bool park_ieqpro(int fd)
{
char cmd[] = ":MP1#";
int errcode = 0;
char errmsg[MAXRBUF];
char response[8];
int nbytes_read=0;
int nbytes_written=0;
DEBUGFDEVICE(ieqpro_device, INDI::Logger::DBG_DEBUG, "CMD (%s)", cmd);
if (ieqpro_simulation)
{
set_sim_system_status(ST_SLEWING);
strcpy(response, "1");
nbytes_read = strlen(response);
}
else
{
if ( (errcode = tty_write(fd, cmd, strlen(cmd), &nbytes_written)) != TTY_OK)
{
tty_error_msg(errcode, errmsg, MAXRBUF);
DEBUGFDEVICE(ieqpro_device, INDI::Logger::DBG_ERROR, "%s", errmsg);
return false;
}
if ( (errcode = tty_read(fd, response, 1, IEQPRO_TIMEOUT, &nbytes_read)))
{
tty_error_msg(errcode, errmsg, MAXRBUF);
DEBUGFDEVICE(ieqpro_device, INDI::Logger::DBG_ERROR, "%s", errmsg);
return false;
}
}
if (nbytes_read > 0)
{
response[nbytes_read] = '\0';
DEBUGFDEVICE(ieqpro_device, INDI::Logger::DBG_DEBUG, "RES (%s)", response);
if (!strcmp(response, "1"))
{
tcflush(fd, TCIFLUSH);
return true;
}
else
{
DEBUGDEVICE(ieqpro_device, INDI::Logger::DBG_ERROR, "Error: Requested parking position is below horizon.");
return false;
}
}
DEBUGFDEVICE(ieqpro_device, INDI::Logger::DBG_ERROR, "Only received #%d bytes, expected 1.", nbytes_read);
return false;
}
bool IEQPro::Handshake()
{
if (isSimulation())
{
set_sim_gps_status(GPS_DATA_OK);
set_sim_system_status(ST_STOPPED);
set_sim_track_rate(TR_SIDEREAL);
set_sim_slew_rate(SR_3);
set_sim_time_source(TS_GPS);
set_sim_hemisphere(HEMI_NORTH);
}
if (check_ieqpro_connection(PortFD) == false)
return false;
return true;
}
void IEQPro::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, 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;
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;
// 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 = 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)
set_sim_system_status(ST_TRACKING_PEC_OFF);
else
set_sim_system_status(ST_PARKED);
}
break;
default:
break;
}
set_sim_ra(currentRA);
set_sim_dec(currentDEC);
}
void IEQPro::getStartupData()
{
DEBUG(INDI::Logger::DBG_DEBUG, "Getting firmware data...");
if (get_ieqpro_firmware(PortFD, &firmwareInfo))
{
IUSaveText(&FirmwareT[0], firmwareInfo.Model.c_str());
IUSaveText(&FirmwareT[1], firmwareInfo.MainBoardFirmware.c_str());
IUSaveText(&FirmwareT[2], firmwareInfo.ControllerFirmware.c_str());
IUSaveText(&FirmwareT[3], firmwareInfo.RAFirmware.c_str());
IUSaveText(&FirmwareT[4], firmwareInfo.DEFirmware.c_str());
FirmwareTP.s = IPS_OK;
IDSetText(&FirmwareTP, NULL);
}
DEBUG(INDI::Logger::DBG_DEBUG, "Getting guiding rate...");
double guideRate=0;
if (get_ieqpro_guide_rate(PortFD, &guideRate))
{
GuideRateN[0].value = guideRate;
IDSetNumber(&GuideRateNP, NULL);
}
double HA = ln_get_apparent_sidereal_time(ln_get_julian_from_sys());
double DEC = (HemisphereS[HEMI_NORTH].s == ISS_ON) ? 90 : -90;
if (InitPark())
{
// If loading parking data is successful, we just set the default parking values.
SetAxis1ParkDefault(HA);
SetAxis2ParkDefault(DEC);
}
else
{
// Otherwise, we set all parking data to default in case no parking data is found.
SetAxis1Park(HA);
SetAxis2Park(DEC);
SetAxis1ParkDefault(HA);
SetAxis2ParkDefault(DEC);
}
double utc_offset;
int yy, dd, mm, hh, minute, ss;
if (get_ieqpro_utc_date_time(PortFD, &utc_offset, &yy, &mm, &dd, &hh, &minute, &ss))
{
char isoDateTime[32];
char utcOffset[8];
snprintf(isoDateTime, 32, "%04d-%02d-%02dT%02d:%02d:%02d", yy, mm, dd, hh, minute, ss);
snprintf(utcOffset, 8, "%4.2f", utc_offset);
IUSaveText(IUFindText(&TimeTP, "UTC"), isoDateTime);
IUSaveText(IUFindText(&TimeTP, "OFFSET"), utcOffset);
DEBUGF(INDI::Logger::DBG_SESSION, "Mount UTC offset is %s. UTC time is %s", utcOffset, isoDateTime);
IDSetText(&TimeTP, NULL);
}
// Get Longitude and Latitude from mount
double longitude=0,latitude=0;
if (get_ieqpro_latitude(PortFD, &latitude) && get_ieqpro_longitude(PortFD, &longitude))
{
// Convert to INDI standard longitude (0 to 360 Eastward)
if (longitude < 0)
longitude += 360;
LocationN[LOCATION_LATITUDE].value = latitude;
LocationN[LOCATION_LONGITUDE].value= longitude;
LocationNP.s = IPS_OK;
IDSetNumber(&LocationNP, NULL);
}
if (isSimulation())
{
if (isParked())
set_sim_system_status(ST_PARKED);
else
set_sim_system_status(ST_STOPPED);
}
}
