15.; |
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331 | else |
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332 | currentRA -= da/15.; |
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333 | |
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334 | |
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335 | dx = targetDEC - currentDec; |
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336 | if (fabs(dx) <= da) |
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337 | { |
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338 | currentDec = targetDEC; |
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339 | nlocked++; |
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340 | } |
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341 | else if (dx > 0) |
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342 | currentDec += da; |
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343 | else |
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344 | currentDec -= da; |
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345 | |
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346 | if (nlocked == 2) |
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347 | { |
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348 | eqNP.s = IPS_OK; |
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349 | eqNPR.s = IPS_OK; |
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350 | IDSetNumber(&eqNP, NULL); |
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351 | IDSetNumber(&eqNPR, "Now tracking"); |
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352 | } else |
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353 | IDSetNumber(&eqNP, NULL); |
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354 | |
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355 | break; |
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356 | |
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357 | case IPS_OK: |
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358 | /* tracking */ |
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359 | IDSetNumber(&eqNP, NULL); |
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360 | break; |
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361 | |
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362 | case IPS_ALERT: |
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363 | break; |
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364 | } |
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365 | |
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366 | /* again */ |
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367 | IEAddTimer (POLLMS, mountSim, NULL); |
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368 | } |
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369 | |
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370 | /* Note that we must define ISNewBLOB and ISSnoopDevice even if we don't use them, otherwise, the driver will NOT compile */ |
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371 | void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) {} |
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372 | void ISSnoopDevice (XMLEle *root) {} |
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373 | |
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374 | |
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375 | static void connectTelescope () |
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376 | { |
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377 | if (connectS[0].s == ISS_ON) |
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378 | { |
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379 | connectSP.s = IPS_OK; |
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380 | IDSetSwitch (&connectSP, "Telescope is connected."); |
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381 | } |
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382 | else |
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383 | { |
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384 | connectSP.s = IPS_IDLE; |
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385 | IDSetSwitch (&connectSP, "Telescope is disconnected."); |
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386 | } |
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387 | } |
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