1 | /* |
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2 | OrionAtlas (EQ-G/EQ-6 with SkyScan/SynScan controller) |
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3 | Copyright (C) 2005 Bruce Bockius (bruceb@WhiteAntelopeSoftware.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 | */ |
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20 | |
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21 | #include "orionatlas.h" |
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22 | |
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23 | #include <stdio.h> |
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24 | #include <stdlib.h> |
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25 | #include <string.h> |
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26 | #include <stdarg.h> |
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27 | #include <math.h> |
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28 | #include <unistd.h> |
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29 | #include <time.h> |
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30 | #include <sys/ioctl.h> |
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31 | #include <fcntl.h> |
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32 | #include <termios.h> |
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33 | |
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34 | #define mydev "Orion Atlas" |
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35 | #define ATLAS_DEBUG 1 |
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36 | #define POLLMS 5000 |
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37 | |
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38 | #define lat geo[0].value |
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39 | #define lon geo[1].value |
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40 | |
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41 | OrionAtlas *telescope = NULL; |
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42 | |
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43 | |
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44 | /* There is _one_ binary for all LX200 drivers, but each binary is renamed |
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45 | ** to its device name (i.e. lx200gps, lx200_16..etc). The main function will |
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46 | ** fetch from std args the binary name and ISInit will create the apporpiate |
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47 | ** device afterwards. If the binary name does not match any known devices, |
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48 | ** we simply create a generic device |
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49 | */ |
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50 | extern char* me; |
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51 | |
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52 | #define COMM_GROUP "Communication" |
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53 | #define BASIC_GROUP "Main Control" |
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54 | #define SETUP_GROUP "Setup" |
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55 | |
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56 | #define ATLAS_MIN_RA 0.0 |
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57 | #define ATLAS_MAX_RA 24.0 |
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58 | #define ATLAS_MIN_DEC -90.0 |
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59 | #define ATLAS_MAX_DEC 90.0 |
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60 | |
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61 | #define ATLAS_MIN_AZ 0.0 |
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62 | #define ATLAS_MAX_AZ 360.0 |
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63 | #define ATLAS_MIN_ALT -90.0 |
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64 | #define ATLAS_MAX_ALT 90.0 |
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65 | |
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66 | static void ISPoll(void *); |
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67 | |
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68 | //static ISwitch abortSlewS[] = {{"ABORT", "Abort", ISS_OFF, 0, 0}}; |
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69 | |
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70 | /* Fundamental group */ |
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71 | static ISwitch PowerS[] = {{"CONNECT","Connect",ISS_OFF,0,0},{"DISCONNECT","Disconnect",ISS_ON,0,0},{"RECONNECT","Reconnect",ISS_OFF,0,0}}; |
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72 | static ISwitchVectorProperty PowerSw = { mydev, "CONNECTION" , "Connection", COMM_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, PowerS, NARRAY(PowerS), "", 0}; |
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73 | static IText PortT[] = {{"PORT", "Port", 0, 0, 0, 0}}; |
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74 | static ITextVectorProperty Port = { mydev, "DEVICE_PORT", "Ports", COMM_GROUP, IP_RW, 0, IPS_OK, PortT, NARRAY(PortT), "", 0}; |
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75 | |
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76 | /* Movement group */ |
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77 | //static ISwitchVectorProperty abortSlewSw = { mydev, "ABORT_MOTION", "Abort Slew/Track", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, abortSlewS, NARRAY(abortSlewS), "", 0}; |
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78 | static INumber eq[] = { |
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79 | {"RA", "RA (hh:mm.m)", "%010.5m", ATLAS_MIN_RA, ATLAS_MAX_RA, 0., 0., 0, 0, 0}, |
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80 | {"DEC", "Dec (dd:mm.m)", "%010.5m", ATLAS_MIN_DEC, ATLAS_MAX_DEC, 0., 0., 0, 0, 0}}; |
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81 | // Azimuth/Altitude |
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82 | static INumber aa[] = { |
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83 | {"XAZ", "Az (ddd:mm.m)", "%010.5m", ATLAS_MIN_AZ, ATLAS_MAX_AZ, 0.0, 0.0, 0, 0, 0}, |
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84 | {"XALT", "Alt (dd:mm.m)", "%010.5m", ATLAS_MIN_ALT, ATLAS_MAX_ALT, 0.0, 0.0, 0, 0, 0}}; |
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85 | static INumberVectorProperty eqNum = { |
