bool StarbookDriver::ReadScopeStatus()
{
LOG_DEBUG("Status! Sending GETSTATUS command");
starbook::StatusResponse res;
try {
cmd_interface->GetStatus(res);
} catch (std::exception &e) {
StateTP.s = IPS_ALERT;
failed_res++;
LOG_ERROR(e.what());
if (failed_res > 3) {
LOG_ERROR("Failed to keep connection, disconnecting");
StarbookDriver::Disconnect();
failed_res = 0;
}
return false;
}
last_known_state = res.state;
setTrackState(res);
setStarbookState(res.state);
NewRaDec(res.equ.ra / 15, res.equ.dec); // CONVERSION
failed_res = 0;
LOG_DEBUG("STATUS");
return true;
}
bool ioptronHC8406::Sync(double ra, double dec)
{
char syncString[256];
int syncType = IUFindOnSwitchIndex(&SyncCMRSP);
if (!isSimulation())
{
if (setObjectRA(PortFD, ra) < 0 || setObjectDEC(PortFD, dec) < 0)
{
EqNP.s = IPS_ALERT;
IDSetNumber(&EqNP, "Error setting RA/DEC. Unable to Sync.");
return false;
}
bool syncOK = true;
switch (syncType)
{
case USE_REGULAR_SYNC:
if (::Sync(PortFD, syncString) < 0)
syncOK = false;
break;
case USE_CMR_SYNC:
if (ioptronHC8406SyncCMR(syncString) < 0)
syncOK = false;
break;
default:
break;
}
if (syncOK == false)
{
EqNP.s = IPS_ALERT;
IDSetNumber(&EqNP, "Synchronization failed.");
return false;
}
}
currentRA = ra;
currentDEC = dec;
DEBUGF(INDI::Logger::DBG_DEBUG, "%s Synchronization successful %s", (syncType == USE_REGULAR_SYNC ? "CM" : "CMR"), syncString);
DEBUG(INDI::Logger::DBG_SESSION, "Synchronization successful.");
EqNP.s = IPS_OK;
NewRaDec(currentRA, currentDEC);
return true;
}
bool ScopeSim::Sync(double ra, double dec)
{
currentRA = ra;
currentDEC = dec;
EqPEN[RA_AXIS].value = ra;
EqPEN[DEC_AXIS].value = dec;
IDSetNumber(&EqPENV, nullptr);
DEBUG(INDI::Logger::DBG_SESSION, "Sync is successful.");
EqNP.s = IPS_OK;
NewRaDec(currentRA, currentDEC);
return true;
}
bool ScopeSim::Sync(double ra, double dec)
{
currentRA = ra;
currentDEC = dec;
#ifdef USE_EQUATORIAL_PE
EqPEN[RA_AXIS].value = ra;
EqPEN[DEC_AXIS].value = dec;
IDSetNumber(&EqPENV, nullptr);
#endif
LOG_INFO("Sync is successful.");
EqNP.s = IPS_OK;
NewRaDec(currentRA, currentDEC);
return true;
}
bool ScopeScript::ReadScopeStatus()
{
char name[1024];
char *s = tmpnam(name);
INDI_UNUSED(s);
bool status = RunScript(SCRIPT_STATUS, name, nullptr);
if (status)
{
int parked = 0;
float ra = 0, dec = 0;
FILE *file = fopen(name, "r");
int ret = 0;
ret = fscanf(file, "%d %f %f", &parked, &ra, &dec);
fclose(file);
unlink(name);
if (parked != 0)
{
if (!isParked())
{
SetParked(true);
LOG_INFO("Park succesfully executed");
}
}
else
{
if (isParked())
{
SetParked(false);
LOG_INFO("Unpark succesfully executed");
}
}
NewRaDec(ra, dec);
}
else
{
LOG_ERROR("Failed to read status");
}
return status;
}
bool IEQPro::Sync(double ra, double dec)
{
if (set_ieqpro_ra(PortFD, ra) == false || set_ieqpro_dec(PortFD, dec) == false)
{
DEBUG(INDI::Logger::DBG_ERROR, "Error setting RA/DEC.");
return false;
}
if (sync_ieqpro(PortFD) == false)
{
DEBUG(INDI::Logger::DBG_ERROR, "Failed to sync.");
}
TrackState = SCOPE_IDLE;
EqNP.s = IPS_OK;
currentRA = ra;
currentDEC = dec;
NewRaDec(currentRA, currentDEC);
return true;
}
bool SynscanDriver::ReadScopeStatus()
{
if (isSimulation())
{
mountSim();
return true;
}
char res[SYN_RES] = {0};
// Goto in progress?
