/************************************************************************************
*
* ***********************************************************************************/
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);
}
/************************************************************************************
*
* ***********************************************************************************/
bool ScopeDome::UpdateShutterStatus()
{
int rc = readBuffer(GetAllDigitalExt, 5, digitalSensorState);
if (rc != 0)
{
LOGF_ERROR("Error reading input state: %d", rc);
return false;
}
// LOGF_INFO("digitalext %x %x %x %x %x", digitalSensorState[0],
// digitalSensorState[1], digitalSensorState[2], digitalSensorState[3],
// digitalSensorState[4]);
SensorsS[0].s = getInputState(IN_ENCODER);
SensorsS[1].s = ISS_OFF; // ?
SensorsS[2].s = getInputState(IN_HOME);
SensorsS[3].s = getInputState(IN_OPEN1);
SensorsS[4].s = getInputState(IN_CLOSED1);
SensorsS[5].s = getInputState(IN_OPEN2);
SensorsS[6].s = getInputState(IN_CLOSED2);
SensorsS[7].s = getInputState(IN_S_HOME);
SensorsS[8].s = getInputState(IN_CLOUDS);
SensorsS[9].s = getInputState(IN_CLOUD);
SensorsS[10].s = getInputState(IN_SAFE);
SensorsS[11].s = getInputState(IN_ROT_LINK);
SensorsS[12].s = getInputState(IN_FREE);
SensorsSP.s = IPS_OK;
IDSetSwitch(&SensorsSP, nullptr);
DomeShutterSP.s = IPS_OK;
IUResetSwitch(&DomeShutterSP);
if (getInputState(IN_OPEN1) == ISS_ON) // shutter open switch triggered
{
if (shutterState == SHUTTER_MOVING && targetShutter == SHUTTER_OPEN)
{
LOGF_INFO("%s", GetShutterStatusString(SHUTTER_OPENED));
setOutputState(OUT_OPEN1, ISS_OFF);
shutterState = SHUTTER_OPENED;
if (getDomeState() == DOME_UNPARKING)
SetParked(false);
}
DomeShutterS[SHUTTER_OPEN].s = ISS_ON;
}
else if (getInputState(IN_CLOSED1) == ISS_ON) // shutter closed switch triggered
{
if (shutterState == SHUTTER_MOVING && targetShutter == SHUTTER_CLOSE)
{
LOGF_INFO("%s", GetShutterStatusString(SHUTTER_CLOSED));
setOutputState(OUT_CLOSE1, ISS_OFF);
shutterState = SHUTTER_CLOSED;
if (getDomeState() == DOME_PARKING && DomeAbsPosNP.s != IPS_BUSY)
{
SetParked(true);
}
}
DomeShutterS[SHUTTER_CLOSE].s = ISS_ON;
}
else
{
shutterState = SHUTTER_MOVING;
DomeShutterSP.s = IPS_BUSY;
}
return true;
}
/************************************************************************************
*
* ***********************************************************************************/
void BaaderDome::TimerHit()
{
if (!isConnected())
return; // No need to reset timer if we are not connected anymore
UpdatePosition();
if (DomeAbsPosNP.s == IPS_BUSY)
{
if (sim)
{
double speed = 0;
if (fabs(targetAz - DomeAbsPosN[0].value) > SIM_DOME_HI_SPEED)
speed = SIM_DOME_HI_SPEED;
else
speed = SIM_DOME_LO_SPEED;
if (DomeRelPosNP.s == IPS_BUSY)
{
// CW
if (DomeMotionS[0].s == ISS_ON)
DomeAbsPosN[0].value += speed;
// CCW
else
DomeAbsPosN[0].value -= speed;
}
else
{
if (targetAz > DomeAbsPosN[0].value)
{
DomeAbsPosN[0].value += speed;
}
else if (targetAz < DomeAbsPosN[0].value)
{
DomeAbsPosN[0].value -= speed;
}
}
if (DomeAbsPosN[0].value < DomeAbsPosN[0].min)
DomeAbsPosN[0].value += DomeAbsPosN[0].max;
if (DomeAbsPosN[0].value > DomeAbsPosN[0].max)
DomeAbsPosN[0].value -= DomeAbsPosN[0].max;
}
if (fabs(targetAz - DomeAbsPosN[0].value) < DomeParamN[0].value)
{
DomeAbsPosN[0].value = targetAz;
DEBUG(INDI::Logger::DBG_SESSION, "Dome reached requested azimuth angle.");
if (status != DOME_CALIBRATING)
{
if (getDomeState() == DOME_PARKING)
SetParked(true);
else if (getDomeState() == DOME_UNPARKING)
SetParked(false);
else
setDomeState(DOME_SYNCED);
}
if (status == DOME_CALIBRATING)
{
if (calibrationStage == CALIBRATION_STAGE1)
{
DEBUG(INDI::Logger::DBG_SESSION, "Calibration stage 1 complete. Starting stage 2...");
calibrationTarget2 = DomeAbsPosN[0].value + 2;
calibrationStage = CALIBRATION_STAGE2;
MoveAbs(calibrationTarget2);
DomeAbsPosNP.s = IPS_BUSY;
}
else if (calibrationStage == CALIBRATION_STAGE2)
{
DEBUGF(INDI::Logger::DBG_SESSION,
