/* -------------------------------------------------------------------------- */ /* - Astronomical Telescope Control - */ /* - INDI Driver - */ /* -------------------------------------------------------------------------- */ /* */ /* Copyright (c) 2008-2012 John Kielkopf */ /* kielkopf@louisville.edu */ /* */ /* This file is part of XmTel. */ /* */ /* Distributed under the terms of the General Public License (see LICENSE) */ /* */ /* Date: August 20, 2012 */ /* Version: 6.0 of the INDI driver */ /* */ /* Credits: INDI components included here were derived from software */ /* Copyright (C) 2003 Elwood C. Downey and originally distributed under */ /* the terms of the GNU Lesser General Public License version 2.1. */ /* */ /* Regarding coordinates: */ /* */ /* The tel drivers use "epoch of date" (EOD) coordinates. They assume */ /* a telescope hardware controller that does not precess */ /* what it sends or receives. The INDI tel driver accepts epoch 2000.0 */ /* coordinates from XEphem and converts them to EOD. It returns */ /* EOD and epoch 2000 separately as read-only coodinates. */ /* This tel driver does not accept edb entries (but see XmTel). */ /* */ /* XmTel also uses EOD internally. It accepts edb coordinates from XEphem */ /* and precessses them to EOD. The user interface offers a toggle from */ /* EOD to epoch 2000. Telescope pointing commands are sent in EOD. */ /* Telescope pointer information is sent to XEphem in epoch 2000. */ /* XmTel also will allow for proper motion from an edb or queue entry. */ /* */ /* A command line interface using setINDI should set the epoch 2000 */ /* target coordinates, and read the epoch 2000 pointing information */ /* if it is used in conjunction with a database or other display */ /* software providing epoch 2000.0 FK5 coordinates. */ /* */ /* History: */ /* */ /* June 25, 2010 */ /* Version 1.3 */ /* Production version */ /* */ /* August 20, 2010 */ /* Version 1.4 */ /* Modified for park position */ /* */ /* October 12, 2010 */ /* Version 1.4.1 */ /* Corrected indi park parsing code */ /* */ /* October 15, 2010 */ /* Version 1.4.2 */ /* Added StartTrack after all StopSlew */ /* */ /* October 23, 2010 */ /* Version 5.2.3 */ /* Matched version number to current XmTel */ /* Added speed options in focus buttons */ /* */ /* October 10, 2011 */ /* Version 5.3.0 */ /* Added CenterGuide for precision encoders */ /* */ /* August 15, 2012 */ /* Version 6.0 */ /* Precision encoder support */ /* Encoded focus support */ #include #include #include #include #include #include #include #include #include #include #include #include #include "indidevapi.h" #include "tel.h" #include "protocol.h" /* Dependencies from INDI (code provided in the XmTel package) */ /* indidrivermain.c */ /* eventloop.c */ /* libastro */ /* liblilxml */ /* Dependencies from XmTel */ /* protocol.c */ /* pointing.c */ /* algorithms.c */ /* Files */ FILE *fp_config; /* Configuration file pointer */ static char *configfile; /* Configuration file name */ void read_config(void); /* Configuration file reader */ void write_coords(double ra, double dec); /* Writes ra and dec to status */ /* Internal telescope control flags some of which are obsolete */ int telflag; int gotocmd; int guidecmd; int slewcmd; int teldir; int trackcmd; int refcmd; int modelcmd; int rotatecmd; int focuscmd; int fancmd; int heatercmd; /* Telescope control parameters available for clients to read or set */ double targetra; /* Epoch of date!! */ double targetdec; /* Epoch of date!! */ double targetra2; /* Epoch 2000.0 */ double targetdec2; /* Epoch 2000.0 */ int telspd; int focusspd; int rotatespd; int pmodel; /* Telescope parameters provided read-only to clients */ double telfocus; double telrotate; double teltemperature; double telra; /* Epoch of date!! */ double telha; /* Epoch of date!! */ double teldec; /* Epoch of date!! */ double telra2; /* Epoch 2000.0 */ double teldec2; /* Epoch 2000.0 */ /* Center guide control */ int guidedecflag=0; /* Flag to control dec guide function */ int guideraflag=0; /* Flag to control ra guide function */ double guidera; /* Guiding center ra and dec */ double guidedec; /* Guiding center ra and dec */ /* Telescope data may not be made available to clients through this driver */ double offsetha = 0.; double offsetdec = 0.; double offsetha_default = 0.; double offsetdec_default = 0.; double polaraz = 0.; double polaralt = 0.; double arcsecperpix = ARCSECPERPIX; double modelha0 = 0.; double modelha1 = 0.; double modeldec0 = 0.; double modeldec1 = 0.; double modelha1_default = 0.; double modeldec1_default = 0.; double SiteLatitude = LATITUDE; /* Latitude in degrees + north */ double SiteLongitude = LONGITUDE; /* Longitude in degrees + west */ double SiteAltitude = ALTITUDE; /* Altitude in meters */ double SitePressure = PRESSURE; /* Atmospheric pressure in Torr */ double SiteTemperature = TEMPERATURE; /* Local atmospheric temperature in C */ double parkha = PARKHA; /* Park telescope at this HA */ double parkdec = PARKDEC; /* Park telescope at this Dec */ int telmount = GEM; /* One of GEM, EQFORK, ALTAZ */ int homenow = FALSE; /* New homeha and homedec if true */ double homeha = 0.; /* Startup HA */ double homera = 0.; /* Startup RA reset based on HA */ double homedec = 0.; /* Startup Dec */ char telserial[32]; /* Serial port if needed */ /* Hardware-dependent external routines defined in the protocols */ /* The server calls these routines to control the telescope */ /* Interface control */ extern void ConnectTel(void); extern void DisconnectTel(void); extern int CheckConnectTel(void); /* Slew and track control */ extern void SetRate(int newRate); extern void StartSlew(int direction); extern void StopSlew(int direction); extern int GetSlewStatus(void); extern void StartTrack(void); extern void CenterGuide(double centerra, double centerdec, int raflag, int decflag, int pmodel); extern void StopTrack(void); extern void AutoTrack(void); extern void FullStop(void); /* Celestial coordinate read, write, and go to */ extern void GetTel(double *telra, double *teldec, int pmodel); extern int GoToCoords(double newra, double newdec, int pmodel); extern int CheckGoTo(double desra, double desdec, int pmodel); /* Telescope instrumentation functions */ extern void Heater(int heatercmd); extern void Fan(int fancmd); extern void Focus(int focuscmd, int focusspd); extern void Rotate(int rotatecmd, int rotatespd); extern void GetFocus(double *telfocus); extern void GetRotate(double *telrotate); extern void GetTemperature(double *teltemperature); /* Corrections for proper motion, precession, aberration, and nutation */ extern void Apparent(double *ra, double *dec, int dirflag); extern void PrecessToEOD(double epoch, double *ra, double *dec); extern void PrecessToEpoch(double epoch, double *ra, double *dec); extern void ProperMotion(double epoch, double *ra, double *dec, double pm_ra, double pm_dec); extern void TestAlgorithms(void); /* Time from the computer