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/*
INDI Developers Manual
Tutorial #2
"Simple Telescope Driver"
We develop a simple telescope simulator.
Refer to README, which contains instruction on how to build this driver, and use it
with an INDI-compatible client.
*/
/** \file simplescope.cpp
\brief Construct a basic INDI telescope device that simulates GOTO commands.
\author Jasem Mutlaq
\example simplescope.cpp
A simple GOTO telescope that simulator slewing operation.
*/
#include "simplescope.h"
#include "indicom.h"
#include <cmath>
#include <memory>
static std::unique_ptr<SimpleScope> simpleScope(new SimpleScope());
SimpleScope::SimpleScope()
{
// We add an additional debug level so we can log verbose scope status
DBG_SCOPE = INDI::Logger::getInstance().addDebugLevel("Scope Verbose", "SCOPE");
}
/**************************************************************************************
** We init our properties here. The only thing we want to init are the Debug controls
***************************************************************************************/
bool SimpleScope::initProperties()
{
// ALWAYS call initProperties() of parent first
INDI::Telescope::initProperties();
// Add Debug control so end user can turn debugging/loggin on and off
addDebugControl();
// Enable simulation mode so that serial connection in INDI::Telescope does not try
// to attempt to perform a physical connection to the serial port.
setSimulation(true);
// Set telescope capabilities. 0 is for the the number of slew rates that we support. We have none for this simple driver.
SetTelescopeCapability(TELESCOPE_CAN_GOTO | TELESCOPE_CAN_ABORT, 0);
return true;
}
/**************************************************************************************
** INDI is asking us to check communication with the device via a handshake
***************************************************************************************/
bool SimpleScope::Handshake()
{
// When communicating with a real mount, we check here if commands are receieved
// and acknolowedged by the mount. For SimpleScope, we simply return true.
return true;
}
/**************************************************************************************
** INDI is asking us for our default device name
***************************************************************************************/
const char *SimpleScope::getDefaultName()
{
return "Simple Scope";
}
/**************************************************************************************
** Client is asking us to slew to a new position
***************************************************************************************/
bool SimpleScope::Goto(double ra, double dec)
{
targetRA = ra;
targetDEC = dec;
char RAStr[64] = {0}, DecStr[64] = {0};
// Parse the RA/DEC into strings
fs_sexa(RAStr, targetRA, 2, 3600);
fs_sexa(DecStr, targetDEC, 2, 3600);
// Mark state as slewing
TrackState = SCOPE_SLEWING;
// Inform client we are slewing to a new position
LOGF_INFO("Slewing to RA: %s - DEC: %s", RAStr, DecStr);
// Success!
return true;
}
/**************************************************************************************
** Client is asking us to abort our motion
***************************************************************************************/
bool SimpleScope::Abort()
{
return true;
}
/**************************************************************************************
** Client is asking us to report telescope status
***************************************************************************************/
bool SimpleScope::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;
int nlocked;
/* 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;
dt = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec) / 1e6;
ltv = tv;
// Calculate how much we moved since last time
da_ra = SLEW_RATE * dt;
da_dec = SLEW_RATE * dt;
/* Process per current state. We check the state of EQUATORIAL_EOD_COORDS_REQUEST and act acoordingly */
switch (TrackState)
{
case SCOPE_SLEWING:
// Wait until we are "locked" into positon for both RA & DEC axis
nlocked = 0;
// Calculate diff in RA
dx = targetRA - currentRA;
// If diff is very small, i.e. smaller than how much we changed since last time, then we reached target RA.
if (fabs(dx) * 15. <= da_ra)
{
currentRA = targetRA;
nlocked++;
}
// Otherwise, increase RA
else if (dx > 0)
currentRA += da_ra / 15.;
// Otherwise, decrease RA
else
currentRA -= da_ra / 15.;
// Calculate diff in DEC
dy = targetDEC - currentDEC;
// If diff is very small, i.e. smaller than how much we changed since last time, then we reached target DEC.
if (fabs(dy) <= da_dec)
{
currentDEC = targetDEC;
nlocked++;
}
// Otherwise, increase DEC
else if (dy > 0)
currentDEC += da_dec;
// Otherwise, decrease DEC
else
currentDEC -= da_dec;
// Let's check if we recahed position for both RA/DEC
if (nlocked == 2)
{
// Let's set state to TRACKING
TrackState = SCOPE_TRACKING;
LOG_INFO("Telescope slew is complete. Tracking...");
}
break;
default:
break;
}
char RAStr[64] = {0}, DecStr[64] = {0};
// Parse the RA/DEC into strings
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);
return true;
}
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