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86 | mydev, "EQUATORIAL_EOD_COORD", "Eq. Coordinates", BASIC_GROUP, IP_RW, 0, IPS_OK, eq, NARRAY(eq), "", 0}; |
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87 | |
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88 | static INumberVectorProperty aaNum = { |
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89 | mydev, "XHORIZONTAL_COORD", "Horz. Coordinates", BASIC_GROUP, IP_RW, 0, IPS_OK, aa, NARRAY(aa), "", 0}; |
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90 | |
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91 | static ISwitch OnCoordSetS[] = {{"TRACK", "Track", ISS_ON, 0, 0}}; // switch does nothing, but some clients won't let you track w/o it. |
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92 | static ISwitchVectorProperty OnCoordSetSw = { |
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93 | mydev, "ON_COORD_SET", "On Set", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, OnCoordSetS, NARRAY(OnCoordSetS), "", 0}; |
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94 | static ISwitch UpdateS[] = {{"UPDATE1", "On", ISS_ON, 0, 0},{"UPDATE0","Off", ISS_OFF,0,0}}; |
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95 | static ISwitch MovementRADecS[] = {{"XRAPLUS", "RA+", ISS_OFF, 0, 0}, {"XRAMINUS", "RA-", ISS_OFF, 0, 0}, {"XDECPLUS", "Dec+", ISS_OFF, 0, 0}, {"XDECMINUS", "Dec-", ISS_OFF, 0, 0}}; |
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96 | static ISwitch MovementAzAltS[] = {{"XAZPLUS", "Az+", ISS_OFF, 0, 0}, {"XAZMINUS", "Az-", ISS_OFF, 0, 0}, {"XALTPLUS", "Alt+", ISS_OFF, 0, 0}, {"XALTMINUS", "Alt-", ISS_OFF, 0, 0}}; |
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97 | static ISwitchVectorProperty MovementRADecSw = { mydev, "XRADECMOVEMENT", "Nudge", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, MovementRADecS, NARRAY(MovementRADecS), "", 0}; |
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98 | static ISwitchVectorProperty MovementAzAltSw = { mydev, "XAZALTMOVEMENT", "Nudge", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, MovementAzAltS, NARRAY(MovementAzAltS), "", 0}; |
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99 | static ISwitchVectorProperty UpdateSw = { mydev, "XUPDATE", "Update Coords", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, UpdateS, NARRAY(UpdateS), "", 0}; |
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100 | |
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101 | /* Telescope Parameters group */ |
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102 | // Setup group |
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103 | static INumber steps[] = { |
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104 | {"XRASTEP", "RA Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}, |
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105 | {"XDECSTEP", "Dec Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}, |
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106 | {"XAZSTEP", "Az Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}, |
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107 | {"XALTSTEP", "Alt Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}}; |
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108 | // geographic position |
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109 | static INumber geo[] = { |
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110 | {"LAT", "Lat (dd:mm.m)", "%010.5m", -90.0, 90.0, 0.0, 0.0, 0, 0, 0}, |
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111 | {"LONG", "Lon (ddd:mm.m)", "%010.5m", -180.0, 360.0, 0.0, 0.0, 0, 0, 0}}; |
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112 | static INumberVectorProperty geoNum = { |
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113 | mydev, "GEOGRAPHIC_COORD", "Scope Location", SETUP_GROUP, IP_RW, 0, IPS_OK, geo, NARRAY(geo), "", 0}; |
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114 | static INumberVectorProperty stepNum = { |
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115 | mydev, "XSTEPS", "Nudge Steps", SETUP_GROUP, IP_RW, 0, IPS_OK, steps, NARRAY(steps), "", 0}; |
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116 | |
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117 | /* send client definitions of all properties */ |
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118 | void ISInit() |
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119 | { |
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120 | static int isInit=0; |
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121 | |
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122 | if (isInit) return; |
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123 | |
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124 | isInit = 1; |
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125 | |
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126 | PortT[0].text = strcpy(new char[32], "/dev/ttyUSB0"); |
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127 | steps[0].value=1.0/60.0; |
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128 | steps[1].value=1.0/60.0; |
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129 | steps[2].value=1.0/60.0; |
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130 | steps[3].value=1.0/60.0; |
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131 | |
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132 | telescope = new OrionAtlas(); |
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133 | |
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134 | IEAddTimer (POLLMS, ISPoll, NULL); |
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135 | } |
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136 | |
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137 | void ISGetProperties (const char *dev) |
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138 | { ISInit(); telescope->ISGetProperties(dev);} |
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139 | void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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140 | { ISInit(); telescope->ISNewSwitch(dev, name, states, names, n);} |
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141 | void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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142 | { ISInit(); telescope->ISNewText(dev, name, texts, names, n);} |
