//--------------------------------------------------------------------------------------------------
static void test(void* context)
{
// Init the test case / test suite data structures
CU_TestInfo smstest[] =
{
{ "Test le_sms_SetGetSmsCenterAddress()", Testle_sms_SetGetSmsCenterAddress },
{ "Test le_sms_SetGetText()", Testle_sms_SetGetText },
{ "Test le_sms_SetGetBinary()", Testle_sms_SetGetBinary },
{ "Test le_sms_SetGetPDU()", Testle_sms_SetGetPDU },
{ "Test le_sms_ReceivedList()", Testle_sms_ReceivedList },
{ "Test le_sms_SendBinary()", Testle_sms_SendBinary },
{ "Test le_sms_SendText()", Testle_sms_SendText },
#if 0
{ "Test le_sms_SendPdu()", Testle_sms_SendPdu },
#endif
CU_TEST_INFO_NULL,
};
CU_SuiteInfo suites[] =
{
{ "SMS tests", NULL, NULL, smstest },
CU_SUITE_INFO_NULL,
};
fprintf(stderr, "Please ensure that there is enough space on SIM to receive new SMS messages!\n");
#ifndef AUTOMATIC
GetTel();
#endif
// Initialize the CUnit test registry and register the test suite
if (CUE_SUCCESS != CU_initialize_registry())
exit(CU_get_error());
if ( CUE_SUCCESS != CU_register_suites(suites))
{
CU_cleanup_registry();
exit(CU_get_error());
}
CU_basic_set_mode(CU_BRM_VERBOSE);
CU_basic_run_tests();
// Output summary of failures, if there were any
if ( CU_get_number_of_failures() > 0 )
{
fprintf(stdout,"\n [START]List of Failure :\n");
CU_basic_show_failures(CU_get_failure_list());
fprintf(stdout,"\n [STOP]List of Failure\n");
}
}
int CheckGoTo(double desRA, double desDec, int pmodel)
{
double telra1, teldec1;
double errorRA, errorDec, nowRA, nowDec;
double tolra, toldec;
/* Is the telescope slewing? */
if ( GetSlewStatus() == 1 )
{
/* One or more axes remain in motion */
/* Try again later */
return(0);
}
/* Was this a two-phase slew? */
if ( slewphase == 2 )
{
/* Reset the slew phase and continue to the destination */
slewphase = 0;
/* Go to the original destination */
/* GoToCoords will change slewphase to 1 */
GoToCoords(desRA, desDec, pmodel);
/* Return a flag indicating a new goto operation is in progress */
return(0);
}
else if ( slewphase == 1 )
{
/* No axes are moving. Insure that tracking is started again. */
StartTrack();
/* Where are we now? */
GetTel(&nowRA, &nowDec, pmodel);
/* Compare to destination with pre-defined tolerances */
telra1 = desRA;
teldec1 = desDec;
/* RA slew tolerance in hours */
tolra = SLEWTOLRA;
/* Dec slew tolerance in degrees */
toldec = SLEWTOLDEC;
/* What is the absolute value of the pointing error? */
/* Magnitude of RA pointing error in hours */
errorRA = fabs(nowRA - telra1);
/* Magnitude of Dec pointing error in degrees */
errorDec = fabs(nowDec - teldec1);
/* Compare and notify whether we are within tolerance */
if( ( errorRA > tolra ) || ( errorDec > toldec ) )
{
/* Result of slew is outside acceptable tolerance */
/* Signal the calling routine that another goto may be needed */
slewphase = 0;
return(2);
}
}
else
{
/* Unexpected slew phase */
/* Reset and return success without a test */
/* This should clear errors and enable another slew request from the UI */
