source: BAORadio/libindi/v1/drivers/telescope/lx200_16.cpp@ 635

Last change on this file since 635 was 490, checked in by campagne, 15 years ago

import libindi (JEC)
File size: 10.2 KB
Line 
1/*
2 LX200 16"
3 Copyright (C) 2003 Jasem Mutlaq (mutlaqja@ikarustech.com)
4
5 This library is free software; you can redistribute it and/or
6 modify it under the terms of the GNU Lesser General Public
7 License as published by the Free Software Foundation; either
8 version 2.1 of the License, or (at your option) any later version.
9
10 This library is distributed in the hope that it will be useful,
11 but WITHOUT ANY WARRANTY; without even the implied warranty of
12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13 Lesser General Public License for more details.
14
15 You should have received a copy of the GNU Lesser General Public
16 License along with this library; if not, write to the Free Software
17 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18
19*/
20
21#include "lx200_16.h"
22#include "lx200driver.h"
23
24#include <stdio.h>
25#include <stdlib.h>
26#include <string.h>
27#include <unistd.h>
28#include <math.h>
29
30#define LX16GROUP "GPS/16 inch Features"
31
32#define currentAZ HorizontalCoordsRNP.np[0].value
33#define currentALT HorizontalCoordsRNP.np[1].value
34#define targetAZ HorizontalCoordsWNP.np[0].value
35#define targetALT HorizontalCoordsWNP.np[1].value
36
37extern LX200Generic *telescope;
38extern ITextVectorProperty Time;
39extern int MaxReticleFlashRate;
40
41static ISwitch FanStatusS[] = { {"On", "", ISS_OFF, 0, 0}, {"Off", "", ISS_OFF, 0, 0}};
42static ISwitch HomeSearchS[] = { {"Save home", "", ISS_OFF, 0, 0} , {"Set home", "", ISS_OFF, 0, 0}};
43static ISwitch FieldDeRotatorS[] = { {"On", "", ISS_OFF, 0, 0}, {"Off", "", ISS_OFF,0 ,0}};
44
45static ISwitchVectorProperty FanStatusSP = { mydev, "Fan", "", LX16GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, FanStatusS, NARRAY(FanStatusS), "", 0};
46
47static ISwitchVectorProperty HomeSearchSP = { mydev, "Park", "", LX16GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, HomeSearchS, NARRAY(HomeSearchS), "", 0};
48
49static ISwitchVectorProperty FieldDeRotatorSP = { mydev, "Field De-rotator", "", LX16GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, FieldDeRotatorS, NARRAY(FieldDeRotatorS), "", 0};
50
51//static ISwitches SlewAltAzSw = { mydev, "AltAzSet", "On Alt/Az Set", SlewAltAzS, NARRAY(SlewAltAzS), ILS_IDLE, 0, LX16Group};
52
53/* Horizontal Coordinates: Read Only */
54static INumber HorizontalCoordsRN[] = {
55 {"ALT", "Alt D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0},
56 {"AZ", "Az D:M:S", "%10.6m", 0., 360., 0., 0., 0, 0, 0}};
57static INumberVectorProperty HorizontalCoordsRNP = {
58 mydev, "HORIZONTAL_COORD", "Horizontal Coords", LX16GROUP, IP_RO, 120, IPS_IDLE,
59 HorizontalCoordsRN, NARRAY(HorizontalCoordsRN), "", 0};
60
61/* Horizontal Coordinates: Request Only */
62static INumber HorizontalCoordsWN[] = {
63 {"ALT", "Alt D:M:S", "%10.6m", -90., 90., 0., 0., 0, 0, 0},
64 {"AZ", "Az D:M:S", "%10.6m", 0., 360., 0., 0., 0, 0, 0}};
65static INumberVectorProperty HorizontalCoordsWNP = {
66 mydev, "HORIZONTAL_COORD_REQUEST", "Horizontal Coords", LX16GROUP, IP_WO, 120, IPS_IDLE,
67 HorizontalCoordsWN, NARRAY(HorizontalCoordsWN), "", 0};
68
69
70void changeLX200_16DeviceName(const char * newName)
71{
72 strcpy(HorizontalCoordsWNP.device, newName);
73 strcpy(HorizontalCoordsRNP.device, newName);
74 strcpy(FanStatusSP.device, newName);