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143 | void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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144 | { ISInit(); telescope->ISNewNumber(dev, name, values, names, n);} |
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145 | void ISPoll (void *p) { telescope->ISPoll(); IEAddTimer (POLLMS, ISPoll, NULL); p=p;} |
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146 | void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) |
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147 | { |
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148 | INDI_UNUSED(dev); |
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149 | INDI_UNUSED(name); |
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150 | INDI_UNUSED(sizes); |
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151 | INDI_UNUSED(blobsizes); |
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152 | INDI_UNUSED(blobs); |
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153 | INDI_UNUSED(formats); |
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154 | INDI_UNUSED(names); |
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155 | INDI_UNUSED(n); |
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156 | } |
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157 | void ISSnoopDevice (XMLEle *root) |
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158 | { |
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159 | INDI_UNUSED(root); |
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160 | } |
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161 | |
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162 | OrionAtlas::OrionAtlas() |
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163 | { |
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164 | geo[0].value=0; |
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165 | geo[1].value=0; |
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166 | lat=lon=-1000; |
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167 | |
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168 | TelConnectFlag=0; |
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169 | Updating=true; |
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170 | // Children call parent routines, this is the default |
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171 | IDLog("Initialized Orion Atlas EQ-G device, driver ver 0.101\n"); |
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172 | if (ATLAS_DEBUG) IDLog("Driver in DEBUG mode."); |
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173 | } |
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174 | |
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175 | void OrionAtlas::ISGetProperties(const char *dev) |
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176 | { |
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177 | |
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178 | if (dev && strcmp (mydev, dev)) |
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179 | return; |
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180 | |
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181 | // COMM_GROUP |
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182 | IDDefSwitch (&PowerSw, NULL); |
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183 | IDDefText (&Port, NULL); |
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184 | |
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185 | // BASIC_GROUP |
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186 | IDDefNumber (&eqNum, NULL); |
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187 | IDDefNumber (&aaNum, NULL); |
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188 | IDDefSwitch (&UpdateSw, NULL); |
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189 | // IDDefSwitch (&abortSlewSw, NULL); |
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190 | IDDefSwitch (&OnCoordSetSw,NULL); |
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191 | IDDefSwitch (&MovementRADecSw, NULL); |
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192 | IDDefSwitch (&MovementAzAltSw, NULL); |
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193 | |
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194 | // SETUP_GROUP |
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195 | IDDefNumber (&geoNum, NULL); |
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196 | IDDefNumber (&stepNum, NULL); |
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197 | |
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198 | /* Send the basic data to the new client if the previous client(s) are already connected. */ |
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199 | if (PowerSw.s == IPS_OK) { |
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200 | if (ATLAS_DEBUG) log("Initial call to getBasicData()\n"); |
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201 | getBasicData(); |
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202 | } |
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203 | } |
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204 | |
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205 | void OrionAtlas::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) |
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206 | { |
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207 | IText *tp; |
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208 | |
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209 | // suppress warning |
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210 | n=n; |
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211 | // ignore if not ours // |
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212 | if (strcmp (dev, mydev)) |
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213 | return; |
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214 | |
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215 | if (!strcmp(name, Port.name) ) { |
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216 | Port.s = IPS_OK; |
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217 | |
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218 | tp = IUFindText( &Port, names[0] ); |
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219 | if (!tp) |
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220 | return; |
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221 | |
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222 | tp->text = new char[strlen(texts[0])+1]; |
