/* ---------------------------------------------------------------------------*/ /* - Protocol for TheSkyX telescope control -*/ /* ---------------------------------------------------------------------------*/ /* */ /* Copyright 2010-2012 John Kielkopf */ /* */ /* Distributed under the terms of the General Public License (see LICENSE) */ /* */ /* John Kielkopf (kielkopf@louisville.edu) */ /* */ /* Date: July 22, 2012 */ /* Version: 2.4 */ /* */ /* History: */ /* */ /* July 21, 2010 */ /* Version 1.0 */ /* Compatible with XmTel 5.2.0 */ /* */ /* October 10, 2011 */ /* Version 2.3 */ /* Changed version number to match package */ /* Added CenterGuide */ /* */ /* July 22, 2012 */ /* Version 6.0 */ /* Instrument control routines now use external functions */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include "protocol.h" #define NULL_PTR(x) (x *)0 #ifndef TRUE #define TRUE 1 #endif #ifndef FALSE #define FALSE 0 #endif /* System variables and prototypes */ /* Telescope and mounting commands that may be called externally */ /* Interface control */ void ConnectTel(void); void DisconnectTel(void); int CheckConnectTel(void); /* Slew and track control */ void SetRate(int newrate); void StartSlew(int direction); void StopSlew(int direction); void StartTrack(void); void CenterGuide(double centerra, double centerdec, int raflag, int decflag, int pmodel); void StopTrack(void); void FullStop(void); /* Coordinates and time */ void GetTel(double *telra, double *teldec, int pmodel); int GoToCoords(double newra, double newdec, int pmodel); int CheckGoTo(double desra, double desdec, int pmodel); /* Slew limits */ int GetSlewStatus(void); int SetLimits(int limits); int GetLimits(int *limits); /* Synchronizing */ void SyncTelOffsets(double newoffsetra, double newoffsetdec); /* Instrumentation */ void Heater(int heatercmd); void Fan(int fancmd); void Focus(int focuscmd, int focusspd); void Rotate(int rotatecmd, int rotatespd); void GetFocus(double *telfocus); void GetRotate(double *telrotate); void GetTemperature(double *teltemperature); /* External variables and shared code */ extern double LSTNow(void); extern double UTNow(void); extern double offsetra, offsetdec; extern double SiteLatitude; extern double homeha; /* Home ha */ extern double homera; /* Home ra derived from ha */ extern double homedec; /* Home dec */ extern void PointingFromTel (double *telra1, double *teldec1, double telra0, double teldec0, int pmodel); extern void PointingToTel (double *telra0, double *teldec0, double telra1, double teldec1, int pmodel); /* Local data */ static int slewrate; /* Rate for slew request in StartSlew */ /* Buffers */ char buf[256]; /* General purpose character buffer */ /* Communications variables for internal use */ static int telconnectflag = FALSE; /* Scripting */ void write_tsx (char *script_message); void read_tsx_status(int *tsx_status, double *tsx_ra, double *tsx_dec); static int script_number = 0; static char script_filename[64]; static char script_dir[64]; FILE* fp_script; static char status_filename[64]; static char status_dir[64]; FILE* fp_status; static char handshake_filename[64]; FILE* fp_handshake; double tsx_ddec, tsx_dra; /* End of prototype and variable definitions */ /* Report on telescope connection status */ int CheckConnectTel(void) { if (telconnectflag == TRUE) { return TRUE; } else { return FALSE; } } /* Connect to the telescope through