/* -------------------------------------------------------------------------- */ /* - Protocol for Paramount MKS3 command set telescope control - */ /* -------------------------------------------------------------------------- */ /* */ /* Copyright 2010-2011 John Kielkopf */ /* */ /* Distributed under the terms of the General Public License (see LICENSE) */ /* */ /* John Kielkopf (kielkopf@louisville.edu) */ /* */ /* Date: July 22, 2012 */ /* Version: 2.3 */ /* */ /* History: */ /* */ /* September 4, 2010 */ /* Version 1.0 */ /* */ /* November 17, 2010 */ /* Version 1.1 */ /* Added fan, rotator, thermal control */ /* */ /* October 10, 2011 */ /* Version 2.3 */ /* Version changed to match package */ /* Added CenterGuide */ /* This program requires an mks3 object module and header file */ /* developed by Petr Kubanek (petr@kubanek.net) for RTS2. */ /* More information is in the xmtel/bisque/mks/README . */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include "protocol.h" #include "mks3.h" #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); int SetTelEncoders(double homeha, double homedec); 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); void GetNewPos(double *newposra, double *newposdec, double newra0, double newdec0); 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 newoffsetha, 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 Map24(double hour); extern double Map12(double hour); extern double Map360(double degree); extern double Map180(double degree); extern double offsetra, offsetdec; extern double SiteLatitude, SiteLongitude; extern int telmount; extern int homenow; extern double homeha; /* Home ha */ extern double homera; /* Home ra derived from ha */ extern double homedec; /* Home dec */ extern char telserial[32]; /* Serial port */ 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); extern void EquatorialToHorizontal(double ha, double dec, double *az, double *alt); extern void HorizontalToEquatorial(double az, double alt, double *ha, double *dec); /* Files */ FILE *fp_focus; char *focusfile; FILE *fp_temperature; char *temperaturefile; FILE *fp_rotate; char *rotatefile; /* Local data */ static int slewphase = 0; /* Slew sequence counter */ /* Axis calibration and jog increments */ /* Position or encoder counts per degree */ static double altcountperdeg = ALTCOUNTPERDEG; static double azcountperdeg = AZCOUNTPERDEG; /* Sign of encoder counts for home position to increase HA and Dec */ static double altsign = ALTSIGN; static double azsign = AZSIGN; double azjog = 0.; double altjog = 0.; /* Communications */ static int TelConnectFlag = FALSE; /* MKS3 variables */ MKS3Id axis0; /* RA axis */ MKS3Id axis1; /* Dec axis */ short status0, status1; short motorstate0, motorstate1; long pos0, pos1; long dpos0, dpos1; long enc0, enc1; double refra, refha; /* RA axis reference coordinates in hours */ double refdec; /* Dec axis reference coordinates in degrees */ /* 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 MKS3 serial interface */ /* Return without action if TelConnectFlag is TRUE */ /* Set TelConnectFlag TRUE on success */ /* Uses serial port telserial */ void ConnectTel(void) { int ret, ret0, ret1; int i; short major, minor, build; int flag; int limits; if(TelConnectFlag != FALSE) { return; } /* Initialize mk3 and make the serial connection */ /* MKS3Init ("/dev/ttyS0"); */ ret = MKS3Init (telserial); if (ret) { TelConnectFlag = FALSE; fprintf(stderr, "The mount controller at %s is not available ... \n", telserial); return; } /* Set the controller and motor ids */ /* RA axis */ axis0.unitId = 0x64; axis0.axisId = 0; /* Dec axis */ axis1.unitId = 0x64; axis1.axisId = 1; /* The following startup is from RTS2 paramount.cpp */ /* Begin by exercising the motors on and off */ /* Turn on the motors */ ret0 = MKS3MotorOn (axis0); if (ret0 != MKS_OK) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 RA start error %d \n", ret0); return; } ret1 = MKS3MotorOn (axis1); if (ret1 != MKS_OK) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 Dec start error %d \n", ret0); } usleep(100000); /* Turn off the motors */ ret0 = MKS3PosAbort (axis0); if (ret0 != MKS_OK) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 RA stop error %d \n", ret0); } ret1 = MKS3PosAbort (axis1); if (ret1 != MKS_OK) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 Dec stop error %d \n", ret1); } usleep(100000); /* Wait until they stop */ for (i = 0; i < 10; i++) { ret0 = MKS3MotorStatusGet (axis0, &motorstate0); ret1 = MKS3MotorStatusGet (axis1, &motorstate1); if ( (ret0 != MKS_OK) || (ret1 != MKS_OK) ) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 get motor status errors RA: %d Dec: %d\n", ret0, ret1); return; } /* Break from loop if both motors stopped */ if (!