1 | #if 0 |
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2 | Celestron GPS |
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3 | Copyright (C) 2003 Jasem Mutlaq (mutlaqja@ikarustech.com) |
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4 | |
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5 | This library is free software; you can redistribute it and/or |
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6 | modify it under the terms of the GNU Lesser General Public |
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7 | License as published by the Free Software Foundation; either |
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8 | version 2.1 of the License, or (at your option) any later version. |
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9 | |
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10 | This library is distributed in the hope that it will be useful, |
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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13 | Lesser General Public License for more details. |
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14 | |
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15 | You should have received a copy of the GNU Lesser General Public |
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16 | License along with this library; if not, write to the Free Software |
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17 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
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18 | |
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19 | #endif |
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20 | |
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21 | #include <stdio.h> |
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22 | #include <stdlib.h> |
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23 | #include <string.h> |
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24 | #include <stdarg.h> |
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25 | #include <math.h> |
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26 | #include <unistd.h> |
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27 | #include <time.h> |
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28 | |
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29 | #include "celestronprotocol.h" |
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30 | #include "celestrongps.h" |
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31 | |
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32 | #define mydev "Celestron GPS" |
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33 | |
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34 | /* Handy Macros */ |
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35 | #define currentRA EquatorialCoordsRN[0].value |
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36 | #define currentDEC EquatorialCoordsRN[1].value |
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37 | #define targetRA EquatorialCoordsWN[0].value |
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38 | #define targetDEC EquatorialCoordsWN[1].value |
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39 | |
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40 | /* Enable to log debug statements |
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41 | #define CELESTRON_DEBUG 1 |
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42 | */ |
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43 | |
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44 | CelestronGPS *telescope = NULL; |
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45 | |
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46 | |
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47 | /* There is _one_ binary for all LX200 drivers, but each binary is renamed |
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48 | ** to its device name (i.e. lx200gps, lx200_16..etc). The main function will |
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49 | ** fetch from std args the binary name and ISInit will create the apporpiate |
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50 | ** device afterwards. If the binary name does not match any known devices, |
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51 | ** we simply create a generic device |
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52 | */ |
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53 | extern char* me; |
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54 | |
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55 | #define COMM_GROUP "Communication" |
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56 | #define BASIC_GROUP "Main Control" |
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57 | #define MOVE_GROUP "Movement Control" |
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58 | |
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59 | static void ISPoll(void *); |
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60 | |
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61 | /*INDI controls */ |
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62 | static ISwitch SlewModeS[] = {{"Slew", "", ISS_ON, 0, 0}, {"Find", "", ISS_OFF, 0, 0}, {"Centering", "", ISS_OFF, 0, 0}, {"Guide", "", ISS_OFF, 0, 0}}; |
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63 | |
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64 | /* Equatorial Coordinates: Request */ |
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65 | static INumber EquatorialCoordsWN[] = { {"RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, {"DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0}}; |
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66 | static INumberVectorProperty EquatorialCoordsWNP = { mydev, "EQUATORIAL_EOD_COORD_REQUEST", "Equatorial JNow", BASIC_GROUP, IP_WO, 120, IPS_IDLE, EquatorialCoordsWN, NARRAY(EquatorialCoordsWN), "", 0}; |
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67 | |
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68 | /* Equatorial Coordinates: Info */ |
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69 | static INumber EquatorialCoordsRN[] = { {"RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0., 0, 0, 0}, {"DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0}}; |
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70 | static INumberVectorProperty EquatorialCoordsRNP = { mydev, "EQUATORIAL_EOD_COORD", "Equatorial JNow", BASIC_GROUP, IP_RO, 120, IPS_IDLE, EquatorialCoordsRN, NARRAY(EquatorialCoordsRN), "", 0}; |
