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

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

import libindi (JEC)
File size: 25.3 KB
Line 
1/*
2 OrionAtlas (EQ-G/EQ-6 with SkyScan/SynScan controller)
3 Copyright (C) 2005 Bruce Bockius (bruceb@WhiteAntelopeSoftware.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 "orionatlas.h"
22
23#include <stdio.h>
24#include <stdlib.h>
25#include <string.h>
26#include <stdarg.h>
27#include <math.h>
28#include <unistd.h>
29#include <time.h>
30#include <sys/ioctl.h>
31#include <fcntl.h>
32#include <termios.h>
33
34#define mydev "Orion Atlas"
35#define ATLAS_DEBUG 1
36#define POLLMS 5000
37
38#define lat geo[0].value
39#define lon geo[1].value
40
41OrionAtlas *telescope = NULL;
42
43
44/* There is _one_ binary for all LX200 drivers, but each binary is renamed
45** to its device name (i.e. lx200gps, lx200_16..etc). The main function will
46** fetch from std args the binary name and ISInit will create the apporpiate
47** device afterwards. If the binary name does not match any known devices,
48** we simply create a generic device
49*/
50extern char* me;
51
52#define COMM_GROUP "Communication"
53#define BASIC_GROUP "Main Control"
54#define SETUP_GROUP "Setup"
55
56#define ATLAS_MIN_RA 0.0
57#define ATLAS_MAX_RA 24.0
58#define ATLAS_MIN_DEC -90.0
59#define ATLAS_MAX_DEC 90.0
60
61#define ATLAS_MIN_AZ 0.0
62#define ATLAS_MAX_AZ 360.0
63#define ATLAS_MIN_ALT -90.0
64#define ATLAS_MAX_ALT 90.0
65
66static void ISPoll(void *);
67
68//static ISwitch abortSlewS[] = {{"ABORT", "Abort", ISS_OFF, 0, 0}};
69
70/* Fundamental group */
71static ISwitch PowerS[] = {{"CONNECT","Connect",ISS_OFF,0,0},{"DISCONNECT","Disconnect",ISS_ON,0,0},{"RECONNECT","Reconnect",ISS_OFF,0,0}};
72static ISwitchVectorProperty PowerSw = { mydev, "CONNECTION" , "Connection", COMM_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, PowerS, NARRAY(PowerS), "", 0};
73static IText PortT[] = {{"PORT", "Port", 0, 0, 0, 0}};
74static ITextVectorProperty Port = { mydev, "DEVICE_PORT", "Ports", COMM_GROUP, IP_RW, 0, IPS_OK, PortT, NARRAY(PortT), "", 0};
75
76/* Movement group */
77//static ISwitchVectorProperty abortSlewSw = { mydev, "ABORT_MOTION", "Abort Slew/Track", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, abortSlewS, NARRAY(abortSlewS), "", 0};
78static INumber eq[] = {
79 {"RA", "RA (hh:mm.m)", "%010.5m", ATLAS_MIN_RA, ATLAS_MAX_RA, 0., 0., 0, 0, 0},
80 {"DEC", "Dec (dd:mm.m)", "%010.5m", ATLAS_MIN_DEC, ATLAS_MAX_DEC, 0., 0., 0, 0, 0}};
81// Azimuth/Altitude
82static INumber aa[] = {
83 {"XAZ", "Az (ddd:mm.m)", "%010.5m", ATLAS_MIN_AZ, ATLAS_MAX_AZ, 0.0, 0.0, 0, 0, 0},
84 {"XALT", "Alt (dd:mm.m)", "%010.5m", ATLAS_MIN_ALT, ATLAS_MAX_ALT, 0.0, 0.0, 0, 0, 0}};
85static INumberVectorProperty eqNum = {
86 mydev, "EQUATORIAL_EOD_COORD", "Eq. Coordinates", BASIC_GROUP, IP_RW, 0, IPS_OK, eq, NARRAY(eq), "", 0};
87
88static INumberVectorProperty aaNum = {
89 mydev, "XHORIZONTAL_COORD", "Horz. Coordinates", BASIC_GROUP, IP_RW, 0, IPS_OK, aa, NARRAY(aa), "", 0};
90
91static ISwitch OnCoordSetS[] = {{"TRACK", "Track", ISS_ON, 0, 0}}; // switch does nothing, but some clients won't let you track w/o it.
