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1662 lines
38 KiB
1662 lines
38 KiB
#if 0
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Astro-Physics driver
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Copyright (C) 2005 Jasem Mutlaq (mutlaqja@ikarustech.com)
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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#endif
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#include "config.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdarg.h>
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#include <math.h>
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#include <unistd.h>
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#include <time.h>
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#include "indicom.h"
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#include "lx200driver.h"
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#include "apmount.h"
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/*
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** Return the timezone offset in hours (as a double, so fractional
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** hours are possible, for instance in Newfoundland). Also sets
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** daylight on non-Linux systems to record whether DST is in effect.
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*/
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#if !(TIMEZONE_IS_INT)
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//static int daylight = 0;
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int daylight = 0;
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#endif
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static inline double timezoneOffset()
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{
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/*
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** In Linux, there's a timezone variable that holds the timezone offset;
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** Otherwise, we need to make a little detour. The directions of the offset
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** are different: CET is -3600 in Linux and +3600 elsewhere.
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*/
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#if TIMEZONE_IS_INT
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return timezone / (60 * 60);
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#else
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time_t now;
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struct tm *tm;
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now = time(NULL);
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tm = localtime(&now);
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daylight = tm->tm_isdst;
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return -(tm->tm_gmtoff) / (60 * 60);
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#endif
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}
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APMount *telescope = NULL;
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int MaxReticleFlashRate = 3;
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extern char* me;
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/* There is _one_ binary for all LX200 drivers, but each binary is renamed
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** to its device name (i.e. lx200gps, lx200_16..etc). The main function will
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** fetch from std args the binary name and ISInit will create the apporpiate
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** device afterwards. If the binary name does not match any known devices,
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** we simply create a generic device
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*/
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#define COMM_GROUP "Communication"
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#define BASIC_GROUP "Main Control"
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#define MOVE_GROUP "Movement Control"
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#define FOCUS_GROUP "Focus Control"
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#define mydev "Astro-Physics"
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#define currentRA EqN[0].value
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#define currentDEC EqN[1].value
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#define RA_THRESHOLD 0.01
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#define DEC_THRESHOLD 0.05
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#define LX200_SLEW 0
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#define LX200_TRACK 1
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#define LX200_SYNC 2
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#define LX200_PARK 3
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static void ISPoll(void *);
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static void retryConnection(void *);
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/*INDI controls */
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/* send client definitions of all properties */
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void ISInit()
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{
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static int isInit=0;
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if (isInit)
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return;
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isInit = 1;
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telescope = new APMount();
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IEAddTimer (POLLMS, ISPoll, NULL);
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}
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void ISGetProperties (const char *dev)
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{
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ISInit();
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telescope->ISGetProperties(dev);
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}
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void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
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{
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ISInit();
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telescope->ISNewSwitch(dev, name, states, names, n);
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}
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void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
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{
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ISInit();
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telescope->ISNewText(dev, name, texts, names, n);