if (sendCommand("L", res))
m_MountInfo[MI_GOTO_STATUS] = res[0];
// Pier side
if (m_isAltAz == false && sendCommand("p", res))
{
m_MountInfo[MI_POINT_STATUS] = res[0];
// INDI and mount pier sides are opposite to each other
setPierSide(res[0] == 'W' ? PIER_EAST : PIER_WEST);
}
if (readTracking())
{
if (TrackState == SCOPE_SLEWING)
{
if (isSlewComplete())
{
TrackState = (m_TrackingFlag == 2) ? SCOPE_TRACKING : SCOPE_IDLE;
HorizontalCoordsNP.s = (m_TrackingFlag == 2) ? IPS_OK : IPS_IDLE;
IDSetNumber(&HorizontalCoordsNP, nullptr);
}
}
else if (TrackState == SCOPE_PARKING)
{
if (isSlewComplete())
{
HorizontalCoordsNP.s = IPS_IDLE;
IDSetNumber(&HorizontalCoordsNP, nullptr);
TrackState = SCOPE_PARKED;
SetTrackEnabled(false);
SetParked(true);
}
}
else if (TrackState == SCOPE_IDLE && m_TrackingFlag > 0)
TrackState = SCOPE_TRACKING;
else if (TrackState == SCOPE_TRACKING && m_TrackingFlag == 0)
TrackState = SCOPE_IDLE;
}
sendStatus();
// Get Precise RA/DE
memset(res, 0, SYN_RES);
if (!sendCommand("e", res))
return false;
uint32_t n1 = 0, n2 = 0;
sscanf(res, "%x,%x#", &n1, &n2);
double ra = static_cast<double>(n1) / 0x100000000 * 360.0;
double de = static_cast<double>(n2) / 0x100000000 * 360.0;
ln_equ_posn epochPos { 0, 0 }, J2000Pos { 0, 0 };
J2000Pos.ra = range360(ra);
J2000Pos.dec = rangeDec(de);
// Synscan reports J2000 coordinates so we need to convert from J2000 to JNow
ln_get_equ_prec2(&J2000Pos, JD2000, ln_get_julian_from_sys(), &epochPos);
CurrentRA = epochPos.ra / 15.0;
CurrentDE = epochPos.dec;
char Axis1Coords[MAXINDINAME] = {0}, Axis2Coords[MAXINDINAME] = {0};
fs_sexa(Axis1Coords, J2000Pos.ra / 15.0, 2, 3600);
fs_sexa(Axis2Coords, J2000Pos.dec, 2, 3600);
LOGF_DEBUG("J2000 RA <%s> DE <%s>", Axis1Coords, Axis2Coords);
memset(Axis1Coords, 0, MAXINDINAME);
memset(Axis2Coords, 0, MAXINDINAME);
fs_sexa(Axis1Coords, CurrentRA, 2, 3600);
fs_sexa(Axis2Coords, CurrentDE, 2, 3600);
LOGF_DEBUG("JNOW RA <%s> DE <%s>", Axis1Coords, Axis2Coords);
// Now feed the rest of the system with corrected data
NewRaDec(CurrentRA, CurrentDE);
// Get precise az/alt
memset(res, 0, SYN_RES);
if (!sendCommand("z", res))
return false;
sscanf(res, "%x,%x#", &n1, &n2);
double az = static_cast<double>(n1) / 0x100000000 * 360.0;
double al = static_cast<double>(n2) / 0x100000000 * 360.0;
al = rangeDec(al);
HorizontalCoordsN[AXIS_AZ].value = az;
HorizontalCoordsN[AXIS_ALT].value = al;
memset(Axis1Coords, 0, MAXINDINAME);
memset(Axis2Coords, 0, MAXINDINAME);
fs_sexa(Axis1Coords, az, 2, 3600);
fs_sexa(Axis2Coords, al, 2, 3600);
LOGF_DEBUG("AZ <%s> ALT <%s>", Axis1Coords, Axis2Coords);
IDSetNumber(&HorizontalCoordsNP, nullptr);
return true;
}
void SynscanDriver::mountSim()
{
static struct timeval ltv;
struct timeval tv;
double dt, da, dx;
int nlocked;
/* update elapsed time since last poll, don't presume exactly POLLMS */
gettimeofday(&tv, nullptr);
if (ltv.tv_sec == 0 && ltv.tv_usec == 0)
ltv = tv;
dt = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec) / 1e6;
ltv = tv;