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71 | |
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72 | /* Tracking precision */ |
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73 | INumber TrackingAccuracyN[] = { |
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74 | {"TrackRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0, 0, 0, 0}, |
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75 | {"TrackDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0, 0, 0, 0}, |
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76 | }; |
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77 | static INumberVectorProperty TrackingAccuracyNP = {mydev, "Tracking Accuracy", "", MOVE_GROUP, IP_RW, 0, IPS_IDLE, TrackingAccuracyN, NARRAY(TrackingAccuracyN), "", 0}; |
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78 | |
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79 | /* Slew precision */ |
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80 | INumber SlewAccuracyN[] = { |
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81 | {"SlewRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0, 0, 0, 0}, |
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82 | {"SlewDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0, 0, 0, 0}, |
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83 | }; |
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84 | static INumberVectorProperty SlewAccuracyNP = {mydev, "Slew Accuracy", "", MOVE_GROUP, IP_RW, 0, IPS_IDLE, SlewAccuracyN, NARRAY(SlewAccuracyN), "", 0}; |
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85 | |
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86 | /* Fundamental group */ |
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87 | static ISwitch ConnectS[] = {{"CONNECT" , "Connect" , ISS_OFF, 0, 0},{"DISCONNECT", "Disconnect", ISS_ON, 0, 0}}; |
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88 | static ISwitchVectorProperty ConnectSP = { mydev, "CONNECTION" , "Connection", COMM_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, ConnectS, NARRAY(ConnectS), "", 0}; |
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89 | |
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90 | static IText PortT[] = {{"PORT", "Port", 0, 0, 0, 0}}; |
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91 | static ITextVectorProperty PortTP = { mydev, "DEVICE_PORT", "Ports", COMM_GROUP, IP_RW, 0, IPS_IDLE, PortT, NARRAY(PortT), "", 0}; |
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92 | |
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93 | /* Movement group */ |
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94 | static ISwitch OnCoordSetS[] = {{"SLEW", "Slew", ISS_ON, 0 , 0}, {"TRACK", "Track", ISS_OFF, 0, 0}, {"SYNC", "Sync", ISS_OFF, 0, 0}}; |
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95 | static ISwitchVectorProperty OnCoordSetSP = { mydev, "ON_COORD_SET", "On Set", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, OnCoordSetS, NARRAY(OnCoordSetS), "", 0}; |
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96 | |
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97 | static ISwitch AbortSlewS[] = {{"ABORT", "Abort", ISS_OFF, 0, 0}}; |
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98 | static ISwitchVectorProperty AbortSlewSP = { mydev, "TELESCOPE_ABORT_MOTION", "Abort Slew/Track", BASIC_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE, AbortSlewS, NARRAY(AbortSlewS), "", 0}; |
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99 | static ISwitchVectorProperty SlewModeSP = { mydev, "Slew rate", "", MOVE_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, SlewModeS, NARRAY(SlewModeS), "", 0}; |
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100 | |
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101 | /* Movement (Arrow keys on handset). North/South */ |
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102 | static ISwitch MovementNSS[] = {{"MOTION_NORTH", "North", ISS_OFF, 0, 0}, {"MOTION_SOUTH", "South", ISS_OFF, 0, 0}}; |
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103 | |
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104 | static ISwitchVectorProperty MovementNSSP = { mydev, "TELESCOPE_MOTION_NS", "North/South", MOVE_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, MovementNSS, NARRAY(MovementNSS), "", 0}; |
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105 | |
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106 | /* Movement (Arrow keys on handset). West/East */ |
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107 | static ISwitch MovementWES[] = {{"MOTION_WEST", "West", ISS_OFF, 0, 0}, {"MOTION_EAST", "East", ISS_OFF, 0, 0}}; |
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108 | |
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109 | static ISwitchVectorProperty MovementWESP = { mydev, "TELESCOPE_MOTION_WE", "West/East", MOVE_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, MovementWES, NARRAY(MovementWES), "", 0}; |
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110 | |
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111 | |
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112 | /* send client definitions of all properties */ |
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113 | void ISInit() |
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114 | { |
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115 | static int isInit=0; |
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116 | |
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117 | if (isInit) |
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118 | return; |
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119 | |
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120 | isInit = 1; |
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121 | |
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122 | IUSaveText(&PortT[0], "/dev/ttyS0"); |
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123 | |
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124 | telescope = new CelestronGPS(); |
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125 | |
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126 | IEAddTimer (POLLMS, ISPoll, NULL); |
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127 | } |
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128 | |
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129 | void ISGetProperties (const char *dev) |