the shared file interface */ /* Return without action if telconnectflag is TRUE */ /* Set telconnectflag TRUE on success and FALSE otherwise */ void ConnectTel(void) { int limits, flag; int tsx_status; double tsx_dec, tsx_ra; if (telconnectflag != FALSE) { return; } /* Test connection using TSX */ strcpy(buf,"RunVBScript,telstatus.vbs,"); write_tsx(buf); usleep(1000000); /* Read the status file from TSX */ read_tsx_status(&tsx_status, &tsx_ra, &tsx_dec); if (tsx_status == 0) { telconnectflag = FALSE; return; } else { telconnectflag = TRUE; } /* Perform startup tests */ flag = GetLimits(&limits); printf("Reading old limits flag %d and return value %d\n",limits, flag); usleep(1000000); limits = FALSE; flag = SetLimits(limits); printf("Setting new limits flag %d and return value %d\n",limits, flag); usleep(1000000); flag = GetLimits(&limits); printf("Reading new limits flag %d and return value %d\n",limits, flag); } /* Assign and save slewrate for use in StartSlew */ /* TheSkyX requires arcminute jog increments */ /* Small jogs have a RA error probably due to switching latency */ void SetRate(int newrate) { if(newrate == SLEW) { /* 2 degrees */ slewrate = 4; tsx_ddec = 120.; tsx_dra = 1200.; } else if(newrate == FIND) { /* 30 arcminutes */ slewrate = 3; tsx_ddec = 30.; tsx_dra = 30.; } else if(newrate == CENTER) { /* 10 arcminutes */ slewrate = 2; tsx_ddec = 10.; tsx_dra = 10.; } else if(newrate == GUIDE) { /* 2 arcminutes */ slewrate = 1; tsx_ddec = 2.; tsx_dra = 2.; } } /* Start a slew in chosen direction based on slewrate */ /* The TSX interface does not provide for changing slew rate */ /* The slews here only jog amounts to sensibly mimic optional slew rate */ void StartSlew(int direction) { if(direction == NORTH) { sprintf(buf,"Jog,North %lf,", tsx_ddec); } else if(direction == EAST) { sprintf(buf,"Jog,East %lf,", tsx_dra); } else if(direction == SOUTH) { sprintf(buf,"Jog,South %lf,",tsx_ddec); } else if(direction == WEST) { sprintf(buf,"Jog,West %lf,", tsx_dra); } write_tsx(buf); usleep(1000000); strcpy(buf,"RunVBScript,telstatus.vbs,"); write_tsx(buf); usleep(1000000); } /* Stop the slew in chosen direction */ /* The TSX interface uses jogs rather than open ended runs */ void StopSlew(int direction) { return; } void DisconnectTel(void) { if (telconnectflag == TRUE) { telconnectflag = FALSE; } } /* Find the coordinates at which the telescope is pointing */ /* Correct for the pointing model */ void GetTel(double *telra, double *teldec, int pmodel) { int tsx_status; double telra0, teldec0, telra1, teldec1; /* Prompt TSX for most recent data */ strcpy(buf,"RunVBScript,telstatus.vbs,"); write_tsx(buf); usleep(1000000); /* Read the telescope coordinates from TSX */ read_tsx_status(&tsx_status, &telra0, &teldec0); /* Correct the coordinates that are reported by the telescope */ PointingFromTel(&telra1, &teldec1, telra0, teldec0, pmodel); /* Return corrected values */ *telra=telra1; *teldec=teldec1; return; } /* Slew to new coordinates */ /* Returns 1 if goto command is sent successfully and 0 otherwise*/ int GoToCoords(double newra, double newdec, int pmodel) { double telra0, telra1, teldec0, teldec1; int rahr, ramin, rasec; int decdeg, decmin, decsec; double dms, hms, ms; char rastr[32], decstr[32]; /* Where do we really want to go to? */ telra1 = newra; teldec1 = newdec; /* Where will the telescope point to make this happen? */ PointingToTel(&telra0,&teldec0,telra1,teldec1,pmodel); /* Work with the telescope coordinates */ /* We must send hh:mm:ss and dd:mm:ss */ /* Allow for truncation if input is in seconds of arc */ hms = telra0; hms = hms + 0.5/3600.; rahr = (int) hms; ms = hms - (double) rahr; ms = ms*60.; ramin = (int) ms; rasec = (int) 60.