~mutlaqja/indi-maxdomeii/trunk

/*
    MaxDome II 
    Copyright (C) 2009 Ferran Casarramona (ferran.casarramona@gmail.com)

    Migrated to INDI::Dome by Jasem Mutlaq (2014)

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
*/

/* MaxDome II Command Set */
#include "maxdomeiidriver.h"

/* Our driver header */
#include "maxdomeii.h"

#include "config.h"

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <string.h>

#include <memory>

const int POLLMS = 1000;                            // Period of update, 1 second.

// We declare an auto pointer to dome.
std::unique_ptr<MaxDomeII> dome(new MaxDomeII());

void ISGetProperties(const char *dev)
{
        dome->ISGetProperties(dev);
}

void ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int num)
{
        dome->ISNewSwitch(dev, name, states, names, num);
}

void ISNewText(	const char *dev, const char *name, char *texts[], char *names[], int num)
{
        dome->ISNewText(dev, name, texts, names, num);
}

void ISNewNumber(const char *dev, const char *name, double values[], char *names[], int num)
{
        dome->ISNewNumber(dev, name, values, names, num);
}

void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n)
{
  INDI_UNUSED(dev);
  INDI_UNUSED(name);
  INDI_UNUSED(sizes);
  INDI_UNUSED(blobsizes);
  INDI_UNUSED(blobs);
  INDI_UNUSED(formats);
  INDI_UNUSED(names);
  INDI_UNUSED(n);
}

void ISSnoopDevice (XMLEle *root)
{
    dome->ISSnoopDevice(root);
}

MaxDomeII::MaxDomeII()
{

   fd = -1;
   nTicksPerTurn = 360;
   nCurrentTicks = 0;
   nParkPosition = 0.0;
   nHomeAzimuth = 0.0;
   nHomeTicks = 0;
   nCloseShutterBeforePark = 0;
   nTimeSinceShutterStart = -1; // No movement has started
   nTimeSinceAzimuthStart = -1; // No movement has started
   nTargetAzimuth = -1; //Target azimuth not established
   nTimeSinceLastCommunication = 0;

   SetDomeCapability(DOME_CAN_ABORT | DOME_CAN_ABS_MOVE | DOME_HAS_SHUTTER);
   
   setVersion(INDI_MAXDOMEII_VERSION_MAJOR, INDI_MAXDOMEII_VERSION_MINOR);
}

bool MaxDomeII::SetupParms()
{
    DomeAbsPosN[0].value = 0;

    IDSetNumber(&DomeAbsPosNP, NULL);
    IDSetNumber(&DomeParamNP, NULL);

    return true;
}

bool MaxDomeII::Connect()
{
    int error;

    if (fd >= 0)
        Disconnect_MaxDomeII(fd);

    DEBUG(INDI::Logger::DBG_SESSION, "Opening port ...");

    fd = Connect_MaxDomeII(PortT[0].text);

    if (fd < 0)
    {
        DEBUGF(INDI::Logger::DBG_ERROR, "Error connecting to port %s. Make sure you have BOTH write and read permission to your port.", PortT[0].text);
        return false;
    }

    DEBUG(INDI::Logger::DBG_SESSION, "Connecting ...");

    error = Ack_MaxDomeII(fd);
    if (error)
    {
        DEBUGF(INDI::Logger::DBG_ERROR, "Error connecting to dome (%s).", ErrorMessages[-error]);
        Disconnect_MaxDomeII(fd);
        fd = -1;
        return false;
    }

    DEBUG(INDI::Logger::DBG_SESSION, "Dome is online.");

    SetTimer(POLLMS);

    return true;
}

MaxDomeII::~MaxDomeII()
{
    prev_az = prev_alt = 0;
}

const char * MaxDomeII::getDefaultName()
{
        return (char *)"MaxDome II";
}

bool MaxDomeII::initProperties()
{
    INDI::Dome::initProperties();