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130 | { ISInit(); telescope->ISGetProperties(dev);} |
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131 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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132 | { ISInit(); telescope->ISNewSwitch(dev, name, states, names, n);} |
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133 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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134 | { ISInit(); telescope->ISNewText(dev, name, texts, names, n);} |
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135 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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136 | { ISInit(); telescope->ISNewNumber(dev, name, values, names, n);} |
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137 | void ISPoll (void *p) { telescope->ISPoll(); IEAddTimer (POLLMS, ISPoll, NULL); p=p;} |
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138 | void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) |
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139 | { |
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140 | INDI_UNUSED(dev); |
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141 | INDI_UNUSED(name); |
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142 | INDI_UNUSED(sizes); |
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143 | INDI_UNUSED(blobsizes); |
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144 | INDI_UNUSED(blobs); |
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145 | INDI_UNUSED(formats); |
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146 | INDI_UNUSED(names); |
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147 | INDI_UNUSED(n); |
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148 | } |
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149 | void ISSnoopDevice (XMLEle *root) |
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150 | { |
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151 | INDI_UNUSED(root); |
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152 | } |
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153 | |
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154 | /************************************************** |
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155 | *** LX200 Generic Implementation |
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156 | ***************************************************/ |
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157 | |
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158 | CelestronGPS::CelestronGPS() |
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159 | { |
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160 | |
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161 | lastRA = 0; |
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162 | lastDEC = 0; |
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163 | currentSet = 0; |
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164 | lastSet = -1; |
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165 | |
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166 | // Children call parent routines, this is the default |
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167 | IDLog("initilizaing from Celeston GPS device...\n"); |
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168 | |
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169 | } |
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170 | |
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171 | void CelestronGPS::ISGetProperties(const char *dev) |
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172 | { |
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173 | |
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174 | if (dev && strcmp (mydev, dev)) |
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175 | return; |
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176 | |
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177 | // COMM_GROUP |
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178 | IDDefSwitch (&ConnectSP, NULL); |
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179 | IDDefText (&PortTP, NULL); |
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180 | |
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181 | // BASIC_GROUP |
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182 | IDDefNumber (&EquatorialCoordsWNP, NULL); |
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183 | IDDefNumber (&EquatorialCoordsRNP, NULL); |
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184 | IDDefSwitch (&OnCoordSetSP, NULL); |
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185 | IDDefSwitch (&AbortSlewSP, NULL); |
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186 | IDDefSwitch (&SlewModeSP, NULL); |
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187 | |
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188 | // Movement group |
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189 | IDDefSwitch (&MovementNSSP, NULL); |
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190 | IDDefSwitch (&MovementWESP, NULL); |
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191 | IDDefNumber (&TrackingAccuracyNP, NULL); |
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192 | IDDefNumber (&SlewAccuracyNP, NULL); |
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193 | |
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194 | /* Send the basic data to the new client if the previous client(s) are already connected. */ |
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195 | if (ConnectSP.s == IPS_OK) |
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196 | getBasicData(); |
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197 | |
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198 | } |
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199 | |
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200 | void CelestronGPS::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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201 | { |
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202 | IText *tp; |
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203 | |
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204 | INDI_UNUSED(n); |
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205 | |
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206 | // ignore if not ours // |
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207 | if (strcmp (dev, mydev)) |