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}
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void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
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{
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ISInit();
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telescope->ISNewNumber(dev, name, values, names, n);
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}
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void ISPoll (void */*p*/)
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{
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telescope->ISPoll();
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IEAddTimer (POLLMS, ISPoll, NULL);
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}
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void ISNewBLOB (const char */*dev*/, const char */*name*/, int */*sizes[]*/, char **/*blobs[]*/, char **/*formats[]*/, char **/*names[]*/, int /*n*/)
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{}
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/**************************************************
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*** AP Mount
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***************************************************/
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APMount::APMount()
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{
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struct tm *utp;
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time_t t;
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time (&t);
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utp = gmtime (&t);
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initProperties();
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currentSiteNum = 1;
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trackingMode = 2;
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lastSet = -1;
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fault = false;
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simulation = false;
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targetRA = 0;
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targetDEC = 0;
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currentSet = 0;
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UTCOffset = 0;
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lastMove[0] = lastMove[1] = lastMove[2] = lastMove[3] = 0;
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localTM = new tm;
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utp->tm_mon += 1;
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utp->tm_year += 1900;
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JD = UTtoJD(utp);
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IDLog("Julian Day is %g\n", JD);
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IDLog("Initilizing from Astro-Physics device...\n");
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IDLog("Driver Version: 2005-05-26\n");
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//enableSimulation(true);
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}
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void APMount::initProperties()
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{
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fillSwitch(&AlignmentS[0], "Polar", "", ISS_ON);
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fillSwitch(&AlignmentS[1], "AltAz", "", ISS_OFF);
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fillSwitchVector(&AlignmentSP, AlignmentS, NARRAY(AlignmentS), mydev, "Alignment", "", COMM_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
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fillSwitch(&PowerS[0], "CONNECT", "Connect", ISS_OFF);
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fillSwitch(&PowerS[1], "DISCONNECT", "Disconnect", ISS_ON);
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fillSwitchVector(&PowerSP, PowerS, NARRAY(PowerS), mydev, "CONNECTION", "Connection", COMM_GROUP, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
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fillSwitch(&OnCoordSetS[0], "SLEW", "Slew", ISS_ON);
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fillSwitch(&OnCoordSetS[1], "TRACK", "Track", ISS_OFF);
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fillSwitch(&OnCoordSetS[2], "SYNC", "Sync", ISS_OFF);
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fillSwitchVector(&OnCoordSetSP, OnCoordSetS, NARRAY(OnCoordSetS), mydev, "ON_COORD_SET", "On Set", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
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fillSwitch(&TrackModeS[0], "Lunar", "", ISS_OFF);
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fillSwitch(&TrackModeS[1], "Solar", "", ISS_OFF);
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fillSwitch(&TrackModeS[2], "Sideral", "", ISS_ON);
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fillSwitch(&TrackModeS[3], "Zero", "", ISS_OFF);
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fillSwitchVector(&TrackModeSP, TrackModeS, NARRAY(TrackModeS), mydev, "Tracking Mode", "", MOVE_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
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fillSwitch(&AbortSlewS[0], "ABORT", "Abort", ISS_OFF);
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fillSwitchVector(&AbortSlewSP, AbortSlewS, NARRAY(AbortSlewS), mydev, "ABORT_MOTION", "Abort Slew/Track", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
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fillSwitch(&ParkS[0], "PARK", "Park", ISS_OFF);
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fillSwitch(&ParkS[1], "UNPARK", "Unpark", ISS_OFF);
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fillSwitchVector(&ParkSP, ParkS, NARRAY(ParkS), mydev, "PARK", "Park Scope", BASIC_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
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fillSwitch(&MovementS[0], "N", "North", ISS_OFF);
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fillSwitch(&MovementS[1], "W", "West", ISS_OFF);
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fillSwitch(&MovementS[2], "E", "East", ISS_OFF);
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fillSwitch(&MovementS[3], "S", "South", ISS_OFF);
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fillSwitchVector(&MovementSP, MovementS, NARRAY(MovementS), mydev, "MOVEMENT", "Move toward", MOVE_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
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fillSwitch(&FocusMotionS[0], "IN", "Focus in", ISS_OFF);
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fillSwitch(&FocusMotionS[1], "OUT", "Focus out", ISS_OFF);
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fillSwitchVector(&FocusMotionSP, FocusMotionS, NARRAY(FocusMotionS), mydev, "FOCUS_MOTION", "Motion", FOCUS_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