75 strcpy(HomeSearchSP.device, newName);
76 strcpy(FieldDeRotatorSP.device,newName);
77}
78
79LX200_16::LX200_16() : LX200Autostar()
80{
81
82}
83
84void LX200_16::ISGetProperties (const char *dev)
85{
86
87if (dev && strcmp (thisDevice, dev))
88 return;
89
90 // process parent first
91 LX200Autostar::ISGetProperties(dev);
92
93 IDDefNumber (&HorizontalCoordsWNP, NULL);
94 IDDefNumber (&HorizontalCoordsRNP, NULL);
95
96 IDDefSwitch (&FanStatusSP, NULL);
97 IDDefSwitch (&HomeSearchSP, NULL);
98 IDDefSwitch (&FieldDeRotatorSP, NULL);
99
100}
101
102void LX200_16::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
103{
104
105 // ignore if not ours //
106 if (strcmp (dev, thisDevice))
107 return;
108
109 LX200Autostar::ISNewText (dev, name, texts, names, n);
110
111}
112
113void LX200_16::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
114{
115 double newAlt=0, newAz=0;
116 char altStr[64], azStr[64];
117 int err;
118
119 // ignore if not ours //
120 if (strcmp (dev, thisDevice))
121 return;
122
123 if ( !strcmp (name, HorizontalCoordsWNP.name) )
124 {
125 int i=0, nset=0;
126
127 if (checkPower(&HorizontalCoordsWNP))
128 return;
129
130 for (nset = i = 0; i < n; i++)
131 {
132 INumber *horp = IUFindNumber (&HorizontalCoordsWNP, names[i]);
133 if (horp == &HorizontalCoordsWN[0])
134 {
135 newAlt = values[i];
136 nset += newAlt >= -90. && newAlt <= 90.0;
137 } else if (horp == &HorizontalCoordsWN[1])
138 {
139 newAz = values[i];
140 nset += newAz >= 0. && newAz <= 360.0;
141 }
142 }
143
144 if (nset == 2)
145 {
146 if ( (err = setObjAz(fd, newAz)) < 0 || (err = setObjAlt(fd, newAlt)) < 0)
147 {
148 handleError(&HorizontalCoordsWNP, err, "Setting Alt/Az");
149 return;
150 }
151 //HorizontalCoordsWNP.s = IPS_OK;
152 //HorizontalCoordsWNP.n[0].value = values[0];
153 //HorizontalCoordsWNP.n[1].value = values[1];
154 targetAZ = newAz;
155 targetALT = newAlt;
156
157 fs_sexa(azStr, targetAZ, 2, 3600);
158 fs_sexa(altStr, targetALT, 2, 3600);
159
160 //IDSetNumber (&HorizontalCoordsWNP, "Attempting to slew to Alt %s - Az %s", altStr, azStr);
161 handleAltAzSlew();
162 }
163 else
164 {
165 HorizontalCoordsWNP.s = IPS_ALERT;
166 IDSetNumber(&HorizontalCoordsWNP, "Altitude or Azimuth missing or invalid");
167 }
168
169 return;
170 }
171
172 LX200Autostar::ISNewNumber (dev, name, values, names, n);
173}
174
175
176
177
178void LX200_16::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
179{
180 int index;
181 int err;
182
183 if (strcmp (dev, thisDevice))
184 return;
185
186 if (!strcmp(name, FanStatusSP.name))
187 {
188 if (checkPower(&FanStatusSP))
189 return;
190
191 IUResetSwitch(&FanStatusSP);
192 IUUpdateSwitch(&FanStatusSP, states, names, n);
193 index = getOnSwitch(&FanStatusSP);
194
195 if (index == 0)
196 {
197 if ( (err = turnFanOn(fd)) < 0)
198 {
199 handleError(&FanStatusSP, err, "Changing fan status");
200 return;
201 }
202 }
203 else
204 {
205 if ( (err = turnFanOff(fd)) < 0)
206 {
207 handleError(&FanStatusSP, err, "Changing fan status");
208 return;
209 }
210 }
211
212 FanStatusSP.s = IPS_OK;
213 IDSetSwitch (&FanStatusSP, index == 0 ? "Fan is ON" : "Fan is OFF");
214 return;
215 }
216
217 if (!strcmp(name, HomeSearchSP.name))
218 {
219 if (checkPower(&HomeSearchSP))
220 return;
221
222 IUResetSwitch(&HomeSearchSP);
223 IUUpdateSwitch(&HomeSearchSP, states, names, n);
224 index = getOnSwitch(&HomeSearchSP);
225
226 if (index == 0)
227 seekHomeAndSave(fd);
228 else
229 seekHomeAndSet(fd);
230
231 HomeSearchSP.s = IPS_BUSY;