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208 | return; |
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209 | |
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210 | if (!strcmp(name, PortTP.name) ) |
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211 | { |
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212 | PortTP.s = IPS_OK; |
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213 | |
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214 | tp = IUFindText( &PortTP, names[0] ); |
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215 | if (!tp) |
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216 | return; |
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217 | |
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218 | IUSaveText(&PortT[0], texts[0]); |
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219 | IDSetText (&PortTP, NULL); |
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220 | return; |
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221 | } |
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222 | } |
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223 | |
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224 | int CelestronGPS::handleCoordSet() |
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225 | { |
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226 | |
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227 | int i=0; |
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228 | char RAStr[32], DecStr[32]; |
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229 | |
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230 | switch (currentSet) |
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231 | { |
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232 | |
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233 | // Slew |
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234 | case 0: |
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235 | lastSet = 0; |
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236 | if (EquatorialCoordsWNP.s == IPS_BUSY) |
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237 | { |
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238 | StopNSEW(); |
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239 | // sleep for 500 mseconds |
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240 | usleep(500000); |
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241 | } |
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242 | |
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243 | if ((i = SlewToCoords(targetRA, targetDEC))) |
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244 | { |
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245 | slewError(i); |
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246 | return (-1); |
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247 | } |
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248 | |
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249 | EquatorialCoordsWNP.s = IPS_BUSY; |
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250 | EquatorialCoordsRNP.s = IPS_BUSY; |
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251 | fs_sexa(RAStr, targetRA, 2, 3600); |
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252 | fs_sexa(DecStr, targetDEC, 2, 3600); |
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253 | IDSetNumber(&EquatorialCoordsWNP, "Slewing to JNOW RA %s - DEC %s", RAStr, DecStr); |
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254 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
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255 | IDLog("Slewing to JNOW RA %s - DEC %s", RAStr, DecStr); |
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256 | break; |
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257 | |
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258 | |
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259 | // Track |
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260 | case 1: |
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261 | if (EquatorialCoordsWNP.s == IPS_BUSY) |
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262 | { |
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263 | StopNSEW(); |
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264 | // sleep for 500 mseconds |
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265 | usleep(500000); |
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266 | } |
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267 | |
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268 | if ( (fabs ( targetRA - currentRA ) >= (TrackingAccuracyN[0].value/(15.0*60.0))) || |
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269 | (fabs (targetDEC - currentDEC) >= (TrackingAccuracyN[1].value)/60.0)) |
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270 | { |
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271 | |
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272 | #ifdef CELESTRON_DEBUG |
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273 | IDLog("Exceeded Tracking threshold, will attempt to slew to the new target.\n"); |
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274 | IDLog("targetRA is %g, currentRA is %g\n", targetRA, currentRA); |
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275 | IDLog("targetDEC is %g, currentDEC is %g\n*************************\n", targetDEC, currentDEC); |
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276 | #endif |
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277 | |
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278 | if (( i = SlewToCoords(targetRA, targetDEC))) |
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279 | { |
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280 | slewError(i); |
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281 | return (-1); |
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282 | } |
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283 | |
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284 | fs_sexa(RAStr, targetRA, 2, 3600); |
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285 | fs_sexa(DecStr, targetDEC, 2, 3600); |
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286 | EquatorialCoordsWNP.s = IPS_BUSY; |
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287 | EquatorialCoordsRNP.s = IPS_BUSY; |
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288 | IDSetNumber(&EquatorialCoordsWNP, "Slewing to JNow RA %s - DEC %s", RAStr, DecStr); |