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fillText(&PortT[0], "PORT", "Port", "/dev/ttyS0");
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fillTextVector(&PortTP, PortT, NARRAY(PortT), mydev, "DEVICE_PORT", "Ports", COMM_GROUP, IP_RW, 0, IPS_IDLE);
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fillText(&UTCT[0], "UTC", "", "YYYY-MM-DDTHH:MM:SS");
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fillTextVector(&TimeTP, UTCT, NARRAY(UTCT), mydev, "TIME", "UTC Time", COMM_GROUP, IP_RW, 0, IPS_IDLE);
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fillText(&ObjectT[0], "OBJECT_NAME", "Name", "--");
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fillTextVector(&ObjectTP, ObjectT, NARRAY(ObjectT), mydev, "OBJECT_INFO", "Object", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
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fillNumber(&EqN[0], "RA", "RA H:M:S", "%10.6m", 0., 24., 0., 0.);
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fillNumber(&EqN[1], "DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0.);
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fillNumberVector(&EqNP, EqN, NARRAY(EqN), mydev, "ETQUATORIAL_EOD_COORD" , "Equatorial JNow", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
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fillNumber(&GeoN[0], "LAT", "Lat. D:M:S +N", "%10.6m", -90., 90., 0., 0.);
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fillNumber(&GeoN[1], "LONG", "Long. D:M:S +E", "%10.6m", 0., 360., 0., 0.);
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fillNumberVector(&GeoNP, GeoN, NARRAY(GeoN), mydev, "GEOGRAPHIC_COORD", "Geographic Location", COMM_GROUP, IP_RW, 0, IPS_IDLE);
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fillNumber(&FocusTimerN[0], "TIMEOUT", "Timeout (s)", "%10.6m", 0., 120., 1., 0.);
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fillNumberVector(&FocusTimerNP, FocusTimerN, NARRAY(FocusTimerN), mydev, "FOCUS_TIMEOUT", "Focus Timer", FOCUS_GROUP, IP_RW, 0, IPS_IDLE);
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fillNumber(&SDTimeN[0], "LST", "Sidereal time", "%10.6m" , 0.,24.,0.,0.);
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fillNumberVector(&SDTimeNP, SDTimeN, NARRAY(SDTimeN), mydev, "SDTIME", "Sidereal Time", COMM_GROUP, IP_RW, 0, IPS_IDLE);
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fillNumber(&HorN[0], "ALT", "Alt D:M:S", "%10.6m", -90., 90., 0., 0.);
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fillNumber(&HorN[1], "AZ", "Az D:M:S", "%10.6m", 0., 360., 0., 0.);
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fillNumberVector(&HorNP, HorN, NARRAY(HorN), mydev, "HORIZONTAL_COORD", "Horizontal Coords", BASIC_GROUP, IP_RW, 0, IPS_IDLE);
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fillNumber(&FocusSpeedN[0], "SPEED", "Speed", "%0.f", 0., 3., 1., 0.);
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fillNumberVector(&FocusSpeedNP, FocusSpeedN, NARRAY(FocusSpeedN), mydev, "FOCUS_SPEED", "Speed", FOCUS_GROUP, IP_RW, 0, IPS_IDLE);
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}
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void APMount::ISGetProperties(const char *dev)
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{
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if (dev && strcmp (mydev, dev))
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return;
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// COMM_GROUP
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IDDefSwitch(&PowerSP, NULL);
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IDDefText(&PortTP, NULL);
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IDDefSwitch(&AlignmentSP, NULL);
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IDDefText(&TimeTP, NULL);
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IDDefNumber(&SDTimeNP, NULL);
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IDDefNumber(&GeoNP, NULL);
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// MAIN CONTROL
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IDDefText(&ObjectTP, NULL);
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IDDefNumber(&EqNP, NULL);
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//IDDefNumber(&HorNP, NULL);
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IDDefSwitch(&OnCoordSetSP, NULL);
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IDDefSwitch(&AbortSlewSP, NULL);
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IDDefSwitch(&ParkSP, NULL);
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// MOVEMENT CONTROL
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IDDefSwitch(&TrackModeSP, NULL);
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IDDefSwitch(&MovementSP, NULL);
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// FOCUS CONTROL
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IDDefNumber(&FocusSpeedNP, NULL);
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IDDefSwitch(&FocusMotionSP, NULL);
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IDDefNumber(&FocusTimerNP, NULL);
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/* Send the basic data to the new client if the previous client(s) are already connected. */
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if (PowerSP.s == IPS_OK)
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getBasicData();
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}
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void APMount::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int /*n*/)
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{
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int err;
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struct tm *ltp = new tm;
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struct tm utm;
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time_t ltime;
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time (<ime);
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localtime_r (<ime, ltp);
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IText *tp;
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// ignore if not ours
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if (strcmp (dev, mydev))
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return;
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// Port name
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if (!strcmp(name, PortTP.name) )
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{
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PortTP.s = IPS_OK;
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tp = IUFindText( &PortTP, names[0] );
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if (!tp)
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return;
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IUSaveText(tp, texts[0]);
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IDSetText (&PortTP, NULL);
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return;
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}