double currentSlewRate = SIM_SLEW_RATE[IUFindOnSwitchIndex(&SlewRateSP)] * TRACKRATE_SIDEREAL / 3600.0;
da = currentSlewRate * dt;
/* Process per current state. We check the state of EQUATORIAL_COORDS and act acoordingly */
switch (TrackState)
{
case SCOPE_IDLE:
CurrentRA += (TrackRateN[AXIS_RA].value / 3600.0 * dt) / 15.0;
CurrentRA = range24(CurrentRA);
break;
case SCOPE_TRACKING:
break;
case SCOPE_SLEWING:
case SCOPE_PARKING:
/* slewing - nail it when both within one pulse @ SLEWRATE */
nlocked = 0;
dx = TargetRA - CurrentRA;
// Take shortest path
if (fabs(dx) > 12)
dx *= -1;
if (fabs(dx) <= da)
{
CurrentRA = TargetRA;
nlocked++;
}
else if (dx > 0)
CurrentRA += da / 15.;
else
CurrentRA -= da / 15.;
if (CurrentRA < 0)
CurrentRA += 24;
else if (CurrentRA > 24)
CurrentRA -= 24;
dx = TargetDE - CurrentDE;
if (fabs(dx) <= da)
{
CurrentDE = TargetDE;
nlocked++;
}
else if (dx > 0)
CurrentDE += da;
else
CurrentDE -= da;
if (nlocked == 2)
{
if (TrackState == SCOPE_SLEWING)
TrackState = SCOPE_TRACKING;
else
TrackState = SCOPE_PARKED;
}
break;
default:
break;
}
NewRaDec(CurrentRA, CurrentDE);
}
bool ScopeSim::ReadScopeStatus()
{
static struct timeval ltv { 0, 0 };
struct timeval tv { 0, 0 };
double dt = 0, da_ra = 0, da_dec = 0, dx = 0, dy = 0, ra_guide_dt = 0, dec_guide_dt = 0;
static double last_dx = 0, last_dy = 0;
int nlocked, ns_guide_dir = -1, we_guide_dir = -1;
char RA_DISP[64], DEC_DISP[64], RA_GUIDE[64], DEC_GUIDE[64], RA_PE[64], DEC_PE[64], RA_TARGET[64], DEC_TARGET[64];
/* update elapsed time since last poll, don't presume exactly POLLMS */
gettimeofday(&tv, nullptr);
if (ltv.tv_sec == 0 && ltv.tv_usec == 0)
ltv = tv;
dt = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec) / 1e6;
ltv = tv;
if (fabs(targetRA - currentRA) * 15. >= GOTO_LIMIT)
da_ra = GOTO_RATE * dt;
else if (fabs(targetRA - currentRA) * 15. >= SLEW_LIMIT)
da_ra = SLEW_RATE * dt;
else
da_ra = FINE_SLEW_RATE * dt;
if (fabs(targetDEC - currentDEC) >= GOTO_LIMIT)
da_dec = GOTO_RATE * dt;
else if (fabs(targetDEC - currentDEC) >= SLEW_LIMIT)
da_dec = SLEW_RATE * dt;
else
da_dec = FINE_SLEW_RATE * dt;
if (MovementNSSP.s == IPS_BUSY || MovementWESP.s == IPS_BUSY)
{
int rate = IUFindOnSwitchIndex(&SlewRateSP);
switch (rate)
{
case SLEW_GUIDE:
da_ra = FINE_SLEW_RATE * dt * 0.05;
da_dec = FINE_SLEW_RATE * dt * 0.05;
break;
case SLEW_CENTERING:
da_ra = FINE_SLEW_RATE * dt * .1;
da_dec = FINE_SLEW_RATE * dt * .1;
break;
case SLEW_FIND:
da_ra = SLEW_RATE * dt;
da_dec = SLEW_RATE * dt;
break;
default:
da_ra = GOTO_RATE * dt;
da_dec = GOTO_RATE * dt;
break;
}
switch (MovementNSSP.s)
{
case IPS_BUSY:
if (MovementNSS[DIRECTION_NORTH].s == ISS_ON)
currentDEC += da_dec;
else if (MovementNSS[DIRECTION_SOUTH].s == ISS_ON)
currentDEC -= da_dec;
break;
default:
break;
}
switch (MovementWESP.s)
{
case IPS_BUSY:
if (MovementWES[DIRECTION_WEST].s == ISS_ON)
currentRA += da_ra / 15.;
else if (MovementWES[DIRECTION_EAST].s == ISS_ON)
currentRA -= da_ra / 15.;
break;
default:
break;
}
NewRaDec(currentRA, currentDEC);