92static ISwitchVectorProperty OnCoordSetSw = {
93 mydev, "ON_COORD_SET", "On Set", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, OnCoordSetS, NARRAY(OnCoordSetS), "", 0};
94static ISwitch UpdateS[] = {{"UPDATE1", "On", ISS_ON, 0, 0},{"UPDATE0","Off", ISS_OFF,0,0}};
95static 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}};
96static 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}};
97static ISwitchVectorProperty MovementRADecSw = { mydev, "XRADECMOVEMENT", "Nudge", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, MovementRADecS, NARRAY(MovementRADecS), "", 0};
98static ISwitchVectorProperty MovementAzAltSw = { mydev, "XAZALTMOVEMENT", "Nudge", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, MovementAzAltS, NARRAY(MovementAzAltS), "", 0};
99static ISwitchVectorProperty UpdateSw = { mydev, "XUPDATE", "Update Coords", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_OK, UpdateS, NARRAY(UpdateS), "", 0};
100
101/* Telescope Parameters group */
102// Setup group
103static INumber steps[] = {
104 {"XRASTEP", "RA Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0},
105 {"XDECSTEP", "Dec Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0},
106 {"XAZSTEP", "Az Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0},
107 {"XALTSTEP", "Alt Step", "%010.6m", 0.0, 5.0, 0.0, 0.0, 0, 0, 0}};
108// geographic position
109static INumber geo[] = {
110 {"LAT", "Lat (dd:mm.m)", "%010.5m", -90.0, 90.0, 0.0, 0.0, 0, 0, 0},
111 {"LONG", "Lon (ddd:mm.m)", "%010.5m", -180.0, 360.0, 0.0, 0.0, 0, 0, 0}};
112static INumberVectorProperty geoNum = {
113 mydev, "GEOGRAPHIC_COORD", "Scope Location", SETUP_GROUP, IP_RW, 0, IPS_OK, geo, NARRAY(geo), "", 0};
114static INumberVectorProperty stepNum = {
115 mydev, "XSTEPS", "Nudge Steps", SETUP_GROUP, IP_RW, 0, IPS_OK, steps, NARRAY(steps), "", 0};
116
117/* send client definitions of all properties */
118void ISInit()
119{
120 static int isInit=0;
121
122 if (isInit) return;
123
124 isInit = 1;
125
126 PortT[0].text = strcpy(new char[32], "/dev/ttyUSB0");
127 steps[0].value=1.0/60.0;
128 steps[1].value=1.0/60.0;
129 steps[2].value=1.0/60.0;
130 steps[3].value=1.0/60.0;
131
132 telescope = new OrionAtlas();
133
134 IEAddTimer (POLLMS, ISPoll, NULL);
135}
136
137void ISGetProperties (const char *dev)
138{ ISInit(); telescope->ISGetProperties(dev);}
139void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
140{ ISInit(); telescope->ISNewSwitch(dev, name, states, names, n);}
141void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
142{ ISInit(); telescope->ISNewText(dev, name, texts, names, n);}
143void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
144{ ISInit(); telescope->ISNewNumber(dev, name, values, names, n);}
145void ISPoll (void *p) { telescope->ISPoll(); IEAddTimer (POLLMS, ISPoll, NULL); p=p;}
146void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n)
147{
148 INDI_UNUSED(dev);
149 INDI_UNUSED(name);
150 INDI_UNUSED(sizes);
151 INDI_UNUSED(blobsizes);