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289 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
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290 | IDLog("Slewing to JNOW RA %s - DEC %s", RAStr, DecStr); |
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291 | } |
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292 | else |
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293 | { |
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294 | #ifdef CELESTRON_DEBUG |
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295 | IDLog("Tracking called, but tracking threshold not reached yet.\n"); |
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296 | #endif |
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297 | EquatorialCoordsWNP.s = IPS_OK; |
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298 | EquatorialCoordsRNP.s = IPS_OK; |
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299 | if (lastSet != 1) |
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300 | IDSetNumber(&EquatorialCoordsWNP, "Tracking..."); |
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301 | else |
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302 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
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303 | |
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304 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
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305 | } |
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306 | lastSet = 1; |
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307 | break; |
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308 | |
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309 | // Sync |
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310 | case 2: |
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311 | lastSet = 2; |
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312 | OnCoordSetSP.s = IPS_OK; |
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313 | SyncToCoords(targetRA, targetDEC); |
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314 | EquatorialCoordsWNP.s = IPS_OK; |
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315 | EquatorialCoordsRNP.s = IPS_OK; |
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316 | IDSetNumber(&EquatorialCoordsWNP, "Synchronization successful."); |
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317 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
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318 | break; |
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319 | } |
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320 | |
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321 | return (0); |
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322 | |
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323 | } |
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324 | |
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325 | void CelestronGPS::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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326 | { |
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327 | double newRA=0, newDEC=0; |
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328 | |
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329 | // ignore if not ours // |
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330 | if (strcmp (dev, mydev)) |
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331 | return; |
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332 | |
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333 | struct tm *tp; |
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334 | time_t t; |
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335 | |
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336 | time (&t); |
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337 | tp = gmtime (&t); |
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338 | |
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339 | if (!strcmp (name, TrackingAccuracyNP.name)) |
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340 | { |
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341 | if (!IUUpdateNumber(&TrackingAccuracyNP, values, names, n)) |
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342 | { |
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343 | TrackingAccuracyNP.s = IPS_OK; |
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344 | IDSetNumber(&TrackingAccuracyNP, NULL); |
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345 | return; |
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346 | } |
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347 | |
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348 | TrackingAccuracyNP.s = IPS_ALERT; |
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349 | IDSetNumber(&TrackingAccuracyNP, "unknown error while setting tracking precision"); |
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350 | return; |
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351 | } |
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352 | |
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353 | if (!strcmp(name, SlewAccuracyNP.name)) |
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354 | { |
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355 | IUUpdateNumber(&SlewAccuracyNP, values, names, n); |
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356 | { |
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357 | SlewAccuracyNP.s = IPS_OK; |
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358 | IDSetNumber(&SlewAccuracyNP, NULL); |
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359 | return; |
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360 | } |
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361 | |
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362 | SlewAccuracyNP.s = IPS_ALERT; |
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363 | IDSetNumber(&SlewAccuracyNP, "unknown error while setting slew precision"); |
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364 | return; |
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365 | } |
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366 | |
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367 | if (!strcmp (name, EquatorialCoordsWNP.name)) |
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368 | { |
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369 | int i=0, nset=0; |
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370 | |