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// Time
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if (!strcmp (name, TimeTP.name))
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{
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if (checkPower(&TimeTP))
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return;
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if (extractISOTime(texts[0], &utm) < 0)
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{
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TimeTP.s = IPS_IDLE;
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IDSetText(&TimeTP , "Time invalid");
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return;
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}
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ltp->tm_mon += 1;
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ltp->tm_year += 1900;
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tzset();
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UTCOffset = timezoneOffset();
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IDLog("local time is %02d:%02d:%02d\nUTCOffset: %g\n", ltp->tm_hour, ltp->tm_min, ltp->tm_sec, UTCOffset);
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getSDTime(&SDTimeN[0].value);
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IDSetNumber(&SDTimeNP, NULL);
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if ( ( err = setUTCOffset(UTCOffset) < 0) )
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{
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TimeTP.s = IPS_ALERT;
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IDSetText( &TimeTP , "Setting UTC Offset failed.");
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return;
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}
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if ( ( err = setLocalTime(ltp->tm_hour, ltp->tm_min, ltp->tm_sec) < 0) )
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{
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handleError(&TimeTP, err, "Setting local time");
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return;
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}
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tp = IUFindText(&TimeTP, names[0]);
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if (!tp)
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return;
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IUSaveText(tp, texts[0]);
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TimeTP.s = IPS_OK;
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// update JD
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JD = UTtoJD(&utm);
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IDLog("New JD is %f\n", (float) JD);
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if ((localTM->tm_mday == ltp->tm_mday ) && (localTM->tm_mon == ltp->tm_mon) &&
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(localTM->tm_year == ltp->tm_year))
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{
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IDSetText(&TimeTP , "Time updated to %s", texts[0]);
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return;
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}
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delete (localTM);
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localTM = ltp;
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if ( ( err = setCalenderDate(ltp->tm_mday, ltp->tm_mon, ltp->tm_year) < 0) )
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{
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handleError(&TimeTP, err, "Setting local date.");
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return;
|
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}
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IDSetText(&TimeTP , "Date changed, updating planetary data...");
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}
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if (!strcmp (name, ObjectTP.name))
|
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{
|
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if (checkPower(&ObjectTP))
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return;
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IUSaveText(&ObjectT[0], texts[0]);
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ObjectTP.s = IPS_OK;
|
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IDSetText(&ObjectTP, NULL);
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return;
|
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}
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|
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}
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|
|
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void APMount::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
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{
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int h =0, m =0, s=0, err;
|
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double newRA =0, newDEC =0;
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|
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// ignore if not ours //
|
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if (strcmp (dev, mydev))
|
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return;
|
|
|
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if (!strcmp (name, EqNP.name))
|
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{
|
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int i=0, nset=0;
|
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|
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if (checkPower(&EqNP))
|
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return;
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|
|
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for (nset = i = 0; i < n; i++)
|
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{
|
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INumber *eqp = IUFindNumber (&EqNP, names[i]);
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if (eqp == &EqN[0])
|
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{
|
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newRA = values[i];
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nset += newRA >= 0 && newRA <= 24.0;
|
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} else if (eqp == &EqN[1])
|
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{
|
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newDEC = values[i];
|
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nset += newDEC >= -90.0 && newDEC <= 90.0;
|
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}
|
|
}
|
|
|
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if (nset == 2)
|
|
{
|
|
char RAStr[32], DecStr[32];
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|
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fs_sexa(RAStr, newRA, 2, 3600);
|
|
fs_sexa(DecStr, newDEC, 2, 3600);