    IUFillNumber(&HomeAzimuthN[0], "HOME_AZIMUTH", "Home azimuth", "%5.2f",  0., 360., 0., nHomeAzimuth);
    IUFillNumberVector(&HomeAzimuthNP, HomeAzimuthN, NARRAY(HomeAzimuthN), getDeviceName(), "HOME_AZIMUTH" , "Home azimuth", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);

    // Ticks per turn
    IUFillNumber(&TicksPerTurnN[0], "TICKS_PER_TURN", "Ticks per turn", "%5.2f",  0., 360., 0., nTicksPerTurn);
    IUFillNumberVector(&TicksPerTurnNP, TicksPerTurnN, NARRAY(TicksPerTurnN), getDeviceName(), "TICKS_PER_TURN" , "Ticks per turn", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);

    // Park position
    IUFillNumber(&ShutterOperationAzimuthN[0], "SOp_AZIMUTH", "Azimuth", "%5.2f",  0., 360., 0., nParkPosition);
    IUFillNumberVector(&ShutterOperationAzimuthNP, ShutterOperationAzimuthN, NARRAY(ShutterOperationAzimuthN), getDeviceName(), "SHUTTER_OPERATION_AZIMUTH" , "Shutter operation azimuth", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);

    // Park on shutter
    IUFillSwitch(&ShutterConflictS[0], "MOVE", "Move", ISS_ON);
    IUFillSwitch(&ShutterConflictS[1], "NO_MOVE", "No move", ISS_OFF);
    IUFillSwitchVector(&ShutterConflictSP, ShutterConflictS, NARRAY(ShutterConflictS), getDeviceName(), "AZIMUTH_ON_SHUTTER", "Azimuth on operating shutter", OPTIONS_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
    
    // Shutter mode
    IUFillSwitch(&ShutterModeS[0], "FULL", "Open full", ISS_ON);
    IUFillSwitch(&ShutterModeS[1], "UPPER", "Open upper only", ISS_OFF);
    IUFillSwitchVector(&ShutterModeSP, ShutterModeS, NARRAY(ShutterModeS), getDeviceName(), "SHUTTER_MODE", "Shutter open mode", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
    
    // Home - Home command 
    IUFillSwitch(&HomeS[0], "HOME", "Home", ISS_OFF);
    IUFillSwitchVector(&HomeSP, HomeS, NARRAY(HomeS), getDeviceName(), "HOME_MOTION", "Home dome", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 0, IPS_IDLE);

    // Watch Dog
    IUFillNumber(&WatchDogN[0], "WATCH_DOG_TIME", "Watch dog time", "%5.2f",  0., 3600., 0., 0.);
    IUFillNumberVector(&WatchDogNP, WatchDogN, NARRAY(WatchDogN), getDeviceName(), "WATCH_DOG_TIME_SET" , "Watch dog time set", OPTIONS_TAB, IP_RW, 0, IPS_IDLE);

    return true;
}

bool MaxDomeII::updateProperties()
{
    INDI::Dome::updateProperties();

    if (isConnected())
    {
        defineNumber(&HomeAzimuthNP);
        defineNumber(&TicksPerTurnNP);
        defineNumber(&ShutterOperationAzimuthNP);
        defineSwitch(&ShutterConflictSP);
        defineSwitch(&ShutterModeSP);
        defineSwitch(&HomeSP);
        defineNumber(&WatchDogNP);

        SetupParms();
    }
    else
    {
        deleteProperty(HomeAzimuthNP.name);
        deleteProperty(TicksPerTurnNP.name);
        deleteProperty(ShutterOperationAzimuthNP.name);
        deleteProperty(ShutterConflictSP.name);
        deleteProperty(ShutterModeSP.name);
        deleteProperty(HomeSP.name);
        deleteProperty(WatchDogNP.name);
    }

