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source: BAORadio/libindi/v1/drivers/telescope/lx200basic.cpp @ 612

Last change on this file since 612 was 490, checked in by campagne, 14 years ago
import libindi (JEC)
File size: 26.2 KB

Line
1	#if 0
2	LX200 Basic Driver
3	Copyright (C) 2005 Jasem Mutlaq (mutlaqja@ikarustech.com)
4
5	This library is free software; you can redistribute it and/or
6	modify it under the terms of the GNU Lesser General Public
7	License as published by the Free Software Foundation; either
8	version 2.1 of the License, or (at your option) any later version.
9
10	This library is distributed in the hope that it will be useful,
11	but WITHOUT ANY WARRANTY; without even the implied warranty of
12	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
13	Lesser General Public License for more details.
14
15	You should have received a copy of the GNU Lesser General Public
16	License along with this library; if not, write to the Free Software
17	Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
18
19	#endif
20
21	#include <stdio.h>
22	#include <stdlib.h>
23	#include <string.h>
24	#include <stdarg.h>
25	#include <math.h>
26	#include <unistd.h>
27	#include <time.h>
28	#include <memory>
29
30	#include <config.h>
31
32	/* INDI Common Library Routines */
33	#include "indicom.h"
34
35	/* LX200 Command Set */
36	#include "lx200driver.h"
37
38	/* Our driver header */
39	#include "lx200basic.h"
40
41	using namespace std;
42
43	/* Our telescope auto pointer */
44	auto_ptr<LX200Basic> telescope(0);
45
46	const int POLLMS = 1000; // Period of update, 1 second.
47	const char *mydev = "LX200 Basic"; // Name of our device.
48
49	const char *BASIC_GROUP = "Main Control"; // Main Group
50	const char *OPTIONS_GROUP = "Options"; // Options Group
51
52	/* Handy Macros */
53	#define currentRA EquatorialCoordsRN[0].value
54	#define currentDEC EquatorialCoordsRN[1].value
55	#define targetRA EquatorialCoordsWN[0].value
56	#define targetDEC EquatorialCoordsWN[1].value
57
58	static void ISPoll(void *);
59	static void retry_connection(void *);
60
61	/**************************************************************************************
62	** Send client definitions of all properties.
63	***************************************************************************************/
64	void ISInit()
65	{
66	static int isInit=0;
67
68	if (isInit)
69	return;
70
71	if (telescope.get() == 0) telescope.reset(new LX200Basic());
72
73	isInit = 1;
74
75	IEAddTimer (POLLMS, ISPoll, NULL);
76	}
77
78	/**************************************************************************************
79	**
80	***************************************************************************************/
81	void ISGetProperties (const char *dev)
82	{
83	ISInit();
84	telescope->ISGetProperties(dev);
85	}
86
87	/**************************************************************************************
88	**
89	***************************************************************************************/
90	void ISNewSwitch (const char dev, const char name, ISState states, char names[], int n)
91	{
92	ISInit();
93	telescope->ISNewSwitch(dev, name, states, names, n);
94	}
95
96	/**************************************************************************************
97	**
98	***************************************************************************************/
99	void ISNewText (const char dev, const char name, char texts[], char names[], int n)
100	{
101	ISInit();
102	telescope->ISNewText(dev, name, texts, names, n);
103	}