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|
|
IDLog("We received JNow RA %g - DEC %g\n", newRA, newDEC);
|
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IDLog("We received JNow RA %s - DEC %s\n", RAStr, DecStr);
|
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|
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if ( (err = setObjectRA(newRA)) < 0 || ( err = setObjectDEC(newDEC)) < 0)
|
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{
|
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handleError(&EqNP, err, "Setting RA/DEC");
|
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return;
|
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}
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|
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targetRA = newRA;
|
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targetDEC = newDEC;
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|
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if (MovementSP.s == IPS_BUSY)
|
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{
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for (int i=0; i < 4; i++)
|
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{
|
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lastMove[i] = 0;
|
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MovementS[i].s = ISS_OFF;
|
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}
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|
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MovementSP.s = IPS_IDLE;
|
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IDSetSwitch(&MovementSP, NULL);
|
|
}
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|
|
if (handleCoordSet())
|
|
{
|
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EqNP.s = IPS_IDLE;
|
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IDSetNumber(&EqNP, NULL);
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|
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}
|
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} // end nset
|
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else
|
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{
|
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EqNP.s = IPS_IDLE;
|
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IDSetNumber(&EqNP, "RA or Dec missing or invalid");
|
|
}
|
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|
|
return;
|
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} /* end EqNP */
|
|
|
|
// Sideral Time
|
|
if ( !strcmp (name, SDTimeNP.name) )
|
|
{
|
|
|
|
if (checkPower(&SDTimeNP))
|
|
return;
|
|
|
|
if (values[0] < 0.0 || values[0] > 24.0)
|
|
{
|
|
SDTimeNP.s = IPS_IDLE;
|
|
IDSetNumber(&SDTimeNP , "Time invalid");
|
|
return;
|
|
}
|
|
|
|
getSexComponents(values[0], &h, &m, &s);
|
|
IDLog("Time is %02d:%02d:%02d\n", h, m, s);
|
|
|
|
if ( ( err = setSDTime(h, m, s) < 0) )
|
|
{
|
|
handleError(&SDTimeNP, err, "Setting siderial time");
|
|
return;
|
|
}
|
|
|
|
SDTimeNP.np[0].value = values[0];
|
|
SDTimeNP.s = IPS_OK;
|
|
|
|
IDSetNumber(&SDTimeNP , "Sidereal time updated to %02d:%02d:%02d", h, m, s);
|
|
|
|
return;
|
|
}
|
|
|
|
// Geographical location
|
|
if (!strcmp (name, GeoNP.name))
|
|
{
|
|
// new geographic coords
|
|
double newLong = 0, newLat = 0;
|
|
int i, nset;
|
|
char msg[128];
|
|
|
|
if (checkPower(&GeoNP))
|
|
return;
|
|
|
|
for (nset = i = 0; i < n; i++)
|
|
{
|
|
INumber *geop = IUFindNumber (&GeoNP, names[i]);
|
|
if (geop == &GeoN[0])
|
|
{
|
|
newLat = values[i];
|
|
nset += newLat >= -90.0 && newLat <= 90.0;
|
|
} else if (geop == &GeoN[1])
|
|
{
|
|
newLong = values[i];
|
|
nset += newLong >= 0.0 && newLong < 360.0;
|
|
}
|
|
}
|
|
|
|
if (nset == 2)
|
|
{
|
|
char l[32], L[32];
|
|
GeoNP.s = IPS_OK;
|
|
fs_sexa (l, newLat, 3, 3600);
|
|
fs_sexa (L, newLong, 4, 3600);
|
|
|
|
if ( ( err = setSiteLongitude(360.0 - newLong) < 0) )
|
|
{
|
|
handleError(&GeoNP, err, "Setting site coordinates");
|
|
return;
|
|
}
|
|
|
|
setSiteLatitude(newLat);
|
|
GeoNP.np[0].value = newLat;
|
|
GeoNP.np[1].value = newLong;
|
|
snprintf (msg, sizeof(msg), "Site location updated to Lat %.32s - Long %.32s", l, L);
|
|
} else
|
|
{
|
|
GeoNP.s = IPS_IDLE;
|
|
strcpy(msg, "Lat or Long missing or invalid");
|
|
}
|
|
IDSetNumber (&GeoNP, "%s", msg);
|
|
return;
|
|
}
|
|
|
|
// Focus TImer
|
|
if (!strcmp(name, FocusTimerNP.name))
|
|
{
|
|
if (checkPower(&FocusTimerNP))
|
|
return;
|
|
|
|
// Don't update if busy
|
|
if (FocusTimerNP.s == IPS_BUSY)
|
|
return;
|
|
|
|
IUUpdateNumbers(&FocusTimerNP, values, names, n);
|
|
|
|
FocusTimerNP.s = IPS_OK;
|
|
|
|
IDSetNumber(&FocusTimerNP, NULL);
|
|
IDLog("Setting focus timer to %g\n", FocusTimerN[0].value);
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
// Focus speed
|
|
if (!strcmp (name, FocusSpeedNP.name))
|
|
{
|
|
if (checkPower(&FocusSpeedNP))
|
|
return;
|
|
|
|
if (IUUpdateNumbers(&FocusSpeedNP, values, names, n) < 0)
|
|
return;
|
|
|
|
/* disable timer and motion */
|
|
if (FocusSpeedN[0].value == 0)
|
|
{
|
|
FocusMotionSP.s = IPS_IDLE;
|
|
FocusTimerNP.s = IPS_IDLE;
|
|
IDSetSwitch(&FocusMotionSP, NULL);
|
|
IDSetNumber(&FocusTimerNP, NULL);
|
|
}
|
|
|
|
setFocuserSpeedMode( ( (int) FocusSpeedN[0].value));
|
|
FocusSpeedNP.s = IPS_OK;
|
|
IDSetNumber(&FocusSpeedNP, NULL);
|
|
return;
|
|
}
|
|
|
|
}
|
|
|
|
void APMount::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
|
|
{
|
|
int index;
|
|
int err;
|
|
char combinedDir[64];
|
|
ISwitch *swp;
|
|
|
|
// ignore if not ours //
|
|
if (strcmp (mydev, dev))
|
|
return;
|
|
|
|
// Connection
|
|
if (!strcmp (name, PowerSP.name))
|
|
{
|
|
IUResetSwitches(&PowerSP);
|
|
IUUpdateSwitches(&PowerSP, states, names, n);
|
|
powerTelescope();
|
|
return;
|
|
}
|
|
|
|
// Coord set
|
|
if (!strcmp(name, OnCoordSetSP.name))
|
|
{
|
|
if (checkPower(&OnCoordSetSP))
|
|
return;
|
|
|
|
IUResetSwitches(&OnCoordSetSP);
|
|
IUUpdateSwitches(&OnCoordSetSP, states, names, n);
|
|
currentSet = getOnSwitch(&OnCoordSetSP);
|
|
OnCoordSetSP.s = IPS_OK;
|
|
IDSetSwitch(&OnCoordSetSP, NULL);
|
|
}
|
|
|
|
// Parking
|
|
if (!strcmp(name, ParkSP.name))
|
|
{
|
|
if (checkPower(&ParkSP))
|
|
return;
|
|
|
|
IUResetSwitches(&ParkSP);
|
|
IUUpdateSwitches(&ParkSP, states, names, n);
|
|
index = getOnSwitch(&ParkSP);
|
|
|
|
// Park Command
|
|
if (index == 0)
|
|
APPark();
|
|
else
|
|
// Unpark
|
|
{
|
|
char **tmtexts = (char **) malloc(1);
|
|
char **tmtp = (char **) malloc(1);
|
|
tmtexts[0] = (char *) malloc (32);
|
|
tmtp[0] = (char *) malloc (32);
|
|
|
|
strcpy(tmtexts[0], timestamp());
|
|
strcpy(tmtp[0], "UTC");
|
|
|
|
// Update date and time before unparking
|
|
ISNewText(mydev, "TIME", tmtexts, tmtp, 1);
|
|
APUnpark();
|
|
|
|
free (tmtexts);
|
|
free (tmtp);
|
|
}
|
|
|
|
ParkSP.s = IPS_OK;
|
|
IDSetSwitch(&ParkSP, (index == 0) ? "Parking..." : "Unparking...");
|
|
return;
|
|
}
|
|
|
|
// Abort Slew
|
|
if (!strcmp (name, AbortSlewSP.name))
|
|
{
|
|
if (checkPower(&AbortSlewSP))
|
|
{
|
|
AbortSlewSP.s = IPS_IDLE;
|
|
IDSetSwitch(&AbortSlewSP, NULL);
|
|
return;
|
|
}
|
|
|