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223 | strcpy(tp->text, texts[0]); |
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224 | IDSetText (&Port, NULL); |
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225 | return; |
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226 | } |
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227 | else { |
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228 | if (ATLAS_DEBUG) log("ISNewText('%s')\n",name); |
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229 | } |
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230 | } |
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231 | |
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232 | void OrionAtlas::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n) |
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233 | { |
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234 | double newRA=0, newDEC=0, newAlt=0, newAz=0; |
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235 | |
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236 | // ignore if not ours // |
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237 | if (strcmp (dev, mydev)) |
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238 | return; |
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239 | |
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240 | if (!strcmp (name, eqNum.name)) { |
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241 | int i=0, nset=0; |
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242 | if (checkPower(&eqNum)) return; |
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243 | |
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244 | for (nset = i = 0; i < n; i++) { |
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245 | INumber *eqp = IUFindNumber (&eqNum, names[i]); |
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246 | if (eqp == &eq[0]) { |
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247 | newRA = values[i]; |
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248 | nset += newRA >= 0 && newRA <= 24.0; |
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249 | } else if (eqp == &eq[1]) { |
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250 | newDEC = values[i]; |
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251 | nset += newDEC >= -90.0 && newDEC <= 90.0; |
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252 | } |
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253 | } |
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254 | if (nset==2) { // both coords were valid. Slew. |
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255 | MoveScope(RADEC,newRA,newDEC); |
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256 | } |
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257 | } |
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258 | else if (!strcmp(name, aaNum.name)) { |
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259 | int i=0, nset=0; |
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260 | if (checkPower(&eqNum)) return; |
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261 | |
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262 | for (nset = i = 0; i < n; i++) { |
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263 | INumber *aap = IUFindNumber (&aaNum, names[i]); |
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264 | if (aap == &aa[1]) { |
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265 | newAlt = values[i]; |
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266 | nset += newAlt >= -90.0 && newAlt <= 90.0; |
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267 | } else if (aap == &aa[0]) { |
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268 | newAz = values[i]; |
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269 | nset += newAz >= 0.0 && newAz <=360.0; |
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270 | } |
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271 | } |
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272 | if (nset==2) { // both coords were valid. Slew. |
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273 | MoveScope(AZALT,newAz,newAlt); |
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274 | } |
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275 | } |
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276 | else if (!strcmp(name, geoNum.name)) { |
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277 | if (ATLAS_DEBUG) log("NewNumber(geoName)\n"); |
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278 | int i=0; |
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279 | for (i=0;i<n;i++) { |
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280 | INumber *geop = IUFindNumber(&geoNum, names[i]); |
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281 | geop->value=values[i]; |
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282 | } |
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283 | IDSetNumber(&geoNum,NULL); |
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284 | } |
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285 | else if (!strcmp(name, stepNum.name)) { |
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286 | if (ATLAS_DEBUG) log("NewNumber(stepNum)\n"); |
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287 | for (int i=0;i<n;i++) { |
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288 | INumber *stepp = IUFindNumber(&stepNum, names[i]); |
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289 | stepp->value=values[i]; |
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290 | } |
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291 | IDSetNumber(&stepNum,NULL); |
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292 | } |
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293 | else { |
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294 | if (ATLAS_DEBUG) log("ISNewNumber('%s')\n",name); |
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295 | } |
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296 | } |
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297 | |
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298 | void OrionAtlas::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) |
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299 | { |
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300 | |
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301 | INDI_UNUSED(names); |