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371 | if (checkPower(&EquatorialCoordsWNP)) |
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372 | return; |
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373 | |
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374 | for (nset = i = 0; i < n; i++) |
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375 | { |
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376 | INumber *eqp = IUFindNumber (&EquatorialCoordsWNP, names[i]); |
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377 | if (eqp == &EquatorialCoordsWN[0]) |
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378 | { |
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379 | newRA = values[i]; |
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380 | nset += newRA >= 0 && newRA <= 24.0; |
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381 | } else if (eqp == &EquatorialCoordsWN[1]) |
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382 | { |
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383 | newDEC = values[i]; |
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384 | nset += newDEC >= -90.0 && newDEC <= 90.0; |
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385 | } |
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386 | } |
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387 | |
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388 | if (nset == 2) |
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389 | { |
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390 | //EquatorialCoordsNP.s = IPS_BUSY; |
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391 | |
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392 | tp->tm_mon += 1; |
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393 | tp->tm_year += 1900; |
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394 | |
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395 | targetRA = newRA; |
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396 | targetDEC = newDEC; |
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397 | |
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398 | if (MovementNSSP.s == IPS_BUSY || MovementWESP.s == IPS_BUSY) |
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399 | { |
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400 | IUResetSwitch(&MovementNSSP); |
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401 | IUResetSwitch(&MovementWESP); |
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402 | MovementNSSP.s = MovementWESP.s = IPS_IDLE; |
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403 | IDSetSwitch(&MovementNSSP, NULL); |
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404 | IDSetSwitch(&MovementWESP, NULL); |
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405 | } |
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406 | |
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407 | if (handleCoordSet()) |
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408 | { |
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409 | EquatorialCoordsWNP.s = IPS_ALERT; |
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410 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
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411 | } |
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412 | } |
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413 | else |
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414 | { |
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415 | EquatorialCoordsWNP.s = IPS_ALERT; |
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416 | IDSetNumber(&EquatorialCoordsWNP, "RA or Dec missing or invalid."); |
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417 | } |
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418 | |
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419 | return; |
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420 | } |
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421 | } |
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422 | |
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423 | void CelestronGPS::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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424 | { |
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425 | |
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426 | int index; |
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427 | |
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428 | INDI_UNUSED(names); |
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429 | |
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430 | // ignore if not ours // |
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431 | if (strcmp (dev, mydev)) |
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432 | return; |
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433 | |
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434 | // FIRST Switch ALWAYS for power |
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435 | if (!strcmp (name, ConnectSP.name)) |
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436 | { |
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437 | if (IUUpdateSwitch(&ConnectSP, states, names, n) < 0) return; |
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438 | connectTelescope(); |
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439 | return; |
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440 | } |
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441 | |
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442 | if (!strcmp(name, OnCoordSetSP.name)) |
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443 | { |
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444 | if (checkPower(&OnCoordSetSP)) |
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445 | return; |
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446 | |
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447 | |
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448 | if (IUUpdateSwitch(&OnCoordSetSP, states, names, n) < 0) return; |
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449 | currentSet = getOnSwitch(&OnCoordSetSP); |
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450 | } |
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451 | |
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452 | // Abort Slew |
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453 | if (!strcmp (name, AbortSlewSP.name)) |
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454 | { |