    return true;
}

bool MaxDomeII::saveConfigItems(FILE *fp)
{
    IUSaveConfigNumber(fp, &HomeAzimuthNP);
    IUSaveConfigNumber(fp, &TicksPerTurnNP);
    IUSaveConfigNumber(fp, &ShutterOperationAzimuthNP);
    IUSaveConfigSwitch(fp, &ShutterConflictSP);
    IUSaveConfigSwitch(fp, &ShutterModeSP);

    return INDI::Dome::saveConfigItems(fp);
}

bool MaxDomeII::Disconnect()
{
    if (fd >= 0)
        Disconnect_MaxDomeII(fd);

    return true;
}


void MaxDomeII::TimerHit()
{
    SH_Status nShutterStatus;
    AZ_Status nAzimuthStatus;
    unsigned nHomePosition;
    float nAz;
    int nError;
    int nRetry = 1;

    if(isConnected() == false)
        return;  //  No need to reset timer if we are not connected anymore

    nError = Status_MaxDomeII(fd, &nShutterStatus, &nAzimuthStatus, &nCurrentTicks, &nHomePosition);
    handle_driver_error(&nError, &nRetry); // This is a timer, we will not repeat in order to not delay the execution.
    
    // Increment movment time counter
    if (nTimeSinceShutterStart >= 0)
        nTimeSinceShutterStart++;
    if (nTimeSinceAzimuthStart >= 0)
        nTimeSinceAzimuthStart++;

    // Watch dog
    nTimeSinceLastCommunication++;
    if (WatchDogNP.np[0].value > 0 && WatchDogNP.np[0].value <= nTimeSinceLastCommunication)
    {
        // Close Shutter if it is not
        if (nShutterStatus != Ss_CLOSED)
        {
            DomeShutterSP.s = ControlShutter(SHUTTER_CLOSE);
            IDSetSwitch(&DomeShutterSP, "Closing shutter due watch dog");
        }

    }
    
    if (getWeatherState() == IPS_ALERT)
    {
        // Close Shutter if it is not
        if (nShutterStatus != Ss_CLOSED)
        {
            DomeShutterSP.s = ControlShutter(SHUTTER_CLOSE);
            IDSetSwitch(&DomeShutterSP, "Closing shutter due Weather conditions");
        }
    }