return true;
}
/* Process per current state. We check the state of EQUATORIAL_EOD_COORDS_REQUEST and act acoordingly */
switch (TrackState)
{
/*case SCOPE_IDLE:
EqNP.s = IPS_IDLE;
break;*/
case SCOPE_SLEWING:
case SCOPE_PARKING:
/* slewing - nail it when both within one pulse @ SLEWRATE */
nlocked = 0;
dx = targetRA - currentRA;
// Always take the shortcut, don't go all around the globe
// If the difference between target and current is more than 12 hours, then we need to take the shortest path
if (dx > 12)
dx -= 24;
else if (dx < -12)
dx += 24;
// In meridian flip, alway force eastward motion (increasing RA) until target is reached.
if (forceMeridianFlip)
{
dx = fabs(dx);
if (dx == 0)
{
dx = 1;
da_ra = GOTO_LIMIT;
}
}
if (fabs(dx) * 15. <= da_ra)
{
currentRA = targetRA;
nlocked++;
}
else if (dx > 0)
currentRA += da_ra / 15.;
else
currentRA -= da_ra / 15.;
currentRA = range24(currentRA);
dy = targetDEC - currentDEC;
if (fabs(dy) <= da_dec)
{
currentDEC = targetDEC;
nlocked++;
}
else if (dy > 0)
currentDEC += da_dec;
else
currentDEC -= da_dec;
EqNP.s = IPS_BUSY;
if (nlocked == 2)
{
forceMeridianFlip = false;
if (TrackState == SCOPE_SLEWING)
{
// Initially no PE in both axis.
EqPEN[0].value = currentRA;
EqPEN[1].value = currentDEC;
IDSetNumber(&EqPENV, nullptr);
TrackState = SCOPE_TRACKING;
EqNP.s = IPS_OK;
DEBUG(INDI::Logger::DBG_SESSION, "Telescope slew is complete. Tracking...");
}
else
{
SetParked(true);
EqNP.s = IPS_IDLE;
}
}
break;
case SCOPE_IDLE:
//currentRA += (TRACKRATE_SIDEREAL/3600.0 * dt) / 15.0;
currentRA += (TrackRateN[AXIS_RA].value/3600.0 * dt) / 15.0;
currentRA = range24(currentRA);
break;
case SCOPE_TRACKING:
// In case of custom tracking rate
if (TrackModeS[1].s == ISS_ON)
{
currentRA += ( ((TRACKRATE_SIDEREAL/3600.0) - (TrackRateN[AXIS_RA].value/3600.0)) * dt) / 15.0;
currentDEC += ( (TrackRateN[AXIS_DE].value/3600.0) * dt);
}
dt *= 1000;
if (guiderNSTarget[GUIDE_NORTH] > 0)
{
DEBUGF(INDI::Logger::DBG_DEBUG, "Commanded to GUIDE NORTH for %g ms", guiderNSTarget[GUIDE_NORTH]);
ns_guide_dir = GUIDE_NORTH;
}
else if (guiderNSTarget[GUIDE_SOUTH] > 0)
{
DEBUGF(INDI::Logger::DBG_DEBUG, "Commanded to GUIDE SOUTH for %g ms", guiderNSTarget[GUIDE_SOUTH]);
ns_guide_dir = GUIDE_SOUTH;
}
// WE Guide Selection
if (guiderEWTarget[GUIDE_WEST] > 0)
{
we_guide_dir = GUIDE_WEST;
DEBUGF(INDI::Logger::DBG_DEBUG, "Commanded to GUIDE WEST for %g ms", guiderEWTarget[GUIDE_WEST]);
}
else if (guiderEWTarget[GUIDE_EAST] > 0)
{
we_guide_dir = GUIDE_EAST;
DEBUGF(INDI::Logger::DBG_DEBUG, "Commanded to GUIDE EAST for %g ms", guiderEWTarget[GUIDE_EAST]);
}
if (ns_guide_dir != -1)
{
dec_guide_dt = TrackRateN[AXIS_RA].value/3600.0 * GuideRateN[DEC_AXIS].value * guiderNSTarget[ns_guide_dir] / 1000.0 *
(ns_guide_dir == GUIDE_NORTH ? 1 : -1);
// If time remaining is more that dt, then decrement and
if (guiderNSTarget[ns_guide_dir] >= dt)
guiderNSTarget[ns_guide_dir] -= dt;
else
guiderNSTarget[ns_guide_dir] = 0;
if (guiderNSTarget[ns_guide_dir] == 0)
{
GuideNSNP.s = IPS_IDLE;
