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Fix Homing crash
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@knro
knro committed Aug 30, 2024
1 parent ac7e94c commit 06f05d5
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Showing 2 changed files with 63 additions and 39 deletions.
18 changes: 15 additions & 3 deletions drivers/telescope/ioptronv3.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -216,7 +216,7 @@ bool IOptronV3::initProperties()
currentRA = get_local_sidereal_time(LocationNP[LOCATION_LONGITUDE].getValue());
currentDEC = LocationNP[LOCATION_LATITUDE].getValue() > 0 ? 90 : -90;
driver->setSimLongLat(LocationNP[LOCATION_LONGITUDE].getValue() > 180 ? LocationNP[LOCATION_LONGITUDE].getValue() - 360 :
LocationNP[LOCATION_LONGITUDE].getValue(), LocationNP[LOCATION_LATITUDE].getValue());
LocationNP[LOCATION_LONGITUDE].getValue(), LocationNP[LOCATION_LATITUDE].getValue());

return true;
}
Expand Down Expand Up @@ -675,18 +675,30 @@ bool IOptronV3::ReadScopeStatus()
switch (newInfo.systemStatus)
{
case ST_STOPPED:
TrackModeSP.setState(IPS_IDLE);
TrackModeSP.setState(IPS_IDLE);
TrackState = SCOPE_IDLE;
break;
case ST_PARKED:
TrackModeSP.setState(IPS_IDLE);
TrackState = SCOPE_PARKED;
if (!isParked())
SetParked(true);
if (HomeSP.getState() == IPS_BUSY)
{
HomeSP.reset();
HomeSP.setState(IPS_OK);
HomeSP.apply();
}
break;
case ST_HOME:
TrackModeSP.setState(IPS_IDLE);
TrackState = SCOPE_IDLE;
if (HomeSP.getState() == IPS_BUSY)
{
HomeSP.reset();
HomeSP.setState(IPS_OK);
HomeSP.apply();
}
break;
case ST_SLEWING:
case ST_MERIDIAN_FLIPPING:
Expand Down Expand Up @@ -1091,7 +1103,7 @@ void IOptronV3::mountSim()
switch (TrackState)
{
case SCOPE_IDLE:
currentRA += (TrackRateNP[AXIS_RA].getValue() / 3600.0 * dt) / 15.0;
currentRA += (TrackRateNP[AXIS_RA].getValue() / 3600.0 * dt) / 15.0;
currentRA = range24(currentRA);
break;

Expand Down
84 changes: 48 additions & 36 deletions libs/indibase/inditelescope.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -82,20 +82,20 @@ bool Telescope::initProperties()
DomePolicySP[DOME_IGNORED].fill("DOME_IGNORED", "Dome ignored", ISS_ON);
DomePolicySP[DOME_LOCKS].fill("DOME_LOCKS", "Dome locks", ISS_OFF);
DomePolicySP.fill(getDeviceName(), "DOME_POLICY", "Dome Policy", OPTIONS_TAB, IP_RW,
ISR_1OFMANY, 60, IPS_IDLE);
ISR_1OFMANY, 60, IPS_IDLE);

// @INDI_STANDARD_PROPERTY@
EqNP[AXIS_RA].fill("RA", "RA (hh:mm:ss)", "%010.6m", 0, 24, 0, 0);
EqNP[AXIS_DE].fill("DEC", "DEC (dd:mm:ss)", "%010.6m", -90, 90, 0, 0);
EqNP.fill(getDeviceName(), "EQUATORIAL_EOD_COORD", "Eq. Coordinates", MAIN_CONTROL_TAB,
IP_RW, 60, IPS_IDLE);
IP_RW, 60, IPS_IDLE);
lastEqState = IPS_IDLE;

// @INDI_STANDARD_PROPERTY@
TargetNP[AXIS_RA].fill("RA", "RA (hh:mm:ss)", "%010.6m", 0, 24, 0, 0);
TargetNP[AXIS_DE].fill("DEC", "DEC (dd:mm:ss)", "%010.6m", -90, 90, 0, 0);
TargetNP.fill(getDeviceName(), "TARGET_EOD_COORD", "Slew Target", MOTION_TAB, IP_RO, 60,
IPS_IDLE);
IPS_IDLE);

// @INDI_STANDARD_PROPERTY@
ParkOptionSP[PARK_CURRENT].fill("PARK_CURRENT", "Current", ISS_OFF);
Expand All @@ -114,64 +114,64 @@ bool Telescope::initProperties()
LocationNP[LOCATION_LONGITUDE].fill("LONG", "Lon (dd:mm:ss.s)", "%012.8m", 0, 360, 0, 0.0);
LocationNP[LOCATION_ELEVATION].fill("ELEV", "Elevation (m)", "%g", -200, 10000, 0, 0);
LocationNP.fill(getDeviceName(), "GEOGRAPHIC_COORD", "Scope Location", SITE_TAB,
IP_RW, 60, IPS_IDLE);
IP_RW, 60, IPS_IDLE);

// Pier Side
// @INDI_STANDARD_PROPERTY@
PierSideSP[PIER_WEST].fill("PIER_WEST", "West (pointing east)", ISS_OFF);
PierSideSP[PIER_EAST].fill("PIER_EAST", "East (pointing west)", ISS_OFF);
PierSideSP.fill(getDeviceName(), "TELESCOPE_PIER_SIDE", "Pier Side", MAIN_CONTROL_TAB,
IP_RO, ISR_ATMOST1, 60, IPS_IDLE);
IP_RO, ISR_ATMOST1, 60, IPS_IDLE);

