void ioptronHC8406::syncSideOfPier()
{
const char *cmd = ":pS#";
// Response
char response[16] = { 0 };
int rc = 0, nbytes_read = 0, nbytes_written = 0;
DEBUGF(INDI::Logger::DBG_DEBUG, "CMD: <%s>", cmd);
tcflush(PortFD, TCIOFLUSH);
if ((rc = tty_write(PortFD, cmd, strlen(cmd), &nbytes_written)) != TTY_OK)
{
char errmsg[256];
tty_error_msg(rc, errmsg, 256);
DEBUGF(INDI::Logger::DBG_ERROR, "Error writing to device %s (%d)", errmsg, rc);
return;
}
// Read Side
if ((rc = tty_read_section(PortFD, response, '#', 3, &nbytes_read)) != TTY_OK)
{
char errmsg[256];
tty_error_msg(rc, errmsg, 256);
DEBUGF(INDI::Logger::DBG_ERROR, "Error reading from device %s (%d)", errmsg, rc);
return;
}
response[nbytes_read - 1] = '\0';
tcflush(PortFD, TCIOFLUSH);
DEBUGF(INDI::Logger::DBG_DEBUG, "RES: <%s>", response);
if (!strcmp(response, "East"))
setPierSide(INDI::Telescope::PIER_EAST);
else
setPierSide(INDI::Telescope::PIER_WEST);
}
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;
}
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;
int nlocked, ns_guide_dir = -1, we_guide_dir = -1;
#ifdef USE_EQUATORIAL_PE
static double last_dx = 0, last_dy = 0;
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];
#endif
/* 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;
// Time diff is seconds
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 = TrackRateN[AXIS_RA].value/(3600.0*15) * GuideRateN[RA_AXIS].value * dt;
da_dec = TrackRateN[AXIS_RA].value/3600.0 * GuideRateN[DEC_AXIS].value * dt;;
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.
#ifdef USE_EQUATORIAL_PE
EqPEN[0].value = currentRA;
EqPEN[1].value = currentDEC;
IDSetNumber(&EqPENV, nullptr);
#endif
TrackState = SCOPE_TRACKING;
if (IUFindOnSwitchIndex(&SlewRateSP) != SLEW_CENTERING)
{
IUResetSwitch(&SlewRateSP);
SlewRateS[SLEW_CENTERING].s = ISS_ON;
IDSetSwitch(&SlewRateSP, nullptr);
}
EqNP.s = IPS_OK;
LOG_INFO("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)
{
LOGF_DEBUG("Commanded to GUIDE NORTH for %g ms", guiderNSTarget[GUIDE_NORTH]);
ns_guide_dir = GUIDE_NORTH;
}
else if (guiderNSTarget[GUIDE_SOUTH] > 0)
{
LOGF_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;
LOGF_DEBUG("Commanded to GUIDE WEST for %g ms", guiderEWTarget[GUIDE_WEST]);
}
else if (guiderEWTarget[GUIDE_EAST] > 0)
{
we_guide_dir = GUIDE_EAST;
LOGF_DEBUG("Commanded to GUIDE EAST for %g ms", guiderEWTarget[GUIDE_EAST]);
}
if ( (ns_guide_dir != -1 || we_guide_dir != -1) && IUFindOnSwitchIndex(&SlewRateSP) != SLEW_GUIDE)
{
IUResetSwitch(&SlewRateSP);
SlewRateS[SLEW_GUIDE].s = ISS_ON;
IDSetSwitch(&SlewRateSP, nullptr);
}
if (ns_guide_dir != -1)
{
dec_guide_dt = (TrackRateN[AXIS_RA].value * GuideRateN[DEC_AXIS].value * guiderNSTarget[ns_guide_dir] / 1000.0 *
(ns_guide_dir == GUIDE_NORTH ? 1 : -1)) / 3600.0;
guiderNSTarget[ns_guide_dir] = 0;
GuideNSNP.s = IPS_IDLE;
IDSetNumber(&GuideNSNP, nullptr);
#ifdef USE_EQUATORIAL_PE
EqPEN[DEC_AXIS].value += dec_guide_dt;
#else
currentDEC += dec_guide_dt;
#endif
}
if (we_guide_dir != -1)
{
ra_guide_dt = (TrackRateN[AXIS_RA].value * GuideRateN[RA_AXIS].value * guiderEWTarget[we_guide_dir] / 1000.0 *
(we_guide_dir == GUIDE_WEST ? -1 : 1)) / (3600.0*15.0);
ra_guide_dt /= (cos(currentDEC * 0.0174532925));
guiderEWTarget[we_guide_dir] = 0;
GuideWENP.s = IPS_IDLE;
IDSetNumber(&GuideWENP, nullptr);
#ifdef USE_EQUATORIAL_PE
EqPEN[RA_AXIS].value += ra_guide_dt;
#else
currentRA += ra_guide_dt;
#endif
}
//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
#ifdef USE_EQUATORIAL_PE
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;
//LOGF_DEBUG("dt is %g\n", dt);
LOGF_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);
LOGF_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);
LOGF_DEBUG("RA Guide Correction (%g) %s -- Direction %s", ra_guide_dt, RA_GUIDE,
ra_guide_dt > 0 ? "East" : "West");
LOGF_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);
#endif
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);
// pier side might only change with a slew or parking
if (TrackState == SCOPE_SLEWING || TrackState == SCOPE_PARKING)
{
double az = getAzimuth(currentRA, currentDEC);
bool north = lnobserver.lat >= 0.;
if ((0 <= az && az < 90) || (180 <= az && az < 270))
setPierSide(north ? INDI::Telescope::PIER_EAST : INDI::Telescope::PIER_WEST);
else
setPierSide(north ? INDI::Telescope::PIER_WEST : INDI::Telescope::PIER_EAST);
}
return true;
}