152 INDI_UNUSED(blobs);
153 INDI_UNUSED(formats);
154 INDI_UNUSED(names);
155 INDI_UNUSED(n);
156}
157void ISSnoopDevice (XMLEle *root)
158{
159 INDI_UNUSED(root);
160}
161
162OrionAtlas::OrionAtlas()
163{
164 geo[0].value=0;
165 geo[1].value=0;
166 lat=lon=-1000;
167
168 TelConnectFlag=0;
169 Updating=true;
170 // Children call parent routines, this is the default
171 IDLog("Initialized Orion Atlas EQ-G device, driver ver 0.101\n");
172 if (ATLAS_DEBUG) IDLog("Driver in DEBUG mode.");
173}
174
175void OrionAtlas::ISGetProperties(const char *dev)
176{
177
178 if (dev && strcmp (mydev, dev))
179 return;
180
181 // COMM_GROUP
182 IDDefSwitch (&PowerSw, NULL);
183 IDDefText (&Port, NULL);
184
185 // BASIC_GROUP
186 IDDefNumber (&eqNum, NULL);
187 IDDefNumber (&aaNum, NULL);
188 IDDefSwitch (&UpdateSw, NULL);
189// IDDefSwitch (&abortSlewSw, NULL);
190 IDDefSwitch (&OnCoordSetSw,NULL);
191 IDDefSwitch (&MovementRADecSw, NULL);
192 IDDefSwitch (&MovementAzAltSw, NULL);
193
194 // SETUP_GROUP
195 IDDefNumber (&geoNum, NULL);
196 IDDefNumber (&stepNum, NULL);
197
198 /* Send the basic data to the new client if the previous client(s) are already connected. */
199 if (PowerSw.s == IPS_OK) {
200 if (ATLAS_DEBUG) log("Initial call to getBasicData()\n");
201 getBasicData();
202 }
203}
204
205void OrionAtlas::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
206{
207 IText *tp;
208
209 // suppress warning
210 n=n;
211 // ignore if not ours //
212 if (strcmp (dev, mydev))
213 return;
214
215 if (!strcmp(name, Port.name) ) {
216 Port.s = IPS_OK;
217
218 tp = IUFindText( &Port, names[0] );
219 if (!tp)
220 return;
221
222 tp->text = new char[strlen(texts[0])+1];
223 strcpy(tp->text, texts[0]);
224 IDSetText (&Port, NULL);
225 return;
226 }
227 else {
228 if (ATLAS_DEBUG) log("ISNewText('%s')\n",name);
229 }
230}
231
232void OrionAtlas::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
233{
234 double newRA=0, newDEC=0, newAlt=0, newAz=0;
235
236 // ignore if not ours //
237 if (strcmp (dev, mydev))
238 return;
239
240 if (!strcmp (name, eqNum.name)) {
241 int i=0, nset=0;
242 if (checkPower(&eqNum)) return;
243
244 for (nset = i = 0; i < n; i++) {
245 INumber *eqp = IUFindNumber (&eqNum, names[i]);
246 if (eqp == &eq[0]) {
247 newRA = values[i];
248 nset += newRA >= 0 && newRA <= 24.0;
249 } else if (eqp == &eq[1]) {
250 newDEC = values[i];
251 nset += newDEC >= -90.0 && newDEC <= 90.0;
252 }
253 }
254 if (nset==2) { // both coords were valid. Slew.
255 MoveScope(RADEC,newRA,newDEC);
256 }
257 }
258 else if (!strcmp(name, aaNum.name)) {
259 int i=0, nset=0;
260 if (checkPower(&eqNum)) return;
261
262 for (nset = i = 0; i < n; i++) {
263 INumber *aap = IUFindNumber (&aaNum, names[i]);
264 if (aap == &aa[1]) {
265 newAlt = values[i];
266 nset += newAlt >= -90.0 && newAlt <= 90.0;
267 } else if (aap == &aa[0]) {
268 newAz = values[i];
269 nset += newAz >= 0.0 && newAz <=360.0;
270 }
271 }
272 if (nset==2) { // both coords were valid. Slew.