IDSetNumber(&GuideNSNP, nullptr);
}
EqPEN[DEC_AXIS].value += dec_guide_dt;
}
if (we_guide_dir != -1)
{
ra_guide_dt = (TrackRateN[AXIS_RA].value/3600.0) / 15.0 * GuideRateN[RA_AXIS].value * guiderEWTarget[we_guide_dir] / 1000.0 *
(we_guide_dir == GUIDE_WEST ? -1 : 1);
if (guiderEWTarget[we_guide_dir] >= dt)
guiderEWTarget[we_guide_dir] -= dt;
else
guiderEWTarget[we_guide_dir] = 0;
if (guiderEWTarget[we_guide_dir] == 0)
{
GuideWENP.s = IPS_IDLE;
IDSetNumber(&GuideWENP, nullptr);
}
EqPEN[RA_AXIS].value += ra_guide_dt;
}
//Mention the followng:
// Current RA displacemet and direction
// Current DEC displacement and direction
// Amount of RA GUIDING correction and direction
// Amount of DEC GUIDING correction and direction
dx = EqPEN[RA_AXIS].value - targetRA;
dy = EqPEN[DEC_AXIS].value - targetDEC;
fs_sexa(RA_DISP, fabs(dx), 2, 3600);
fs_sexa(DEC_DISP, fabs(dy), 2, 3600);
fs_sexa(RA_GUIDE, fabs(ra_guide_dt), 2, 3600);
fs_sexa(DEC_GUIDE, fabs(dec_guide_dt), 2, 3600);
fs_sexa(RA_PE, EqPEN[RA_AXIS].value, 2, 3600);
fs_sexa(DEC_PE, EqPEN[DEC_AXIS].value, 2, 3600);
fs_sexa(RA_TARGET, targetRA, 2, 3600);
fs_sexa(DEC_TARGET, targetDEC, 2, 3600);
if (dx != last_dx || dy != last_dy || ra_guide_dt != 0.0 || dec_guide_dt != 0.0)
{
last_dx = dx;
last_dy = dy;
//DEBUGF(INDI::Logger::DBG_DEBUG, "dt is %g\n", dt);
DEBUGF(INDI::Logger::DBG_DEBUG, "RA Displacement (%c%s) %s -- %s of target RA %s", dx >= 0 ? '+' : '-',
RA_DISP, RA_PE, (EqPEN[RA_AXIS].value - targetRA) > 0 ? "East" : "West", RA_TARGET);
DEBUGF(INDI::Logger::DBG_DEBUG, "DEC Displacement (%c%s) %s -- %s of target RA %s", dy >= 0 ? '+' : '-',
DEC_DISP, DEC_PE, (EqPEN[DEC_AXIS].value - targetDEC) > 0 ? "North" : "South", DEC_TARGET);
DEBUGF(INDI::Logger::DBG_DEBUG, "RA Guide Correction (%g) %s -- Direction %s", ra_guide_dt, RA_GUIDE,
ra_guide_dt > 0 ? "East" : "West");
DEBUGF(INDI::Logger::DBG_DEBUG, "DEC Guide Correction (%g) %s -- Direction %s", dec_guide_dt, DEC_GUIDE,
dec_guide_dt > 0 ? "North" : "South");
}
if (ns_guide_dir != -1 || we_guide_dir != -1)
IDSetNumber(&EqPENV, nullptr);
break;
default:
break;
}
char RAStr[64], DecStr[64];
fs_sexa(RAStr, currentRA, 2, 3600);
fs_sexa(DecStr, currentDEC, 2, 3600);
DEBUGF(DBG_SCOPE, "Current RA: %s Current DEC: %s", RAStr, DecStr);
NewRaDec(currentRA, currentDEC);
return true;
}
void ioptronHC8406::mountSim()
{
static struct timeval ltv;
struct timeval tv;
double dt, da, dx;
int nlocked;
/* update elapsed time since last poll, don't presume exactly POLLMS */
gettimeofday(&tv, nullptr);
if (ltv.tv_sec == 0 && ltv.tv_usec == 0)
ltv = tv;
dt = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec) / 1e6;
ltv = tv;
da = SLEWRATE * dt;
/* Process per current state. We check the state of EQUATORIAL_COORDS and act acoordingly */
switch (TrackState)
{
case SCOPE_TRACKING:
/* RA moves at sidereal, Dec stands still */
currentRA += (SIDRATE * dt / 15.);
break;
case SCOPE_SLEWING:
case SCOPE_PARKING:
/* slewing - nail it when both within one pulse @ SLEWRATE */
nlocked = 0;