    if (!nError)
    {
        // Shutter
        switch(nShutterStatus)
        {
        case Ss_CLOSED:
            if (DomeShutterS[1].s == ISS_ON) // Close Shutter
            {
                if (DomeShutterSP.s == IPS_BUSY || DomeShutterSP.s == IPS_ALERT)
                {
                    DomeShutterSP.s = IPS_OK; // Shutter close movement ends.
                    nTimeSinceShutterStart = -1;
                    IDSetSwitch (&DomeShutterSP, "Shutter is closed");
                }
            }
            else
            {
                if (nTimeSinceShutterStart >= 0)
                { // A movement has started. Warn but don't change
                    if (nTimeSinceShutterStart >= 4)
                    {
                        DomeShutterSP.s = IPS_ALERT; // Shutter close movement ends.
                        IDSetSwitch (&DomeShutterSP, "Shutter still closed");
                    }
                }
                else
                { // For some reason (manual operation?) the shutter has closed
                    DomeShutterSP.s = IPS_IDLE;
                    DomeShutterS[1].s = ISS_ON;
                    DomeShutterS[0].s = ISS_OFF;
                    IDSetSwitch (&DomeShutterSP, "Unexpected shutter closed");
                }
            }
            break;
        case Ss_OPENING:
            if (DomeShutterS[0].s == ISS_OFF) // not opening Shutter
            {  // For some reason the shutter is opening (manual operation?)
                DomeShutterSP.s = IPS_ALERT;
                DomeShutterS[1].s = ISS_OFF;
                DomeShutterS[0].s = ISS_OFF;
                IDSetSwitch (&DomeShutterSP, "Unexpected shutter opening");
            }
            else if (nTimeSinceShutterStart < 0)
            {	// For some reason the shutter is opening (manual operation?)
                DomeShutterSP.s = IPS_ALERT;
                nTimeSinceShutterStart = 0;
                IDSetSwitch (&DomeShutterSP, "Unexpected shutter opening");
            }
            else if (DomeShutterSP.s == IPS_ALERT)
            {	// The alert has corrected
                DomeShutterSP.s = IPS_BUSY;
                IDSetSwitch (&DomeShutterSP, "Shutter is opening");
            }
            break;
        case Ss_OPEN:
            if (DomeShutterS[0].s == ISS_ON) // Open Shutter
            {
                if (DomeShutterSP.s == IPS_BUSY || DomeShutterSP.s == IPS_ALERT)
                {
                    DomeShutterSP.s = IPS_OK; // Shutter open movement ends.
                    nTimeSinceShutterStart = -1;
                    IDSetSwitch (&DomeShutterSP, "Shutter is open");
                }
            }
            else
            {
                if (nTimeSinceShutterStart >= 0)
                { // A movement has started. Warn but don't change
                    if (nTimeSinceShutterStart >= 4)
                    {
                        DomeShutterSP.s = IPS_ALERT; // Shutter open movement alert.
                        IDSetSwitch (&DomeShutterSP, "Shutter still open");
                    }
                }
                else
                { // For some reason (manual operation?) the shutter has open
                    DomeShutterSP.s = IPS_IDLE;
                    DomeShutterS[1].s = ISS_ON;
                    DomeShutterS[0].s = ISS_OFF;
                    IDSetSwitch (&DomeShutterSP, "Unexpected shutter open");
                }
            }
            break;
        case Ss_CLOSING:
            if (DomeShutterS[1].s == ISS_OFF) // Not closing Shutter
            {	// For some reason the shutter is closing (manual operation?)
                DomeShutterSP.s = IPS_ALERT;
                DomeShutterS[1].s = ISS_ON;
                DomeShutterS[0].s = ISS_OFF;
                IDSetSwitch (&DomeShutterSP, "Unexpected shutter closing");
            }
            else  if (nTimeSinceShutterStart < 0)
            {	// For some reason the shutter is opening (manual operation?)
                DomeShutterSP.s = IPS_ALERT;
                nTimeSinceShutterStart = 0;
                IDSetSwitch (&DomeShutterSP, "Unexpected shutter closing");
            }
            else if (DomeShutterSP.s == IPS_ALERT)
            {	// The alert has corrected
                DomeShutterSP.s = IPS_BUSY;
                IDSetSwitch (&DomeShutterSP, "Shutter is closing");
            }
            break;
        case Ss_ABORTED:
        case Ss_ERROR:
        default:
            if (nTimeSinceShutterStart >= 0)
            {
                DomeShutterSP.s = IPS_ALERT; // Shutter movement aborted.
                DomeShutterS[1].s = ISS_OFF;
                DomeShutterS[0].s = ISS_OFF;
                nTimeSinceShutterStart = -1;
                IDSetSwitch (&DomeShutterSP, "Unknown shutter status");
            }
            break;
        }

        // Azimuth
        nAz = TicksToAzimuth(nCurrentTicks);
        if (DomeAbsPosN[0].value != nAz)
        {	// Only refresh position if it changed
            DomeAbsPosN[0].value = nAz;
            //sprintf(buf,"%d", nCurrentTicks);
            IDSetNumber(&DomeAbsPosNP, NULL);
        }

        switch(nAzimuthStatus)
        {
        case As_IDLE:
        case As_IDEL2:
            if (nTimeSinceAzimuthStart > 3)
            {
                if (nTargetAzimuth >= 0 && AzimuthDistance(nTargetAzimuth,nCurrentTicks) > 3) // Maximum difference allowed: 3 ticks
                {
                    DomeAbsPosNP.s = IPS_ALERT;
                    nTimeSinceAzimuthStart = -1;
                    IDSetNumber(&DomeAbsPosNP, "Could not position right");
                }
                else
                {   // Succesfull end of movement
                    if (DomeAbsPosNP.s != IPS_OK)
                    {
                        setDomeState(DOME_SYNCED);
                        nTimeSinceAzimuthStart = -1;
                        DEBUG(INDI::Logger::DBG_SESSION, "Dome is on target position");
                    }
                    if (HomeS[0].s == ISS_ON)
                    {
                        HomeS[0].s = ISS_OFF;
                        HomeSP.s = IPS_OK;
                        nTimeSinceAzimuthStart = -1;
                        IDSetSwitch(&HomeSP, "Dome is homed");
                    }