((motorstate0 & MOTOR_SLEWING) || (motorstate1 & MOTOR_SLEWING))) { break; } /* Check RA or Dec limits */ if ( (motorstate0 & MOTOR_POSERRORLIM) || (motorstate1 & MOTOR_POSERRORLIM) ) { ret0 = MKS3ConstsMaxPosErrorSet (axis0, 16000); ret1 = MKS3ConstsMaxPosErrorSet (axis1, 16000); /* Check if motor states are OK */ if ( (ret0 != MKS_OK) || (ret1 != MKS_OK) ) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 motor limit errors RA: %d Dec: %d\n", ret0, ret1); return; } /* If motors are ok and in limit state then set counter and break */ i = 10; break; } usleep (100000); } /* Set target to current position if count exceeded */ if (i == 10) { ret0 = MKS3PosCurGet (axis0, &pos0); ret1 = MKS3PosCurGet (axis1, &pos1); if ( (ret0 != MKS_OK) || (ret1 != MKS_OK) ) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 get position errors RA: %d Dec: %d\n", ret0, ret1); return; } ret0 = MKS3PosTargetSet (axis0, pos0); ret1 = MKS3PosTargetSet (axis1, pos1); if ( (ret0 != MKS_OK) || (ret1 != MKS_OK) ) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 set position errors RA: %d Dec: %d\n", ret0, ret1); return; } } /* Homing could go here if needed */ /* MKS3Home (axis0, 0); */ /* MKS3Home (axis1, 0); */ /* Confirm motors off */ ret0 = MKS3MotorOff (axis0); ret1 = MKS3MotorOff (axis1); /* Request version of MK3 to confirm communications */ ret = MKS3VersionGet (axis0, &major, &minor, &build); if (ret) { TelConnectFlag = FALSE; fprintf(stderr, "MKS3 did not respond to request for current version ...\n"); return; } fprintf (stderr, "Paramount %i.%i.%i\n", major, minor, build); fprintf (stderr, "Using %lf HA counts per degree \n", azcountperdeg); fprintf (stderr, "Using %lf Dec counts per degree \n", altcountperdeg); /* MKS3 has been initialized, motors have be cycled, and counters set */ /* Perform additional startup tests for xmtel */ flag = GetLimits(&limits); usleep(500000); limits = FALSE; flag = SetLimits(limits); usleep(500000); flag = GetLimits(&limits); /* These defaults for homeha and homedec are overridden by prefs */ if ( homenow != TRUE ) { if (SiteLatitude < 0.) { homedec = 0.; homeha = -2.; } else { homedec = 0.; homeha = 2.; } } /* In the southern hemisphere the count directions may change */ if (SiteLatitude < 0.) { altsign = -1.*altsign; azsign = -1.*azsign; } /* Set reference ra and dec based on initial home position */ /* This call is made immediately after mount is homed */ SetTelEncoders(homeha, homedec); fprintf(stderr, "Using initial HA: %lf\n", refha); fprintf(stderr, "Using initial RA: %lf\n", refra); fprintf(stderr, "Using initial Dec: %lf\n", refdec); /* Start motors */ ret0 = MKS3MotorOn (axis0); usleep(100000); ret1 = MKS3MotorOn (axis1); usleep(100000); /* Announce initial settings */ fprintf(stderr, "Local latitude: %lf\n", SiteLatitude); fprintf(stderr, "Local longitude: %lf\n", SiteLongitude); fprintf(stderr, "Local sidereal time: %lf\n", LSTNow()); fprintf(stderr, "Mount type: %d\n", telmount); fprintf(stderr, "Mount now reading RA: %lf\n", refra); fprintf(stderr, "Mount now reading Dec: %lf\n", refdec); fprintf(stderr, "The telescope is running ...\n\n"); TelConnectFlag = TRUE; } /* Assign and save jog increment for use in StartSlew */ /* Small HA jogs may show mount controller latency */ void SetRate(int newrate) { if(newrate == SLEW) { /* 1 degree */ azjog = 1.; altjog = 1.; } else if(newrate == FIND) { /* 10 arcminutes */ azjog = 10./60.; altjog = 10./60.; } else if(newrate == CENTER) { /* 2 arcminutes */ azjog = 2./60.; altjog = 2./60.; } else if(newrate == GUIDE) { /* 0.5 arcminutes */ azjog = 0.5/60.; altjog = 0.5/60.; } } /* Start an incremental jog in a chosen direction */ void StartSlew(int direction) { /* Get the current positions */ MKS3PosCurGet (axis0, &pos0); MKS3PosCurGet (axis1, &pos1); /* Set the jog