dx = targetRA - currentRA;
if (fabs(dx) <= da)
{
currentRA = targetRA;
nlocked++;
}
else if (dx > 0)
currentRA += da / 15.;
else
currentRA -= da / 15.;
dx = targetDEC - currentDEC;
if (fabs(dx) <= da)
{
currentDEC = targetDEC;
nlocked++;
}
else if (dx > 0)
currentDEC += da;
else
currentDEC -= da;
if (nlocked == 2)
{
if (TrackState == SCOPE_SLEWING)
TrackState = SCOPE_TRACKING;
else
SetParked(true);
}
break;
default:
break;
}
NewRaDec(currentRA, currentDEC);
}
bool ioptronHC8406::ReadScopeStatus()
{
//return true; //for debug
if (!isConnected())
return false;
if (isSimulation())
{
mountSim();
return true;
}
switch (TrackState) {
case SCOPE_IDLE:
DEBUG(INDI::Logger::DBG_WARNING, "<ReadScopeStatus> IDLE");
break;
case SCOPE_SLEWING:
DEBUG(INDI::Logger::DBG_WARNING, "<ReadScopeStatus> SLEWING");
break;
case SCOPE_TRACKING:
DEBUG(INDI::Logger::DBG_WARNING, "<ReadScopeStatus> TRACKING");
break;
case SCOPE_PARKING:
DEBUG(INDI::Logger::DBG_WARNING, "<ReadScopeStatus> PARKING");
break;
case SCOPE_PARKED:
DEBUG(INDI::Logger::DBG_WARNING, "<ReadScopeStatus> PARKED");
break;
default:
DEBUG(INDI::Logger::DBG_WARNING, "<ReadScopeStatus> UNDEFINED");
break;
}
if (TrackState == SCOPE_SLEWING )
{
// Check if LX200 is done slewing
if (isSlewComplete())
{
usleep(1000000); //Wait until :MS# finish
if (IUFindSwitch(&CoordSP, "SYNC")->s == ISS_ON || IUFindSwitch(&CoordSP, "SLEW")->s == ISS_ON) {
TrackState = SCOPE_IDLE;
DEBUG(INDI::Logger::DBG_WARNING, "Slew is complete. IDLE");
SetTrackEnabled(false);
} else {
TrackState = SCOPE_TRACKING;
DEBUG(INDI::Logger::DBG_WARNING, "Slew is complete. TRACKING");
SetTrackEnabled(true);
}
}
}
else if (TrackState == SCOPE_PARKING)
{
// isSlewComplete() not work because is base on actual RA/DEC vs target RA/DEC. DO ALWAYS
if (true || isSlewComplete())
{
SetParked(true);
TrackState = SCOPE_PARKED;
}
}
if (getLX200RA(PortFD, ¤tRA) < 0 || getLX200DEC(PortFD, ¤tDEC) < 0)
{
EqNP.s = IPS_ALERT;
IDSetNumber(&EqNP, "Error reading RA/DEC.");
return false;
}
NewRaDec(currentRA, currentDEC);
//sendScopeTime();
//syncSideOfPier();
return true;
}
/**************************************************************************************
** Client is asking us to report telescope status
***************************************************************************************/
bool SimpleScope::ReadScopeStatus()
{
static struct timeval ltv;
struct timeval tv;
double dt=0, da_ra=0, da_dec=0, dx=0, dy=0;
int nlocked;
/* update elapsed time since last poll, don't presume exactly POLLMS */
gettimeofday (&tv, NULL);
if (ltv.tv_sec == 0 && ltv.tv_usec == 0)
ltv = tv;
dt = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec)/1e6;
ltv = tv;
// Calculate how much we moved since last time
da_ra = SLEW_RATE *dt;
da_dec = SLEW_RATE *dt;
/* Process per current state. We check the state of EQUATORIAL_EOD_COORDS_REQUEST and act acoordingly */
switch (TrackState)
{
case SCOPE_SLEWING:
// Wait until we are "locked" into positon for both RA & DEC axis
nlocked = 0;