|
IUResetSwitches(&AbortSlewSP);
|
|
abortSlew();
|
|
|
|
if (EqNP.s == IPS_BUSY)
|
|
{
|
|
AbortSlewSP.s = IPS_OK;
|
|
EqNP.s = IPS_IDLE;
|
|
IDSetSwitch(&AbortSlewSP, "Slew aborted.");
|
|
IDSetNumber(&EqNP, NULL);
|
|
}
|
|
else if (MovementSP.s == IPS_BUSY)
|
|
{
|
|
|
|
for (int i=0; i < 4; i++)
|
|
lastMove[i] = 0;
|
|
|
|
MovementSP.s = IPS_IDLE;
|
|
AbortSlewSP.s = IPS_OK;
|
|
EqNP.s = IPS_IDLE;
|
|
IUResetSwitches(&MovementSP);
|
|
IUResetSwitches(&AbortSlewSP);
|
|
IDSetSwitch(&AbortSlewSP, "Slew aborted.");
|
|
IDSetSwitch(&MovementSP, NULL);
|
|
IDSetNumber(&EqNP, NULL);
|
|
}
|
|
else
|
|
{
|
|
IUResetSwitches(&MovementSP);
|
|
AbortSlewSP.s = IPS_OK;
|
|
IDSetSwitch(&AbortSlewSP, NULL);
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
// Alignment
|
|
if (!strcmp (name, AlignmentSP.name))
|
|
{
|
|
if (checkPower(&AlignmentSP))
|
|
return;
|
|
|
|
IUResetSwitches(&AlignmentSP);
|
|
IUUpdateSwitches(&AlignmentSP, states, names, n);
|
|
index = getOnSwitch(&AlignmentSP);
|
|
|
|
if ( ( err = tqsetAlignmentMode(index) < 0) )
|
|
{
|
|
handleError(&AlignmentSP, err, "Setting tqalignment");
|
|
return;
|
|
}
|
|
|
|
AlignmentSP.s = IPS_OK;
|
|
IDSetSwitch (&AlignmentSP, NULL);
|
|
return;
|
|
|
|
}
|
|
|
|
// Focus Motion
|
|
if (!strcmp (name, FocusMotionSP.name))
|
|
{
|
|
if (checkPower(&FocusMotionSP))
|
|
return;
|
|
|
|
IUResetSwitches(&FocusMotionSP);
|
|
|
|
// If speed is "halt"
|
|
if (FocusSpeedN[0].value == 0)
|
|
{
|
|
FocusMotionSP.s = IPS_IDLE;
|
|
IDSetSwitch(&FocusMotionSP, NULL);
|
|
return;
|
|
}
|
|
|
|
IUUpdateSwitches(&FocusMotionSP, states, names, n);
|
|
index = getOnSwitch(&FocusMotionSP);
|
|
|
|
if ( ( err = setFocuserMotion(index) < 0) )
|
|
{
|
|
handleError(&FocusMotionSP, err, "Setting focuser speed");
|
|
return;
|
|
}
|
|
|
|
FocusMotionSP.s = IPS_BUSY;
|
|
|
|
// with a timer
|
|
if (FocusTimerN[0].value > 0)
|
|
FocusTimerNP.s = IPS_BUSY;
|
|
|
|
IDSetSwitch(&FocusMotionSP, NULL);
|
|
return;
|
|
}
|
|
|
|
// Movement
|
|
if (!strcmp (name, MovementSP.name))
|
|
{
|
|
if (checkPower(&MovementSP))
|
|
return;
|
|
|
|
index = -1;
|
|
IUUpdateSwitches(&MovementSP, states, names, n);
|
|
swp = IUFindSwitch(&MovementSP, names[0]);
|
|
|
|
if (!swp)
|
|
{
|
|
abortSlew();
|
|
IUResetSwitches(&MovementSP);
|
|
MovementSP.s = IPS_IDLE;
|
|
IDSetSwitch(&MovementSP, NULL);
|
|
}
|
|
|
|
if (swp == &MovementS[0]) index = 0;
|
|
else if (swp == &MovementS[1]) index = 1;
|
|
else if (swp == &MovementS[2]) index = 2;
|
|
else index = 3;
|
|
|
|
lastMove[index] = lastMove[index] == 0 ? 1 : 0;
|
|
if (lastMove[index] == 0)
|
|
MovementS[index].s = ISS_OFF;
|
|
|
|
// North/South movement is illegal
|
|
if (lastMove[LX200_NORTH] && lastMove[LX200_SOUTH])
|
|
{
|
|
abortSlew();
|
|
for (int i=0; i < 4; i++)
|
|
lastMove[i] = 0;
|
|
|
|
IUResetSwitches(&MovementSP);
|
|
MovementSP.s = IPS_IDLE;
|
|
IDSetSwitch(&MovementSP, "Slew aborted.");
|
|
return;
|
|
}
|
|
|
|
// East/West movement is illegal
|
|
if (lastMove[LX200_EAST] && lastMove[LX200_WEST])
|
|
{
|
|
abortSlew();
|
|
for (int i=0; i < 4; i++)
|
|
lastMove[i] = 0;
|
|
|
|
IUResetSwitches(&MovementSP);
|
|
MovementSP.s = IPS_IDLE;
|
|
IDSetSwitch(&MovementSP, "Slew aborted.");
|
|
return;
|
|
}
|
|
|
|
IDLog("We have switch %d \n ", index);
|
|
IDLog("NORTH: %d -- WEST: %d -- EAST: %d -- SOUTH %d\n", lastMove[0], lastMove[1], lastMove[2], lastMove[3]);
|
|
|
|
if (lastMove[index] == 1)
|
|
{
|
|
IDLog("issuing a move command\n");
|
|
if ( ( err = MoveTo(index) < 0) )
|
|
{
|
|
handleError(&MovementSP, err, "Setting motion direction");
|
|
return;
|
|
}
|
|
}
|
|
else
|
|
HaltMovement(index);
|
|
|
|
if (!lastMove[0] && !lastMove[1] && !lastMove[2] && !lastMove[3])
|
|
MovementSP.s = IPS_IDLE;
|
|
|
|
if (lastMove[index] == 0)
|
|
IDSetSwitch(&MovementSP, "Moving toward %s aborted.", Direction[index]);
|
|
else
|
|
{
|
|
MovementSP.s = IPS_BUSY;
|
|
if (lastMove[LX200_NORTH] && lastMove[LX200_WEST])
|
|
strcpy(combinedDir, "North West");
|
|
else if (lastMove[LX200_NORTH] && lastMove[LX200_EAST])
|
|
strcpy(combinedDir, "North East");
|
|
else if (lastMove[LX200_SOUTH] && lastMove[LX200_WEST])
|
|
strcpy(combinedDir, "South West");
|
|
else if (lastMove[LX200_SOUTH] && lastMove[LX200_EAST])
|
|
strcpy(combinedDir, "South East");
|
|
else
|
|
strcpy(combinedDir, Direction[index]);
|
|
|
|
IDSetSwitch(&MovementSP, "Moving %s...", combinedDir);
|
|
}
|
|
return;
|
|
}
|
|
|
|
// Tracking mode
|
|
if (!strcmp (name, TrackModeSP.name))
|
|
{
|
|
if (checkPower(&TrackModeSP))
|
|
return;
|
|
|
|
IUResetSwitches(&TrackModeSP);
|
|
IUUpdateSwitches(&TrackModeSP, states, names, n);
|
|
trackingMode = getOnSwitch(&TrackModeSP);
|
|
|
|
if ( ( err = selectAPTrackingMode(trackingMode) < 0) )
|
|
{
|
|
handleError(&TrackModeSP, err, "Setting tracking mode.");
|
|
return;
|
|
}
|
|
|
|
|
|
TrackModeSP.s = IPS_OK;
|
|
IDSetSwitch(&TrackModeSP, NULL);
|
|
return;
|
|
}
|
|
|
|
}
|
|
|
|
void APMount::handleError(ISwitchVectorProperty *svp, int err, const char *msg)
|
|
{
|
|
|
|
svp->s = IPS_ALERT;
|
|
|
|
/* First check to see if the telescope is connected */
|
|
if (testAP())
|
|
{
|
|
/* The telescope is off locally */
|
|
PowerS[0].s = ISS_OFF;
|
|
PowerS[1].s = ISS_ON;
|
|
PowerSP.s = IPS_BUSY;
|
|
IDSetSwitch(&PowerSP, "Telescope is not responding to commands, will retry in 10 seconds.");
|
|
|
|
IDSetSwitch(svp, NULL);
|
|
IEAddTimer(10000, retryConnection, NULL);
|
|
return;
|
|
}
|
|
|
|
/* If the error is a time out, then the device doesn't support this property or busy*/
|
|
if (err == -2)
|
|
{
|
|
svp->s = IPS_ALERT;
|
|
IDSetSwitch(svp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg);
|
|
}
|
|
else
|
|
/* Changing property failed, user should retry. */
|
|
IDSetSwitch( svp , "%s failed.", msg);
|
|
|
|
fault = true;
|
|
}
|
|
|
|
void APMount::handleError(INumberVectorProperty *nvp, int err, const char *msg)
|
|
{
|
|
|
|
nvp->s = IPS_ALERT;
|
|
|
|
/* First check to see if the telescope is connected */
|
|
if (testAP())
|
|
{
|
|
/* The telescope is off locally */
|
|
PowerS[0].s = ISS_OFF;
|
|
PowerS[1].s = ISS_ON;
|
|
PowerSP.s = IPS_BUSY;
|
|
IDSetSwitch(&PowerSP, "Telescope is not responding to commands, will retry in 10 seconds.");
|
|
|
|
IDSetNumber(nvp, NULL);
|
|
IEAddTimer(10000, retryConnection, NULL);
|
|
return;
|
|
}
|
|
|
|
/* If the error is a time out, then the device doesn't support this property */
|
|
if (err == -2)
|
|
{
|
|
nvp->s = IPS_ALERT;
|
|
IDSetNumber(nvp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg);
|
|
}
|
|
else
|
|
/* Changing property failed, user should retry. */
|
|
IDSetNumber( nvp , "%s failed.", msg);
|
|
|
|
fault = true;
|
|
}
|
|
|
|
void APMount::handleError(ITextVectorProperty *tvp, int err, const char *msg)
|
|
{
|
|
|
|
tvp->s = IPS_ALERT;
|
|
|
|
/* First check to see if the telescope is connected */
|
|
if (testAP())
|
|
{
|
|
/* The telescope is off locally */
|
|
PowerS[0].s = ISS_OFF;
|
|
PowerS[1].s = ISS_ON;
|
|
PowerSP.s = IPS_BUSY;
|
|
IDSetSwitch(&PowerSP, "Telescope is not responding to commands, will retry in 10 seconds.");
|
|
|
|