increments */ dpos0 = (long) (azjog * azcountperdeg * azsign ); dpos1 = (long) (altjog * altcountperdeg * altsign ); if(direction == NORTH) { pos1 = pos1 + dpos1; } else if(direction == SOUTH) { pos1 = pos1 - dpos1; } else if(direction == EAST) { pos0 = pos0 + dpos0; } else if(direction == WEST) { pos0 = pos0 - dpos0; } /* Motors on -- could add a test for state here */ /* MKS3MotorOn (axis0); */ /* MKS3MotorOn (axis1); */ /* Set differential target and begin motion */ MKS3PosTargetSet (axis0, pos0); usleep(100000); MKS3PosTargetSet (axis1, pos1); } /* Stop the jog in chosen direction */ /* This function is handled automatically by the MKS3 driver */ void StopSlew(int direction) { if(direction == NORTH) { } else if(direction == SOUTH) { } else if(direction == EAST) { } else if(direction == WEST) { } } /* Close the connection to the telescope controller */ void DisconnectTel(void) { if(TelConnectFlag == TRUE) { } TelConnectFlag = FALSE; } /* Set the reference position to current ha and dec */ /* Returns +1 (TRUE) on success and 0 (FALSE) otherwise */ int SetTelEncoders(double setha, double setdec) { double aznow, altnow; /* Test ha and dec for valid range */ if ( setha > 6. || setha < -6. ) { fprintf(stderr,"Telescope may be pointed outside valid HA range\n"); fprintf(stderr,"It cannot be started safely using last known position\n"); return(0); } if ( setdec > 90. || setdec < -90. ) { fprintf(stderr,"Telescope may be pointed outside valid Dec range\n"); fprintf(stderr,"It cannot be started safely using last known position\n"); return(0); } /* Convert HA and Dec to Alt and Az */ EquatorialToHorizontal(setha, setdec, &aznow, &altnow); if (altnow < 0.) { fprintf(stderr,"Telescope may be pointed below the horizon\n"); fprintf(stderr,"It cannot be started safely using last known position\n"); return(0); } refha = setha; refra = Map24(LSTNow() - refha); refdec = setdec; return(1); } /* Read the mount position */ /* Save readings in global variables */ /* Use an NTP synchronized clock to find lst */ /* Convert the readings to mounting ha, ra and dec */ /* Correct for the pointing model to find the true direction vector */ /* Report the ra and dec at which the telescope is pointed */ /* Parmount/MKS reports a position not a raw encoder count */ /* Positions are linearly mapped to rotation in ra and dec */ /* However pos0 gives ra rather than ha */ void GetTel(double *telra, double *teldec, int pmodel) { double telha0 = 0.; double teldec0 = 0.; double telra0 = 0.; double telra1 = 0.; double teldec1 = 0.; double posra = 0.; double posdec = 0.; double dra = 0.; double ddec = 0.; /* Query controller for delta posra from reference */ MKS3PosCurGet (axis0, &pos0); /* Query controller for delta posdec from reference */ MKS3PosCurGet (axis1, &pos1); /* Convert long count to double */ posra = (double) pos0; posdec = (double) pos1; /* Convert delta counts to delta degrees for both axes */ dra = posra * azsign / azcountperdeg; ddec = posdec * altsign / altcountperdeg; /* Change delta ra from degrees to hours */ dra = dra / 15.; /* Find telescope ra and dec from reference and save */ telra0 = Map24(refra + dra); teldec0 = refdec + ddec; /* Find telescope ha */ telha0 = Map12(LSTNow() - telra0); /* Handle special cases of teldec0 beyond the pole */ if (teldec0 > 90.) { teldec0 = 180. - teldec0; telra0 = Map24(telra0 + 12.); } else if (teldec0 < -90.) { teldec0 = -180. - teldec0; telra0 = Map24(telra0 + 12.); } /* Apply pointing model to the coordinates that are reported by the telescope */ PointingFromTel(&telra1, &teldec1, telra0, teldec0, pmodel); /* Return corrected values */ *telra=telra1; *teldec=teldec1; return; } /* Go to new celestial coordinates */ /* Evaluate if target coordinates are valid */ /* Test slew limits */ /* Query if target is above the horizon */ /* Return without action for invalid requests */ /* Update current pointing */ /* Set slewphase equal to number of slew segments needed */ /* Begin next segment needed to reach target from current pointing */ /* Repeated calls are required when more than one segment is needed */ /* Return 1 if underway */ /* Return 0 if done or not permitted */ int GoToCoords(double newra, double newdec, int pmodel) { long target_pos0; long target_pos1; double newha, newalt, newaz; double newra0, newdec0; double newra1, newdec1; double newposra, newposdec; /* Find target ha and use it to test horizon and mount flip */ newha = LSTNow() - newra; newha = Map12(newha); /* Convert HA and Dec to Alt and Az */ /* Test for visibility */ EquatorialToHorizontal(newha, newdec, &newaz, &newalt); /* Check altitude limit */ if (newalt < MINTARGETALT) { fprintf(stderr,"Target is below the telescope horizon ...