273 MoveScope(AZALT,newAz,newAlt);
274 }
275 }
276 else if (!strcmp(name, geoNum.name)) {
277 if (ATLAS_DEBUG) log("NewNumber(geoName)\n");
278 int i=0;
279 for (i=0;i<n;i++) {
280 INumber *geop = IUFindNumber(&geoNum, names[i]);
281 geop->value=values[i];
282 }
283 IDSetNumber(&geoNum,NULL);
284 }
285 else if (!strcmp(name, stepNum.name)) {
286 if (ATLAS_DEBUG) log("NewNumber(stepNum)\n");
287 for (int i=0;i<n;i++) {
288 INumber *stepp = IUFindNumber(&stepNum, names[i]);
289 stepp->value=values[i];
290 }
291 IDSetNumber(&stepNum,NULL);
292 }
293 else {
294 if (ATLAS_DEBUG) log("ISNewNumber('%s')\n",name);
295 }
296}
297
298void OrionAtlas::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
299{
300
301 INDI_UNUSED(names);
302
303 // ignore if not ours //
304 if (strcmp(dev,mydev))
305 return;
306
307 // FIRST Switch ALWAYS for power
308 if (!strcmp(name,PowerSw.name))
309 {
310 if (IUUpdateSwitch(&PowerSw,states,names,n) < 0)
311 return;
312
313 if (PowerS[1].s == ISS_ON)
314 DisconnectTel();
315 else
316 ConnectTel();
317 return;
318 }
319 else if (!strcmp(name,UpdateSw.name)) {
320 IUResetSwitch(&UpdateSw);
321 IUUpdateSwitch(&UpdateSw,states,names,n);
322 IDSetSwitch(&UpdateSw,NULL);
323 Updating=!Updating;
324 }
325 else if (!strcmp(name,MovementRADecSw.name)) {
326 if (!GetCoords(RADEC)) {
327 IDMessage(mydev,"Invalid coordinates from scope - aborted nudge.");
328 }
329 log("before RA=%f Dec=%f\n",returnRA,returnDec);
330 for (int i=0; i<n; i++) {
331 states[i]=ISS_OFF;
332 ISwitch *mvp = IUFindSwitch(&MovementRADecSw, names[i]);
333 if (mvp == &MovementRADecS[0]) {
334 // RA+
335 returnRA+=steps[0].value;
336 } else if (mvp == &MovementRADecS[1]) {
337 // RA-
338 returnRA-=steps[0].value;
339 } else if (mvp == &MovementRADecS[2]) {
340 // Dec+
341 returnDec+=steps[1].value;
342 } else if (mvp == &MovementRADecS[3]) {
343 // Dec-
344 returnDec-=steps[1].value;
345 }
346 }
347 log("after RA=%f Dec=%f\n",returnRA,returnDec);
348 IUResetSwitch(&MovementRADecSw);
349 IUUpdateSwitch(&MovementRADecSw,states,names,n);
350 IDSetSwitch(&MovementRADecSw,NULL);
351 MoveScope(RADEC,returnRA,returnDec);
352 UpdateCoords();
353 }
354 else if (!strcmp(name,MovementAzAltSw.name)) {
355 if (!GetCoords(AZALT)) {
356 IDMessage(mydev,"Invalid coordinates from scope - aborted nudge.");
357 }
358 log("before Az=%f Alt=%f\n",returnAz,returnAlt);
359 for (int i=0; i<n; i++) {
360 states[i]=ISS_OFF;
361 ISwitch *mvp = IUFindSwitch(&MovementAzAltSw, names[i]);
362 if (mvp == &MovementAzAltS[0]) {
363 // Az+
364 returnAz+=steps[2].value;
365 } else if (mvp == &MovementAzAltS[1]) {
366 // Az-
367 returnAz-=steps[2].value;
368 } else if (mvp == &MovementAzAltS[2]) {
369 // Alt+
370 returnAlt+=steps[3].value;
371 } else if (mvp == &MovementAzAltS[3]) {
372 // Alt-
373 returnAlt-=steps[3].value;
374 }
375 }
376 log("commanded Az=%f Alt=%f\n",returnAz,returnAlt);
377 IUResetSwitch(&MovementAzAltSw);
378 IUUpdateSwitch(&MovementAzAltSw,states,names,n);
379 IDSetSwitch(&MovementAzAltSw,NULL);
380 MoveScope(AZALT,returnAz,returnAlt);
381 UpdateCoords();
382 log("after Az=%f Alt=%f\n",returnAz,returnAlt);
383 }
384 else {
385 if (ATLAS_DEBUG) log("ISNewSwitch('%s')\n",name);
386 }
387}
388