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302 | |
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303 | // ignore if not ours // |
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304 | if (strcmp(dev,mydev)) |
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305 | return; |
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306 | |
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307 | // FIRST Switch ALWAYS for power |
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308 | if (!strcmp(name,PowerSw.name)) |
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309 | { |
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310 | if (IUUpdateSwitch(&PowerSw,states,names,n) < 0) |
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311 | return; |
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312 | |
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313 | if (PowerS[1].s == ISS_ON) |
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314 | DisconnectTel(); |
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315 | else |
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316 | ConnectTel(); |
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317 | return; |
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318 | } |
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319 | else if (!strcmp(name,UpdateSw.name)) { |
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320 | IUResetSwitch(&UpdateSw); |
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321 | IUUpdateSwitch(&UpdateSw,states,names,n); |
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322 | IDSetSwitch(&UpdateSw,NULL); |
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323 | Updating=!Updating; |
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324 | } |
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325 | else if (!strcmp(name,MovementRADecSw.name)) { |
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326 | if (!GetCoords(RADEC)) { |
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327 | IDMessage(mydev,"Invalid coordinates from scope - aborted nudge."); |
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328 | } |
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329 | log("before RA=%f Dec=%f\n",returnRA,returnDec); |
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330 | for (int i=0; i<n; i++) { |
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331 | states[i]=ISS_OFF; |
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332 | ISwitch *mvp = IUFindSwitch(&MovementRADecSw, names[i]); |
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333 | if (mvp == &MovementRADecS[0]) { |
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334 | // RA+ |
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335 | returnRA+=steps[0].value; |
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336 | } else if (mvp == &MovementRADecS[1]) { |
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337 | // RA- |
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338 | returnRA-=steps[0].value; |
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339 | } else if (mvp == &MovementRADecS[2]) { |
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340 | // Dec+ |
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341 | returnDec+=steps[1].value; |
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342 | } else if (mvp == &MovementRADecS[3]) { |
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343 | // Dec- |
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344 | returnDec-=steps[1].value; |
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345 | } |
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346 | } |
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347 | log("after RA=%f Dec=%f\n",returnRA,returnDec); |
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348 | IUResetSwitch(&MovementRADecSw); |
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349 | IUUpdateSwitch(&MovementRADecSw,states,names,n); |
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350 | IDSetSwitch(&MovementRADecSw,NULL); |
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351 | MoveScope(RADEC,returnRA,returnDec); |
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352 | UpdateCoords(); |
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353 | } |
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354 | else if (!strcmp(name,MovementAzAltSw.name)) { |
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355 | if (!GetCoords(AZALT)) { |
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356 | IDMessage(mydev,"Invalid coordinates from scope - aborted nudge."); |
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357 | } |
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358 | log("before Az=%f Alt=%f\n",returnAz,returnAlt); |
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359 | for (int i=0; i<n; i++) { |
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360 | states[i]=ISS_OFF; |
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361 | ISwitch *mvp = IUFindSwitch(&MovementAzAltSw, names[i]); |
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362 | if (mvp == &MovementAzAltS[0]) { |
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363 | // Az+ |
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364 | returnAz+=steps[2].value; |
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365 | } else if (mvp == &MovementAzAltS[1]) { |
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366 | // Az- |
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367 | returnAz-=steps[2].value; |
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368 | } else if (mvp == &MovementAzAltS[2]) { |
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369 | // Alt+ |
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370 | returnAlt+=steps[3].value; |
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371 | } else if (mvp == &MovementAzAltS[3]) { |
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372 | // Alt- |
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373 | returnAlt-=steps[3].value; |
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374 | } |
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375 | } |
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376 | log("commanded Az=%f Alt=%f\n",returnAz,returnAlt); |
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377 | IUResetSwitch(&MovementAzAltSw); |