/* Better would be to flag an error but that might have unintended consequences */
slewphase = 0;
}
return(1);
}
void ConnectTel(void)
{
struct termios tty;
/* Packet to request version of azimuth motor driver */
char sendstr[] = { 0x50, 0x01, 0x10, 0xfe, 0x00, 0x00, 0x00, 0x02 };
/* Packet format: */
/* preamble */
/* packet length */
/* destination */
/* message id */
/* three message bytes */
/* number of response bytes */
char returnstr[32];
/* Packet format: */
/* response bytes if any */
/* # */
int numRead;
int limits, flag;
if(TelConnectFlag != FALSE)
{
return;
}
/* Make the connection */
/* TelPortFD = open("/dev/ttyS0",O_RDWR); */
TelPortFD = open(telserial,O_RDWR);
if(TelPortFD == -1)
{
fprintf(stderr,"Serial port not available ... \n");
return;
}
tcgetattr(TelPortFD,&tty);
cfsetospeed(&tty, (speed_t) B9600);
cfsetispeed(&tty, (speed_t) B9600);
tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8;
tty.c_iflag = IGNBRK;
tty.c_lflag = 0;
tty.c_oflag = 0;
tty.c_cflag |= CLOCAL | CREAD;
tty.c_cc[VMIN] = 1;
tty.c_cc[VTIME] = 5;
tty.c_iflag &= ~(IXON|IXOFF|IXANY);
tty.c_cflag &= ~(PARENB | PARODD);
tcsetattr(TelPortFD, TCSANOW, &tty);
/* Flush the input (read) buffer */
tcflush(TelPortFD,TCIOFLUSH);
/* Test connection by asking for version of azimuth motor */
writen(TelPortFD,sendstr,8);
numRead=readn(TelPortFD,returnstr,3,2);
if (numRead == 3)
{
fprintf(stderr,"RA/Azimuth ");
fprintf(stderr,"controller version %d.%d ", returnstr[0], returnstr[1]);
fprintf(stderr,"connected \n");
}
else
{
fprintf(stderr,"RA/Azimuth drive not responding ...\n");
return;
}
/* Test connection by asking for version of altitude motor */
sendstr[2] = 0x11;
/* Flush the input buffer */
tcflush(TelPortFD,TCIOFLUSH);
/* Send the request */
writen(TelPortFD,sendstr,8);
numRead=readn(TelPortFD,returnstr,3,2);
/* Add null terminator to simplify handling the return data */
returnstr[numRead] = '\0';
if (numRead == 3)
{
fprintf(stderr,"Declination/Altitude ");
fprintf(stderr,"controller version %d.%d ", returnstr[0], returnstr[1]);
fprintf(stderr,"connected\n");
TelConnectFlag = TRUE;
}
else
{
fprintf(stderr,"Declination/altitude drive not responding ...\n");
return;
}
/* Perform startup tests */
flag = GetLimits(&limits);
usleep(500000);
limits = FALSE;
flag = SetLimits(limits);
usleep(500000);
flag = GetLimits(&limits);
/* Set global switch angles for a GEM OTA over the pier pointing at pole */
/* They correspond to ha ~ -6 hr and dec ~ +90 deg for northern telescope */
/* They correspond to ha ~ +6 hr and dec ~ -90 deg for southern telescope */
/* Non-zero values work better in goto routines on nexstar */
switchaz = 1.;
switchalt = -1.0;
/* Hardcoded defaults for homeha and homedec are overridden by prefs */
/* GEM: over the pier pointing at the pole */
/* EQFORK: pointing at the equator on the meridian */
/* ALTAZ: level and pointing north */
if ( homenow != TRUE )
{
if (telmount == GEM)
{
if (SiteLatitude < 0.)
{
homedec = -89.9999;
homeha = 6.;
}
else
{
homedec = 89.9999;
homeha = -6.;
}
}
else if (telmount == EQFORK)
{
if (SiteLatitude < 0.)