system processed by the algorithms package */ extern double LSTNow(void); extern double UTNow(void); /* Utility */ extern double Map12(double ha); extern double Map24(double ra); extern double Map180(double dec); /* ----------------------------------- */ /* ---- End of external routines ---- */ /* ----------------------------------- */ /* Reference management */ void target_telescope_reference(void); void clear_telescope_reference(void); void recall_telescope_reference(void); void save_telescope_reference(void); void default_telescope_reference(void); void wcs_telescope_reference(void); /* Model management */ void clear_telescope_model(void); /* Set model parameters to zero */ void recall_telescope_model(void); /* Recall saved model from the status directory */ void save_telescope_model(void); /* Save model in the status directory */ void default_telescope_model(void); /* Use the default model */ /* INDI prototypes and variables */ /* Function for indiserver requests */ static void inittel(void); static void telescope (void *p); /* Process these values as numbers */ /* */ /* Read-write */ /* */ /* double targetra */ /* double targetdec */ /* double modelha1 */ /* double modeldec1 */ /* int slewrate */ /* int focusspd */ /* int rotatespd */ /* */ /* Read only */ /* */ /* double telfocus */ /* double telrotate */ /* double teltemperature */ /* double telra */ /* double teldec */ /* */ /* INDI number */ /* */ /* Index name */ /* Short description */ /* GUI display format */ /* Range, ignore if min == max */ /* Step size, ignore if step == 0 */ /* Current value */ /* Pointer to parent property */ /* Opt: handy place to hang helper info */ /* */ /* */ /* INDI number property */ /* */ /* Device name */ /* Property name */ /* Short description */ /* GUI grouping hint */ /* Client accessibility hint */ /* Current max time to change, secs */ /* Current property state */ /* Numbers comprising this vector */ /* Dimension of np[] */ /* ISO 8601 timestamp of this event */ /* Opt: handy place to hang helper info */ /* Telescope telra and teldec epoch of date */ static INumber indi_telescope[] = { {"ra", "RA H:M:S", "%12.8m", 0., 24., 1., 0.}, {"dec", "Dec D:M:S", "%10.6m", -90., 90., 1., 0.} }; static INumberVectorProperty indi_telescope_property = { MYDEV, "telescope", "Telescope Epoch of Date", "", IP_RO, 0, IPS_IDLE, indi_telescope, NARRAY(indi_telescope) }; /* Telescope telra and teldec epoch 2000.0 */ static INumber indi_telescope_2000[] = { {"ra", "RA H:M:S", "%12.8m", 0., 24., 1., 0.}, {"dec", "Dec D:M:S", "%10.6m", -90., 90., 1., 0.} }; static INumberVectorProperty indi_telescope_2000_property = { MYDEV, "telescope_2000", "Telescope Epoch 2000", "", IP_RO, 0, IPS_IDLE, indi_telescope_2000, NARRAY(indi_telescope_2000) }; /* Target targetra and targetdec epoch of date */ static INumber indi_target[] = { {"ra", "RA H:M:S", "%12.8m", 0., 24., 1., 0.}, {"dec", "Dec D:M:S", "%10.6m", -90., 90., 1., 0.} }; static INumberVectorProperty indi_target_property = { MYDEV, "target", "Target Epoch of Date", "", IP_RW, 0, IPS_IDLE, indi_target, NARRAY(indi_target) }; /* Target targetra and targetdec epoch 2000.0 */ static INumber indi_target_2000[] = { {"ra", "RA H:M:S", "%12.8m", 0., 24., 1., 0.}, {"dec", "Dec D:M:S", "%10.6m", -90., 90., 1., 0.} }; static INumberVectorProperty indi_target_2000_property = { MYDEV, "target_2000", "Target Epoch 2000", "", IP_RW, 0, IPS_IDLE, indi_target_2000, NARRAY(indi_target_2000) }; /* Pointing model parameters */ static INumber indi_model_parameters[] = { {"ha", "ha pixels/hour", "%5.1f", -100., 100., 0.1, 0.}, {"dec", "dec pixels/hour", "%5.1f", -100., 100., 0.1, 0.} }; static INumberVectorProperty indi_model_parameters_property = { MYDEV, "model_parameters", "Model Parameters", "", IP_RW, 0, IPS_IDLE, indi_model_parameters, NARRAY(indi_model_parameters) }; /* Focus reading telfocus */ static INumber indi_focus_reading = { "microns", "Microns", "%.0f", -5000, 5000, 1, 0 }; static INumberVectorProperty indi_focus_reading_property = { MYDEV, "focus_reading", "Focus Reading", "", IP_RO, 0, IPS_IDLE, &indi_focus_reading, 1 }; /* Rotation reading telrotate */ static INumber indi_rotation_reading = { "degrees", "Degrees", "%.1f", -360, 360, 1, 0 }; static INumberVectorProperty indi_rotation_reading_property = { MYDEV, "rotation_reading", "Rotation Reading", "", IP_RO, 0, IPS_IDLE, &indi_rotation_reading, 1 }; /* Temperature reading teltemperature */ static INumber indi_temperature_reading = { "celsius", "Celsius", "%.1f", -360, 360, 1, 0 }; static INumberVectorProperty indi_temperature_reading_property = { MYDEV, "temperature_reading", "Temperature Reading", "", IP_RO, 0, IPS_IDLE, &indi_temperature_reading, 1 }; /* INDI switches */ /* */ /* Index name */ /* Switch label */ /* Switch state */ /* Opt: Pointer to parent */ /* Opt: Handy place to hang helper info */ /* */ /* Device name */ /* Property name */ /* Short description will appear on a client GUI */ /* GUI grouping hint */ /* Client accessibility hint */ /* Switch behavior hint */ /* Current max time to change, secs */ /* Current property state */ /* Switches comprising this vector */ /* Dimension of sp[] (with help from NARRAY) */ /* ISO 8601 timestamp of this event */ /* Opt: handy place to hang helper info */ /* Pointing switch */ /* If no switch is on a RAW model is implied */ static ISwitch indi_pointing[] = { {"offset", "Offset", ISS_OFF}, {"refraction", "Refraction", ISS_OFF}, {"polar", "Polar Alignment", ISS_OFF}, {"dynamic", "Dynamic", ISS_OFF} }; static ISwitchVectorProperty indi_pointing_property = { MYDEV, "pointing", "Pointing", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_pointing, NARRAY(indi_pointing) }; /* Reference switch refcmd */ static ISwitch indi_reference[] = { {"target", "Target", ISS_OFF}, {"wcs", "WCS", ISS_OFF}, {"clear", "Clear", ISS_OFF}, {"save", "Save", ISS_OFF}, {"recall", "Recall", ISS_OFF}, {"default", "Default", ISS_OFF} }; /* Reference switch property */ static ISwitchVectorProperty indi_reference_property = { MYDEV, "reference", "Reference", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_reference, NARRAY(indi_reference) }; /* Model switch modelcmd */ static ISwitch indi_model[] = { {"clear", "Clear", ISS_OFF}, {"save", "Save", ISS_OFF}, {"recall", "Recall", ISS_OFF}, {"default", "Default", ISS_OFF} }; /* Model switch property */ static ISwitchVectorProperty indi_model_property = { MYDEV, "model", "Model", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_model, NARRAY(indi_model) }; /* Go to switch gotocmd */ static ISwitch indi_goto[] = { {"target", "Target", ISS_OFF}, }; /* Go to switch property */ static ISwitchVectorProperty indi_goto_property = { MYDEV, "goto", "Go To ", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_goto, NARRAY(indi_goto) }; /* Set target */ static ISwitch indi_set_target[] = { {"zenith", "Zenith", ISS_OFF}, {"meridian", "Meridian", ISS_OFF}, {"park", "Park", ISS_OFF} }; /* Set target