IDSetText(tvp, NULL);
|
|
IEAddTimer(10000, retryConnection, NULL);
|
|
return;
|
|
}
|
|
|
|
/* If the error is a time out, then the device doesn't support this property */
|
|
if (err == -2)
|
|
{
|
|
tvp->s = IPS_ALERT;
|
|
IDSetText(tvp, "Device timed out. Current device may be busy or does not support %s. Will retry again.", msg);
|
|
}
|
|
|
|
else
|
|
/* Changing property failed, user should retry. */
|
|
IDSetText( tvp , "%s failed.", msg);
|
|
|
|
fault = true;
|
|
}
|
|
|
|
void APMount::correctFault()
|
|
{
|
|
|
|
fault = false;
|
|
IDMessage(mydev, "Telescope is online.");
|
|
|
|
}
|
|
|
|
bool APMount::isTelescopeOn(void)
|
|
{
|
|
if (simulation) return true;
|
|
|
|
return (PowerSP.sp[0].s == ISS_ON);
|
|
}
|
|
|
|
static void retryConnection(void * p)
|
|
{
|
|
p=p;
|
|
|
|
if (testAP())
|
|
telescope->connectionLost();
|
|
else
|
|
telescope->connectionResumed();
|
|
}
|
|
|
|
void APMount::ISPoll()
|
|
{
|
|
double dx, dy;
|
|
int err=0;
|
|
|
|
if (!isTelescopeOn())
|
|
return;
|
|
|
|
switch (EqNP.s)
|
|
{
|
|
case IPS_IDLE:
|
|
getLX200RA(¤tRA);
|
|
getLX200DEC(¤tDEC);
|
|
|
|
if ( fabs (currentRA - lastRA) > 0.01 || fabs (currentDEC - lastDEC) > 0.01)
|
|
{
|
|
lastRA = currentRA;
|
|
lastDEC = currentDEC;
|
|
IDSetNumber (&EqNP, NULL);
|
|
}
|
|
break;
|
|
|
|
case IPS_BUSY:
|
|
getLX200RA(¤tRA);
|
|
getLX200DEC(¤tDEC);
|
|
dx = targetRA - currentRA;
|
|
dy = targetDEC - currentDEC;
|
|
|
|
IDLog("targetRA is %g, currentRA is %g\n", targetRA, currentRA);
|
|
IDLog("targetDEC is %g, currentDEC is %g\n*************************\n", targetDEC, currentDEC);
|
|
|
|
// Wait until acknowledged or within threshold
|
|
if (fabs(dx) <= RA_THRESHOLD && fabs(dy) <= DEC_THRESHOLD)
|
|
{
|
|
|
|
lastRA = currentRA;
|
|
lastDEC = currentDEC;
|
|
IUResetSwitches(&OnCoordSetSP);
|
|
OnCoordSetSP.s = IPS_OK;
|
|
EqNP.s = IPS_OK;
|
|
IDSetNumber (&EqNP, NULL);
|
|
|
|
switch (currentSet)
|
|
{
|
|
case LX200_SLEW:
|
|
OnCoordSetSP.sp[0].s = ISS_ON;
|
|
IDSetSwitch (&OnCoordSetSP, "Slew is complete.");
|
|
break;
|
|
|
|
case LX200_TRACK:
|
|
OnCoordSetSP.sp[1].s = ISS_ON;
|
|
IDSetSwitch (&OnCoordSetSP, "Slew is complete. Tracking...");
|
|
break;
|
|
|
|
case LX200_SYNC:
|
|
break;
|
|
}
|
|
|
|
} else
|
|
IDSetNumber (&EqNP, NULL);
|
|
break;
|
|
|
|
case IPS_OK:
|
|
|
|
if ( (err = getLX200RA(¤tRA)) < 0 || (err = getLX200DEC(¤tDEC)) < 0)
|
|
{
|
|
handleError(&EqNP, err, "Getting RA/DEC");
|
|
return;
|
|
}
|
|
|
|
if (fault)
|
|
correctFault();
|
|
|
|
if ( (currentRA != lastRA) || (currentDEC != lastDEC))
|
|
{
|
|
lastRA = currentRA;
|
|
lastDEC = currentDEC;
|
|
IDSetNumber (&EqNP, NULL);
|
|
}
|
|
break;
|
|
|
|
|
|
case IPS_ALERT:
|
|
break;
|
|
}
|
|
|
|
switch (MovementSP.s)
|
|
{
|
|
case IPS_IDLE:
|
|
break;
|
|
case IPS_BUSY:
|
|
getLX200RA(¤tRA);
|
|
getLX200DEC(¤tDEC);
|
|
IDSetNumber (&EqNP, NULL);
|
|
break;
|
|
case IPS_OK:
|
|
break;
|
|
case IPS_ALERT:
|
|
break;
|
|
}
|
|
|
|
switch (FocusTimerNP.s)
|
|
{
|
|
case IPS_IDLE:
|
|
break;
|
|
|
|
case IPS_BUSY:
|
|
FocusTimerN[0].value--;
|
|
|
|
if (FocusTimerN[0].value == 0)
|
|
{
|
|
|
|
if ( ( err = setFocuserSpeedMode(0) < 0) )
|
|
{
|
|
handleError(&FocusSpeedNP, err, "setting focuser speed mode");
|
|
IDLog("Error setting focuser speed mode\n");
|
|
return;
|
|
}
|
|
|
|
|
|
FocusMotionSP.s = IPS_IDLE;
|
|
FocusTimerNP.s = IPS_OK;
|
|
FocusSpeedNP.s = IPS_OK;
|
|
|
|
IUResetSwitches(&FocusMotionSP);
|
|
FocusSpeedN[0].value = 0;
|
|
|
|
IDSetNumber(&FocusSpeedNP, NULL);
|
|
IDSetSwitch(&FocusMotionSP, NULL);
|
|
}
|
|
|
|
IDSetNumber(&FocusTimerNP, NULL);
|
|
break;
|
|
|
|
case IPS_OK:
|
|
break;
|
|
|
|
case IPS_ALERT:
|
|
break;
|
|
}
|
|
|
|
|
|
}
|
|
|
|
void APMount::getBasicData()
|
|
{
|
|
|
|
// #1 Save current time
|
|
IUSaveText(&UTCT[0], timestamp());
|
|
IDLog("PC UTC time is %s\n", UTCT[0].text);
|
|
|
|
// #2 Make sure format is long
|
|
checkLX200Format();
|
|
timeFormat = LX200_24;
|
|
|
|
// #3 Get current RA/DEC
|
|
getLX200RA(¤tRA);
|
|
getLX200DEC(¤tDEC);
|
|
targetRA = currentRA;
|
|
targetDEC = currentDEC;
|
|
|
|
IDSetNumber (&EqNP, NULL);
|
|
updateLocation();
|
|
updateTime();
|
|
|
|
}
|
|
|
|
int APMount::handleCoordSet()
|
|
{
|
|
|
|
int err;
|
|
char syncString[256];
|
|
char RAStr[32], DecStr[32];
|
|
double dx, dy;
|
|
|
|
switch (currentSet)
|
|
{
|
|
|
|
// Slew
|
|
case LX200_SLEW:
|
|
lastSet = LX200_SLEW;
|
|
if (EqNP.s == IPS_BUSY)
|
|
{
|
|
IDLog("Aboring Slew\n");
|
|
abortSlew();
|
|
|
|
// sleep for 100 mseconds
|
|
usleep(100000);
|
|
}
|
|
|
|
if ((err = Slew()))
|
|
{
|
|
slewError(err);
|
|
return (-1);
|
|
}
|
|
|
|
EqNP.s = IPS_BUSY;
|
|
fs_sexa(RAStr, targetRA, 2, 3600);
|
|
fs_sexa(DecStr, targetDEC, 2, 3600);
|
|
IDSetNumber(&EqNP, "Slewing to JNow RA %s - DEC %s", RAStr, DecStr);
|
|
IDLog("Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr);
|
|
break;
|
|
|
|
// Track
|
|
case LX200_TRACK:
|
|
IDLog("We're in LX200_TRACK\n");
|
|
if (EqNP.s == IPS_BUSY)
|
|
{
|
|
IDLog("Aboring Slew\n");
|
|
abortSlew();
|
|
|
|
// sleep for 200 mseconds
|
|
usleep(200000);
|
|
}
|
|
|
|
dx = fabs ( targetRA - currentRA );
|
|
dy = fabs (targetDEC - currentDEC);
|
|
|
|
|
|
if (dx >= TRACKING_THRESHOLD || dy >= TRACKING_THRESHOLD)
|
|
{
|
|
IDLog("Exceeded Tracking threshold, will attempt to slew to the new target.\n");
|
|
IDLog("targetRA is %g, currentRA is %g\n", targetRA, currentRA);
|
|
IDLog("targetDEC is %g, currentDEC is %g\n*************************\n", targetDEC, currentDEC);
|
|
|
|
if ((err = Slew()))
|
|
{
|
|
slewError(err);
|
|
return (-1);
|
|
}
|
|
|
|
fs_sexa(RAStr, targetRA, 2, 3600);
|
|
fs_sexa(DecStr, targetDEC, 2, 3600);
|
|
EqNP.s = IPS_BUSY;
|
|
IDSetNumber(&EqNP, "Slewing to JNow RA %s - DEC %s", RAStr, DecStr);
|
|
IDLog("Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr);
|
|
}
|
|
else
|
|
{
|
|
IDLog("Tracking called, but tracking threshold not reached yet.\n");
|
|
EqNP.s = IPS_OK;
|
|
EqNP.np[0].value = currentRA;
|
|
EqNP.np[1].value = currentDEC;
|
|
|
|
if (lastSet != LX200_TRACK)
|
|
IDSetNumber(&EqNP, "Tracking...");
|
|
else
|
|
IDSetNumber(&EqNP, NULL);
|
|
}
|
|
lastSet = LX200_TRACK;
|
|
break;
|
|
|
|
// Sync
|
|
case LX200_SYNC:
|
|
lastSet = LX200_SYNC;
|
|
EqNP.s = IPS_IDLE;
|
|
|
|
if ( ( err = Sync(syncString) < 0) )
|
|
{
|
|
IDSetNumber( &EqNP , "Synchronization failed.");
|
|
return (-1);
|
|
}
|
|
|
|
EqNP.s = IPS_OK;
|
|
IDLog("Synchronization successful %s\n", syncString);
|
|
IDSetNumber(&EqNP, "Synchronization successful.");
|
|
break;
|
|
}
|
|
|
|
return (0);
|
|
|
|
}
|
|
|
|
int APMount::getOnSwitch(ISwitchVectorProperty *sp)
|
|
{
|
|
for (int i=0; i < sp->nsp ; i++)
|
|
if (sp->sp[i].s == ISS_ON)
|
|
return i;
|
|
|
|
return -1;
|
|
}
|
|
|
|
|
|
int APMount::checkPower(ISwitchVectorProperty *sp)
|
|
{
|
|
if (simulation) return 0;
|
|
|
|
if (PowerSP.s != IPS_OK)
|
|
{
|
|
if (!strcmp(sp->label, ""))
|
|
IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->name);
|
|
else
|
|
IDMessage (mydev, "Cannot change property %s while the telescope is offline.", sp->label);
|
|
|
|
sp->s = IPS_IDLE;
|
|