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378 | IUUpdateSwitch(&MovementAzAltSw,states,names,n); |
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379 | IDSetSwitch(&MovementAzAltSw,NULL); |
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380 | MoveScope(AZALT,returnAz,returnAlt); |
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381 | UpdateCoords(); |
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382 | log("after Az=%f Alt=%f\n",returnAz,returnAlt); |
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383 | } |
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384 | else { |
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385 | if (ATLAS_DEBUG) log("ISNewSwitch('%s')\n",name); |
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386 | } |
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387 | } |
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388 | |
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389 | int OrionAtlas::checkPower(ISwitchVectorProperty *sp) |
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390 | { |
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391 | if (PowerSw.s != IPS_OK) { |
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392 | if (!strcmp(sp->label, "")) |
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393 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->name); |
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394 | else |
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395 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->label); |
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396 | sp->s = IPS_IDLE; |
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397 | IDSetSwitch(sp, NULL); |
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398 | return -1; |
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399 | } |
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400 | return 0; |
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401 | } |
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402 | |
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403 | int OrionAtlas::checkPower(INumberVectorProperty *np) |
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404 | { |
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405 | if (PowerSw.s != IPS_OK) { |
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406 | if (!strcmp(np->label, "")) |
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407 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->name); |
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408 | else |
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409 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->label); |
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410 | np->s = IPS_IDLE; |
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411 | IDSetNumber(np, NULL); |
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412 | return -1; |
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413 | } |
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414 | return 0; |
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415 | } |
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416 | |
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417 | int OrionAtlas::checkPower(ITextVectorProperty *tp) |
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418 | { |
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419 | if (PowerSw.s != IPS_OK) { |
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420 | if (!strcmp(tp->label, "")) |
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421 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->name); |
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422 | else |
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423 | IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->label); |
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424 | tp->s = IPS_IDLE; |
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425 | IDSetText(tp, NULL); |
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426 | return -1; |
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427 | } |
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428 | return 0; |
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429 | } |
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430 | |
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431 | void OrionAtlas::getBasicData() |
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432 | { |
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433 | if (ATLAS_DEBUG) log("getBasicData\n"); |
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434 | UpdateCoords(); |
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435 | } |
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436 | |
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437 | void OrionAtlas::ConnectTel() |
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438 | { |
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439 | if (PowerSw.sp[0].s==ISS_ON||PowerSw.sp[2].s==ISS_ON) { // CONNECT or RECONNECT |
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440 | if (ConnectTel(Port.tp[0].text) < 0) |
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441 | { |
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442 | PowerS[0].s = PowerS[2].s = ISS_OFF; |
---|
443 | PowerS[1].s = ISS_ON; |
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444 | IDSetSwitch (&PowerSw, "Error connecting to port %s", Port.tp[0].text); |
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445 | return; |
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446 | } |
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447 | PowerSw.s = IPS_OK; |
---|
448 | PowerS[0].s = ISS_ON; |
---|
449 | PowerS[1].s = PowerS[2].s= ISS_OFF; |
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450 | IDSetSwitch (&PowerSw, "Telescope is online. Updating coordinates."); |
---|
451 | if (ATLAS_DEBUG) log("Powered on scope, calling getBasicData()\n"); |
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452 | getBasicData(); |
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453 | } |
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454 | else if (PowerSw.sp[0].s==ISS_OFF) { |
---|
455 | IDSetSwitch (&PowerSw, "Telescope is offline."); |
---|
456 | DisconnectTel(); |
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457 | } |
---|
458 | } |
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459 | |