property */ static ISwitchVectorProperty indi_set_target_property = { MYDEV, "set_target", "Set Target", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_set_target, NARRAY(indi_set_target) }; /* Slew state switch for slewcmd and teldir */ static ISwitch indi_slew_state[] = { {"north", "North", ISS_OFF}, {"south", "South", ISS_OFF}, {"east", "East", ISS_OFF}, {"west", "West", ISS_OFF} }; /* Slew state switch property */ static ISwitchVectorProperty indi_slew_state_property = { MYDEV, "slew", "Slew", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_slew_state, NARRAY(indi_slew_state) }; /* Slew speed switch telspd */ static ISwitch indi_slew_speed[] = { {"slew", "Slew", ISS_OFF}, {"find", "Find", ISS_ON}, {"center", "Center", ISS_OFF}, {"guide", "Guide", ISS_OFF} }; /* Slew speed switch property */ static ISwitchVectorProperty indi_slew_speed_property = { MYDEV, "slew_speed", "Slew Speed", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_slew_speed, NARRAY(indi_slew_speed) }; /* Track state switch trackcmd */ static ISwitch indi_track_state[] = { {"on", "On", ISS_ON} }; /* Track state switch property */ static ISwitchVectorProperty indi_track_state_property = { MYDEV, "track", "Track", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_track_state, NARRAY(indi_track_state) }; /* Guide state switch guidecmd */ static ISwitch indi_guide_state[] = { {"on", "On", ISS_OFF} }; /* Guide state switch property */ static ISwitchVectorProperty indi_guide_state_property = { MYDEV, "guide", "Guide", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_guide_state, NARRAY(indi_guide_state) }; /* Focus state switch focuscmd */ static ISwitch indi_focus_state[] = { {"off", "Off", ISS_ON}, {"in", "In", ISS_OFF}, {"out", "Out", ISS_OFF} }; /* Focus state switch property */ static ISwitchVectorProperty indi_focus_state_property = { MYDEV, "focus", "Focus", "", IP_RW, ISR_1OFMANY, 0, IPS_IDLE, indi_focus_state, NARRAY(indi_focus_state) }; /* Focus speed switch focusspd */ static ISwitch indi_focus_speed[] = { {"8x", "8X", ISS_OFF}, {"4x", "4X", ISS_OFF}, {"2x", "2X", ISS_OFF}, {"1x", "1X", ISS_ON} }; /* Focus speed switch property */ static ISwitchVectorProperty indi_focus_speed_property = { MYDEV, "focus_speed", "Focus Speed", "", IP_RW, ISR_1OFMANY, 0, IPS_IDLE, indi_focus_speed, NARRAY(indi_focus_speed) }; /* Rotate state switch rotatecmd */ static ISwitch indi_rotate_state[] = { {"off", "Off", ISS_ON}, {"ccw", "CCW", ISS_OFF}, {"cw", "CW", ISS_OFF} }; /* Rotate state switch property */ static ISwitchVectorProperty indi_rotate_state_property = { MYDEV, "rotate", "Rotate", "", IP_RW, ISR_1OFMANY, 0, IPS_IDLE, indi_rotate_state, NARRAY(indi_rotate_state) }; /* Rotate speed switch rotatespd */ static ISwitch indi_rotate_speed[] = { {"sidereal", "Sidereal", ISS_OFF}, {"slow", "Slow", ISS_OFF}, {"fast", "Fast", ISS_ON} }; /* Rotate speed switch property */ static ISwitchVectorProperty indi_rotate_speed_property = { MYDEV, "rotate_speed", "Rotate Speed", "", IP_RW, ISR_NOFMANY, 0, IPS_IDLE, indi_rotate_speed, NARRAY(indi_rotate_speed) }; /* Fan switch fancmd */ static ISwitch indi_fan[] = { {"off", "Off", ISS_ON}, {"low", "Low", ISS_OFF}, {"high", "High", ISS_OFF} }; /* Fan switch property */ static ISwitchVectorProperty indi_fan_property = { MYDEV, "fan", "Fan", "", IP_RW, ISR_1OFMANY, 0, IPS_IDLE, indi_fan, NARRAY(indi_fan) }; /* Heater switch heatercmd */ static ISwitch indi_heater[] = { {"off", "Off", ISS_ON}, {"low", "Low", ISS_OFF}, {"high", "High", ISS_OFF} }; /* Heater switch property */ static ISwitchVectorProperty indi_heater_property = { MYDEV, "heater", "Heater", "", IP_RW, ISR_1OFMANY, 0, IPS_IDLE, indi_heater, NARRAY(indi_heater) }; /* INDI functions */ /* Call once before any other IS function */ /* This turns on a timer */ /* When the timer expires it calls a camera routine */ /* The telescope routine will restart a new timer */ static void inittel() { /* Initialization control */ static int inited; if (inited) { return; } /* Set initial values for control parameters */ offsetha = 0.; offsetdec = 0.; polaraz = 0.; polaralt = 0.; pmodel = RAW; slewcmd = FALSE; guidecmd = FALSE; trackcmd = TRUE; refcmd = FALSE; modelcmd = FALSE; telspd = FIND; SetRate(telspd); focuscmd = FOCUSCMDOFF; focusspd = FOCUSSPD1; rotatecmd = ROTATECMDOFF; rotatespd = ROTATESPDSLOW; fancmd = FANCMDOFF; heatercmd = HEATERCMDOFF; SiteLatitude = LATITUDE; SiteLongitude = LONGITUDE; SiteAltitude = ALTITUDE; SitePressure = PRESSURE; SiteTemperature = TEMPERATURE; strcpy (telserial,TELSERIAL); /* Handle the configuration file */ /* This may alter some of the defaults */ read_config(); /* Connect with the telescope */ telflag=FALSE; fprintf(stderr,"Connecting to the local telescope ... \n"); ConnectTel(); telflag=CheckConnectTel(); if (telflag != TRUE) { fprintf(stderr,"The telescope controller is not available."); exit(1); } /* Set flag so we do the initialization only once */ inited = 1; /* Start the timer to poll the telescope */ IEAddTimer (POLLMS, telescope, NULL); } /* Send client the definitions of all properties we want it to know about */ void ISGetProperties (const char *dev) { if (dev && strcmp (MYDEV, dev)) { return; } inittel(); IDDefNumber (&indi_telescope_property, NULL); IDDefNumber (&indi_telescope_2000_property, NULL); IDDefNumber (&indi_target_property, NULL); IDDefNumber (&indi_target_2000_property, NULL); IDDefSwitch (&indi_set_target_property, NULL); IDDefSwitch (&indi_goto_property, NULL); IDDefSwitch (&indi_slew_state_property, NULL); IDDefSwitch (&indi_slew_speed_property, NULL); IDDefSwitch (&indi_track_state_property, NULL); IDDefSwitch (&indi_guide_state_property, NULL); IDDefNumber (&indi_focus_reading_property, NULL); IDDefSwitch (&indi_focus_state_property, NULL); IDDefSwitch (&indi_focus_speed_property, NULL); IDDefNumber (&indi_rotation_reading_property, NULL); IDDefSwitch (&indi_rotate_state_property, NULL); IDDefSwitch (&indi_rotate_speed_property, NULL); IDDefNumber (&indi_temperature_reading_property, NULL); IDDefSwitch (&indi_fan_property, NULL); IDDefSwitch (&indi_heater_property, NULL); IDDefSwitch (&indi_pointing_property, NULL); IDDefSwitch (&indi_reference_property, NULL); IDDefSwitch (&indi_model_property, NULL); IDDefNumber (&indi_model_parameters_property, NULL); } /* Client is sending us a new blob */ void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) { /* This driver does not accept blobs */ } /* Client is sending us new text */ void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n) { /* This driver does not accept text */ } /* Client is sending us new switch settings */ /* In Elwood Downey's notation, the search arguments here are Sv */ /* In my notation the arguments are _property */ void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) { int i; static double dha, ddec; if (strcmp (dev, MYDEV)) { /* Ignore if this is not for us */ return; } /* Handle a request to change the pointing model */ /* Bits set in pmodel indicate which corrections are implemented */ /* This routine sets and unsets selected bits */ if (!strcmp (name, indi_pointing_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_pointing_property, names[i]); if (states[i] == ISS_ON) { /* A request to add a pointing component was issued */ sp->s = ISS_ON; /* Which models have we selected? */ if (!strcmp (sp->name, "offset")) { pmodel = pmodel | OFFSET; } if (!strcmp (sp->name, "refraction")) { pmodel = pmodel | REFRACT; } if (!strcmp (sp->name, "polar")) { pmodel = pmodel | POLAR; } if (!strcmp (sp->name, "dynamic")) { pmodel = pmodel | DYNAMIC; } if ( pmodel == RAW ) { indi_pointing_property.s = IPS_IDLE; } else { indi_pointing_property.s = IPS_BUSY; } IDSetSwitch (&indi_pointing_property, NULL); break; } if (states[i] == ISS_OFF) { /* A request to remove a model component was issued */ sp->s = ISS_OFF; /* Which models have we deselected? */ if (!strcmp (sp->name, "offset")) { pmodel = (pmodel & ~(OFFSET)); } if (!strcmp (sp->name, "refraction")) { pmodel = (pmodel & ~(REFRACT)); } if (!strcmp (sp->name, "polar")) { pmodel = (pmodel & ~(POLAR)); } if (!strcmp (sp->name, "dynamic")) { pmodel = (pmodel & ~(DYNAMIC)); } if ( pmodel == RAW ) { indi_pointing_property.s = IPS_IDLE; } else { indi_pointing_property.s = IPS_BUSY; } IDSetSwitch (&indi_pointing_property, NULL); break; } } } /* Handle a request to reset the reference system */ /* An appropriate pointing model must also be enabled */ if (!strcmp (name, indi_reference_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_reference_property, names[i]); if (states[i] == ISS_ON) { /* A request for a reference action was issued */ sp->s = ISS_ON; /* Which action have we selected? */ if (!strcmp (sp->name, "target")) { /* Reference telescope to target */ target_telescope_reference(); IDSetSwitch (&indi_reference_property, "Pointing reference set to current target coordinates"); } if (!strcmp (sp->name, "wcs")) { /* Reference telescope to wcs */ wcs_telescope_reference(); IDSetSwitch (&indi_reference_property, "Pointing reference set to current WCS"); } if (!strcmp (sp->name, "clear")) { /* Clear pointing reference */ clear_telescope_reference(); IDSetSwitch (&indi_reference_property, "Pointing reference cleared"); } if (!strcmp (sp->name, "save")) { /* Save reference */ save_telescope_reference(); IDSetSwitch (&indi_reference_property, "Pointing reference saved"); } if (!strcmp (sp->name, "recall")) { /* Recall reference */ recall_telescope_reference(); IDSetSwitch (&indi_reference_property, "Pointing reference recalled"); } if (!strcmp (sp->name, "default")) { /* Use default reference */ default_telescope_reference(); IDSetSwitch (&indi_reference_property, "Pointing reference set to default"); } indi_reference_property.s = IPS_IDLE; IDSetSwitch (&indi_reference_property, NULL); break; } if (states[i] == ISS_OFF) { /* A request to remove a reference action was issued */ sp->s = ISS_OFF; /* Which actions have we deselected? */ if (!strcmp (sp->name, "target")) { } if (!strcmp (sp->name, "wcs")) { } if (!strcmp (sp->name, "clear")) { } if (!strcmp (sp->name, "save")) { } if (!strcmp (sp->name, "recall")) { } if (!strcmp (sp->name, "default")) { } indi_reference_property.s = IPS_IDLE; IDSetSwitch (&indi_reference_property, NULL); break; } } /* Get the updated coordinates and make them available */ usleep(1000000); GetTel(&telra, &teldec, pmodel); telha = Map12(LSTNow() - telra); telra2 = telra; teldec2 = teldec; Apparent(&telra2,&teldec2,-1); indi_telescope[0].value = telra; IDSetNumber (&indi_telescope_property, NULL); indi_telescope[1].value = teldec; IDSetNumber (&indi_telescope_property, NULL); indi_telescope_2000[0].value = telra2; IDSetNumber (&indi_telescope_2000_property, NULL); indi_telescope_2000[1].value = teldec2; IDSetNumber (&indi_telescope_2000_property, NULL); } /* Handle a request to reset the model parameters */ /* An appropriate pointing model must also be enabled */ if (!strcmp (name, indi_model_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_model_property, names[i]); if (states[i] == ISS_ON) { /* A request for a model action was issued */ sp->s = ISS_ON; /* Which action have we selected? */ if (!strcmp (sp->name, "clear")) { /* Clear model values */ clear_telescope_model(); IDSetSwitch (&indi_model_property, "Model parameters cleared"); } if (!strcmp (sp->name, "save")) { /* Save model values */ save_telescope_model(); IDSetSwitch (&indi_model_property, "Model parameters saved"); } if (!strcmp (sp->name, "recall")) { /* Recall model values */ recall_telescope_model(); IDSetSwitch (&indi_model_property, "Model parameters recalled"); } if (!strcmp (sp->name, "default")) { /* Use default model values */ default_telescope_model(); IDSetSwitch (&indi_model_property, "Model parameters set to default"); } indi_model_property.s = IPS_IDLE; IDSetSwitch (&indi_model_property, NULL); break; } if (states[i] == ISS_OFF) { /* A request to remove a model parameter action was issued */ sp->s = ISS_OFF; /* Which actions have we deselected? */ if (!strcmp (sp->name, "clear")) { } if (!strcmp (sp->name, "save")) { } if (!strcmp (sp->name, "recall")) { } if (!strcmp (sp->name, "default")) { } indi_model_property.s = IPS_IDLE; IDSetSwitch (&indi_model_property, NULL); break; } } /* Get the updated coordinates and make them available */ usleep(1000000); GetTel(&telra, &teldec, pmodel); telha = Map12(LSTNow() - telra); telra2 = telra; teldec2 = teldec; Apparent(&telra2,&teldec2,-1); indi_telescope[0].value = telra; IDSetNumber (&indi_telescope_property, NULL); indi_telescope[1].value = teldec; IDSetNumber (&indi_telescope_property, NULL); indi_telescope_2000[0].value = telra2; IDSetNumber (&indi_telescope_2000_property, NULL); indi_telescope_2000[1].value = teldec2; IDSetNumber (&indi_telescope_2000_property, NULL); } /* Handle a goto target request */ /* Target coordinates must have already been loaded */ /* When go to operation is complete the poll routine will change the flags */ if (!strcmp (name, indi_goto_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_goto_property, names[i]); if (states[i] == ISS_ON) { /* A request to go to the target was issued */ for (i = 0; i < NARRAY(indi_goto); i++) indi_goto[i].s = ISS_OFF; sp->s = ISS_ON; indi_goto_property.s = IPS_BUSY; gotocmd = GoToCoords(targetra,targetdec,pmodel); IDSetSwitch (&indi_goto_property, "Acquiring target "); break; } if (states[i] == ISS_OFF) { /* A go to target request was cancelled */ for (i = 0; i < NARRAY(indi_goto); i++) indi_goto[i].s = ISS_ON; sp->s = ISS_OFF; indi_goto_property.s = IPS_OK; /* Stop all slews */ StopSlew(NORTH); StopSlew(SOUTH); StopSlew(EAST); StopSlew(WEST); StartTrack(); gotocmd = 0; IDSetSwitch (&indi_goto_property, "Target acquisition stopped"); break; } } } /* Handle a slew request by noting a change in the state property */ /* Should also turn off a slew when the property is deselected */ /* In guide mode this