                }
            }
            break;
        case As_MOVING_WE:
        case As_MOVING_EW:
            if (nTimeSinceAzimuthStart < 0)
            {
                nTimeSinceAzimuthStart = 0;
                nTargetAzimuth = -1;
                DomeAbsPosNP.s = IPS_ALERT;
                IDSetNumber(&DomeAbsPosNP, "Unexpected dome moving");
            }
            break;
        case As_ERROR:
            if (nTimeSinceAzimuthStart >= 0)
            {
                DomeAbsPosNP.s = IPS_ALERT;
                nTimeSinceAzimuthStart = -1;
                nTargetAzimuth = -1;
                IDSetNumber(&DomeAbsPosNP, "Dome Error");
            }
        default:
            break;
        }


    }
    else
    {
        DEBUGF(INDI::Logger::DBG_DEBUG, "Error: %s. Please reconnect and try again.",ErrorMessages[-nError]);
        return;
    }

    SetTimer(POLLMS);
    return;
}

IPState MaxDomeII::MoveAbs(double newAZ)
{
    double currAZ = 0;
    int newPos = 0, nDir = 0;
    int error;
    int nRetry = 3;

    currAZ = DomeAbsPosN[0].value;

    // Take the shortest path
    if (newAZ > currAZ)
    {
        if (newAZ - currAZ > 180.0)
            nDir = MAXDOMEII_WE_DIR;
        else
            nDir = MAXDOMEII_EW_DIR;
    }
    else
    {
        if (currAZ - newAZ > 180.0)
            nDir = MAXDOMEII_EW_DIR;
        else
            nDir = MAXDOMEII_WE_DIR;
    }

    newPos = AzimuthToTicks(newAZ);

    while (nRetry)
    {
        error = Goto_Azimuth_MaxDomeII(fd, nDir, newPos);
        handle_driver_error(&error, &nRetry);
    }

    if (error != 0)
        return IPS_ALERT;

    nTargetAzimuth = newPos;
    nTimeSinceAzimuthStart = 0;	// Init movement timer

    // It will take a few cycles to reach final position
    return IPS_BUSY;

}

bool MaxDomeII::Abort()
{
    int error=0;
    int nRetry = 3;

    while (nRetry)
    {
            error = Abort_Azimuth_MaxDomeII(fd);
            handle_driver_error(&error, &nRetry);
    }

    while (nRetry)
    {
            error = Abort_Shutter_MaxDomeII(fd);
            handle_driver_error(&error, &nRetry);
    }

    DomeAbsPosNP.s = IPS_IDLE;
    IDSetNumber(&DomeAbsPosNP, NULL);

    // If we abort while in the middle of opening/closing shutter, alert.
    if (DomeShutterSP.s == IPS_BUSY)
    {
        DomeShutterSP.s = IPS_ALERT;
        IDSetSwitch(&DomeShutterSP, "Shutter operation aborted.");
        return false;
    }

    return true;
}


/**************************************************************************************
**
***************************************************************************************/
bool MaxDomeII::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
{
    // Ignore if not ours
    if (strcmp (dev, getDeviceName()))
        return false;
    
    nTimeSinceLastCommunication = 0;
    
