/************************************************************************************
*
* ***********************************************************************************/
IPState ScopeDome::UnPark()
{
if (ParkShutterS[0].s == ISS_ON)
{
return ControlShutter(SHUTTER_OPEN);
}
return IPS_OK;
}
/************************************************************************************
*
* ***********************************************************************************/
IPState ScopeDome::Park()
{
// First move to park position and then optionally close shutter
targetAz = GetAxis1Park();
IPState s = MoveAbs(targetAz);
if (s == IPS_OK && ParkShutterS[0].s == ISS_ON)
{
// Already at home, just close if needed
return ControlShutter(SHUTTER_CLOSE);
}
return s;
}
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;
}
/************************************************************************************
*
* ***********************************************************************************/
void ScopeDome::TimerHit()
{
if (!isConnected())
return; // No need to reset timer if we are not connected anymore
readU16(GetStatus, currentStatus);
// LOGF_INFO("Status: %x", currentStatus);
UpdatePosition();
UpdateShutterStatus();
IDSetSwitch(&DomeShutterSP, nullptr);
UpdateRelayStatus();
if (status == DOME_HOMING)
{
if ((currentStatus & 8) == 0 && getInputState(IN_HOME))
{
// Found home
status = DOME_READY;
targetAz = DomeHomePositionN[0].value;
// Reset counter
writeCmd(ResetCounter);
FindHomeSP.s = IPS_OK;
DomeAbsPosNP.s = IPS_OK;
IDSetSwitch(&FindHomeSP, nullptr);
}
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else if (status == DOME_DEROTATING)
{
if ((currentStatus & 2) == 0)
{
readS32(GetCounterExt, currentRotation);
LOGF_INFO("Current rotation is %d", currentRotation);
if (abs(currentRotation) < 100)
{
// Close enough
status = DOME_READY;
DerotateSP.s = IPS_OK;
DomeAbsPosNP.s = IPS_OK;
IDSetSwitch(&DerotateSP, nullptr);
}
else
{
if (currentRotation < 0)
{
writeU16(CCWRotation, compensateInertia(-currentRotation));
}
else
{
writeU16(CWRotation, compensateInertia(currentRotation));
}
}
}
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else if (DomeAbsPosNP.s == IPS_BUSY)
{
if ((currentStatus & 2) == 0)
{
// Rotation idle, are we close enough?
double azDiff = targetAz - DomeAbsPosN[0].value;
if (azDiff > 180)
{
azDiff -= 360;
}
if (azDiff < -180)
{
azDiff += 360;
}
if (fabs(azDiff) <= DomeParamN[0].value)
{
DomeAbsPosN[0].value = targetAz;
DomeAbsPosNP.s = IPS_OK;
LOG_INFO("Dome reached requested azimuth angle.");
if (getDomeState() == DOME_PARKING)
{
if (ParkShutterS[0].s == ISS_ON && getInputState(IN_CLOSED1) == ISS_OFF)
{
ControlShutter(SHUTTER_CLOSE);
}
else
{
SetParked(true);
}
}
else if (getDomeState() == DOME_UNPARKING)
SetParked(false);
else
setDomeState(DOME_SYNCED);
}
else
{
// Refine azimuth
MoveAbs(targetAz);
}
}
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else
IDSetNumber(&DomeAbsPosNP, nullptr);
// Read temperatures only every 10th time
static int tmpCounter = 0;
if (--tmpCounter <= 0)
{
UpdateSensorStatus();
tmpCounter = 10;
}
SetTimer(POLLMS);
}