104
105	/**************************************************************************************
106	**
107	***************************************************************************************/
108	void ISNewNumber (const char dev, const char name, double values[], char *names[], int n)
109	{
110	ISInit();
111	telescope->ISNewNumber(dev, name, values, names, n);
112	}
113
114	/**************************************************************************************
115	**
116	***************************************************************************************/
117	void ISPoll (void *p)
118	{
119	INDI_UNUSED(p);
120
121	telescope->ISPoll();
122	IEAddTimer (POLLMS, ISPoll, NULL);
123	}
124
125	/**************************************************************************************
126	**
127	***************************************************************************************/
128	void ISNewBLOB (const char dev, const char name, int sizes[], int blobsizes[], char blobs[], char formats[], char *names[], int n)
129	{
130	INDI_UNUSED(dev);
131	INDI_UNUSED(name);
132	INDI_UNUSED(sizes);
133	INDI_UNUSED(blobsizes);
134	INDI_UNUSED(blobs);
135	INDI_UNUSED(formats);
136	INDI_UNUSED(names);
137	INDI_UNUSED(n);
138	}
139
140	/**************************************************************************************
141	**
142	***************************************************************************************/
143	void ISSnoopDevice (XMLEle *root)
144	{
145	INDI_UNUSED(root);
146	}
147
148	/**************************************************************************************
149	** LX200 Basic constructor
150	***************************************************************************************/
151	LX200Basic::LX200Basic()
152	{
153	init_properties();
154
155	lastSet = -1;
156	fd = -1;
157	simulation = false;
158	lastRA = 0;
159	lastDEC = 0;
160	currentSet = 0;
161
162	IDLog("Initilizing from LX200 Basic device...\n");
163	IDLog("Driver Version: 2007-09-28\n");
164
165	//enableSimulation(true);
166	}
167
168	/**************************************************************************************
169	**
170	***************************************************************************************/
171	LX200Basic::~LX200Basic()
172	{
173
174	}
175
176	/**************************************************************************************
177	** Initialize all properties & set default values.
178	***************************************************************************************/
179	void LX200Basic::init_properties()
180	{
181	// Connection
182	IUFillSwitch(&ConnectS[0], "CONNECT", "Connect", ISS_OFF);
183	IUFillSwitch(&ConnectS[1], "DISCONNECT", "Disconnect", ISS_ON);
184	IUFillSwitchVector(&ConnectSP, ConnectS, NARRAY(ConnectS), mydev, "CONNECTION", "Connection", BASIC_GROUP, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
185
186	// Coord Set
187	IUFillSwitch(&OnCoordSetS[0], "SLEW", "Slew", ISS_ON);
188	IUFillSwitch(&OnCoordSetS[1], "TRACK", "Track", ISS_OFF);
189	IUFillSwitch(&OnCoordSetS[2], "SYNC", "Sync", ISS_OFF);
190	IUFillSwitchVector(&OnCoordSetSP, OnCoordSetS, NARRAY(OnCoordSetS), mydev, "ON_COORD_SET", "On Set", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
191
192	// Abort
193	IUFillSwitch(&AbortSlewS[0], "ABORT", "Abort", ISS_OFF);
194	IUFillSwitchVector(&AbortSlewSP, AbortSlewS, NARRAY(AbortSlewS), mydev, "ABORT_MOTION", "Abort Slew/Track", BASIC_GROUP, IP_RW, ISR_ATMOST1, 0, IPS_IDLE);
195
196	// Port
197	IUFillText(&PortT[0], "PORT", "Port", "/dev/ttyS0");