increments or decrements offsets by one pixel */ if (!strcmp (name, indi_slew_state_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_slew_state_property, names[i]); if (states[i] == ISS_ON) { /* A request to slew or step guiding was issued */ sp->s = ISS_ON; indi_slew_state_property.s = IPS_OK; /* Get the latest telescope coordinates */ GetTel(&telra, &teldec, pmodel); telha = Map12(LSTNow() - telra); telra2 = telra; teldec2 = teldec; Apparent(&telra2,&teldec2,-1); indi_telescope[0].value = telra; IDSetNumber (&indi_telescope_property, NULL); indi_telescope[1].value = teldec; IDSetNumber (&indi_telescope_property, NULL); indi_telescope_2000[0].value = telra2; IDSetNumber (&indi_telescope_2000_property, NULL); indi_telescope_2000[1].value = teldec2; IDSetNumber (&indi_telescope_2000_property, NULL); /* Which direction have we selected? */ if (!strcmp (sp->name, "north")) { if (guidecmd == TRUE) { dha = 0.; ddec = -1.0; } else { StartSlew(NORTH); slewcmd = TRUE; teldir = NORTH; } } if (!strcmp (sp->name, "south")) { if (guidecmd == TRUE) { dha = 0.; ddec = 1.0; } else { StartSlew(SOUTH); slewcmd = TRUE; teldir = SOUTH; } } if (!strcmp (sp->name, "east")) { if (guidecmd == TRUE) { dha = 1.0; ddec = 0.; } else { StartSlew(EAST); slewcmd = TRUE; teldir = EAST; } } if (!strcmp (sp->name, "west")) { if (guidecmd == TRUE) { dha = -1.0; ddec = 0.; } else { StartSlew(WEST); slewcmd = TRUE; teldir = WEST; } } indi_slew_state_property.s = IPS_BUSY; if (guidecmd == TRUE) { IDSetSwitch (&indi_slew_state_property, "Pointing step %s", sp->label); /* Update dynamic zero point for current guide center */ modelha0 = Map12(LSTNow() - guidera); modeldec0 = guidedec; /* Change declination units from pixels to degrees */ ddec = arcsecperpix*ddec/3600.; /* Add the declination correction to the permanent offsetdec in degrees */ offsetdec = Map180(offsetdec + ddec); /* Change hour angle units from pixels to hours */ dha = arcsecperpix*dha/54000.; /* Add the ha correction to the permanent offsetha in hours */ offsetha = Map12(offsetha + dha); break; } else { IDSetSwitch (&indi_slew_state_property, "Starting slew %s", sp->label); break; } } if (states[i] == ISS_OFF) { /* A slew or guide step request was cancelled */ sp->s = ISS_OFF; indi_slew_state_property.s = IPS_OK; if (guidecmd == FALSE ) { /* Which direction have we selected? */ if (!strcmp (sp->name, "north")) { StopSlew(NORTH); StartTrack(); teldir = FALSE; slewcmd = FALSE; } if (!strcmp (sp->name, "south")) { StopSlew(SOUTH); StartTrack(); teldir = FALSE; slewcmd = FALSE; } if (!strcmp (sp->name, "east")) { StopSlew(EAST); StartTrack(); teldir = FALSE; slewcmd = FALSE; } if (!strcmp (sp->name, "west")) { StopSlew(WEST); StartTrack(); teldir = FALSE; slewcmd = FALSE; } IDSetSwitch (&indi_slew_state_property, "Stopping slew %s", sp->label); /* Get the latest telescope coordinates */ GetTel(&telra, &teldec, pmodel); telra2 = telra; teldec2 = teldec; Apparent(&telra2,&teldec2,-1); indi_telescope[0].value = telra; IDSetNumber (&indi_telescope_property, NULL); indi_telescope[1].value = teldec; IDSetNumber (&indi_telescope_property, NULL); indi_telescope_2000[0].value = telra2; IDSetNumber (&indi_telescope_2000_property, NULL); indi_telescope_2000[1].value = teldec2; IDSetNumber (&indi_telescope_2000_property, NULL); } break; } } } /* Handle a request to set the target to zenith, meridian, or park */ if (!strcmp (name, indi_set_target_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_set_target_property, names[i]); if (states[i] == ISS_ON) { /* A request to use a preset target was issued */ for (i = 0; i < NARRAY(indi_set_target); i++) indi_set_target[i].s = ISS_OFF; sp->s = ISS_ON; /* Which one have we selected? */ if (!strcmp (sp->name, "zenith")) { targetra = LSTNow(); targetdec = 90.0 - SiteLatitude; } else if (!strcmp (sp->name, "meridian")) { targetra = LSTNow(); targetdec = teldec; } else if (!strcmp (sp->name, "park")) { targetra = Map24(LSTNow() - parkha); targetdec = parkdec; } else { IDSetSwitch (&indi_set_target_property, "Unknown set target request"); break; } /* A new target has been selected in EOD coordinates */ indi_target[0].value = targetra; indi_target[1].value = targetdec; /* Revert from apparent to epoch 2000 */ targetra2 = targetra; targetdec2 = targetdec; Apparent(&targetra2,&targetdec2,-1); /* Update both EOD and epoch 2000 local data */ indi_target_2000[0].value = targetra2; indi_target_2000[1].value = targetdec2; IDSetNumber (&indi_target_property, "Target RA %10.6m Dec %10.6m", targetra, targetdec); IDSetNumber (&indi_target_2000_property, "Target Epoch 2000 RA %10.6m Dec %10.6m", targetra2, targetdec2); indi_set_target_property.s = IPS_OK; IDSetSwitch (&indi_set_target_property, "Target set to %s", sp->label); break; } } } /* Handle a request to set the slew speed */ if (!strcmp (name, indi_slew_speed_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_slew_speed_property, names[i]); if (states[i] == ISS_ON) { /* A request to set the slew speed was issued */ for (i = 0; i < NARRAY(indi_slew_speed); i++) indi_slew_speed[i].s = ISS_OFF; sp->s = ISS_ON; /* Which speed have we selected? */ if (!strcmp (sp->name, "slew")) { telspd = SLEW; } else if (!strcmp (sp->name, "find")) { telspd = FIND; } else if (!strcmp (sp->name, "center")) { telspd = CENTER; } else if (!strcmp (sp->name, "guide")) { telspd = GUIDE; } else { IDSetSwitch (&indi_slew_speed_property, "Unknown slew speed selected"); break; } SetRate(telspd); /* Alert the operator for high speed slew */ if (telspd > CENTER) { indi_slew_speed_property.s = IPS_ALERT; } else if (telspd == CENTER) { indi_slew_speed_property.s = IPS_BUSY; } else { indi_slew_speed_property.s = IPS_OK; } IDSetSwitch (&indi_slew_speed_property, "Slew speed %s", sp->label); break; } } } /* Handle requests to toggle tracking on or off */ if (!strcmp (name, indi_track_state_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_track_state_property, names[i]); if (states[i] == ISS_ON) { /* A request to begin sidereal tracking was issued */ for (i = 0; i < NARRAY(indi_track_state); i++) indi_track_state[i].s = ISS_OFF; sp->s = ISS_ON; indi_track_state_property.s = IPS_BUSY; StartTrack(); trackcmd = TRUE; gotocmd = FALSE; guidecmd = FALSE; guideraflag = FALSE; guidedecflag = FALSE; IDSetSwitch (&indi_guide_state_property, "Guiding stopped"); IDSetSwitch (&indi_track_state_property, "Tracking started"); break; } if (states[i] == ISS_OFF) { /* A request to stop sidereal tracking was issued */ for (i = 0; i < NARRAY(indi_track_state); i++) indi_track_state[i].s = ISS_ON; sp->s = ISS_OFF; indi_track_state_property.s = IPS_OK; StopTrack(); trackcmd = FALSE; gotocmd = FALSE; guidecmd = FALSE; guideraflag = FALSE; guidedecflag = FALSE; IDSetSwitch (&indi_guide_state_property, "Guiding stopped"); IDSetSwitch (&indi_track_state_property, "Tracking stopped"); break; } } } /* Handle requests to toggle guiding on or off */ if (!strcmp (name, indi_guide_state_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_guide_state_property, names[i]); if (states[i] == ISS_ON) { /* A request to begin guiding was issued */ for (i = 0; i < NARRAY(indi_guide_state); i++) indi_guide_state[i].s = ISS_OFF; sp->s = ISS_ON; indi_guide_state_property.s = IPS_BUSY; guidera = telra; guidedec = teldec; modelha0 = (LSTNow() - guidera); modeldec0 = guidedec; guidecmd = TRUE; guideraflag = TRUE; guidedecflag = TRUE; GetTel(&telra, &teldec, pmodel); IDSetSwitch (&indi_guide_state_property, "RA and Dec Guiding"); break; } if (states[i] == ISS_OFF) { /* A request to stop guiding was issued */ for (i = 0; i < NARRAY(indi_guide_state); i++) indi_guide_state[i].s = ISS_ON; sp->s = ISS_OFF; indi_guide_state_property.s = IPS_OK; guidecmd = FALSE; IDSetSwitch (&indi_guide_state_property, "Guiding stopped"); break; } } } /* Handle a focus request by noting a change in the state property */ /* Should also toggle focus motion when another property is selected */ if (!strcmp (name, indi_focus_state_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_focus_state_property, names[i]); if (states[i] == ISS_ON) { /* A request to change the focus was issued */ for (i = 0; i < NARRAY(indi_focus_state); i++) indi_focus_state[i].s = ISS_OFF; sp->s = ISS_ON; indi_focus_state_property.s = IPS_OK; /* Which state have we selected? */ if (!strcmp (sp->name, "off")) { focuscmd = FOCUSCMDOFF; Focus(focuscmd,focusspd); GetFocus(&telfocus); indi_focus_reading.value = telfocus; IDSetNumber (&indi_focus_reading_property, NULL); } else if (!strcmp (sp->name, "in")) { focuscmd = FOCUSCMDIN; Focus(focuscmd,focusspd); } else if (!strcmp (sp->name, "out")) { focuscmd = FOCUSCMDOUT; Focus(focuscmd,focusspd); } else { IDSetSwitch (&indi_focus_state_property, "Unknown focus request"); break; } indi_focus_state_property.s = IPS_BUSY; IDSetSwitch (&indi_focus_state_property, "Focus %s", sp->label); break; } } } /* Handle a request to set the focus speed */ if (!strcmp (name, indi_focus_speed_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_focus_speed_property, names[i]); if (states[i] == ISS_ON) { /* A request to change the focus speed setting was issued */ for (i = 0; i < NARRAY(indi_focus_speed); i++) indi_focus_speed[i].s = ISS_OFF; sp->s = ISS_ON; /* Which speed have we selected? */ if (!strcmp (sp->name, "1x")) { focusspd = FOCUSSPD1; } else if (!strcmp (sp->name, "2x")) { focusspd = FOCUSSPD2; } else if (!strcmp (sp->name, "4x")) { focusspd = FOCUSSPD3; } else if (!strcmp (sp->name, "8x")) { focusspd = FOCUSSPD4; } else { IDSetSwitch (&indi_focus_speed_property, "Unknown focus speed selected"); break; } /* Alert the operator for high speed focus motion */ if (focusspd >FOCUSSPD2) { indi_focus_speed_property.s = IPS_ALERT; } else if (focusspd == FOCUSSPD2) { indi_focus_speed_property.s = IPS_BUSY; } else { indi_focus_speed_property.s = IPS_OK; } IDSetSwitch (&indi_focus_speed_property, "Focus speed %s", sp->label); break; } } } /* Handle a rotator request by noting a change in the state property */ /* Should also toggle rotator motion when another property is selected */ if (!strcmp (name, indi_rotate_state_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_rotate_state_property, names[i]); if (states[i] == ISS_ON) { /* A request to change the rotator state was issued */ for (i = 0; i < NARRAY(indi_rotate_state); i++) indi_rotate_state[i].s = ISS_OFF; sp->s = ISS_ON; indi_rotate_state_property.s = IPS_OK; /* Which state have we selected? */ if (!strcmp (sp->name, "off")) { rotatecmd = ROTATECMDOFF; Rotate(rotatecmd,rotatespd); GetRotate(&telrotate); indi_rotation_reading.value = telrotate; IDSetNumber (&indi_rotation_reading_property, NULL); } else if (!strcmp (sp->name, "cw")) { rotatecmd = ROTATECMDCW; Rotate(rotatecmd,rotatespd); } else if (!strcmp (sp->name, "ccw")) { rotatecmd = ROTATECMDCCW; Rotate(rotatecmd,rotatespd); } else { IDSetSwitch (&indi_rotate_state_property, "Unknown rotator request"); break; } indi_rotate_state_property.s = IPS_BUSY; IDSetSwitch (&indi_rotate_state_property, "Rotate %s", sp->label); break; } } } /* Handle a request to set the rotator speed */ if (!strcmp (name, indi_rotate_speed_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_rotate_speed_property, names[i]); if (states[i] == ISS_ON) { /* A request to change the rotator speed setting was issued */ for (i = 0; i < NARRAY(indi_rotate_speed); i++) indi_rotate_speed[i].s = ISS_OFF; sp->s = ISS_ON; indi_rotate_speed_property.s = IPS_OK; /* Which speed have we selected? */ if (!strcmp (sp->name, "sidereal")) { rotatespd = ROTATESPDSIDEREAL; } else if (!strcmp (sp->name, "slow")) { rotatespd = ROTATESPDSLOW; } else if (!strcmp (sp->name, "fast")) { rotatespd = ROTATESPDFAST; } else { IDSetSwitch (&indi_rotate_speed_property, "Unknown rotator speed selected"); break; } /* Alert the operator that the rotate selection is sensitive */ if (rotatespd > ROTATESPDSLOW) { indi_rotate_speed_property.s = IPS_BUSY; } IDSetSwitch (&indi_rotate_speed_property, "Rotator speed %s", sp->label); break; } } } /* Handle a fan request by noting a change in the state property */ /* Should also toggle fan state when another property is selected */ if (!strcmp (name, indi_fan_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_fan_property, names[i]); if (states[i] == ISS_ON) { /* A request to change the fan state was issued */ for (i = 0; i < NARRAY(indi_fan); i++) indi_fan[i].s = ISS_OFF; sp->s = ISS_ON; indi_fan_property.s = IPS_OK; /* Which state have we selected? */ if (!strcmp (sp->name, "off")) { fancmd = FANCMDOFF; Fan(fancmd); } else if (!strcmp (sp->name, "low")) { fancmd = FANCMDLOW; Fan(fancmd); } else if (!strcmp (sp->name, "high")) { fancmd = FANCMDHIGH; Fan(fancmd); } else { IDSetSwitch (&indi_fan_property, "Unknown fan request"); break; } indi_fan_property.s = IPS_BUSY; IDSetSwitch (&indi_fan_property, "Fan %s", sp->label); break; } } } /* Handle a dew heater request by noting a change in the state property */ /* Should also toggle fan state when another property is selected */ if (!strcmp (name, indi_heater_property.name)) { for (i = 0; i < n; i++) { ISwitch *sp = IUFindSwitch (&indi_heater_property, names[i]); if (states[i] == ISS_ON) { /* A request to change the dew heater state was issued */ for (i = 0; i < NARRAY(indi_heater); i++) indi_heater[i].s = ISS_OFF; sp->s = ISS_ON; indi_heater_property.s = IPS_OK; /* Which state have we selected? */ if (!strcmp (sp->name, "off")) { heatercmd = HEATERCMDOFF; Heater(heatercmd); } else if (!strcmp (sp->name, "low")) { heatercmd = HEATERCMDLOW; Heater(heatercmd); } else if (!strcmp (sp->name, "high")) { heatercmd = HEATERCMDHIGH; Heater(heatercmd); } else { IDSetSwitch (&indi_heater_property, "Unknown heater request"); break; } indi_heater_property.s = IPS_BUSY; IDSetSwitch (&indi_heater_property, "Heater %s", sp->label); break; } } } } /* Client is sending new numbers */ /* Search number properties for a match and act