*(ms - (double) ramin); sprintf(rastr," %02dh%02dm%02ds",rahr,ramin,rasec); if(teldec0 >= 0.0) { dms = teldec0; dms = dms + 0.5/3600.; decdeg = (int) dms; ms = dms - (double) decdeg; ms = ms*60.; decmin = (int) ms; decsec = (int) 60.*(ms - (double) decmin); sprintf(decstr," +%02dd%02dm%02ds",decdeg,decmin,decsec); } else { dms = -teldec0; dms = dms + 0.5/3600.; decdeg = (int) dms; ms = dms - (double) decdeg; ms = ms*60.; decmin = (int) ms; decsec = (int) 60.*(ms - (double) decmin); sprintf(decstr," -%02dd%02dm%02ds",decdeg,decmin,decsec); } sprintf(buf,"SlewToRaDec,%s %s,", rastr, decstr); write_tsx(buf); /* Add a wait state to allow short slews to complete */ usleep(4000000); return 1; } /* Test whether the destination was reached */ /* Return value is */ /* 0 -- goto in progress */ /* 1 -- goto complete within tolerance */ /* 2 -- goto complete but outside tolerance */ int CheckGoTo(double desra, double desdec, int pmodel) { double telra0, telra1, teldec0, teldec1; double errorra, errordec, nowra, nowdec; /* Where do we really want to go to? */ telra1 = desra; teldec1 = desdec; /* Where will the telescope point to make this happen? */ PointingToTel(&telra0,&teldec0,telra1,teldec1,pmodel); /* Work with the telescope coordinates */ desra = telra0; desdec = teldec0; if ( GetSlewStatus() == 1 ) { return (0); } GetTel(&nowra, &nowdec, pmodel); errorra = nowra - desra; errordec = nowdec - desdec; /* For 6 minute of arc precision; change as needed. */ if( fabs(errorra) > (0.1/15.) || fabs(errordec) > 0.1) { return (2); } else { return (1); } } /* Synchronize remote telescope to this ra dec pair */ void SyncTelOffsets(double newoffsetra, double newoffsetdec) { offsetra = newoffsetra; offsetdec = newoffsetdec; return; } /* Functions not supported by TheSkyX scripting interface */ /* Return a flag indicating whether a slew is now in progress */ int GetSlewStatus(void) { /* Always return a no-slew state */ return (0); } /* Start sidereal tracking */ void StartTrack(void) { return; } /* Use high resolution encoder to improve tracking */ void CenterGuide(double centerra, double centerdec, int raflag, int decflag, int pmodel) { } /* Stop tracking if it is running */ void StopTrack(void) { return; } /* Full stop */ void FullStop(void) { StopTrack(); return; } /* Set slew limits control off or on */ int SetLimits(int limits) { return (0); } /* Get status of slew limits control */ int GetLimits(int *limits) { *limits = 0; return (0); } /* Set slew speed limit */ int SetSlewRate(int slewrate) { return (0); } /* Control the dew and drive heaters */ void Heater(int heatercmd) { char cmdstr[256]; sprintf(cmdstr,"setheater %d 1>/dev/null 2>/dev/null", heatercmd); system(cmdstr); } /* Control the telescope fans */ void Fan(int fancmd) { char cmdstr[256]; sprintf(cmdstr,"setfan %d 1>/dev/null 2>/dev/null", fancmd); system(cmdstr); } /* Adjust the focus using an external routine */ /* The routine will time out on its own and report through the status file */ void Focus(int focuscmd, int focusspd) { char cmdstr[256]; sprintf(cmdstr,"setfocus %d %d 1>/dev/null 2>/dev/null", focuscmd, focusspd); system(cmdstr); } /* Report the current focus reading from the status file */ void GetFocus(double *telfocus) { int nread; double current_focus; char cmdstr[256]; sprintf(cmdstr,"getfocus 1>/dev/null 2>/dev/null"); system(cmdstr); focusfile = (char*) malloc (MAXPATHLEN); strcpy(focusfile,FOCUSFILE); fp_focus = fopen(focusfile, "r"); if (fp_focus == NULL) { return; } nread = fscanf(fp_focus, "%lg", ¤t_focus); fclose(fp_focus); if (nread !