198	IUFillTextVector(&PortTP, PortT, NARRAY(PortT), mydev, "DEVICE_PORT", "Ports", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
199
200	// Object Name
201	IUFillText(&ObjectT[0], "OBJECT_NAME", "Name", "--");
202	IUFillTextVector(&ObjectTP, ObjectT, NARRAY(ObjectT), mydev, "OBJECT_INFO", "Object", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
203
204	// Equatorial Coords - SET
205	IUFillNumber(&EquatorialCoordsWN[0], "RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0.);
206	IUFillNumber(&EquatorialCoordsWN[1], "DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0.);
207	IUFillNumberVector(&EquatorialCoordsWNP, EquatorialCoordsWN, NARRAY(EquatorialCoordsWN), mydev, "EQUATORIAL_EOD_COORD_REQUEST" , "Equatorial JNow", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
208
209	// Equatorial Coords - READ
210	IUFillNumber(&EquatorialCoordsRN[0], "RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0.);
211	IUFillNumber(&EquatorialCoordsRN[1], "DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0.);
212	IUFillNumberVector(&EquatorialCoordsRNP, EquatorialCoordsRN, NARRAY(EquatorialCoordsRN), mydev, "EQUATORIAL_EOD_COORD" , "Equatorial JNow", BASIC_GROUP, IP_RO, 0, IPS_IDLE);
213
214	// Slew threshold
215	IUFillNumber(&SlewAccuracyN[0], "SlewRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0);
216	IUFillNumber(&SlewAccuracyN[1], "SlewDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0);
217	IUFillNumberVector(&SlewAccuracyNP, SlewAccuracyN, NARRAY(SlewAccuracyN), mydev, "Slew Accuracy", "", OPTIONS_GROUP, IP_RW, 0, IPS_IDLE);
218
219	// Track threshold
220	IUFillNumber(&TrackAccuracyN[0], "TrackRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0);
221	IUFillNumber(&TrackAccuracyN[1], "TrackDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0);
222	IUFillNumberVector(&TrackAccuracyNP, TrackAccuracyN, NARRAY(TrackAccuracyN), mydev, "Tracking Accuracy", "", OPTIONS_GROUP, IP_RW, 0, IPS_IDLE);
223	}
224
225	/**************************************************************************************
226	** Define LX200 Basic properties to clients.
227	***************************************************************************************/
228	void LX200Basic::ISGetProperties(const char *dev)
229	{
230
231	if (dev && strcmp (mydev, dev))
232	return;
233
234	// Main Control
235	IDDefSwitch(&ConnectSP, NULL);
236	IDDefText(&PortTP, NULL);
237	IDDefText(&ObjectTP, NULL);
238	IDDefNumber(&EquatorialCoordsWNP, NULL);
239	IDDefNumber(&EquatorialCoordsRNP, NULL);
240	IDDefSwitch(&OnCoordSetSP, NULL);
241	IDDefSwitch(&AbortSlewSP, NULL);
242
243	// Options
244	IDDefNumber(&SlewAccuracyNP, NULL);
245	IDDefNumber(&TrackAccuracyNP, NULL);
246
247	}
248
249	/**************************************************************************************
250	** Process Text properties
251	***************************************************************************************/
252	void LX200Basic::ISNewText (const char dev, const char name, char texts[], char names[], int n)
253	{
254	// Ignore if not ours
255	if (strcmp (dev, mydev))
256	return;
257
258	// ===================================
259	// Port Name
260	// ===================================
261	if (!strcmp(name, PortTP.name) )
262	{
263	if (IUUpdateText(&PortTP, texts, names, n) < 0)
264	return;
265
266	PortTP.s = IPS_OK;
267	IDSetText (&PortTP, NULL);
268	return;
269	}
270
271	if (is_connected() == false)
272	{
273	IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands.");
274	reset_all_properties();