    // ===================================
    // TicksPerTurn
    // ===================================
    if (!strcmp (name, TicksPerTurnNP.name))
    {
        double nVal;
        char cLog[255];
        int error;
        int nRetry = 3;
        
        if (IUUpdateNumber(&TicksPerTurnNP, values, names, n) < 0)
            return false;
        
        nVal = values[0];
        if (nVal >= 100 && nVal <=500)
        {
            while (nRetry)
            {
                error = SetTicksPerCount_MaxDomeII(fd, nVal);
                handle_driver_error(&error,&nRetry);
            }
            if (error >= 0)
            {
                sprintf(cLog, "New Ticks Per Turn set: %lf", nVal);
                nTicksPerTurn = nVal; 
                nHomeTicks = floor(0.5 + nHomeAzimuth * nTicksPerTurn / 360.0); // Calculate Home ticks again
                TicksPerTurnNP.s = IPS_OK;
                TicksPerTurnNP.np[0].value = nVal;
                IDSetNumber(&TicksPerTurnNP, "%s", cLog);
                return true;
            }
            else
            {
                DEBUGF(INDI::Logger::DBG_ERROR, "MAX DOME II: %s",ErrorMessages[-error]);
                TicksPerTurnNP.s = IPS_ALERT;
                IDSetNumber(&TicksPerTurnNP, NULL);
            }

            return false;
        }

        // Incorrect value. 
        TicksPerTurnNP.s = IPS_ALERT;
        IDSetNumber(&TicksPerTurnNP, "Invalid Ticks Per Turn");
            
        return false;
    }
    
    // ===================================
    // HomeAzimuth
    // ===================================
    if (!strcmp (name, HomeAzimuthNP.name))
    {
        double nVal;
        char cLog[255];
		
        if (IUUpdateNumber(&HomeAzimuthNP, values, names, n) < 0)
            return false;
        
        nVal = values[0];
        if (nVal >= 0 && nVal <=360)
        {
            sprintf(cLog, "New home azimuth set: %lf", nVal);
            nHomeAzimuth = nVal;
            nHomeTicks = floor(0.5 + nHomeAzimuth * nTicksPerTurn / 360.0);
            HomeAzimuthNP.s = IPS_OK;
            HomeAzimuthNP.np[0].value = nVal;
            IDSetNumber(&HomeAzimuthNP, "%s", cLog);
            return true;
        }
        // Incorrect value. 
        HomeAzimuthNP.s = IPS_ALERT;
        IDSetNumber(&HomeAzimuthNP, "Invalid home azimuth");
        
        return false;
    }
    
    // ===================================
    // Watch dog
    // ===================================
    if (!strcmp (name, WatchDogNP.name))
    {
        double nVal;
        char cLog[255];
        
        if (IUUpdateNumber(&WatchDogNP, values, names, n) < 0)
            return false;
        
        nVal = values[0];
        if (nVal >= 0 && nVal <=3600)
        {
            sprintf(cLog, "New watch dog set: %lf", nVal);
            WatchDogNP.s = IPS_OK;
            WatchDogNP.np[0].value = nVal;
            IDSetNumber(&WatchDogNP, "%s", cLog);
            return true;
        }
        // Incorrect value. 
        WatchDogNP.s = IPS_ALERT;
        IDSetNumber(&WatchDogNP, "Invalid watch dog time");
            
        return false;
    }
    
    // ===================================
    // Shutter operation azimuth 
    // ===================================
    if (!strcmp (name, ShutterOperationAzimuthNP.name))
    {
        double nVal;
        IPState error;
        int nRetry = 3;
        
        if (IUUpdateNumber(&ShutterOperationAzimuthNP, values, names, n) < 0)
            return false;
        
        nVal = values[0];
        if (nVal >= 0 && nVal < 360)
        {
            
            error = ConfigurePark(nCloseShutterBeforePark, nVal);
            
            if (error == IPS_OK)
            {
                nParkPosition = nVal;
                ShutterOperationAzimuthNP.s = IPS_OK;
                ShutterOperationAzimuthNP.np[0].value = nVal;
                IDSetNumber(&ShutterOperationAzimuthNP, "New shutter operation azimuth set");
            }
            else
            {
                ShutterOperationAzimuthNP.s = IPS_ALERT;
                IDSetNumber(&ShutterOperationAzimuthNP, "%s", ErrorMessages[-error]);
            }
            
            return true;
        }
        // Incorrect value.
        ShutterOperationAzimuthNP.s = IPS_ALERT;
        IDSetNumber(&ShutterOperationAzimuthNP, "Invalid shutter operation azimuth position");
        
        return false;
    }

    return INDI::Dome::ISNewNumber(dev, name, values, names, n);