=0) { *telfocus = current_focus; } return; } /* Adjust the rotation */ void Rotate(int rotatecmd, int rotatespd) { char cmdstr[256]; sprintf(cmdstr,"setrotate %d %d 1>/dev/null 2>/dev/null", rotatecmd, rotatespd); system(cmdstr); } /* Report the rotation setting */ void GetRotate(double *telrotate) { int nread; double current_rotate; char cmdstr[256]; sprintf(cmdstr,"getrotate 1>/dev/null 2>/dev/null"); system(cmdstr); rotatefile = (char*) malloc (MAXPATHLEN); strcpy(rotatefile,ROTATEFILE); fp_rotate = fopen(rotatefile, "r"); if (fp_rotate == NULL) { *telrotate = 0.; return; } nread = fscanf(fp_rotate, "%lg", ¤t_rotate); fclose(fp_rotate); if (nread !=0) { *telrotate = current_rotate; } return; } /* Read and report the temperature */ void GetTemperature(double *teltemperature) { int nread; double current_temperature; char cmdstr[256]; sprintf(cmdstr,"get_temperature 1>/dev/null 2>/dev/null"); system(cmdstr); temperaturefile = (char*) malloc (MAXPATHLEN); strcpy(temperaturefile,TEMPERATUREFILE); fp_temperature = fopen(temperaturefile, "r"); if (fp_temperature == NULL) { return; } nread = fscanf(fp_temperature, "%lf", ¤t_temperature); fclose(fp_temperature); if (nread !=0) { *teltemperature = current_temperature; } return; } /* Scripting */ /* Generic script writer */ /* Load the message with a line for a script */ /* If Orchestrate is running and connected this routine will communicate with TSX */ void write_tsx(char *script_message) { /* TSX scripts must have 8 digits with leading zeros */ /* This simple implementation cylces through 9 unique script filenames */ script_number++; if ( script_number > 9 ) { script_number = 1; } strcpy(script_dir,SCRIPTDIR); sprintf(script_filename, "%s/0000000%d.txt", script_dir, script_number); fp_script = fopen(script_filename,"w"); fprintf(fp_script, "%s\n", script_message); fclose(fp_script); sprintf(handshake_filename, "%s/HANDSHAKE", script_dir); fp_handshake = fopen(handshake_filename,"w"); fprintf(fp_handshake, " "); fclose(fp_handshake); } /* Read the TSX status file */ void read_tsx_status(int *tsx_status, double *tsx_ra, double *tsx_dec) { double current_tsx_ra, current_tsx_dec; int current_tsx_status; int nread; strcpy(status_dir,STATUSDIR); sprintf(status_filename, "%s/telstatus", status_dir); fp_status = fopen(status_filename,"r"); /* If the file does not exist that assume that TSX is not available */ if (fp_status == NULL) { current_tsx_status = 0; current_tsx_ra = 0.0; current_tsx_dec = 0.0; *tsx_status = current_tsx_status; *tsx_ra = current_tsx_ra; *tsx_dec = current_tsx_dec; return; } nread = fscanf(fp_status, "%d %lf %lf", ¤t_tsx_status, ¤t_tsx_ra, ¤t_tsx_dec); fclose(fp_status); /* If the file is empty then assume that the telescope is not connected */ if (nread == 0) { current_tsx_status = 0; current_tsx_ra = 0.0; current_tsx_dec = 0.0; } *tsx_status = current_tsx_status; *tsx_ra = current_tsx_ra; *tsx_dec = current_tsx_dec; return; }