"Calibration stage 2 complete. Returning to initial position %g...", calibrationStart);
calibrationStage = CALIBRATION_STAGE3;
MoveAbs(calibrationStart);
DomeAbsPosNP.s = IPS_BUSY;
}
else if (calibrationStage == CALIBRATION_STAGE3)
{
calibrationStage = CALIBRATION_COMPLETE;
DEBUG(INDI::Logger::DBG_SESSION, "Dome reached initial position.");
}
}
}
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else
IDSetNumber(&DomeAbsPosNP, nullptr);
UpdateShutterStatus();
if (sim && DomeShutterSP.s == IPS_BUSY)
{
if (simShutterTimer-- <= 0)
{
simShutterTimer = 0;
simShutterStatus = (targetShutter == SHUTTER_OPEN) ? SHUTTER_OPENED : SHUTTER_CLOSED;
}
}
else
IDSetSwitch(&DomeShutterSP, nullptr);
UpdateFlapStatus();
if (sim && DomeFlapSP.s == IPS_BUSY)
{
if (simFlapTimer-- <= 0)
{
simFlapTimer = 0;
simFlapStatus = (targetFlap == FLAP_OPEN) ? FLAP_OPENED : FLAP_CLOSED;
}
}
else
IDSetSwitch(&DomeFlapSP, nullptr);
SetTimer(POLLMS);
}
void DomeScript::TimerHit()
{
if (!isConnected())
return;
char name[1024]={0};
// N.B. INDI_UNUSED to make it compile on MacOS
// DO NOT CHANGE
char *s = tmpnam(name);
INDI_UNUSED(s);
bool status = RunScript(SCRIPT_STATUS, name, nullptr);
if (status)
{
int parked = 0, shutter = 0;
float az = 0;
FILE *file = fopen(name, "r");
int ret = 0;
ret = fscanf(file, "%d %d %f", &parked, &shutter, &az);
fclose(file);
unlink(name);
DomeAbsPosN[0].value = az = round(range360(az) * 10) / 10;
if (parked != 0)
{
if (getDomeState() == DOME_PARKING || getDomeState() == DOME_UNPARKED)
{
SetParked(true);
TargetAz = az;
LOG_INFO("Park succesfully executed");
}
}
else
{
if (getDomeState() == DOME_UNPARKING || getDomeState() == DOME_PARKED)
{
SetParked(false);
TargetAz = az;
LOG_INFO("Unpark succesfully executed");
}
}
if (std::round(az * 10) != std::round(TargetAz * 10))
{
LOGF_INFO("Moving %g -> %g %d", std::round(az * 10) / 10,
std::round(TargetAz * 10) / 10, getDomeState());
IDSetNumber(&DomeAbsPosNP, nullptr);
}
else if (getDomeState() == DOME_MOVING)
{
setDomeState(DOME_SYNCED);
IDSetNumber(&DomeAbsPosNP, nullptr);
}
if (shutterState == SHUTTER_OPENED)
{
if (shutter == 0)
{
shutterState = SHUTTER_CLOSED;
DomeShutterSP.s = IPS_OK;
IDSetSwitch(&DomeShutterSP, nullptr);
LOG_INFO("Shutter was succesfully closed");
}
}
else
{
if (shutter == 1)
{
shutterState = SHUTTER_OPENED;
DomeShutterSP.s = IPS_OK;
IDSetSwitch(&DomeShutterSP, nullptr);
LOG_INFO("Shutter was succesfully opened");
}
}
}
else
{
LOG_ERROR("Failed to read status");
}
SetTimer(POLLMS);
if (!isParked() && TimeSinceUpdate++ > 4)
{
TimeSinceUpdate = 0;
UpdateMountCoords();
}
}
void DomeSim::TimerHit()
{
int nexttimer=1000;
if(isConnected() == false) return; // No need to reset timer if we are not connected anymore
if (DomeAbsPosNP.s == IPS_BUSY)
{
if (targetAz > DomeAbsPosN[0].value)
{
DomeAbsPosN[0].value += DOME_SPEED;
}
else if (targetAz < DomeAbsPosN[0].value)
{
DomeAbsPosN[0].value -= DOME_SPEED;
}
DomeAbsPosN[0].value = range360(DomeAbsPosN[0].value);
if (fabs(targetAz - DomeAbsPosN[0].value) <= DOME_SPEED)
{
DomeAbsPosN[0].value = targetAz;
DEBUG(INDI::Logger::DBG_SESSION, "Dome reached requested azimuth angle.");
if (getDomeState() == DOME_PARKING)
SetParked(true);
else if (getDomeState() == DOME_UNPARKING)
SetParked(false);
else
setDomeState(DOME_SYNCED);
}
IDSetNumber(&DomeAbsPosNP, NULL);
}
if (DomeShutterSP.s == IPS_BUSY)
{
if (shutterTimer-- <= 0)
{
shutterTimer=0;
DomeShutterSP.s = IPS_OK;
DEBUGF(INDI::Logger::DBG_SESSION, "Shutter is %s.", (DomeShutterS[0].s == ISS_ON ? "open" : "closed"));
IDSetSwitch(&DomeShutterSP, NULL);
if (getDomeState() == DOME_UNPARKING)
SetParked(false);
}
}
SetTimer(nexttimer);
// Not all mounts update ra/dec constantly if tracking co-ordinates
// This is to ensure our alt/az gets updated even if ra/dec isn't being updated
// Once every 10 seconds is more than sufficient
// with this added, dome simulator will now correctly track telescope simulator
// which does not emit new ra/dec co-ords if they are not changing
if(isParked() == false && TimeSinceUpdate++ > 9)
{
TimeSinceUpdate=0;
UpdateMountCoords();
}
return;
}
