IPState RollOff::Move(DomeDirection dir, DomeMotionCommand operation)
{
if (operation == MOTION_START)
{
// DOME_CW --> OPEN. If can we are ask to "open" while we are fully opened as the limit switch indicates, then we simply return false.
if (dir == DOME_CW && fullOpenLimitSwitch == ISS_ON)
{
DEBUG(INDI::Logger::DBG_WARNING, "Roof is already fully opened.");
return IPS_ALERT;
}
else if (dir == DOME_CW && getWeatherState() == IPS_ALERT)
{
DEBUG(INDI::Logger::DBG_WARNING, "Weather conditions are in the danger zone. Cannot open roof.");
return IPS_ALERT;
}
else if (dir == DOME_CCW && fullClosedLimitSwitch == ISS_ON)
{
DEBUG(INDI::Logger::DBG_WARNING, "Roof is already fully closed.");
return IPS_ALERT;
}
fullOpenLimitSwitch = ISS_OFF;
fullClosedLimitSwitch = ISS_OFF;
MotionRequest = ROLLOFF_DURATION;
gettimeofday(&MotionStart,NULL);
SetTimer(1000);
return IPS_BUSY;
}
else
{
return (Dome::Abort() ? IPS_OK : IPS_ALERT);
}
return IPS_ALERT;
}
void MaxDomeII::TimerHit()
{
SH_Status nShutterStatus;
AZ_Status nAzimuthStatus;
unsigned nHomePosition;
float nAz;
int nError;
int nRetry = 1;
if(isConnected() == false)
return; // No need to reset timer if we are not connected anymore
nError = Status_MaxDomeII(PortFD, &nShutterStatus, &nAzimuthStatus, &nCurrentTicks, &nHomePosition);
handle_driver_error(&nError, &nRetry); // This is a timer, we will not repeat in order to not delay the execution.
// Increment movment time counter
if (nTimeSinceShutterStart >= 0)
nTimeSinceShutterStart++;
if (nTimeSinceAzimuthStart >= 0)
nTimeSinceAzimuthStart++;
// Watch dog
nTimeSinceLastCommunication++;
if (WatchDogNP.np[0].value > 0 && WatchDogNP.np[0].value <= nTimeSinceLastCommunication)
{
// Close Shutter if it is not
if (nShutterStatus != Ss_CLOSED)
{
DomeShutterSP.s = ControlShutter(SHUTTER_CLOSE);
IDSetSwitch(&DomeShutterSP, "Closing shutter due watch dog");
}
}
if (getWeatherState() == IPS_ALERT)
{
// Close Shutter if it is not
if (nShutterStatus != Ss_CLOSED)
{
DomeShutterSP.s = ControlShutter(SHUTTER_CLOSE);
IDSetSwitch(&DomeShutterSP, "Closing shutter due Weather conditions");
}
}
if (!nError)
{
// Shutter
switch(nShutterStatus)
{
case Ss_CLOSED:
if (DomeShutterS[1].s == ISS_ON) // Close Shutter
{
if (DomeShutterSP.s == IPS_BUSY || DomeShutterSP.s == IPS_ALERT)
{
DomeShutterSP.s = IPS_OK; // Shutter close movement ends.
nTimeSinceShutterStart = -1;
IDSetSwitch (&DomeShutterSP, "Shutter is closed");
}
}
else
{
if (nTimeSinceShutterStart >= 0)
{ // A movement has started. Warn but don't change
if (nTimeSinceShutterStart >= 4)
{
DomeShutterSP.s = IPS_ALERT; // Shutter close movement ends.
IDSetSwitch (&DomeShutterSP, "Shutter still closed");
}
}
else
{ // For some reason (manual operation?) the shutter has closed
DomeShutterSP.s = IPS_IDLE;
DomeShutterS[1].s = ISS_ON;
DomeShutterS[0].s = ISS_OFF;
IDSetSwitch (&DomeShutterSP, "Unexpected shutter closed");
}
}
break;
case Ss_OPENING:
if (DomeShutterS[0].s == ISS_OFF) // not opening Shutter
{ // For some reason the shutter is opening (manual operation?)
DomeShutterSP.s = IPS_ALERT;
DomeShutterS[1].s = ISS_OFF;
DomeShutterS[0].s = ISS_OFF;
IDSetSwitch (&DomeShutterSP, "Unexpected shutter opening");
}
else if (nTimeSinceShutterStart < 0)
{ // For some reason the shutter is opening (manual operation?)