accordingly */ /* In Elwood Downey's notation, the search arguments here are Nv not N */ /* In my notation the arguments are _property */ void ISNewNumber (const char *dev, const char *name, double *doubles, char *names[], int n) { int i, nset; if (strcmp (dev, MYDEV)) { /* Ignore if this is not for us */ return; } if (!strcmp (name, indi_target_property.name) && n > 0) { /* A new target has been sent in EOD coordinates */ for (nset = i = 0; i < n; i++) { INumber *target_pointer = IUFindNumber(&indi_target_property, names[i]); if (target_pointer == &indi_target[0]) { targetra = doubles[i]; nset = nset + 1; } else if (target_pointer == &indi_target[1]) { targetdec = doubles[i]; nset = nset + 1; } } indi_target[0].value = targetra; indi_target[1].value = targetdec; /* Revert from apparent to epoch 2000 */ targetra2 = targetra; targetdec2 = targetdec; Apparent(&targetra2,&targetdec2,-1); /* Update both EOD and epoch 2000 local data */ indi_target_2000[0].value = targetra2; indi_target_2000[1].value = targetdec2; IDSetNumber (&indi_target_property, "Target RA %10.6m Dec %10.6m", targetra, targetdec); IDSetNumber (&indi_target_2000_property, "Target Epoch 2000 RA %10.6m Dec %10.6m", targetra2, targetdec2); } if (!strcmp (name, indi_target_2000_property.name) && n > 0) { /* A new target has been sent in epoch 2000 coordinates */ for (nset = i = 0; i < n; i++) { INumber *target_pointer = IUFindNumber(&indi_target_2000_property, names[i]); if (target_pointer == &indi_target_2000[0]) { targetra2 = doubles[i]; nset = nset + 1; } else if (target_pointer == &indi_target_2000[1]) { targetdec2 = doubles[i]; nset = nset + 1; } } indi_target_2000[0].value = targetra2; indi_target_2000[1].value = targetdec2; /* Find apparent coordinates EOD from epoch 2000 */ targetra = targetra2; targetdec = targetdec2; Apparent(&targetra,&targetdec,1); /* Update both EOD and epoch 2000 local data */ indi_target[0].value = targetra; indi_target[1].value = targetdec; IDSetNumber (&indi_target_property, "Target EOD RA %10.6m Dec %10.6m", targetra, targetdec); IDSetNumber (&indi_target_2000_property, "Target Epoch 2000 RA %10.6m Dec %10.6m", targetra2, targetdec2); } if (!strcmp (name, indi_model_parameters_property.name) && n > 0) { /* New model parameters have been sent */ /* Assumed units are pixels/hr */ for (nset = i = 0; i < n; i++) { INumber *model_parameters_pointer = IUFindNumber(&indi_model_parameters_property, names[i]); if (model_parameters_pointer == &indi_model_parameters[0]) { modelha1 = doubles[i]; modelha0 = (LSTNow() - telra); modeldec0 = teldec; nset = nset + 1; } else if (model_parameters_pointer == &indi_model_parameters[1]) { modeldec1 = doubles[i]; modeldec0 = teldec; modelha0 = (LSTNow() - telra); nset = nset + 1; } } indi_model_parameters[0].value = modelha1; indi_model_parameters[1].value = modeldec1; /* Update local data */ IDSetNumber (&indi_model_parameters_property, "Rates HA %8.3f Dec %8.3f", modelha1, modeldec1); } } /* Telescope function called during the polling cycle */ /* Restarts the timer to call itself again */ static void telescope (void *p) { static int tcount, tcount2; /* Local very high priority operations would go here */ if ( guidecmd == 1 ) { CenterGuide(guidera, guidedec, guideraflag, guidedecflag, pmodel); } /* Otherwise poll telescope every 4 seconds for a 250 ms INDI polling cycle */ if ((tcount < 0) || (tcount > 16)) { tcount = 1; if ( gotocmd == 1 ) { /* A slew was started and is not yet reported complete */ if (CheckGoTo(targetra,targetdec,pmodel) >= 1) { /* Slew has completed */ gotocmd = 0; indi_goto[0].s = ISS_OFF; indi_goto_property.s = IPS_OK; IDSetSwitch (&indi_goto_property, "Goto complete"); StartTrack(); usleep(1000000); GetTel(&telra, &teldec, pmodel); write_coords(telra,teldec); } else { /* Get the latest telescope coordinates */ GetTel(&telra, &teldec, pmodel); } telra2 = telra; teldec2 = teldec; Apparent(&telra2,&teldec2,-1); indi_telescope[0].value = telra; indi_telescope[1].value = teldec; IDSetNumber (&indi_telescope_property, NULL); indi_telescope_2000[0].value = telra2; indi_telescope_2000[1].value = teldec2; IDSetNumber (&indi_telescope_2000_property, NULL); } } tcount++; /* Local lower-priority operations would go here */ if ((tcount2 < 0) || (tcount2 > 80)) { tcount2 = 1; GetFocus(&telfocus); indi_focus_reading.value = telfocus; IDSetNumber (&indi_focus_reading_property, NULL); GetTemperature(&teltemperature); indi_temperature_reading.value = teltemperature; IDSetNumber (&indi_temperature_reading_property, NULL); GetRotate(&telrotate); indi_rotation_reading.value = telrotate; IDSetNumber (&indi_rotation_reading_property, NULL); } tcount2++; /* Start the timer again */ IEAddTimer (POLLMS, telescope, NULL); } /* Read and parse the initial configuration file */ /* Will override defaults for */ /* */ /* polaraz */ /* polaralt */ /* offsetha */ /* offsetdec */ /* latitude */ /* longitude */ /* altitude */ /* pressure */ /* temperature */ /* parkha */ /* parkdec */ /* telserial */ void read_config(void) { char configstr[121]; char *configptr = configstr; int n; configfile = (char *) malloc (MAXPATHLEN); strcpy(configfile,CONFIGFILE); fp_config = fopen(configfile, "r"); if ( fp_config == NULL ) { fprintf(stderr,"New telescope configuration not found.\n"); fprintf(stderr,"Using default telescope parameters.\n"); return; } else { fprintf(stderr,"Telescope and site parameters redefined.\n"); } while ( configstr == fgets(configstr,80,fp_config) ) { configptr = strstr(configstr,"tel.mount"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%d",&telmount); fprintf(stderr,"Telescope mounting type: %d\n",telmount); } } configptr = strstr(configstr,"tel.serial"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; strncpy(telserial,configptr,30); n = strlen(telserial); if (n>0) { telserial[n-1]='\0'; } fprintf(stderr,"Telescope serial port set to: %s\n",telserial); } } configptr = strstr(configstr,"tel.homeha"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&homeha); fprintf(stderr,"Home HA: %lf\n",homeha); homenow = TRUE; } } configptr = strstr(configstr,"tel.homedec"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&homedec); fprintf(stderr,"Home Dec: %lf\n",homedec); homenow = TRUE; } } configptr = strstr(configstr,"tel.parkha"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&parkha); fprintf(stderr,"Park HA: %lf\n",parkha); } } configptr = strstr(configstr,"tel.parkdec"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&parkdec); fprintf(stderr,"Park Dec: %lf\n",parkdec); } } configptr = strstr(configstr,"tel.polaraz"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&polaraz); fprintf(stderr,"Polar azimuth: %lf\n",polaraz); } } configptr = strstr(configstr,"tel.polaralt"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&polaralt); fprintf(stderr,"Polar altitude: %lf\n",polaralt); } } configptr = strstr(configstr,"tel.offsetha"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&offsetha); offsetha_default = offsetha; fprintf(stderr,"Offset in hour angle: %lf\n",offsetha); } } configptr = strstr(configstr,"tel.offsetdec"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&offsetdec); offsetdec_default = offsetdec; fprintf(stderr,"Offset in declination: %lf\n",offsetdec); } } configptr = strstr(configstr,"tel.modelha1"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&modelha1_default); fprintf(stderr,"Default model parameter ha1: %lf\n",modelha1_default); modelha0 = (LSTNow() - telra); modelha1 = modelha1_default; } } configptr = strstr(configstr,"tel.modeldec1"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&modeldec1_default); fprintf(stderr,"Default model parameter dec1: %lf\n",modeldec1_default); modeldec0 = teldec; modelha0 = (LSTNow() - telra); modeldec1 = modeldec1_default; } } configptr = strstr(configstr,"site.longitude"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&SiteLongitude); fprintf(stderr,"Site longitude: %lf\n",SiteLongitude); } } configptr = strstr(configstr,"site.latitude"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&SiteLatitude); fprintf(stderr,"Site latitude: %lf\n",SiteLatitude); } } configptr = strstr(configstr,"site.altitude"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&SiteAltitude); fprintf(stderr,"Site altitude: %lf\n",SiteAltitude); } } configptr = strstr(configstr,"site.pressure"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&SitePressure); fprintf(stderr,"Site pressure: %lf\n",SitePressure); } } configptr = strstr(configstr,"site.temperature"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&SiteTemperature); fprintf(stderr,"Site temperature: %lf\n",SiteTemperature); } } configptr = strstr(configstr,"ccd.arcsecperpix"); if ( configptr != NULL) { configptr = strstr(configstr,"="); if ( configptr != NULL) { configptr = configptr + 1; sscanf(configptr,"%lf",&arcsecperpix); fprintf(stderr,"CCD image scale arcsec/pixel: %lf\n",arcsecperpix); } } } fclose(fp_config); } /* Write the ra and dec to a status file */ void write_coords (double ra, double dec) { FILE* outfile; outfile = fopen("/usr/local/observatory/status/telcoords","w"); fprintf(outfile, "%lf %lf\n", ra, dec); fclose(outfile); } /* Update reference to current target */ /* This is actually more complex than a simple offset correction if */ /* a pointing model is in place. In that case, the offset should be */ /* to the base ra and dec reported by the telescope, taken such that */ /* the actual ra and dec with offset and pointing correction will */ /* agree with the reference target. It will have to iterate to achieve */ /* this effect. The simple difference here from the reported coordinates */ /* with other pointing model corrections still in place will impact */ /* the effect of the pointing model. */ void target_telescope_reference(void) { double tmpoffsetha, tmpoffsetdec; /* Turn off reference correction for a moment by setting offsets to zero */ tmpoffsetha = offsetha; tmpoffsetdec = offsetdec; offsetha = 0.; offsetdec = 0.; /* Get the coordinates with other pointing corrections in place */ GetTel(&telra, &teldec, pmodel); telha = Map12(LSTNow() - telra); /* Trap the very confusing errors that would happen in an offset */ /* assigned across the poles. */ if ( fabs(teldec)> 85. ) { offsetha = tmpoffsetha; offsetdec = tmpoffsetdec; fprintf(stderr, "Within 5 degrees of the pole.\n"); fprintf(stderr, "Original offsets remain in use.\n"); return; } if (fabs(targetdec)> 85. ) { offsetha = tmpoffsetha; offsetdec = tmpoffsetdec; fprintf(stderr, "Within 5 degrees of the pole original offsets remain in use.\n"); return; } /* Calculate new additive offsets */ offsetha = Map12(telra - targetra); offsetdec = targetdec - teldec; /* Check that the offsets are not too large */ if (fabs(offsetdec) >= 15.0) { offsetdec = tmpoffsetdec; offsetha = tmpoffsetha; fprintf(stderr, "Declination offset greater than 15 degrees.\n"); fprintf(stderr, "Original offsets remain in use.\n"); return; } if (fabs(offsetha) >= 1.0) { offsetdec = tmpoffsetdec; offsetha = tmpoffsetha; fprintf(stderr, "Hour angle offset greater than 1 hour.\n"); fprintf(stderr, "Original offsets remain in use.\n"); return; } fprintf(stderr,"New offsets: %lf %lf\n",offsetha,offsetdec); } /* Clear telescope offsets */ void clear_telescope_reference(void) { offsetha = 0.; offsetdec = 0.; fprintf(stderr,"New offsets: %lf %lf\n",offsetha,offsetdec); return; } /* Write telescope offsets to a system file */ void save_telescope_reference(void) { FILE* outfile; outfile = fopen("/usr/local/observatory/status/teloffsets","w"); if ( outfile == NULL ) { fprintf(stderr,"Cannot update teloffsets file\n"); return; } fprintf(stderr, "Saved offsets: %lf %lf\n", offsetha, offsetdec); fprintf(outfile, "%lf %lf\n", offsetha, offsetdec); fclose(outfile); } /* Recall telescope offsets from a system file */ void recall_telescope_reference() { FILE* fp_offsets; double tmpoffsetha, tmpoffsetdec; int recall_flag; fp_offsets = fopen("/usr/local/observatory/status/teloffsets","r"); if ( fp_offsets == NULL ) { fprintf(stderr,"Cannot open a teloffsets file\n"); return; } recall_flag = fscanf(fp_offsets, "%lf %lf", &tmpoffsetha, &tmpoffsetdec); if (recall_flag == 2) { offsetha = tmpoffsetha; offsetdec = tmpoffsetdec; fprintf(stderr, "%lf %lf\n", offsetha, offsetdec); } fclose(fp_offsets); } /* Read wcs coordinates and compute new offsets */ void wcs_telescope_reference(void) { fprintf(stderr, "Reference from a WCS header is not yet implemented.\n"); } /* Use default offsets */ void default_telescope_reference(void) { offsetha = offsetha_default; offsetdec = offsetdec_default; fprintf(stderr, "Recalled default offsets: %lf %lf\n", offsetha, offsetdec); } /* Write telescope model to a system file */ void save_telescope_model() { FILE* outfile; outfile = fopen("/usr/local/observatory/status/telmodel","w"); if ( outfile == NULL ) { fprintf(stderr,"Cannot update telmodel file\n"); return; } fprintf(outfile, "%lf %lf\n", modelha1, modeldec1); fclose(outfile); } /* Recall telescope model from a system file */ /* Input units are arcseconds per pixel */ void recall_telescope_model() { FILE* infile; int recall_flag; infile = fopen("/usr/local/observatory/status/telmodel","r"); if ( infile == NULL ) { fprintf(stderr,"Cannot open a telmodel file\n"); return; } recall_flag = fscanf(infile, "%lf %lf", &modelha1, &modeldec1); if (recall_flag == 2) { fprintf(stderr, "Recalled mount model parameters %lf %lf\n", modelha1, modeldec1); modelha0 = (LSTNow() - telra); modeldec0 = teldec; } fclose(infile); } /* Use default model */ void default_telescope_model(void) { modelha0 = Map12(LSTNow() - telra); modelha1 = modelha1_default; modeldec0 = teldec; modeldec1 = modeldec1_default; fprintf(stderr, "Recalled default model\n"); } /* Clear telescope model */ void clear_telescope_model(void) { modelha0 = 0.; modelha1 = 0.; modeldec0 = 0.; modeldec1 = 0.; fprintf(stderr,"Model parameters cleared\n"); return; }