}


/**************************************************************************************
**
***************************************************************************************/
bool MaxDomeII::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
{
    // ignore if not ours //
    if (strcmp (getDeviceName(), dev))
        return false;

    nTimeSinceLastCommunication = 0;    
    
    // ===================================
    // Home
    // ===================================
    if (!strcmp(name, HomeSP.name))
    {
        if (IUUpdateSwitch(&HomeSP, states, names, n) < 0)
            return false;
                    
        int error;
        int nRetry = 3;
            
        while (nRetry){
            error = Home_Azimuth_MaxDomeII(fd);
            handle_driver_error(&error, &nRetry);
        }
        nTimeSinceAzimuthStart = 0;
        nTargetAzimuth = -1;
        if (error)
        {
            DEBUGF(INDI::Logger::DBG_ERROR, "Error Homing Azimuth (%s).", ErrorMessages[-error]);
            HomeSP.s = IPS_ALERT;
            IDSetSwitch(&HomeSP, "Error Homing Azimuth");
            return false;
        }
        HomeSP.s = IPS_BUSY;
        IDSetSwitch(&HomeSP, "Homing dome");
            
        return true;
    }
    
    // ===================================
    // Conflict on Shutter operation
    // ===================================
    if (!strcmp(name, ShutterConflictSP.name))
    {
        if (IUUpdateSwitch(&ShutterConflictSP, states, names, n) < 0)
            return false;
                    
        int error;
        int nCSBP;
        
        if (ShutterConflictS[0].s == ISS_ON)
        {
            nCSBP = 1;
        }
        else
        {
            nCSBP = 0;
        }
        
        error = ConfigurePark(nCSBP, nParkPosition);
            
        if (error == IPS_OK)
        {
            ShutterConflictSP.s = IPS_OK;
            IDSetSwitch(&ShutterConflictSP, "New shutter operation conflict set");
        }
        else
        {
            ShutterConflictSP.s = IPS_ALERT;
            IDSetSwitch(&ShutterConflictSP, "%s", ErrorMessages[-error]);
        }
            
        return true;
    }
    

    return INDI::Dome::ISNewSwitch(dev, name, states, names, n);
            
}


/**************************************************************************************
**
***************************************************************************************/
int MaxDomeII::AzimuthDistance(int nPos1, int nPos2)
{
	int nDif;
	
	nDif = fabs(nPos1 - nPos2);
	if (nDif > nTicksPerTurn / 2)
		nDif = nTicksPerTurn - nDif;
		
	return nDif;	
}

/**************************************************************************************
 **
 ***************************************************************************************/
double MaxDomeII::TicksToAzimuth(int nTicks)
{
	double nAz;
	
	nAz = nHomeAzimuth + nTicks * 360.0 / nTicksPerTurn;
	while (nAz < 0) nAz += 360;
	while (nAz >= 360) nAz -= 360;
	
	return nAz;
}
/**************************************************************************************
 **
 ***************************************************************************************/
int MaxDomeII::AzimuthToTicks(double nAzimuth)
{
	int nTicks;
	
	nTicks = floor(0.5 + (nAzimuth - nHomeAzimuth) * nTicksPerTurn / 360.0);
	while (nTicks > nTicksPerTurn) nTicks -= nTicksPerTurn;
	while (nTicks < 0) nTicks += nTicksPerTurn;
	
	return nTicks;
}

/**************************************************************************************
 **
 ***************************************************************************************/