275	return;
276	}
277
278	// ===================================
279	// Object Name
280	// ===================================
281	if (!strcmp (name, ObjectTP.name))
282	{
283
284	if (IUUpdateText(&ObjectTP, texts, names, n) < 0)
285	return;
286
287	ObjectTP.s = IPS_OK;
288	IDSetText(&ObjectTP, NULL);
289	return;
290	}
291	}
292
293	/**************************************************************************************
294	**
295	***************************************************************************************/
296	void LX200Basic::ISNewNumber (const char dev, const char name, double values[], char *names[], int n)
297	{
298
299	// Ignore if not ours
300	if (strcmp (dev, mydev))
301	return;
302
303	if (is_connected() == false)
304	{
305	IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands.");
306	reset_all_properties();
307	return;
308	}
309
310	// ===================================
311	// Equatorial Coords
312	// ===================================
313	if (!strcmp (name, EquatorialCoordsWNP.name))
314	{
315	int i=0, nset=0, error_code=0;
316	double newRA =0, newDEC =0;
317
318	for (nset = i = 0; i < n; i++)
319	{
320	INumber *eqp = IUFindNumber (&EquatorialCoordsWNP, names[i]);
321	if (eqp == &EquatorialCoordsWN[0])
322	{
323	newRA = values[i];
324	nset += newRA >= 0 && newRA <= 24.0;
325	} else if (eqp == &EquatorialCoordsWN[1])
326	{
327	newDEC = values[i];
328	nset += newDEC >= -90.0 && newDEC <= 90.0;
329	}
330	}
331
332	if (nset == 2)
333	{
334	char RAStr[32], DecStr[32];
335
336	fs_sexa(RAStr, newRA, 2, 3600);
337	fs_sexa(DecStr, newDEC, 2, 3600);
338
339	#ifdef INDI_DEBUG
340	IDLog("We received JNow RA %g - DEC %g\n", newRA, newDEC);
341	IDLog("We received JNow RA %s - DEC %s\n", RAStr, DecStr);
342	#endif
343
344	if ( (error_code = setObjectRA(fd, newRA)) < 0 \|\| ( error_code = setObjectDEC(fd, newDEC)) < 0)
345	{
346	handle_error(&EquatorialCoordsWNP, error_code, "Setting RA/DEC");
347	return;
348	}
349
350	targetRA = newRA;
351	targetDEC = newDEC;
352
353	if (process_coords() == false)
354	{
355	EquatorialCoordsWNP.s = IPS_ALERT;
356	IDSetNumber(&EquatorialCoordsWNP, NULL);
357
358	}
359	} // end nset
360	else
361	{
362	EquatorialCoordsWNP.s = IPS_ALERT;
363	IDSetNumber(&EquatorialCoordsWNP, "RA or Dec missing or invalid");
364	}
365
366	return;
367	} /* end EquatorialCoordsWNP */
368
369	// ===================================
370	// Update tracking precision limits
371	// ===================================
372	if (!strcmp (name, TrackAccuracyNP.name))
373	{
374	if (IUUpdateNumber(&TrackAccuracyNP, values, names, n) < 0)
375	return;
376
377	TrackAccuracyNP.s = IPS_OK;
378
379	if (TrackAccuracyN[0].value < 3 \|\| TrackAccuracyN[1].value < 3)
380	IDSetNumber(&TrackAccuracyNP, "Warning: Setting the tracking accuracy too low may result in a dead lock");
381	else
382	IDSetNumber(&TrackAccuracyNP, NULL);
383	return;
384	}
385
386	// ===================================
387	// Update slew precision limit
388	// ===================================
389	if (!strcmp(name, SlewAccuracyNP.name))
390	{
391	if (IUUpdateNumber(&SlewAccuracyNP, values, names, n) < 0)
392	return;
393
394	SlewAccuracyNP.s = IPS_OK;
395
396	if (SlewAccuracyN[0].value < 3 \|\| SlewAccuracyN[1].value < 3)
397	IDSetNumber(&TrackAccuracyNP, "Warning: Setting the slew accuracy too low may result in a dead lock");
398
399	IDSetNumber(&SlewAccuracyNP, NULL);
400	return;
401
402
403	}
404	}
405
406	/**************************************************************************************