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460 | int OrionAtlas::CheckConnectTel(void) |
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461 | { |
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462 | return TelConnectFlag; |
---|
463 | } |
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464 | |
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465 | int OrionAtlas::ConnectTel(char *port) |
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466 | { |
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467 | struct termios tty; |
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468 | unsigned char returnStr[128]; |
---|
469 | int numRead; |
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470 | |
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471 | if (ATLAS_DEBUG) log( "Connecting to port: %s\n",port); |
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472 | |
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473 | if(TelConnectFlag != 0) |
---|
474 | return 0; |
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475 | |
---|
476 | /* Make the connection */ |
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477 | |
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478 | TelPortFD = open(port,O_RDWR); |
---|
479 | if(TelPortFD == -1) { |
---|
480 | IDMessage(mydev,"Could not open the supplied port!"); |
---|
481 | return -1; |
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482 | } |
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483 | |
---|
484 | tcgetattr(TelPortFD,&tty); |
---|
485 | cfsetospeed(&tty, (speed_t) B9600); |
---|
486 | cfsetispeed(&tty, (speed_t) B9600); |
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487 | tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8; |
---|
488 | tty.c_iflag = IGNBRK; |
---|
489 | tty.c_lflag = 0; |
---|
490 | tty.c_oflag = 0; |
---|
491 | tty.c_cflag |= CLOCAL | CREAD; |
---|
492 | tty.c_cc[VMIN] = 1; |
---|
493 | tty.c_cc[VTIME] = 5; |
---|
494 | tty.c_iflag &= ~(IXON|IXOFF|IXANY); |
---|
495 | tty.c_cflag &= ~(PARENB | PARODD); |
---|
496 | tcsetattr(TelPortFD, TCSANOW, &tty); |
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497 | |
---|
498 | /* Flush the input (read) buffer */ |
---|
499 | |
---|
500 | tcflush(TelPortFD,TCIOFLUSH); |
---|
501 | |
---|
502 | /* Test connection */ |
---|
503 | |
---|
504 | writen(TelPortFD,(unsigned char*)"?",1); |
---|
505 | numRead=readn(TelPortFD,returnStr,1,2); |
---|
506 | returnStr[numRead] = '\0'; |
---|
507 | |
---|
508 | if (numRead == 1 && returnStr[0]=='#') { |
---|
509 | TelConnectFlag = 1; |
---|
510 | IDMessage(mydev,"Successfully connected."); |
---|
511 | return (0); |
---|
512 | } |
---|
513 | else if (numRead>0) { |
---|
514 | IDMessage(mydev,"Connect failure: Did not detect an Orion Atlas EQ-G on this port!"); |
---|
515 | return -2; |
---|
516 | } |
---|
517 | else { |
---|
518 | IDMessage(mydev,"Connect failure: Did not detect any device on this port!"); |
---|
519 | return -3; |
---|
520 | } |
---|
521 | } |
---|
522 | |
---|
523 | void OrionAtlas::DisconnectTel(void) |
---|
524 | { |
---|
525 | if(TelConnectFlag == 1) |
---|
526 | close(TelPortFD); |
---|
527 | TelConnectFlag = 0; |
---|
528 | IDMessage(mydev,"Telescope is offline."); |
---|
529 | } |
---|
530 | |
---|
531 | // If System=RADEC, c1=RA, c2=Dec |
---|
532 | // =AZALT, c1=Az, c2=Alt |
---|
533 | int OrionAtlas::MoveScope(int System, double c1, double c2) |
---|
534 | { |
---|
535 | MovementRADecSw.s=MovementAzAltSw.s=eqNum.s=aaNum.s=OnCoordSetSw.s=IPS_BUSY; |
---|
536 | IDSetSwitch(&MovementRADecSw,NULL); |
---|
537 | IDSetSwitch(&MovementAzAltSw,NULL); |
---|
538 | IDSetSwitch(&OnCoordSetSw,NULL); |
---|
539 | IDSetNumber(&eqNum,NULL); |
---|
540 | IDSetNumber(&aaNum,NULL); |
---|
541 | union { |
---|
542 | signed short int ints[2]; |
---|
543 | unsigned short int uints[2]; |
---|
544 | unsigned char bytes[4]; |
---|
545 | }; |
---|
546 | |
---|
547 | char Command=' '; |
---|
548 | while (1) { |
---|
549 | if (System==RADEC) Command='R'; |
---|
550 | else if (System==AZALT) Command='A'; |
---|
551 | else { |
---|
552 | log("Invalid command '%c' to MoveScope!",Command); |
---|
553 | break; |
---|
554 | } |
---|
555 | unsigned char sendStr[5]; |
---|
556 | writen(TelPortFD,(unsigned char*)"?",1); |
---|
557 | int numRead=readn(TelPortFD,sendStr,1,3); |
---|
558 | if (numRead!=1 || sendStr[0]!='#') { |
---|
559 | IDMessage(mydev,"Failure: Scope not ready for movement command!"); |
---|
560 | break; |
---|
561 | } |
---|
562 | |
---|
563 | if (Command=='R') { |
---|
564 | IDMessage(mydev,"Beginning slew to RA=%f Dec=%f\n",c1,c2); |
---|
565 | // RA: |
---|
566 | uints[0]= (unsigned short int) (c1*65536.0/24.0); |
---|
567 | ints[1]= (signed short int) (c2*65536.0/360.0); |
---|
568 | sendStr[2]=bytes[0]; sendStr[1]=bytes[1]; |
---|
569 | sendStr[4]=bytes[2]; sendStr[3]=bytes[3]; |
---|
570 | } |
---|
571 | else { |
---|
572 | //c2=c2-lat+90.0; // decorrect |
---|
573 | IDMessage(mydev,"Beginning slew to Az=%f Alt=%f\n",c1,c2); |
---|
574 | // Az |
---|
575 | uints[0]= (unsigned short int) (c1*65536.0/360.0); |
---|
576 | ints[1]= (signed short int) (c2*65536.0/360.0); |
---|
577 | sendStr[2]=bytes[0]; sendStr[1]=bytes[1]; |
---|
578 | sendStr[4]=bytes[2]; sendStr[3]=bytes[3]; |
---|
579 | } |
---|
580 | sendStr[0]=Command; |
---|
581 | if (ATLAS_DEBUG) log("Sending '%c' %X %X %X %X\n",Command,sendStr[1],sendStr[2],sendStr[3],sendStr[4]); |
---|
582 | writen(TelPortFD,sendStr,5); |
---|
583 | // it should send us an '@' when done slewing |
---|
584 | numRead=readn(TelPortFD,sendStr,1,60); |
---|
585 | if (numRead!=1||sendStr[0]!='@') { |
---|
586 | IDMessage(mydev,"Timeout waiting for scope to complete slewing."); |
---|
587 | break; |
---|
588 | } |
---|
589 | IDMessage(mydev,"Slewing complete."); |
---|
590 | |
---|
591 | MovementRADecSw.s=MovementAzAltSw.s=eqNum.s=aaNum.s=OnCoordSetSw.s=IPS_OK; |
---|
592 | IDSetSwitch(&MovementRADecSw,NULL); |
---|
593 | IDSetSwitch(&MovementAzAltSw,NULL); |
---|
594 | IDSetSwitch(&OnCoordSetSw,NULL); |
---|
595 | IDSetNumber(&eqNum,NULL); |
---|
596 | IDSetNumber(&aaNum,NULL); |
---|
597 | return 1; |
---|
598 | } |
---|
599 | // only here if break = error |
---|
600 | MovementRADecSw.s=MovementAzAltSw.s=eqNum.s=aaNum.s=OnCoordSetSw.s=IPS_ALERT; |
---|
601 | IDSetSwitch(&MovementRADecSw,NULL); |
---|
602 | IDSetSwitch(&MovementAzAltSw,NULL); |
---|
603 | IDSetSwitch(&OnCoordSetSw,NULL); |
---|
604 | IDSetNumber(&eqNum,NULL); |
---|
605 | IDSetNumber(&aaNum,NULL); |