DomeShutterSP.s = IPS_ALERT;
nTimeSinceShutterStart = 0;
IDSetSwitch (&DomeShutterSP, "Unexpected shutter opening");
}
else if (DomeShutterSP.s == IPS_ALERT)
{ // The alert has corrected
DomeShutterSP.s = IPS_BUSY;
IDSetSwitch (&DomeShutterSP, "Shutter is opening");
}
break;
case Ss_OPEN:
if (DomeShutterS[0].s == ISS_ON) // Open Shutter
{
if (DomeShutterSP.s == IPS_BUSY || DomeShutterSP.s == IPS_ALERT)
{
DomeShutterSP.s = IPS_OK; // Shutter open movement ends.
nTimeSinceShutterStart = -1;
IDSetSwitch (&DomeShutterSP, "Shutter is open");
}
}
else
{
if (nTimeSinceShutterStart >= 0)
{ // A movement has started. Warn but don't change
if (nTimeSinceShutterStart >= 4)
{
DomeShutterSP.s = IPS_ALERT; // Shutter open movement alert.
IDSetSwitch (&DomeShutterSP, "Shutter still open");
}
}
else
{ // For some reason (manual operation?) the shutter has open
DomeShutterSP.s = IPS_IDLE;
DomeShutterS[1].s = ISS_ON;
DomeShutterS[0].s = ISS_OFF;
IDSetSwitch (&DomeShutterSP, "Unexpected shutter open");
}
}
break;
case Ss_CLOSING:
if (DomeShutterS[1].s == ISS_OFF) // Not closing Shutter
{ // For some reason the shutter is closing (manual operation?)
DomeShutterSP.s = IPS_ALERT;
DomeShutterS[1].s = ISS_ON;
DomeShutterS[0].s = ISS_OFF;
IDSetSwitch (&DomeShutterSP, "Unexpected shutter closing");
}
else if (nTimeSinceShutterStart < 0)
{ // For some reason the shutter is opening (manual operation?)
DomeShutterSP.s = IPS_ALERT;
nTimeSinceShutterStart = 0;
IDSetSwitch (&DomeShutterSP, "Unexpected shutter closing");
}
else if (DomeShutterSP.s == IPS_ALERT)
{ // The alert has corrected
DomeShutterSP.s = IPS_BUSY;
IDSetSwitch (&DomeShutterSP, "Shutter is closing");
}
break;
case Ss_ABORTED:
case Ss_ERROR:
default:
if (nTimeSinceShutterStart >= 0)
{
DomeShutterSP.s = IPS_ALERT; // Shutter movement aborted.
DomeShutterS[1].s = ISS_OFF;
DomeShutterS[0].s = ISS_OFF;
nTimeSinceShutterStart = -1;
IDSetSwitch (&DomeShutterSP, "Unknown shutter status");
}
break;
}
// Azimuth
nAz = TicksToAzimuth(nCurrentTicks);
if (DomeAbsPosN[0].value != nAz)
{ // Only refresh position if it changed
DomeAbsPosN[0].value = nAz;
//sprintf(buf,"%d", nCurrentTicks);
IDSetNumber(&DomeAbsPosNP, NULL);
}
switch(nAzimuthStatus)
{
case As_IDLE:
case As_IDEL2:
if (nTimeSinceAzimuthStart > 3)
{
if (nTargetAzimuth >= 0 && AzimuthDistance(nTargetAzimuth,nCurrentTicks) > 3) // Maximum difference allowed: 3 ticks
{
DomeAbsPosNP.s = IPS_ALERT;
nTimeSinceAzimuthStart = -1;
IDSetNumber(&DomeAbsPosNP, "Could not position right");
}
else
{ // Succesfull end of movement
if (DomeAbsPosNP.s != IPS_OK)
{
setDomeState(DOME_SYNCED);
nTimeSinceAzimuthStart = -1;
DEBUG(INDI::Logger::DBG_SESSION, "Dome is on target position");
}
if (HomeS[0].s == ISS_ON)
{
HomeS[0].s = ISS_OFF;
HomeSP.s = IPS_OK;
nTimeSinceAzimuthStart = -1;
IDSetSwitch(&HomeSP, "Dome is homed");
}
}
}
break;
case As_MOVING_WE:
case As_MOVING_EW:
if (nTimeSinceAzimuthStart < 0)
{
nTimeSinceAzimuthStart = 0;
nTargetAzimuth = -1;
DomeAbsPosNP.s = IPS_ALERT;
IDSetNumber(&DomeAbsPosNP, "Unexpected dome moving");
}
break;
case As_ERROR:
if (nTimeSinceAzimuthStart >= 0)
{
DomeAbsPosNP.s = IPS_ALERT;
nTimeSinceAzimuthStart = -1;
nTargetAzimuth = -1;
IDSetNumber(&DomeAbsPosNP, "Dome Error");
}
default:
break;
}
}
else
{
DEBUGF(INDI::Logger::DBG_DEBUG, "Error: %s. Please reconnect and try again.",ErrorMessages[-nError]);
return;
}
SetTimer(POLLMS);
return;
}