407	**
408	***************************************************************************************/
409	void LX200Basic::ISNewSwitch (const char dev, const char name, ISState states, char names[], int n)
410	{
411	// ignore if not ours //
412	if (strcmp (mydev, dev))
413	return;
414
415	// ===================================
416	// Connect Switch
417	// ===================================
418	if (!strcmp (name, ConnectSP.name))
419	{
420	if (IUUpdateSwitch(&ConnectSP, states, names, n) < 0)
421	return;
422
423	connect_telescope();
424	return;
425	}
426
427	if (is_connected() == false)
428	{
429	IDMessage(mydev, "LX200 Basic is offline. Please connect before issuing any commands.");
430	reset_all_properties();
431	return;
432	}
433
434	// ===================================
435	// Coordinate Set
436	// ===================================
437	if (!strcmp(name, OnCoordSetSP.name))
438	{
439	if (IUUpdateSwitch(&OnCoordSetSP, states, names, n) < 0)
440	return;
441
442	currentSet = get_switch_index(&OnCoordSetSP);
443	OnCoordSetSP.s = IPS_OK;
444	IDSetSwitch(&OnCoordSetSP, NULL);
445	}
446
447	// ===================================
448	// Abort slew
449	// ===================================
450	if (!strcmp (name, AbortSlewSP.name))
451	{
452
453	IUResetSwitch(&AbortSlewSP);
454	abortSlew(fd);
455
456	if (EquatorialCoordsWNP.s == IPS_BUSY)
457	{
458	AbortSlewSP.s = IPS_OK;
459	EquatorialCoordsWNP.s = IPS_IDLE;
460	EquatorialCoordsRNP.s = IPS_IDLE;
461	IDSetSwitch(&AbortSlewSP, "Slew aborted.");
462	IDSetNumber(&EquatorialCoordsWNP, NULL);
463	IDSetNumber(&EquatorialCoordsRNP, NULL);
464	}
465
466	return;
467	}
468
469	}
470
471	/**************************************************************************************
472	** Retry connecting to the telescope on error. Give up if there is no hope.
473	***************************************************************************************/
474	void LX200Basic::handle_error(INumberVectorProperty nvp, int err, const char msg)
475	{
476
477	nvp->s = IPS_ALERT;
478
479	/* First check to see if the telescope is connected */
480	if (check_lx200_connection(fd))
481	{
482	/* The telescope is off locally */
483	ConnectS[0].s = ISS_OFF;
484	ConnectS[1].s = ISS_ON;
485	ConnectSP.s = IPS_BUSY;
486	IDSetSwitch(&ConnectSP, "Telescope is not responding to commands, will retry in 10 seconds.");
487
488	IDSetNumber(nvp, NULL);
489	IEAddTimer(10000, retry_connection, &fd);
490	return;
491	}
492
493	/* If the error is a time out, then the device doesn't support this property */
494	if (err == -2)
495	{
496	nvp->s = IPS_ALERT;
497	IDSetNumber(nvp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg);
498	}
499	else
500	/* Changing property failed, user should retry. */
501	IDSetNumber( nvp , "%s failed.", msg);
502
503	fault = true;
504	}
505
506	/**************************************************************************************
507	** Set all properties to idle and reset most switches to clean state.
508	***************************************************************************************/
509	void LX200Basic::reset_all_properties()
510	{
511	ConnectSP.s = IPS_IDLE;
512	OnCoordSetSP.s = IPS_IDLE;
513	AbortSlewSP.s = IPS_IDLE;
514	PortTP.s = IPS_IDLE;
515	ObjectTP.s = IPS_IDLE;
516	EquatorialCoordsWNP.s = IPS_IDLE;
517	EquatorialCoordsRNP.s = IPS_IDLE;
518	SlewAccuracyNP.s = IPS_IDLE;
519	TrackAccuracyNP.s = IPS_IDLE;
520
521	IUResetSwitch(&OnCoordSetSP);
522	IUResetSwitch(&AbortSlewSP);
523
524	OnCoordSetS[0].s = ISS_ON;
525	ConnectS[0].s = ISS_OFF;