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455 | if (checkPower(&AbortSlewSP)) |
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456 | { |
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457 | AbortSlewSP.s = IPS_ALERT; |
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458 | IDSetSwitch(&AbortSlewSP, NULL); |
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459 | return; |
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460 | } |
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461 | |
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462 | IUResetSwitch(&AbortSlewSP); |
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463 | StopNSEW(); |
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464 | |
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465 | if (EquatorialCoordsWNP.s == IPS_BUSY) |
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466 | { |
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467 | AbortSlewSP.s = IPS_OK; |
---|
468 | EquatorialCoordsWNP.s = IPS_IDLE; |
---|
469 | EquatorialCoordsRNP.s = IPS_IDLE; |
---|
470 | IDSetSwitch(&AbortSlewSP, "Slew aborted."); |
---|
471 | IDSetNumber(&EquatorialCoordsWNP, NULL); |
---|
472 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
---|
473 | } |
---|
474 | else if (MovementNSSP.s == IPS_BUSY || MovementWESP.s == IPS_BUSY) |
---|
475 | { |
---|
476 | MovementNSSP.s = MovementWESP.s = IPS_IDLE; |
---|
477 | |
---|
478 | AbortSlewSP.s = IPS_OK; |
---|
479 | EquatorialCoordsRNP.s = IPS_IDLE; |
---|
480 | IUResetSwitch(&MovementNSSP); |
---|
481 | IUResetSwitch(&MovementWESP); |
---|
482 | IUResetSwitch(&AbortSlewSP); |
---|
483 | |
---|
484 | IDSetSwitch(&AbortSlewSP, "Slew aborted."); |
---|
485 | IDSetSwitch(&MovementNSSP, NULL); |
---|
486 | IDSetSwitch(&MovementWESP, NULL); |
---|
487 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
---|
488 | } |
---|
489 | else |
---|
490 | { |
---|
491 | AbortSlewSP.s = IPS_OK; |
---|
492 | IDSetSwitch(&AbortSlewSP, NULL); |
---|
493 | } |
---|
494 | |
---|
495 | return; |
---|
496 | } |
---|
497 | |
---|
498 | // Slew mode |
---|
499 | if (!strcmp (name, SlewModeSP.name)) |
---|
500 | { |
---|
501 | if (checkPower(&SlewModeSP)) |
---|
502 | return; |
---|
503 | |
---|
504 | IUResetSwitch(&SlewModeSP); |
---|
505 | IUUpdateSwitch(&SlewModeSP, states, names, n); |
---|
506 | index = getOnSwitch(&SlewModeSP); |
---|
507 | SetRate(index); |
---|
508 | |
---|
509 | SlewModeSP.s = IPS_OK; |
---|
510 | IDSetSwitch(&SlewModeSP, NULL); |
---|
511 | return; |
---|
512 | } |
---|
513 | |
---|
514 | // Movement (North/South) |
---|
515 | if (!strcmp (name, MovementNSSP.name)) |
---|
516 | { |
---|
517 | if (checkPower(&MovementNSSP)) |
---|
518 | return; |
---|
519 | |
---|
520 | int last_move=-1; |
---|
521 | int current_move = -1; |
---|
522 | |
---|
523 | // -1 means all off previously |
---|
524 | last_move = getOnSwitch(&MovementNSSP); |
---|
525 | |
---|
526 | if (IUUpdateSwitch(&MovementNSSP, states, names, n) < 0) |
---|
527 | return; |
---|
528 | |
---|
529 | current_move = getOnSwitch(&SlewModeSP); |
---|
530 | |
---|
531 | // Previosuly active switch clicked again, so let's stop. |
---|
532 | if (current_move == last_move) |
---|
533 | { |
---|
534 | StopSlew((current_move == 0) ? NORTH : SOUTH); |
---|
535 | IUResetSwitch(&MovementNSSP); |
---|
536 | MovementNSSP.s = IPS_IDLE; |
---|
537 | IDSetSwitch(&MovementNSSP, NULL); |
---|
538 | return; |
---|
539 | } |
---|
540 | |
---|
541 | #ifdef CELESTRON_DEBUG |
---|
542 | IDLog("Current Move: %d - Previous Move: %d\n", current_move, last_move); |
---|
543 | #endif |
---|
544 | |
---|
545 | // 0 (North) or 1 (South) |
---|
546 | last_move = current_move; |
---|
547 | |
---|
548 | // Correction for Celestron Driver: North 0 - South 3 |
---|
549 | current_move = (current_move == 0) ? NORTH : SOUTH; |
---|
550 | |
---|
551 | StartSlew(current_move); |
---|
552 | |
---|
553 | MovementNSSP.s = IPS_BUSY; |
---|
554 | IDSetSwitch(&MovementNSSP, "Moving toward %s", (current_move == NORTH) ? "North" : "South"); |
---|
555 | return; |
---|
556 | } |
---|
557 | |
---|
558 | // Movement (West/East) |
---|
559 | if (!strcmp (name, MovementWESP.name)) |
---|
560 | { |
---|
561 | if (checkPower(&MovementWESP)) |
---|
562 | return; |
---|
563 | |
---|
564 | int last_move=-1; |
---|
565 | int current_move = -1; |
---|
566 | |
---|
567 | // -1 means all off previously |
---|
568 | last_move = getOnSwitch(&MovementWESP); |
---|
569 | |
---|
570 | if (IUUpdateSwitch(&MovementWESP, states, names, n) < 0) |
---|
571 | return; |
---|
572 | |
---|
573 | current_move = getOnSwitch(&SlewModeSP); |
---|
574 | |
---|
575 | // Previosuly active switch clicked again, so let's stop. |
---|
576 | if (current_move == last_move) |
---|
577 | { |
---|
578 | StopSlew((current_move ==0) ? WEST : EAST); |
---|
579 | IUResetSwitch(&MovementWESP); |
---|
580 | MovementWESP.s = IPS_IDLE; |
---|
581 | IDSetSwitch(&MovementWESP, NULL); |
---|
582 | return; |
---|
583 | } |
---|
584 | |
---|
585 | #ifdef CELESTRON_DEBUG |
---|
586 | IDLog("Current Move: %d - Previous Move: %d\n", current_move, last_move); |
---|
587 | #endif |
---|
588 | |
---|
589 | // 0 (West) or 1 (East) |
---|
590 | last_move = current_move; |
---|
591 | |
---|
592 | // Correction for Celestron Driver: West 1 - East 2 |
---|
593 | current_move = (current_move == 0) ? WEST : EAST; |
---|
594 | |
---|
595 | StartSlew(current_move); |
---|
596 | |
---|
597 | MovementWESP.s = IPS_BUSY; |
---|
598 | IDSetSwitch(&MovementWESP, "Moving toward %s", (current_move == WEST) ? "West" : "East"); |
---|
599 | return; |
---|
600 | } |
---|
601 | } |
---|
602 | |
---|
603 | |
---|
604 | int CelestronGPS::getOnSwitch(ISwitchVectorProperty *sp) |
---|
605 | { |
---|
606 | for (int i=0; i < sp->nsp ; i++) |
---|
607 | if (sp->sp[i].s == ISS_ON) |
---|
608 | return i; |
---|
609 | |
---|
610 | return -1; |
---|
611 | } |
---|
612 | |
---|
613 | |
---|
614 | int CelestronGPS::checkPower(ISwitchVectorProperty *sp) |
---|
615 | { |
---|
616 | if (ConnectSP.s != IPS_OK) |
---|
617 | { |
---|
618 | if (!strcmp(sp->label, "")) |
---|
619 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->name); |
---|
620 | else |
---|
621 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->label); |
---|
622 | |
---|
623 | sp->s = IPS_IDLE; |
---|
624 | IDSetSwitch(sp, NULL); |
---|
625 | return -1; |
---|
626 | } |
---|
627 | |
---|
628 | return 0; |
---|
629 | } |
---|
630 | |
---|
631 | int CelestronGPS::checkPower(INumberVectorProperty *np) |
---|
632 | { |
---|
633 | if (ConnectSP.s != IPS_OK) |
---|
634 | { |
---|
