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/*
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
*/
#ifndef MAXDOMEII_H
#define MAXDOMEII_H
#include <indidevapi.h>
#include <indicom.h>
#include <indidome.h>
#define MD_AZIMUTH_IDLE 0
#define MD_AZIMUTH_MOVING 1
#define MD_AZIMUTH_HOMING 2
class MaxDomeII : public INDI::Dome
{
public:
MaxDomeII();
~MaxDomeII();
const char *getDefaultName();
bool initProperties();
bool updateProperties();
virtual bool saveConfigItems(FILE *fp);
bool Connect();
bool Disconnect();
void TimerHit();
virtual bool ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n);
virtual bool ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n);
virtual IPState MoveAbs(double az);
//virtual IPState Home();
virtual bool Abort();
protected:
// Parking
IPState ConfigurePark(int nCSBP, double ParkAzimuth);
virtual void SetCurrentPark();
virtual void SetDefaultPark();
virtual IPState ControlShutter(ShutterOperation operation);
/*******************************************************/
/* Misc routines
********************************************************/
int AzimuthDistance(int nPos1, int nPos2);
double TicksToAzimuth(int nTicks);
int AzimuthToTicks(double nAzimuth);
int handle_driver_error(int *error, int *nRetry); // Handles errors returned by driver
ISwitch ShutterModeS[2];
ISwitchVectorProperty ShutterModeSP;
INumber ShutterOperationAzimuthN[1];
INumberVectorProperty ShutterOperationAzimuthNP;
ISwitch ShutterConflictS[2];
ISwitchVectorProperty ShutterConflictSP;
ISwitch HomeS[1];
ISwitchVectorProperty HomeSP;
INumber TicksPerTurnN[1];
INumberVectorProperty TicksPerTurnNP;
INumber WatchDogN[1];
INumberVectorProperty WatchDogNP;
INumber HomeAzimuthN[1];
INumberVectorProperty HomeAzimuthNP;
INumber HomePosRN[1];
INumberVectorProperty HomePosRNP;
private:
int nTicksPerTurn; // Number of ticks per turn of azimuth dome
unsigned nCurrentTicks; // Position as reported by the MaxDome II
int nCloseShutterBeforePark; // 0 no close shutter
double nParkPosition; // Park position
double nHomeAzimuth; // Azimuth of home position
int nHomeTicks; // Ticks from 0 azimuth to home
int fd; // Telescope tty file descriptor
int nTimeSinceShutterStart; // Timer since shutter movement has started, in order to check timeouts
int nTimeSinceAzimuthStart; // Timer since azimuth movement has started, in order to check timeouts
int nTargetAzimuth;
int nTimeSinceLastCommunication; // Used by Watch Dog
double prev_az, prev_alt;
bool SetupParms();
};
#endif
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