526	ConnectS[1].s = ISS_ON;
527
528	IDSetSwitch(&ConnectSP, NULL);
529	IDSetSwitch(&OnCoordSetSP, NULL);
530	IDSetSwitch(&AbortSlewSP, NULL);
531	IDSetText(&PortTP, NULL);
532	IDSetText(&ObjectTP, NULL);
533	IDSetNumber(&EquatorialCoordsWNP, NULL);
534	IDSetNumber(&EquatorialCoordsRNP, NULL);
535	IDSetNumber(&SlewAccuracyNP, NULL);
536	IDSetNumber(&TrackAccuracyNP, NULL);
537	}
538
539	/**************************************************************************************
540	**
541	***************************************************************************************/
542	void LX200Basic::correct_fault()
543	{
544	fault = false;
545	IDMessage(mydev, "Telescope is online.");
546	}
547
548	/**************************************************************************************
549	**
550	***************************************************************************************/
551	bool LX200Basic::is_connected()
552	{
553	if (simulation) return true;
554
555	return (ConnectSP.sp[0].s == ISS_ON);
556	}
557
558	/**************************************************************************************
559	**
560	***************************************************************************************/
561	static void retry_connection(void * p)
562	{
563	int fd = ((int ) p);
564
565	if (check_lx200_connection(fd))
566	telescope->connection_lost();
567	else
568	telescope->connection_resumed();
569	}
570
571	/**************************************************************************************
572	**
573	***************************************************************************************/
574	void LX200Basic::ISPoll()
575	{
576	if (is_connected() == false)
577	return;
578
579	double dx, dy;
580	int error_code=0;
581
582	switch (EquatorialCoordsWNP.s)
583	{
584	case IPS_IDLE:
585	getLX200RA(fd, &currentRA);
586	getLX200DEC(fd, &currentDEC);
587
588	// Only update values if there are some interesting changes
589	if ( fabs (currentRA - lastRA) > 0.01 \|\| fabs (currentDEC - lastDEC) > 0.01)
590	{
591	lastRA = currentRA;
592	lastDEC = currentDEC;
593	IDSetNumber (&EquatorialCoordsRNP, NULL);
594	}
595	break;
596
597	case IPS_BUSY:
598	getLX200RA(fd, &currentRA);
599	getLX200DEC(fd, &currentDEC);
600	dx = targetRA - currentRA;
601	dy = targetDEC - currentDEC;
602
603	// Wait until acknowledged or within threshold
604	if ( fabs(dx) <= (SlewAccuracyN[0].value/(900.0)) && fabs(dy) <= (SlewAccuracyN[1].value/60.0))
605	{
606	lastRA = currentRA;
607	lastDEC = currentDEC;
608	IUResetSwitch(&OnCoordSetSP);
609	OnCoordSetSP.s = IPS_OK;
610	EquatorialCoordsWNP.s = IPS_OK;
611	EquatorialCoordsRNP.s = IPS_OK;
612	IDSetNumber (&EquatorialCoordsWNP, NULL);
613	IDSetNumber (&EquatorialCoordsRNP, NULL);
614
615	switch (currentSet)
616	{
617	case LX200_SLEW:
618	OnCoordSetSP.sp[LX200_SLEW].s = ISS_ON;
619	IDSetSwitch (&OnCoordSetSP, "Slew is complete.");
620	break;
621
622	case LX200_TRACK:
623	OnCoordSetSP.sp[LX200_TRACK].s = ISS_ON;
624	IDSetSwitch (&OnCoordSetSP, "Slew is complete. Tracking...");
625	break;
626
627	case LX200_SYNC:
628	break;
629	}
630
631	}
632	else
633	IDSetNumber (&EquatorialCoordsRNP, NULL);
634	break;
635
636	case IPS_OK:
637
638	if ( (error_code = getLX200RA(fd, &currentRA)) < 0 \|\| (error_code = getLX200DEC(fd, &currentDEC)) < 0)
639	{
640	handle_error(&EquatorialCoordsRNP, error_code, "Getting RA/DEC");
641	return;
642	}
643
644	if (fault == true)
645	correct_fault();
646
647	if ( (currentRA != lastRA) \|\| (currentDEC != lastDEC))
648	{
649	lastRA = currentRA;