\n"); slewphase = 0; return(0); } /* Target request is valid */ /* Find mount coordinates for the target */ newra1 = newra; newdec1 = newdec; PointingToTel(&newra0,&newdec0,newra1,newdec1,pmodel); /* Find mount positions for these coordinates */ GetNewPos(&newposra, &newposdec, newra0, newdec0); target_pos0 = (long) newposra; target_pos1 = (long) newposdec; /* Send target positions to initiate slew */ slewphase = 1; MKS3PosTargetSet (axis0, target_pos0); MKS3PosTargetSet (axis1, target_pos1); /* A slew is in progress */ return(1); } /* Find new mount target positions */ /* Input target mount ra and dec */ /* Read current mount positions and calculate mount ra and dec */ /* Return positions that would point mount to target */ void GetNewPos(double *newposra, double *newposdec, double targetra, double targetdec) { double telha = 0.; double targetha = 0.; double refha = 0.; double meridian = 0.; double telposra = 0.; double telposdec = 0.; double targetposra = 0.; double targetposdec = 0.; double targetdra = 0.; double targetddec = 0.; double telra = 0.; double teldec = 0.; /* Query controller for posra relative to reference */ MKS3PosCurGet (axis0, &pos0); /* Query controller for posdec relative to reference */ MKS3PosCurGet (axis1, &pos1); /* Convert long count to double */ telposra = (double) pos0; telposdec = (double) pos1; /* Convert counts to degrees for both axes */ /* Northern hemisphere: azsign - and altsign - */ /* Southern hemisphere: azsign - and altsign + */ telra = telposra * azsign / azcountperdeg; teldec = telposdec * altsign / altcountperdeg; /* Change ra from degrees to hours */ telra = telra / 15.; /* Add reference to get absolute coordinates */ telra = Map24(refra + telra); teldec = refdec + teldec; /* Handle special cases of teldec beyond the poles */ if (teldec > 90.) { /* Only accessible from the northern hemisphere */ teldec = 180. - teldec; telra = Map24(telra + 12.); } else if (teldec < -90.) { /* Only accessible from the southern hemisphere */ teldec = -180. - teldec; telra = Map24(telra + 12.); } /* Find current hour angles */ meridian = LSTNow(); telha = Map12(meridian - telra); targetha = Map12(meridian - targetra); refha = Map12(meridian - refra); /* Northern hemisphere homeha = +2 hr */ /* Southern hemisphere homeha = -2 hr */ /* Both hemispheres refha = elapsed lst since start + homeha */ /* The telescope's current configuration is now known */ /* Calculate target position */ /* Use refra and refdec where pos0 and pos1 are zero */ if (SiteLatitude < 0.) { /* Southern hemisphere homeha = -2 hr */ if ((targetha >= -12.) && ( targetha < -6.)) { targetdra = 15.*(Map12(targetra - refra) - 12.); targetddec = (targetdec - refdec); } else if ((targetha >= -6.) && ( targetha <= 0.)) { targetdra = 15.*Map12(targetra - refra); targetddec = (targetdec - refdec); } else if ((targetha > 0.) && ( targetha <= 6.)) { targetdra = 15.*(Map12(targetra - refra) - 12.); targetddec = 180. - (targetdec - refdec); } else if ((targetha > 6.) && ( targetha <= 12.)) { targetdra = 15.*Map12(targetra - refra); targetddec = 180. - (targetdec - refdec); } else { fprintf(stderr,"MKS slew request to %lf hours HA error\n", targetha); } } else { /* Northern hemisphere homeha = +2 hr */ if ((targetha >= -12.) && ( targetha < -6.)) { targetdra = 15.*Map12(targetra - refra); targetddec = 180. - (targetdec - refdec); } else if ((targetha >= -6.) && ( targetha <= 0.)) { targetdra = 15.*(Map12(targetra - refra) - 12.); targetddec = 180. - (targetdec - refdec); } else if ((targetha > 0.) && ( targetha <= 6.)) { targetdra = 15.*Map12(targetra - refra); targetddec = (targetdec - refdec); } else if ((targetha > 6.) && ( targetha <= 12.)) { targetdra = 15.