IDSetSwitch(sp, NULL);
|
|
return -1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int APMount::checkPower(INumberVectorProperty *np)
|
|
{
|
|
if (simulation) return 0;
|
|
|
|
if (PowerSP.s != IPS_OK)
|
|
{
|
|
|
|
if (!strcmp(np->label, ""))
|
|
IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->name);
|
|
else
|
|
IDMessage (mydev, "Cannot change property %s while the telescope is offline.", np->label);
|
|
|
|
np->s = IPS_IDLE;
|
|
IDSetNumber(np, NULL);
|
|
return -1;
|
|
}
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
int APMount::checkPower(ITextVectorProperty *tp)
|
|
{
|
|
|
|
if (simulation) return 0;
|
|
|
|
if (PowerSP.s != IPS_OK)
|
|
{
|
|
if (!strcmp(tp->label, ""))
|
|
IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->name);
|
|
else
|
|
IDMessage (mydev, "Cannot change property %s while the telescope is offline.", tp->label);
|
|
|
|
tp->s = IPS_IDLE;
|
|
IDSetText(tp, NULL);
|
|
return -1;
|
|
}
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
void APMount::powerTelescope()
|
|
{
|
|
switch (PowerSP.sp[0].s)
|
|
{
|
|
case ISS_ON:
|
|
|
|
if (simulation)
|
|
{
|
|
PowerSP.s = IPS_OK;
|
|
IDSetSwitch (&PowerSP, "Simulated telescope is online.");
|
|
updateTime();
|
|
return;
|
|
}
|
|
|
|
if (Connect(PortT[0].text))
|
|
{
|
|
PowerS[0].s = ISS_OFF;
|
|
PowerS[1].s = ISS_ON;
|
|
IDSetSwitch (&PowerSP, "Error connecting to port %s\n", PortT[0].text);
|
|
return;
|
|
}
|
|
|
|
if (testAP())
|
|
{
|
|
PowerS[0].s = ISS_OFF;
|
|
PowerS[1].s = ISS_ON;
|
|
IDSetSwitch (&PowerSP, "Error connecting to Telescope. Telescope is offline.");
|
|
return;
|
|
}
|
|
|
|
IDLog("telescope test successfful\n");
|
|
PowerSP.s = IPS_OK;
|
|
IDSetSwitch (&PowerSP, "Telescope is online. Retrieving basic data...");
|
|
getBasicData();
|
|
break;
|
|
|
|
case ISS_OFF:
|
|
PowerS[0].s = ISS_OFF;
|
|
PowerS[1].s = ISS_ON;
|
|
PowerSP.s = IPS_IDLE;
|
|
IDSetSwitch (&PowerSP, "Telescope is offline.");
|
|
IDLog("Telescope is offline.");
|
|
Disconnect();
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
void APMount::slewError(int slewCode)
|
|
{
|
|
OnCoordSetSP.s = IPS_IDLE;
|
|
ParkSP.s = IPS_IDLE;
|
|
IDSetSwitch(&ParkSP, NULL);
|
|
|
|
if (slewCode == 1)
|
|
IDSetSwitch (&OnCoordSetSP, "Object below horizon.");
|
|
else if (slewCode == 2)
|
|
IDSetSwitch (&OnCoordSetSP, "Object below the minimum elevation limit.");
|
|
else
|
|
IDSetSwitch (&OnCoordSetSP, "Slew failed.");
|
|
|
|
|
|
}
|
|
|
|
void APMount::enableSimulation(bool enable)
|
|
{
|
|
simulation = enable;
|
|
|
|
if (simulation)
|
|
IDLog("Warning: Simulation is activated.\n");
|
|
else
|
|
IDLog("Simulation is disabled.\n");
|
|
}
|
|
|
|
void APMount::updateTime()
|
|
{
|
|
|
|
char cdate[32];
|
|
double ctime;
|
|
int h, m, s;
|
|
int day, month, year, result;
|
|
int UTC_h, UTC_month, UTC_year, UTC_day, daysInFeb;
|
|
bool leapYear;
|
|
|
|
tzset();
|
|
|
|
UTCOffset = timezoneOffset();
|
|
IDLog("Daylight: %s - TimeZone: %g\n", daylight ? "Yes" : "No", UTCOffset);
|
|
|
|
|
|
if (simulation)
|
|
{
|
|
sprintf(UTCT[0].text, "%d-%02d-%02dT%02d:%02d:%02d", 1979, 6, 25, 3, 30, 30);
|
|
IDLog("Telescope ISO date and time: %s\n", UTCT[0].text);
|
|
IDSetText(&TimeTP, NULL);
|
|
return;
|
|
}
|
|
|
|
getLocalTime24(&ctime);
|
|
getSexComponents(ctime, &h, &m, &s);
|
|
|
|
UTC_h = h;
|
|
|
|
if ( (result = getSDTime(&SDTimeN[0].value)) < 0)
|
|
IDMessage(mydev, "Failed to retrieve siderial time from device.");
|
|
|
|
getCalenderDate(cdate);
|
|
|
|
result = sscanf(cdate, "%d/%d/%d", &year, &month, &day);
|
|
if (result != 3) return;
|
|
|
|
if (year % 4 == 0)
|
|
{
|
|
if (year % 100 == 0)
|
|
{
|
|
if (year % 400 == 0)
|
|
leapYear = true;
|
|
else
|
|
leapYear = false;
|
|
}
|
|
else
|
|
leapYear = true;
|
|
}
|
|
else
|
|
leapYear = false;
|
|
|
|
daysInFeb = leapYear ? 29 : 28;
|
|
|
|
UTC_year = year;
|
|
UTC_month = month;
|
|
UTC_day = day;
|
|
|
|
IDLog("day: %d - month %d - year: %d\n", day, month, year);
|
|
|
|
// we'll have to convert telescope time to UTC manually starting from hour up
|
|
// seems like a stupid way to do it.. oh well
|
|
UTC_h = (int) UTCOffset + h;
|
|
if (UTC_h < 0)
|
|
{
|
|
UTC_h += 24;
|
|
UTC_day--;
|
|
}
|
|
else if (UTC_h > 24)
|
|
{
|
|
UTC_h -= 24;
|
|
UTC_day++;
|
|
}
|
|
|
|
switch (UTC_month)
|
|
{
|
|
case 1:
|
|
case 8:
|
|
if (UTC_day < 1)
|
|
{
|
|
UTC_day = 31;
|
|
UTC_month--;
|
|
}
|
|
else if (UTC_day > 31)
|
|
{
|
|
UTC_day = 1;
|
|
UTC_month++;
|
|
}
|
|
break;
|
|
|
|
case 2:
|
|
if (UTC_day < 1)
|
|
{
|
|
UTC_day = 31;
|
|
UTC_month--;
|
|
}
|
|
else if (UTC_day > daysInFeb)
|
|
{
|
|
UTC_day = 1;
|
|
UTC_month++;
|
|
}
|
|
break;
|
|
|
|
case 3:
|
|
if (UTC_day < 1)
|
|
{
|
|
UTC_day = daysInFeb;
|
|
UTC_month--;
|
|
}
|
|
else if (UTC_day > 31)
|
|
{
|
|
UTC_day = 1;
|
|
UTC_month++;
|
|
}
|
|
break;
|
|
|
|
case 4:
|
|
case 6:
|
|
case 9:
|
|
case 11:
|
|
if (UTC_day < 1)
|
|
{
|
|
UTC_day = 31;
|
|
UTC_month--;
|
|
}
|
|
else if (UTC_day > 30)
|
|
{
|
|
UTC_day = 1;
|
|
UTC_month++;
|
|
}
|
|
break;
|
|
|
|
case 5:
|
|
case 7:
|
|
case 10:
|
|
case 12:
|
|
if (UTC_day < 1)
|
|
{
|
|
UTC_day = 30;
|
|
UTC_month--;
|
|
}
|
|
else if (UTC_day > 31)
|
|
{
|
|
UTC_day = 1;
|
|
UTC_month++;
|
|
}
|
|
break;
|
|
|
|
}
|
|
|
|
if (UTC_month < 1)
|
|
{
|
|
UTC_month = 12;
|
|
UTC_year--;
|
|
}
|
|
else if (UTC_month > 12)
|
|
{
|
|
UTC_month = 1;
|
|
UTC_year++;
|
|
}
|
|
|
|
/* Format it into ISO 8601 */
|
|
sprintf(UTCT[0].text, "%d-%02d-%02dT%02d:%02d:%02d", UTC_year, UTC_month, UTC_day, UTC_h, m, s);
|
|
|
|
IDLog("Local telescope time: %02d:%02d:%02d\n", h, m , s);
|
|
IDLog("Telescope SD Time is: %g\n", SDTimeN[0].value);
|
|
IDLog("UTC date and time: %s\n", UTCT[0].text);
|
|
|
|
|
|
// Let's send everything to the client
|
|
IDSetText(&TimeTP, NULL);
|
|
IDSetNumber(&SDTimeNP, NULL);
|
|
|
|
}
|
|
|
|
void APMount::updateLocation()
|
|
{
|
|
|
|
int dd = 0, mm = 0, err = 0;
|
|
|
|
if ( (err = getSiteLatitude(&dd, &mm)) < 0)
|
|
IDMessage(mydev, "Failed to get site latitude from device.");
|
|
else
|
|
{
|
|
if (dd > 0)
|
|
GeoNP.np[0].value = dd + mm/60.0;
|
|
else
|
|
GeoNP.np[0].value = dd - mm/60.0;
|
|
|
|
IDLog("Astro-Physics Latitude: %d:%d\n", dd, mm);
|
|
IDLog("INDI Latitude: %g\n", GeoNP.np[0].value);
|
|
}
|
|
|
|
if ( (err = getSiteLongitude(&dd, &mm)) < 0)
|
|
IDMessage(mydev, "Failed to get site longitude from device.");
|
|
else
|
|
{
|
|
if (dd > 0) GeoNP.np[1].value = 360.0 - (dd + mm/60.0);
|
|
else GeoNP.np[1].value = (dd - mm/60.0) * -1.0;
|
|
|
|
IDLog("Astro-Physics Longitude: %d:%d\n", dd, mm);
|
|
IDLog("INDI Longitude: %g\n", GeoNP.np[1].value);
|
|
}
|
|
|
|
IDSetNumber (&GeoNP, NULL);
|
|
|
|
}
|
|
|
|
void APMount::connectionLost()
|
|
{
|
|
PowerSP.s = IPS_IDLE;
|
|
IDSetSwitch(&PowerSP, "The connection to the telescope is lost.");
|
|
return;
|
|
|
|
}
|
|
|
|
void APMount::connectionResumed()
|
|
{
|
|
PowerS[0].s = ISS_ON;
|
|
PowerS[1].s = ISS_OFF;
|
|
PowerSP.s = IPS_OK;
|
|
|
|
IDSetSwitch(&PowerSP, "The connection to the telescope has been resumed.");
|
|
}
|
|
|
|
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