650	lastDEC = currentDEC;
651	IDSetNumber (&EquatorialCoordsRNP, NULL);
652	}
653	break;
654
655	case IPS_ALERT:
656	break;
657	}
658	}
659
660	/**************************************************************************************
661	**
662	***************************************************************************************/
663	bool LX200Basic::process_coords()
664	{
665
666	int error_code;
667	char syncString[256];
668	char RAStr[32], DecStr[32];
669	double dx, dy;
670
671	switch (currentSet)
672	{
673
674	// Slew
675	case LX200_SLEW:
676	lastSet = LX200_SLEW;
677	if (EquatorialCoordsWNP.s == IPS_BUSY)
678	{
679	IDLog("Aboring Slew\n");
680	abortSlew(fd);
681
682	// sleep for 100 mseconds
683	usleep(100000);
684	}
685
686	if ((error_code = Slew(fd)))
687	{
688	slew_error(error_code);
689	return false;
690	}
691
692	EquatorialCoordsWNP.s = IPS_BUSY;
693	EquatorialCoordsRNP.s = IPS_BUSY;
694	fs_sexa(RAStr, targetRA, 2, 3600);
695	fs_sexa(DecStr, targetDEC, 2, 3600);
696	IDSetNumber(&EquatorialCoordsWNP, "Slewing to JNow RA %s - DEC %s", RAStr, DecStr);
697	IDSetNumber(&EquatorialCoordsRNP, NULL);
698	IDLog("Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr);
699	break;
700
701	// Track
702	case LX200_TRACK:
703	//IDLog("We're in LX200_TRACK\n");
704	if (EquatorialCoordsWNP.s == IPS_BUSY)
705	{
706	IDLog("Aboring Slew\n");
707	abortSlew(fd);
708
709	// sleep for 200 mseconds
710	usleep(200000);
711	}
712
713	dx = fabs ( targetRA - currentRA );
714	dy = fabs (targetDEC - currentDEC);
715
716	if (dx >= (TrackAccuracyN[0].value/(60.0*15.0)) \|\| (dy >= TrackAccuracyN[1].value/60.0))
717	{
718	if ((error_code = Slew(fd)))
719	{
720	slew_error(error_code);
721	return false;
722	}
723
724	fs_sexa(RAStr, targetRA, 2, 3600);
725	fs_sexa(DecStr, targetDEC, 2, 3600);
726	EquatorialCoordsWNP.s = IPS_BUSY;
727	EquatorialCoordsRNP.s = IPS_BUSY;
728	IDSetNumber(&EquatorialCoordsWNP, "Slewing to JNow RA %s - DEC %s", RAStr, DecStr);
729	IDSetNumber(&EquatorialCoordsRNP, NULL);
730	IDLog("Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr);
731	}
732	else
733	{
734	//IDLog("Tracking called, but tracking threshold not reached yet.\n");
735	EquatorialCoordsWNP.s = IPS_OK;
736	EquatorialCoordsRNP.s = IPS_OK;
737
738	if (lastSet != LX200_TRACK)
739	IDSetNumber(&EquatorialCoordsWNP, "Tracking...");
740	else
741	IDSetNumber(&EquatorialCoordsWNP, NULL);
742
743	IDSetNumber(&EquatorialCoordsRNP, NULL);
744	}
745	lastSet = LX200_TRACK;
746	break;
747
748	// Sync
749	case LX200_SYNC:
750	lastSet = LX200_SYNC;
751	EquatorialCoordsWNP.s = IPS_IDLE;
752
753	if ( ( error_code = Sync(fd, syncString) < 0) )
754	{
755	IDSetNumber( &EquatorialCoordsWNP , "Synchronization failed.");
756	return false;
757	}
758
759	EquatorialCoordsWNP.s = IPS_OK;
760	EquatorialCoordsRNP.s = IPS_OK;
761	IDSetNumber(&EquatorialCoordsRNP, NULL);
762	IDLog("Synchronization successful %s\n", syncString);
763	IDSetNumber(&EquatorialCoordsWNP, "Synchronization successful.");
764	break;
765	}
766
767	return true;
768
769	}
770
771	/**************************************************************************************
772	**
773	***************************************************************************************/
774	int LX200Basic::get_switch_index(ISwitchVectorProperty *sp)
775	{
776	for (int i=0; i < sp->nsp ; i++)
777	if (sp->sp[i].s == ISS_ON)
778	return i;
779
780	return -1;
781	}
782
783	/**************************************************************************************
784	**