// Calculate diff in RA
dx = targetRA - currentRA;
// If diff is very small, i.e. smaller than how much we changed since last time, then we reached target RA.
if (fabs(dx)*15. <= da_ra)
{
currentRA = targetRA;
nlocked++;
}
// Otherwise, increase RA
else if (dx > 0)
currentRA += da_ra/15.;
// Otherwise, decrease RA
else
currentRA -= da_ra/15.;
// Calculate diff in DEC
dy = targetDEC - currentDEC;
// If diff is very small, i.e. smaller than how much we changed since last time, then we reached target DEC.
if (fabs(dy) <= da_dec)
{
currentDEC = targetDEC;
nlocked++;
}
// Otherwise, increase DEC
else if (dy > 0)
currentDEC += da_dec;
// Otherwise, decrease DEC
else
currentDEC -= da_dec;
// Let's check if we recahed position for both RA/DEC
if (nlocked == 2)
{
// Let's set state to TRACKING
TrackState = SCOPE_TRACKING;
DEBUG(INDI::Logger::DBG_SESSION, "Telescope slew is complete. Tracking...");
}
break;
default:
break;
}
char RAStr[64], DecStr[64];
// Parse the RA/DEC into strings
fs_sexa(RAStr, currentRA, 2, 3600);
fs_sexa(DecStr, currentDEC, 2, 3600);
DEBUGF(DBG_SCOPE, "Current RA: %s Current DEC: %s", RAStr, DecStr );
NewRaDec(currentRA, currentDEC);
return true;
}
bool SynscanMount::ReadScopeStatus()
{
char str[20];
int bytesWritten, bytesRead;
int numread;
double ra,dec;
long unsigned int n1,n2;
//IDLog("SynScan Read Status\n");
//tty_write(PortFD,(unsigned char *)"Ka",2, &bytesWritten); // test for an echo
tty_write(PortFD,"Ka",2, &bytesWritten); // test for an echo
tty_read(PortFD,str,2,2, &bytesRead); // Read 2 bytes of response
if(str[1] != '#')
{
// this is not a correct echo
if (isDebug())
IDLog("ReadStatus Echo Fail. %s\n", str);
IDMessage(getDeviceName(),"Mount Not Responding");
return false;
}
if(TrackState==SCOPE_SLEWING)
{
// We have a slew in progress
// lets see if it's complete
// This only works for ra/dec goto commands
// The goto complete flag doesn't trip for ALT/AZ commands
memset(str,0,3);
tty_write(PortFD,"L",1, &bytesWritten);
numread=tty_read(PortFD,str,2,3, &bytesRead);
if(str[0]!=48)
{
// Nothing to do here
} else
{
if(TrackState==SCOPE_PARKING) TrackState=SCOPE_PARKED;
else TrackState=SCOPE_TRACKING;
}
}
if(TrackState==SCOPE_PARKING)
{
// ok, lets try read where we are
// and see if we have reached the park position
memset(str,0,20);
tty_write(PortFD,"Z",1, &bytesWritten);
numread=tty_read(PortFD,str,10,2, &bytesRead);
//IDLog("PARK READ %s\n",str);
if(strncmp((char *)str,"0000,4000",9)==0)
{
TrackState=SCOPE_PARKED;
ParkSP.s=IPS_OK;
IDSetSwitch(&ParkSP,NULL);
IDMessage(getDeviceName(),"Telescope is Parked.");
}
}
memset(str,0,20);
tty_write(PortFD,"e",1, &bytesWritten);
numread=tty_read(PortFD,str,18,1, &bytesRead);
if (bytesRead!=18)
//if(str[17] != '#')
{
IDLog("read status bytes didn't get a full read\n");
return false;
}
if (isDebug())
IDLog("Bytes read is (%s)\n", str);
// bytes read is as expected
//sscanf((char *)str,"%x",&n1);
//sscanf((char *)&str[9],"%x",&n2);
// JM read as unsigned long int, otherwise we get negative RA!