{
homedec = 0.;
homeha = 0.;
}
else
{
homedec = 0.;
homeha = 0.;
}
}
else if (telmount == ALTAZ)
{
/* Set azimuth */
homeha = 0.;
/* Set altitude */
homedec = 0.;
}
else
{
fprintf(stderr,"Telescope mounting must be GEM, EQFORK, or ALTAZ\n");
return;
}
}
fprintf(stderr, "Using initial HA: %lf\n", homeha);
fprintf(stderr, "Using initial Dec: %lf\n",homedec);
flag = SetTelEncoders(homeha, homedec);
if (flag != TRUE)
{
fprintf(stderr,"Initial telescope pointing request was out of range ... \n");
return;
}
/* Read encoders and confirm pointing */
GetTel(&homera, &homedec, RAW);
fprintf(stderr, "Local latitude: %lf\n", SiteLatitude);
fprintf(stderr, "Local longitude: %lf\n", SiteLongitude);
fprintf(stderr, "Local sidereal time: %lf\n", LSTNow());
fprintf(stderr, "Mount type: %d\n", telmount);
fprintf(stderr, "Mount now reading RA: %lf\n", homera);
fprintf(stderr, "Mount now reading Dec: %lf\n", homedec);
fprintf(stderr, "The telescope is running ...\n\n");
/* Flush the input buffer in case there is something left from startup */
tcflush(TelPortFD,TCIOFLUSH);
}
int GoToCoords(double newra, double newdec, int pmodel)
{
char sendstr[] = { 0x50, 0x04, 0x10, 0x17, 0x00, 0x00, 0x00, 0x00 };
char returnstr[32];
int azcount, azcount0, azcount1, azcount2;
int altcount, altcount0, altcount1, altcount2;
int numread;
double newha, newalt, newaz;
double newha0, newalt0, newaz0;
double newra0, newdec0;
double newra1, newdec1;
double nowha0, nowra0, nowdec0;
double encoderalt = 0.;
double encoderaz = 0.;
/* Select fast slew command if needed */
/* Note: may place large inertial load on the gear train */
if( SLEWFAST )
{
sendstr[3] = 0x02;
}
newha = LSTNow() - newra;
newha = Map12(newha);
/* Convert HA and Dec to Alt and Az */
/* Test for visibility */
EquatorialToHorizontal(newha, newdec, &newaz, &newalt);
/* Check altitude limit */
if (newalt < MINTARGETALT)
{
fprintf(stderr,"Target is below the telescope horizon\n");
slewphase = 0;
return(0);
}
/* Target request is valid */
/* Find the best path to target */
/* Mount coordinates for the target */
newra1 = newra;
newdec1 = newdec;
PointingToTel(&newra0,&newdec0,newra1,newdec1,pmodel);
newha0 = LSTNow() - newra0;
newha0 = Map12(newha0);
EquatorialToHorizontal(newha0, newdec0, &newaz0, &newalt0);
/* Stop all mount motion in preparation for a slew */
FullStop();
/* Get current mount coordinates */
GetTel(&nowra0, &nowdec0, RAW);
nowha0 = LSTNow() - nowra0;
nowha0 = Map12(nowha0);
/* Prepare encoder counts for a new slew */
/* German equatorial */
if (telmount == GEM)
{
/* Flip signs for the southern sky */
if (SiteLatitude < 0.)
{
newdec0 = -1.*newdec0;
newha0 = -1.*newha0;
}
if ((newha0 >= -12.) && ( newha0 < -6.))
{
slewphase = 1;
encoderaz = newha0*15. + 180.;
encoderalt = newdec0;
}
else if ((newha0 >= -6.) && ( newha0 <= 0.))
{
slewphase = 1;
encoderaz = newha0*15. + 180.;
encoderalt = newdec0;
}
else if ((newha0 > 0.) && ( newha0 <= 6.))
{
slewphase = 1;
encoderaz = newha0*15.;
encoderalt = 180. - newdec0;
}
else if ((newha0 > 6.) && ( newha0 <= 12.))
{
slewphase = 1;
encoderaz = newha0*15.;
encoderalt = 180. - newdec0;
}
else
{
fprintf(stderr,"German equatorial slew request error\n");
return(0);
}
if (newha0 == 0.)
{
/* OTA looking at meridian */
/* This is ambiguous unless we know which side of the pier it is on */
/* Assume telescope was on the west side looking east */
/* and was moved to point to the meridian with the OTA west of pier */
slewphase = 1;
fprintf(stderr,"Warning: assuming OTA is west of pier.\n");
encoderaz = 90.;
encoderalt = newdec0 - 90.;
}
else if (newha0 == -6.)
{
/* OTA looking east */
slewphase = 1;
encoderaz = 0.;
encoderalt = newdec0 - 90.;
}
else if (newha0 == 6.)