785	***************************************************************************************/
786	void LX200Basic::connect_telescope()
787	{
788	switch (ConnectSP.sp[0].s)
789	{
790	case ISS_ON:
791
792	if (simulation)
793	{
794	ConnectSP.s = IPS_OK;
795	IDSetSwitch (&ConnectSP, "Simulated telescope is online.");
796	return;
797	}
798
799	if (tty_connect(PortT[0].text, 9600, 8, 0, 1, &fd) != TTY_OK)
800	{
801	ConnectS[0].s = ISS_OFF;
802	ConnectS[1].s = ISS_ON;
803	IDSetSwitch (&ConnectSP, "Error connecting to port %s. Make sure you have BOTH read and write permission to the port.", PortT[0].text);
804	return;
805	}
806
807	if (check_lx200_connection(fd))
808	{
809	ConnectS[0].s = ISS_OFF;
810	ConnectS[1].s = ISS_ON;
811	IDSetSwitch (&ConnectSP, "Error connecting to Telescope. Telescope is offline.");
812	return;
813	}
814
815	ConnectSP.s = IPS_OK;
816	IDSetSwitch (&ConnectSP, "Telescope is online. Retrieving basic data...");
817	get_initial_data();
818	break;
819
820	case ISS_OFF:
821	ConnectS[0].s = ISS_OFF;
822	ConnectS[1].s = ISS_ON;
823	ConnectSP.s = IPS_IDLE;
824	if (simulation)
825	{
826	IDSetSwitch (&ConnectSP, "Simulated Telescope is offline.");
827	return;
828	}
829	IDSetSwitch (&ConnectSP, "Telescope is offline.");
830	IDLog("Telescope is offline.");
831
832	tty_disconnect(fd);
833	break;
834	}
835	}
836
837	/**************************************************************************************
838	**
839	***************************************************************************************/
840	void LX200Basic::get_initial_data()
841	{
842
843	// Make sure short
844	checkLX200Format(fd);
845
846	// Get current RA/DEC
847	getLX200RA(fd, &currentRA);
848	getLX200DEC(fd, &currentDEC);
849
850	IDSetNumber (&EquatorialCoordsRNP, NULL);
851	}
852
853	/**************************************************************************************
854	**
855	***************************************************************************************/
856	void LX200Basic::slew_error(int slewCode)
857	{
858	OnCoordSetSP.s = IPS_IDLE;
859
860	if (slewCode == 1)
861	IDSetSwitch (&OnCoordSetSP, "Object below horizon.");
862	else if (slewCode == 2)
863	IDSetSwitch (&OnCoordSetSP, "Object below the minimum elevation limit.");
864	else
865	IDSetSwitch (&OnCoordSetSP, "Slew failed.");
866	}
867
868	/**************************************************************************************
869	**
870	***************************************************************************************/
871	void LX200Basic::enable_simulation(bool enable)
872	{
873	simulation = enable;
874
875	if (simulation)
876	IDLog("Warning: Simulation is activated.\n");
877	else
878	IDLog("Simulation is disabled.\n");
879	}
880
881	/**************************************************************************************
882	**
883	***************************************************************************************/
884	void LX200Basic::connection_lost()
885	{
886	ConnectSP.s = IPS_IDLE;
887	IDSetSwitch(&ConnectSP, "The connection to the telescope is lost.");
888	return;
889
890	}
891
892	/**************************************************************************************
893	**
894	***************************************************************************************/
895	void LX200Basic::connection_resumed()
896	{
897	ConnectS[0].s = ISS_ON;
898	ConnectS[1].s = ISS_OFF;
899	ConnectSP.s = IPS_OK;
900
901	IDSetSwitch(&ConnectSP, "The connection to the telescope has been resumed.");
902	}

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