*(Map12(targetra - refra) - 12.); targetddec = (targetdec - refdec); } else { fprintf(stderr,"MKS slew request to %lf hours HA error\n", targetha); } } targetposra = targetdra*azsign*azcountperdeg; targetposdec = targetddec*altsign*altcountperdeg; /* Consider exceptions here if any cause problems */ /* Return new positions */ *newposra = targetposra; *newposdec = targetposdec; return; } /* Low level check of slew status on both axes */ /* Advise using CheckGoTo in external applications */ /* Return a flag indicating whether a slew is now in progress */ /* 1 -- slew is in progress on either drive */ /* 0 -- slew not in progress for either drive */ int GetSlewStatus(void) { /* Query azimuth drive first */ if ( TRUE ) { return(1); } /* Query altitude drive if azimuth drive is not slewing */ if ( TRUE ) { return(1); } return(0); } /* Test whether the destination was reached */ /* Initiate the next segment if slewphase is greater than 1 */ /* Reset slewphase when goto has finished a segment */ /* 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 telra1, teldec1; double errorRA, errorDec, nowRA, nowDec; double tolra, toldec; /* Is the telescope slewing? */ if ( GetSlewStatus() == 1 ) { /* One or more axes remain in motion */ /* Try again later */ return(0); } /* Was this a two-phase slew? */ if ( slewphase == 2 ) { /* Reset the slew phase and continue to the destination */ slewphase = 0; /* Go to the original destination */ /* GoToCoords will change slewphase to 1 */ GoToCoords(desRA, desDec, pmodel); /* Return a flag indicating a new goto operation is in progress */ return(0); } else if ( slewphase == 1 ) { /* No axes are moving. Insure that tracking is started again. */ StartTrack(); /* Where are we now? */ GetTel(&nowRA, &nowDec, pmodel); /* Compare to destination with pre-defined tolerances */ telra1 = desRA; teldec1 = desDec; /* RA slew tolerance in hours */ tolra = SLEWTOLRA; /* Dec slew tolerance in degrees */ toldec = SLEWTOLDEC; /* What is the absolute value of the pointing error? */ /* Magnitude of RA pointing error in hours */ errorRA = fabs(nowRA - telra1); /* Magnitude of Dec pointing error in degrees */ errorDec = fabs(nowDec - teldec1); /* Compare and notify whether we are within tolerance */ if( ( errorRA > tolra ) || ( errorDec > toldec ) ) { /* Result of slew is outside acceptable tolerance */ /* Signal the calling routine that another goto may be needed */ slewphase = 0; return(2); } } else { /* Unexpected slew phase */ /* Reset and return success without a test */ /* This should clear errors and enable another slew request from the UI */ /* Better would be to flag an error but that might have unintended consequences */ slewphase = 0; } return(1); } /* Coordinates and time */ /* Synchronize remote telescope to this ra-dec pair */ /* In this inteface simply update global offsets */ void SyncTelOffsets(double newoffsetha, double newoffsetdec) { /* offsetha = newoffsetha; offsetdec = newoffsetdec; */ return; } /* Start sidereal tracking */ /* Also enable motion in declination */ void StartTrack(void) { MKS3MotorOn (axis0); MKS3MotorOn (axis1); } /* Use high resolution encoder to improve tracking */ void CenterGuide(double centerra, double centerdec, int raflag, int decflag, int pmodel) { } /* Stop azimuth motion only */ /* Telescope will not respond to joystick until StartTrack is executed */ void StopTrack(void) { MKS3MotorOff (axis0); } /* Stop altitude and azimuth motion */ void FullStop(void) { MKS3MotorOff (axis0); MKS3MotorOff (axis1); } /* Set slew limits control off or on */ int SetLimits(int limits) { if ( limits == TRUE ) { fprintf(stderr,"Limits enabled\n"); } else { limits = FALSE; fprintf(stderr,"Limits disabled\n"); } return (limits); } /* Get status of slew limits control */ int GetLimits(int *limits) { int mks3limits; mks3limits = 0; if ( mks3limits == 1 ) { *limits = 1; } else { *limits = 0; } return (mks3limits); } /* Set slew speed limited by MAXSLEWRATE */ int SetSlewRate(int slewRate) { fprintf(stderr,"Setting fixed slew rate not enabled.\n"); 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) { return; } nread = fscanf(fp_rotate, "%lg", ¤t_rotate); fclose(fp_rotate); if (nread !=0) { *telrotate = current_rotate; } return; } /* Report the temperature */ void GetTemperature(double *teltemperature) { int nread; double current_temperature; char cmdstr[256]; sprintf(cmdstr,"gettemperature 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; }