sscanf(str, "%lx,%lx#", &n1, &n2);
ra=(double)n1/0x100000000*24.0;
dec=(double)n2/0x100000000*360.0;
NewRaDec(ra,dec);
return true;
}
bool IEQPro::ReadScopeStatus()
{
bool rc = false;
IEQInfo newInfo;
if (isSimulation())
mountSim();
rc = get_ieqpro_status(PortFD, &newInfo);
if (rc)
{
IUResetSwitch(&GPSStatusSP);
GPSStatusS[newInfo.gpsStatus].s = ISS_ON;
IDSetSwitch(&GPSStatusSP, NULL);
IUResetSwitch(&TimeSourceSP);
TimeSourceS[newInfo.timeSource].s = ISS_ON;
IDSetSwitch(&TimeSourceSP, NULL);
IUResetSwitch(&HemisphereSP);
HemisphereS[newInfo.hemisphere].s = ISS_ON;
IDSetSwitch(&HemisphereSP, NULL);
TelescopeTrackMode trackMode;
switch (newInfo.trackRate)
{
case TR_SIDEREAL:
trackMode = TRACK_SIDEREAL;
break;
case TR_SOLAR:
trackMode = TRACK_SOLAR;
break;
case TR_LUNAR:
trackMode = TRACK_LUNAR;
break;
case TR_KING:
trackMode = TRACK_SIDEREAL;
break;
case TR_CUSTOM:
trackMode = TRACK_CUSTOM;
break;
}
switch (newInfo.systemStatus)
{
case ST_STOPPED:
TrackModeSP.s = IPS_IDLE;
TrackState = SCOPE_IDLE;
break;
case ST_PARKED:
TrackModeSP.s = IPS_IDLE;
TrackState = SCOPE_PARKED;
if (isParked() == false)
SetParked(true);
break;
case ST_HOME:
TrackModeSP.s = IPS_IDLE;
TrackState = SCOPE_IDLE;
break;
case ST_SLEWING:
case ST_MERIDIAN_FLIPPING:
if (TrackState != SCOPE_SLEWING && TrackState != SCOPE_PARKING)
TrackState = SCOPE_SLEWING;
break;
case ST_TRACKING_PEC_OFF:
case ST_TRACKING_PEC_ON:
case ST_GUIDING:
TrackModeSP.s = IPS_BUSY;
TrackState = SCOPE_TRACKING;
if (scopeInfo.systemStatus == ST_SLEWING)
DEBUG(INDI::Logger::DBG_SESSION, "Slew complete, tracking...");
else if (scopeInfo.systemStatus == ST_MERIDIAN_FLIPPING)
DEBUG(INDI::Logger::DBG_SESSION, "Meridian flip complete, tracking...");
break;
}
IUResetSwitch(&TrackModeSP);
TrackModeS[trackMode].s = ISS_ON;
IDSetSwitch(&TrackModeSP, NULL);
scopeInfo = newInfo;
}
rc = get_ieqpro_coords(PortFD, ¤tRA, ¤tDEC);
if (rc)
NewRaDec(currentRA, currentDEC);
return rc;
}