---|
606 | return 0; |
---|
607 | } |
---|
608 | |
---|
609 | /* Read the telescope coordinates */ |
---|
610 | int OrionAtlas::GetCoords(int System) |
---|
611 | { |
---|
612 | UpdateSw.s=IPS_BUSY; |
---|
613 | IDSetSwitch(&UpdateSw,NULL); |
---|
614 | unsigned char returnStr[4]; |
---|
615 | union { |
---|
616 | signed short int ints[2]; |
---|
617 | unsigned short int uints[2]; |
---|
618 | unsigned char bytes[4]; |
---|
619 | }; |
---|
620 | |
---|
621 | while (1) { |
---|
622 | if (System&AZALT) { |
---|
623 | returnAz=returnAlt=-1000; |
---|
624 | if (System&RADEC) {returnRA=returnDec=-1000;} |
---|
625 | // is scope ready? |
---|
626 | writen(TelPortFD,(unsigned char*)"?",1); |
---|
627 | int numRead=readn(TelPortFD,returnStr,1,3); |
---|
628 | if (numRead!=1 || returnStr[0]!='#') { |
---|
629 | IDMessage(mydev,"Failure: Scope not ready for Z command"); |
---|
630 | break; |
---|
631 | } |
---|
632 | // Send request for current Az/Alt coords |
---|
633 | writen(TelPortFD,(unsigned char*)"Z",1); |
---|
634 | numRead=readn(TelPortFD,returnStr,4,1); |
---|
635 | if (numRead!=4) break; |
---|
636 | // bytes as expected |
---|
637 | if (ATLAS_DEBUG) log("Received '%c' %02x %02x %02x %02x\n",'Z',returnStr[0],returnStr[1],returnStr[2],returnStr[3]); |
---|
638 | |
---|
639 | bytes[0]=returnStr[1]; bytes[1]=returnStr[0]; |
---|
640 | bytes[2]=returnStr[3]; bytes[3]=returnStr[2]; |
---|
641 | returnAz=uints[0]/65536.0*360.0; |
---|
642 | returnAlt=ints[1]/65536.0*360.0; |
---|
643 | // returnAlt=returnAlt+lat-90.0; |
---|
644 | } |
---|
645 | |
---|
646 | if (System&RADEC) { |
---|
647 | returnRA=returnDec=-1000; |
---|
648 | // Check scope is ready |
---|
649 | writen(TelPortFD,(unsigned char*)"?",1); |
---|
650 | int numRead=readn(TelPortFD,returnStr,1,3); |
---|
651 | if (numRead!=1 || returnStr[0]!='#') { |
---|
652 | IDMessage(mydev,"Failure: Scope not ready for E command"); |
---|
653 | break; |
---|
654 | } |
---|
655 | // Send get RA/Dec |
---|
656 | writen(TelPortFD,(unsigned char*)"E",1); |
---|
657 | numRead=readn(TelPortFD,returnStr,4,1); |
---|
658 | if (ATLAS_DEBUG) log("Received '%c' %02x %02x %02x %02x\n",'E',returnStr[0],returnStr[1],returnStr[2],returnStr[3]); |
---|
659 | if (numRead!=4) break; |
---|
660 | // bytes read is as expected |
---|
661 | |
---|
662 | bytes[0]=returnStr[1]; bytes[1]=returnStr[0]; |
---|
663 | bytes[2]=returnStr[3]; bytes[3]=returnStr[2]; |
---|
664 | returnRA=uints[0]/65536.0*24.0; |
---|
665 | returnDec=ints[1]/65536.0*360.0; |
---|
666 | } |
---|
667 | // Yep, data is valid. |
---|
668 | UpdateSw.s=IPS_OK; |
---|
669 | IDSetSwitch(&UpdateSw,NULL); |
---|
670 | return(1); |
---|
671 | } |
---|
672 | // only here if break -> error! |
---|
673 | UpdateSw.s=IPS_ALERT; |
---|
674 | IDSetSwitch(&UpdateSw,NULL); |
---|
675 | return 0; |
---|
676 | } |
---|
677 | |
---|
678 | // Get coords from scope and update INumbers |
---|
679 | void OrionAtlas::UpdateCoords(int System) |
---|
680 | { |
---|
681 | if (GetCoords(System)) { |
---|
682 | if (System&RADEC) { |
---|
683 | eqNum.np[0].value = returnRA; |
---|
684 | eqNum.np[1].value = returnDec; |
---|
685 | IDSetNumber(&eqNum, NULL); |
---|
686 | } |
---|
687 | if (System&AZALT) { |
---|
688 | aaNum.np[1].value = returnAlt; |
---|
689 | aaNum.np[0].value = returnAz; |
---|
690 | IDSetNumber(&aaNum, NULL); |
---|
691 | } |
---|
692 | } |
---|
693 | } |
---|
694 | |
---|
695 | int OrionAtlas::writen(int fd, unsigned char* ptr, int nbytes) |
---|
696 | { |
---|
697 | int nleft, nwritten; |
---|
698 | nleft = nbytes; |
---|
699 | while (nleft > 0) { |
---|
700 | nwritten = write (fd, ptr, nleft); |
---|
701 | if (nwritten <=0 ) break; |
---|
702 | nleft -= nwritten; |
---|
703 | ptr += nwritten; |
---|
704 | } |
---|
705 | return (nbytes - nleft); |
---|
706 | } |
---|
707 | |
---|
708 | int OrionAtlas::readn(int fd, unsigned char* ptr, int nbytes, int sec) |
---|
709 | { |
---|
710 | int status; |
---|
711 | int nleft, nread; |
---|
712 | nleft = nbytes; |
---|
713 | while (nleft > 0) { |
---|
714 | status = telstat(fd,sec,0); |
---|
715 | if (status <= 0 ) break; |
---|
716 | nread = read (fd, ptr, nleft); |
---|
717 | |
---|
718 | /* Diagnostic */ |
---|
719 | |
---|
720 | /* printf("readn: %d read\n", nread); */ |
---|
721 | |
---|
722 | if (nread <= 0) break; |
---|
723 | nleft -= nread; |
---|
724 | ptr += nread; |
---|
725 | } |
---|
726 | return (nbytes - nleft); |
---|
727 | } |
---|
728 | |
---|
729 | /* |
---|
730 | * Examines the read status of a file descriptor. |
---|
731 | * The timeout (sec, usec) specifies a maximum interval to |
---|
732 | * wait for data to be available in the descriptor. |
---|
733 | * To effect a poll, the timeout (sec, usec) should be 0. |
---|
734 | * Returns non-negative value on data available. |
---|
735 | * 0 indicates that the time limit referred by timeout expired. |
---|
736 | * On failure, it returns -1 and errno is set to indicate the |
---|
737 | * error. |
---|
738 | */ |
---|
739 | |
---|
740 | int OrionAtlas::telstat(int fd,int sec,int usec) |
---|
741 | { |
---|
742 | int ret; |
---|
743 | int width; |
---|
744 | struct timeval timeout; |
---|
745 | telfds readfds; |
---|
746 | |
---|
747 | memset((char *)&readfds,0,sizeof(readfds)); |
---|
748 | FD_SET(fd, &readfds); |
---|
749 | width = fd+1; |
---|
750 | timeout.tv_sec = sec; |
---|
751 | timeout.tv_usec = usec; |
---|
752 | ret = select(width,&readfds,(telfds *)0,(telfds *)0,&timeout); |
---|
753 | return(ret); |
---|
754 | } |
---|
755 | |
---|
756 | void OrionAtlas::ISPoll() |
---|
757 | { |
---|
758 | // Called every 2 seconds. |
---|
759 | if (!TelConnectFlag) return; |
---|
760 | if (!Updating) return; |
---|
761 | // Check status of |
---|
762 | if (eqNum.s==IPS_IDLE||eqNum.s==IPS_OK) { |
---|
763 | GetCoords(); |
---|
764 | eqNum.np[0].value=returnRA; |
---|
765 | eqNum.np[1].value=returnDec; |
---|
766 | aaNum.np[0].value=returnAz; |
---|
767 | aaNum.np[1].value=returnAlt; |
---|
768 | IDSetNumber(&eqNum,NULL); |
---|
769 | IDSetNumber(&aaNum,NULL); |
---|
770 | } |
---|
771 | else { // Slewing. Don't get coords yet. |
---|
772 | if (ATLAS_DEBUG) log(" (still slewing)\n"); |
---|
773 | } |
---|
774 | } |
---|
775 | |
---|
776 | void OrionAtlas::log(const char *fmt,...) |
---|
777 | { |
---|
778 | if (fmt) { |
---|
779 | va_list ap; |
---|
780 | va_start (ap, fmt); |
---|
781 | fprintf(stderr, "%i: ", ((int) time(NULL))); |
---|
782 | vfprintf(stderr, fmt, ap); |
---|
783 | va_end(ap); |
---|
784 | } |
---|
785 | } |
---|