int MaxDomeII::handle_driver_error(int *error, int *nRetry)
{	
	(*nRetry)--;
	switch (*error) {
		case 0:	// No error. Continue
			*nRetry = 0;
			break;
		case -5: // can't connect
			// This error can happen if port connection is lost, i.e. a usb-serial reconnection 
			// Reconnect
			DEBUG(INDI::Logger::DBG_ERROR,"MAX DOME II: Reconnecting ...");
			Connect();
			if (fd < 0)
				*nRetry = 0; // Can't open the port. Don't retry anymore. 
			break;
			
		default:  // Do nothing in all other errors.
                        DEBUGF(INDI::Logger::DBG_ERROR, "Error on command: (%s).", ErrorMessages[-*error]);
			break;
	}
	
	return *nRetry;
}

/************************************************************************************
*
* ***********************************************************************************/
IPState MaxDomeII::ConfigurePark(int nCSBP, double ParkAzimuth)
{
    int error=0;
    int nRetry = 3;

    // Only update park position if there is change
    if (ParkAzimuth != nParkPosition || nCSBP != nCloseShutterBeforePark)
    {
        while (nRetry)
        {
            error =SetPark_MaxDomeII(fd, nCSBP, AzimuthToTicks(ParkAzimuth));
            handle_driver_error(&error,&nRetry);
        }
        if (error >= 0)
        {
            nParkPosition = ParkAzimuth;
            nCloseShutterBeforePark = nCSBP;
            DEBUGF(INDI::Logger::DBG_SESSION, "New park position set. %d %d", nCSBP, AzimuthToTicks(ParkAzimuth));
        }
        else
        {
            DEBUGF(INDI::Logger::DBG_ERROR, "MAX DOME II: %s",ErrorMessages[-error]);
            return IPS_ALERT;
        }
    }

    return IPS_OK;
}

/************************************************************************************
 *
* ***********************************************************************************/
void MaxDomeII::SetCurrentPark()
{
    SetAxis1Park(DomeAbsPosN[0].value);
}
/************************************************************************************
 *
* ***********************************************************************************/

void MaxDomeII::SetDefaultPark()
{
    // By default set position to 0
    SetAxis1Park(0);
}

/************************************************************************************
 *
* ***********************************************************************************/
IPState MaxDomeII::ControlShutter(ShutterOperation operation)
{
    int error=0;
    int nRetry = 3;
    
    if (operation == SHUTTER_CLOSE)
    {
        while (nRetry)
        {
            error = Close_Shutter_MaxDomeII(fd);
            handle_driver_error(&error, &nRetry);
        }
        nTimeSinceShutterStart = 0;	// Init movement timer
        if (error)
        {
            DEBUGF(INDI::Logger::DBG_ERROR, "Error closing shutter (%s).", ErrorMessages[-error]);
            return IPS_ALERT;
        }
        return IPS_BUSY;
    }
    else
    {
        if (ShutterModeS[0].s == ISS_ON)
        {   // Open Shutter
            while (nRetry)
            {
                error = Open_Shutter_MaxDomeII(fd);
                handle_driver_error(&error, &nRetry);
            }
            nTimeSinceShutterStart = 0;	// Init movement timer
            if (error)
            {
                DEBUGF(INDI::Logger::DBG_ERROR, "Error opening shutter (%s).", ErrorMessages[-error]);
                return IPS_ALERT;
            }
            return IPS_BUSY;
        }
        else
        { // Open upper shutter only
            while (nRetry)
            {
                error = Open_Upper_Shutter_Only_MaxDomeII(fd);
                handle_driver_error(&error, &nRetry);
            }
            nTimeSinceShutterStart = 0;	// Init movement timer
            if (error)
            {
                DEBUGF(INDI::Logger::DBG_ERROR, "Error opening upper shutter only (%s).", ErrorMessages[-error]);
                return IPS_ALERT;
            }
            return IPS_BUSY;
        }
    }
    
    return IPS_ALERT;
}