635 | if (!strcmp(np->label, "")) |
---|
636 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->name); |
---|
637 | else |
---|
638 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->label); |
---|
639 | |
---|
640 | np->s = IPS_IDLE; |
---|
641 | IDSetNumber(np, NULL); |
---|
642 | return -1; |
---|
643 | } |
---|
644 | return 0; |
---|
645 | } |
---|
646 | |
---|
647 | int CelestronGPS::checkPower(ITextVectorProperty *tp) |
---|
648 | { |
---|
649 | |
---|
650 | if (ConnectSP.s != IPS_OK) |
---|
651 | { |
---|
652 | if (!strcmp(tp->label, "")) |
---|
653 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->name); |
---|
654 | else |
---|
655 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->label); |
---|
656 | |
---|
657 | tp->s = IPS_IDLE; |
---|
658 | IDSetText(tp, NULL); |
---|
659 | return -1; |
---|
660 | } |
---|
661 | |
---|
662 | return 0; |
---|
663 | |
---|
664 | } |
---|
665 | |
---|
666 | void CelestronGPS::ISPoll() |
---|
667 | { |
---|
668 | double dx, dy; |
---|
669 | int status; |
---|
670 | |
---|
671 | switch (EquatorialCoordsWNP.s) |
---|
672 | { |
---|
673 | case IPS_IDLE: |
---|
674 | if (ConnectSP.s != IPS_OK) |
---|
675 | break; |
---|
676 | currentRA = GetRA(); |
---|
677 | currentDEC = GetDec(); |
---|
678 | |
---|
679 | if ( fabs (currentRA - lastRA) > 0.01 || fabs (currentDEC - lastDEC) > 0.01) |
---|
680 | { |
---|
681 | lastRA = currentRA; |
---|
682 | lastDEC = currentDEC; |
---|
683 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
684 | |
---|
685 | } |
---|
686 | break; |
---|
687 | |
---|
688 | case IPS_BUSY: |
---|
689 | currentRA = GetRA(); |
---|
690 | currentDEC = GetDec(); |
---|
691 | dx = targetRA - currentRA; |
---|
692 | dy = targetDEC - currentDEC; |
---|
693 | |
---|
694 | #ifdef CELESTRON_DEBUG |
---|
695 | IDLog("targetRA is %f, currentRA is %f\n", (float) targetRA, (float) currentRA); |
---|
696 | IDLog("targetDEC is %f, currentDEC is %f\n****************************\n", (float) targetDEC, (float) currentDEC); |
---|
697 | #endif |
---|
698 | |
---|
699 | status = CheckCoords(targetRA, targetDEC, SlewAccuracyN[0].value/(15.0*60.0) , SlewAccuracyN[1].value/60.0); |
---|
700 | |
---|
701 | // Wait until acknowledged or within 3.6', change as desired. |
---|
702 | switch (status) |
---|
703 | { |
---|
704 | case 0: /* goto in progress */ |
---|
705 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
706 | break; |
---|
707 | case 1: /* goto complete within tolerance */ |
---|
708 | case 2: /* goto complete but outside tolerance */ |
---|
709 | currentRA = targetRA; |
---|
710 | currentDEC = targetDEC; |
---|
711 | |
---|
712 | EquatorialCoordsWNP.s = IPS_OK; |
---|
713 | EquatorialCoordsRNP.s = IPS_OK; |
---|
714 | |
---|
715 | if (currentSet == 0) |
---|
716 | { |
---|
717 | IDSetNumber (&EquatorialCoordsWNP, "Slew is complete."); |
---|
718 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
719 | } |
---|
720 | else |
---|
721 | { |
---|
722 | IDSetNumber (&EquatorialCoordsWNP, "Slew is complete. Tracking..."); |
---|
723 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
724 | } |
---|
725 | |
---|
726 | break; |
---|
727 | } |
---|
728 | break; |
---|
729 | |
---|
730 | case IPS_OK: |
---|
731 | if (ConnectSP.s != IPS_OK) |
---|
732 | break; |
---|
733 | currentRA = GetRA(); |
---|
734 | currentDEC = GetDec(); |
---|
735 | |
---|
736 | if ( fabs (currentRA - lastRA) > 0.01 || fabs (currentDEC - lastDEC) > 0.01) |
---|
737 | { |
---|
738 | lastRA = currentRA; |
---|
739 | lastDEC = currentDEC; |
---|
740 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
741 | |
---|
742 | } |
---|
743 | break; |
---|
744 | |
---|
745 | |
---|
746 | case IPS_ALERT: |
---|
747 | break; |
---|
748 | } |
---|
749 | |
---|
750 | switch (MovementNSSP.s) |
---|
751 | { |
---|
752 | case IPS_IDLE: |
---|
753 | break; |
---|
754 | case IPS_BUSY: |
---|
755 | currentRA = GetRA(); |
---|
756 | currentDEC = GetDec(); |
---|
757 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
758 | |
---|
759 | break; |
---|
760 | case IPS_OK: |
---|
761 | break; |
---|
762 | case IPS_ALERT: |
---|
763 | break; |
---|
764 | } |
---|
765 | |
---|
766 | switch (MovementWESP.s) |
---|
767 | { |
---|
768 | case IPS_IDLE: |
---|
769 | break; |
---|
770 | case IPS_BUSY: |
---|
771 | currentRA = GetRA(); |
---|
772 | currentDEC = GetDec(); |
---|
773 | IDSetNumber (&EquatorialCoordsRNP, NULL); |
---|
774 | |
---|
775 | break; |
---|
776 | case IPS_OK: |
---|
777 | break; |
---|
778 | case IPS_ALERT: |
---|
779 | break; |
---|
780 | } |
---|
781 | |
---|
782 | } |
---|
783 | |
---|
784 | void CelestronGPS::getBasicData() |
---|
785 | { |
---|
786 | |
---|
787 | currentRA = GetRA(); |
---|
788 | currentDEC = GetDec(); |
---|
789 | |
---|
790 | IDSetNumber(&EquatorialCoordsRNP, NULL); |
---|
791 | |
---|
792 | } |
---|
793 | |
---|
794 | void CelestronGPS::connectTelescope() |
---|
795 | { |
---|
796 | |
---|
797 | switch (ConnectSP.sp[0].s) |
---|
798 | { |
---|
799 | case ISS_ON: |
---|
800 | |
---|
801 | if (ConnectTel(PortTP.tp[0].text) < 0) |
---|
802 | { |
---|
803 | ConnectS[0].s = ISS_OFF; |
---|
804 | ConnectS[1].s = ISS_ON; |
---|
805 | IDSetSwitch (&ConnectSP, "Error connecting to port %s. Make sure you have BOTH write and read permission to the port.", PortTP.tp[0].text); |
---|
806 | return; |
---|
807 | } |
---|
808 | |
---|
809 | ConnectSP.s = IPS_OK; |
---|
810 | IDSetSwitch (&ConnectSP, "Telescope is online. Retrieving basic data..."); |
---|
811 | getBasicData(); |
---|
812 | break; |
---|
813 | |
---|
814 | case ISS_OFF: |
---|
815 | IDSetSwitch (&ConnectSP, "Telescope is offline."); |
---|
816 | IDLog("Telescope is offline."); |
---|
817 | DisconnectTel(); |
---|
818 | break; |
---|
819 | |
---|
820 | } |
---|
821 | } |
---|
822 | |
---|
823 | void CelestronGPS::slewError(int slewCode) |
---|
824 | { |
---|
825 | EquatorialCoordsWNP.s = IPS_ALERT; |
---|
826 | |
---|
827 | switch (slewCode) |
---|
828 | { |
---|
829 | case 1: |
---|
830 | IDSetNumber (&EquatorialCoordsWNP, "Invalid newDec in SlewToCoords"); |
---|
831 | break; |
---|
832 | case 2: |
---|
833 | IDSetNumber (&EquatorialCoordsWNP, "RA count overflow in SlewToCoords"); |
---|
834 | break; |
---|
835 | case 3: |
---|
836 | IDSetNumber (&EquatorialCoordsWNP, "Dec count overflow in SlewToCoords"); |
---|
837 | break; |
---|
838 | case 4: |
---|
839 | IDSetNumber (&EquatorialCoordsWNP, "No acknowledgment from telescope after SlewToCoords"); |
---|
840 | break; |
---|
841 | default: |
---|
842 | IDSetNumber (&EquatorialCoordsWNP, "Unknown error"); |
---|
843 | break; |
---|
844 | } |
---|
845 | |
---|
846 | } |
---|