389int OrionAtlas::checkPower(ISwitchVectorProperty *sp)
390{
391 if (PowerSw.s != IPS_OK) {
392 if (!strcmp(sp->label, ""))
393 IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->name);
394 else
395 IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->label);
396 sp->s = IPS_IDLE;
397 IDSetSwitch(sp, NULL);
398 return -1;
399 }
400 return 0;
401}
402
403int OrionAtlas::checkPower(INumberVectorProperty *np)
404{
405 if (PowerSw.s != IPS_OK) {
406 if (!strcmp(np->label, ""))
407 IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->name);
408 else
409 IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->label);
410 np->s = IPS_IDLE;
411 IDSetNumber(np, NULL);
412 return -1;
413 }
414 return 0;
415}
416
417int OrionAtlas::checkPower(ITextVectorProperty *tp)
418{
419 if (PowerSw.s != IPS_OK) {
420 if (!strcmp(tp->label, ""))
421 IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->name);
422 else
423 IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->label);
424 tp->s = IPS_IDLE;
425 IDSetText(tp, NULL);
426 return -1;
427 }
428 return 0;
429}
430
431void OrionAtlas::getBasicData()
432{
433 if (ATLAS_DEBUG) log("getBasicData\n");
434 UpdateCoords();
435}
436
437void OrionAtlas::ConnectTel()
438{
439 if (PowerSw.sp[0].s==ISS_ON||PowerSw.sp[2].s==ISS_ON) { // CONNECT or RECONNECT
440 if (ConnectTel(Port.tp[0].text) < 0)
441 {
442 PowerS[0].s = PowerS[2].s = ISS_OFF;
443 PowerS[1].s = ISS_ON;
444 IDSetSwitch (&PowerSw, "Error connecting to port %s", Port.tp[0].text);
445 return;
446 }
447 PowerSw.s = IPS_OK;
448 PowerS[0].s = ISS_ON;
449 PowerS[1].s = PowerS[2].s= ISS_OFF;
450 IDSetSwitch (&PowerSw, "Telescope is online. Updating coordinates.");
451 if (ATLAS_DEBUG) log("Powered on scope, calling getBasicData()\n");
452 getBasicData();
453 }
454 else if (PowerSw.sp[0].s==ISS_OFF) {
455 IDSetSwitch (&PowerSw, "Telescope is offline.");
456 DisconnectTel();
457 }
458}
459
460int OrionAtlas::CheckConnectTel(void)
461{
462 return TelConnectFlag;
463}
464
465int OrionAtlas::ConnectTel(char *port)
466{
467 struct termios tty;
468 unsigned char returnStr[128];
469 int numRead;
470
471 if (ATLAS_DEBUG) log( "Connecting to port: %s\n",port);
472
473 if(TelConnectFlag != 0)
474 return 0;
475
476 /* Make the connection */
477
478 TelPortFD = open(port,O_RDWR);
479 if(TelPortFD == -1) {
480 IDMessage(mydev,"Could not open the supplied port!");
481 return -1;
482 }
483
484 tcgetattr(TelPortFD,&tty);
485 cfsetospeed(&tty, (speed_t) B9600);
486 cfsetispeed(&tty, (speed_t) B9600);
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);
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
523void 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
533int 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 */
610int 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
679void 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
695int 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
708int 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
740int 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
756void 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
776void 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}
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