{
/* OTA looking west */
slewphase = 1;
encoderaz = 0.;
encoderalt = 90. - newdec0;
}
else if ((newha0 > -12.) && ( newha0 < -6.))
{
/* OTA east of pier looking below the pole */
slewphase = 1;
encoderaz = newha0*15. + 90.;
encoderalt = newdec0 - 90.;
}
else if ((newha0 > -6.) && ( newha0 < 0.))
{
/* OTA west of pier looking east */
slewphase = 1;
encoderaz = newha0*15. + 90.;
encoderalt = newdec0 - 90.;
}
else if ((newha0 > 0.) && ( newha0 <= 6.))
{
/*OTA east of pier looking west */
slewphase = 1;
encoderaz = newha0*15. - 90.;
encoderalt = 90. - newdec0;
}
else if ((newha0 > 6.) && ( newha0 < 12.))
{
/* OTA west of pier looking below the pole */
slewphase = 1;
encoderaz = newha0*15. - 90.;
encoderalt = 90. - newdec0;
}
else
{
fprintf(stderr,"German equatorial slew request outside limits\n");
return(0);
}
/* Tests for safe slew based on encoder readings would go here */
/* Test need for two-segment slew for changes of more than 90 degrees */
if ((fabs(telencoderalt - encoderalt) > 90.1) ||
(fabs(telencoderaz - encoderaz) > 90.1))
{
/* Slew request of more than 90 degrees on one axis */
if ( fabs(telencoderalt) > 10. )
{
/* Telescope currently more than 10 degrees from the pole in dec */
/* Set new target to switch position */
encoderalt = switchalt;
encoderaz = switchaz;
slewphase = 2;
}
}
encoderalt = encoderalt*altcountperdeg;
encoderaz = encoderaz*azcountperdeg;
}
/* Equatorial fork */
if (telmount == EQFORK)
{
slewphase = 1;
encoderaz = newha0*15.;
encoderalt = newdec0;
/* Tests for safe slew based on encoder readings would go here */
encoderalt = encoderalt*altcountperdeg;
encoderaz = encoderaz*azcountperdeg;
}
/* Alt-az fork */
if (telmount == ALTAZ)
{
slewphase = 1;
encoderaz = newaz0;
encoderalt = newalt0;
/* Tests for safe slew based on encoder readings would go here */
encoderaz = encoderaz*azcountperdeg;
encoderalt = encoderalt*altcountperdeg;
}
/* Convert encoder angle readings to encoder counter readings */
azcount = encoderaz;
if (azcount < 0)
{
azcount = 16777217 + azcount;
}
altcount = encoderalt;
if (altcount < 0)
{
altcount = 16777217 + altcount;
}
/* Prepare NexStar commands */
/* Parse each of the 3 bytes of the counters */
azcount0 = azcount / 65536;
azcount = azcount % 65536;
azcount1 = azcount / 256;
azcount2 = azcount % 256;
altcount0 = altcount / 65536;
altcount = altcount % 65536;
altcount1 = altcount / 256;
altcount2 = altcount % 256;
/* Send command to go to new RA/Azimuth */
sendstr[1] = 0x04;
sendstr[2] = 0x10;
sendstr[3] = 0x17;
sendstr[4] = (unsigned short) azcount0;
sendstr[5] = (unsigned short) azcount1;
sendstr[6] = (unsigned short) azcount2;
tcflush(TelPortFD,TCIOFLUSH);
writen(TelPortFD,sendstr,8);
numread=readn(TelPortFD,returnstr,1,2);
/* Send command to go to new Dec/Altitude */
sendstr[1] = 0x04;
sendstr[2] = 0x11;
sendstr[3] = 0x17;
sendstr[4] = (unsigned short) altcount0;
sendstr[5] = (unsigned short) altcount1;
sendstr[6] = (unsigned short) altcount2;
tcflush(TelPortFD,TCIOFLUSH);
writen(TelPortFD,sendstr,8);
numread=readn(TelPortFD,returnstr,1,2);
tcflush(TelPortFD,TCIOFLUSH);
/* A slew is in progress */
return(1);
}