232 IDSetSwitch (&HomeSearchSP, index == 0 ? "Seek Home and Save" : "Seek Home and Set");
233 return;
234 }
235
236 if (!strcmp(name, FieldDeRotatorSP.name))
237 {
238 if (checkPower(&FieldDeRotatorSP))
239 return;
240
241 IUResetSwitch(&FieldDeRotatorSP);
242 IUUpdateSwitch(&FieldDeRotatorSP, states, names, n);
243 index = getOnSwitch(&FieldDeRotatorSP);
244
245 if (index == 0)
246 seekHomeAndSave(fd);
247 else
248 seekHomeAndSet(fd);
249
250 FieldDeRotatorSP.s = IPS_OK;
251 IDSetSwitch (&FieldDeRotatorSP, index == 0 ? "Field deRotator is ON" : "Field deRotator is OFF");
252 return;
253 }
254
255 LX200Autostar::ISNewSwitch (dev, name, states, names, n);
256
257}
258
259void LX200_16::handleAltAzSlew()
260{
261 int i=0;
262 char altStr[64], azStr[64];
263
264 if (HorizontalCoordsWNP.s == IPS_BUSY)
265 {
266 abortSlew(fd);
267
268 // sleep for 100 mseconds
269 usleep(100000);
270 }
271
272 if ((i = slewToAltAz(fd)))
273 {
274 HorizontalCoordsWNP.s = IPS_ALERT;
275 IDSetNumber(&HorizontalCoordsWNP, "Slew is not possible.");
276 return;
277 }
278
279 HorizontalCoordsWNP.s = IPS_BUSY;
280 HorizontalCoordsRNP.s = IPS_BUSY;
281 fs_sexa(azStr, targetAZ, 2, 3600);
282 fs_sexa(altStr, targetALT, 2, 3600);
283
284 IDSetNumber(&HorizontalCoordsWNP, "Slewing to Alt %s - Az %s", altStr, azStr);
285 IDSetNumber(&HorizontalCoordsRNP, NULL);
286 return;
287}
288
289 void LX200_16::ISPoll ()
290 {
291 int searchResult=0;
292 double dx, dy;
293 int err;
294
295 LX200Autostar::ISPoll();
296
297 switch (HomeSearchSP.s)
298 {
299 case IPS_IDLE:
300 break;
301
302 case IPS_BUSY:
303
304 if ( (err = getHomeSearchStatus(fd, &searchResult)) < 0)
305 {
306 handleError(&HomeSearchSP, err, "Home search");
307 return;
308 }
309
310 if (searchResult == 0)
311 {
312 HomeSearchSP.s = IPS_ALERT;
313 IDSetSwitch(&HomeSearchSP, "Home search failed.");
314 }
315 else if (searchResult == 1)
316 {
317 HomeSearchSP.s = IPS_OK;
318 IDSetSwitch(&HomeSearchSP, "Home search successful.");
319 }
320 else if (searchResult == 2)
321 IDSetSwitch(&HomeSearchSP, "Home search in progress...");
322 else
323 {
324 HomeSearchSP.s = IPS_ALERT;
325 IDSetSwitch(&HomeSearchSP, "Home search error.");
326 }
327 break;
328
329 case IPS_OK:
330 break;
331 case IPS_ALERT:
332 break;
333 }
334
335 switch (HorizontalCoordsWNP.s)
336 {
337 case IPS_IDLE:
338 break;
339
340 case IPS_BUSY:
341
342 if ( (err = getLX200Az(fd, &currentAZ)) < 0 || (err = getLX200Alt(fd, &currentALT)) < 0)
343 {
344 handleError(&HorizontalCoordsWNP, err, "Get Alt/Az");
345 return;
346 }
347
348 dx = targetAZ - currentAZ;
349 dy = targetALT - currentALT;
350
351 HorizontalCoordsRNP.np[0].value = currentALT;
352 HorizontalCoordsRNP.np[1].value = currentAZ;
353
354 // accuracy threshold (3'), can be changed as desired.
355 if ( fabs(dx) <= 0.05 && fabs(dy) <= 0.05)
356 {
357
358 HorizontalCoordsWNP.s = IPS_OK;
359 HorizontalCoordsRNP.s = IPS_OK;
360 currentAZ = targetAZ;
361 currentALT = targetALT;
362 IDSetNumber (&HorizontalCoordsWNP, "Slew is complete.");
363 IDSetNumber (&HorizontalCoordsRNP, NULL);
364 } else
365 IDSetNumber (&HorizontalCoordsRNP, NULL);
366 break;
367
368 case IPS_OK:
369 break;
370
371 case IPS_ALERT:
372 break;
373 }
374
375 }
376
377 void LX200_16::getBasicData()
378 {
379
380 getLX200Az(fd, &currentAZ);
381 getLX200Alt(fd, &currentALT);
382 IDSetNumber (&HorizontalCoordsRNP, NULL);
383
384 LX200Autostar::getBasicData();
385
386 }
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