// Pier Side Simulation
// @INDI_STANDARD_PROPERTY@
SimulatePierSideSP[SIMULATE_YES].fill("SIMULATE_YES", "Yes", ISS_OFF);
SimulatePierSideSP[SIMULATE_NO].fill("SIMULATE_NO", "No", ISS_ON);
SimulatePierSideSP.fill(getDeviceName(), "SIMULATE_PIER_SIDE", "Simulate Pier Side",
MAIN_CONTROL_TAB,
IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
MAIN_CONTROL_TAB,
IP_RW, ISR_1OFMANY, 60, IPS_IDLE);

// PEC State
// @INDI_STANDARD_PROPERTY@
PECStateSP[PEC_OFF].fill("PEC OFF", "PEC OFF", ISS_ON);
PECStateSP[PEC_ON].fill("PEC ON", "PEC ON", ISS_OFF);
PECStateSP.fill(getDeviceName(), "PEC", "PEC Playback", MOTION_TAB, IP_RW, ISR_1OFMANY, 0,
IPS_IDLE);
IPS_IDLE);

// Track Mode. Child class must call AddTrackMode to add members
// @INDI_STANDARD_PROPERTY@
TrackModeSP.fill(getDeviceName(), "TELESCOPE_TRACK_MODE", "Track Mode", MAIN_CONTROL_TAB,
IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
IP_RW, ISR_1OFMANY, 0, IPS_IDLE);

// Track State
// @INDI_STANDARD_PROPERTY@
TrackStateSP[TRACK_ON].fill("TRACK_ON", "On", ISS_OFF);
TrackStateSP[TRACK_OFF].fill("TRACK_OFF", "Off", ISS_ON);
TrackStateSP.fill(getDeviceName(), "TELESCOPE_TRACK_STATE", "Tracking", MAIN_CONTROL_TAB,
IP_RW, ISR_1OFMANY, 0,
IPS_IDLE);
IP_RW, ISR_1OFMANY, 0,
IPS_IDLE);

// Track Rate
// @INDI_STANDARD_PROPERTY@
TrackRateNP[AXIS_RA].fill("TRACK_RATE_RA", "RA (arcsecs/s)", "%.6f", -16384.0, 16384.0, 0.000001,
TRACKRATE_SIDEREAL);
TRACKRATE_SIDEREAL);
TrackRateNP[AXIS_DE].fill("TRACK_RATE_DE", "DE (arcsecs/s)", "%.6f", -16384.0, 16384.0, 0.000001, 0.0);
TrackRateNP.fill(getDeviceName(), "TELESCOPE_TRACK_RATE", "Track Rates", MAIN_CONTROL_TAB,
IP_RW, 60, IPS_IDLE);
IP_RW, 60, IPS_IDLE);

generateCoordSet();

// @INDI_STANDARD_PROPERTY@
if (nSlewRate >= 4)
SlewRateSP.fill(getDeviceName(), "TELESCOPE_SLEW_RATE", "Slew Rate",
MOTION_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
MOTION_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);

if (CanTrackSatellite())
{
// @INDI_STANDARD_PROPERTY@
TLEtoTrackTP[0].fill("TLE", "TLE", "");
TLEtoTrackTP.fill(getDeviceName(), "SAT_TLE_TEXT", "Orbit Params", SATELLITE_TAB,
IP_RW, 60, IPS_IDLE);
IP_RW, 60, IPS_IDLE);

char curTime[32] = {0};
std::time_t t = std::time(nullptr);
Expand All @@ -182,37 +182,37 @@ bool Telescope::initProperties()
SatPassWindowTP[SAT_PASS_WINDOW_END].fill("SAT_PASS_WINDOW_END", "End UTC", curTime);
SatPassWindowTP[SAT_PASS_WINDOW_START].fill("SAT_PASS_WINDOW_START", "Start UTC", curTime);
SatPassWindowTP.fill(getDeviceName(),
"SAT_PASS_WINDOW", "Pass Window", SATELLITE_TAB, IP_RW, 60, IPS_IDLE);
"SAT_PASS_WINDOW", "Pass Window", SATELLITE_TAB, IP_RW, 60, IPS_IDLE);

// @INDI_STANDARD_PROPERTY@
TrackSatSP[SAT_TRACK].fill("SAT_TRACK", "Track", ISS_OFF);
TrackSatSP[SAT_HALT].fill("SAT_HALT", "Halt", ISS_ON);
TrackSatSP.fill(getDeviceName(), "SAT_TRACKING_STAT",
"Sat tracking", SATELLITE_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
"Sat tracking", SATELLITE_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
}

// @INDI_STANDARD_PROPERTY@
ParkSP[PARK].fill("PARK", "Park(ed)", ISS_OFF);
ParkSP[UNPARK].fill("UNPARK", "UnPark(ed)", ISS_OFF);
ParkSP.fill(getDeviceName(), "TELESCOPE_PARK", "Parking", MAIN_CONTROL_TAB, IP_RW,
ISR_1OFMANY, 60, IPS_IDLE);
ISR_1OFMANY, 60, IPS_IDLE);

// @INDI_STANDARD_PROPERTY@
AbortSP[0].fill("ABORT", "Abort", ISS_OFF);
AbortSP.fill(getDeviceName(), "TELESCOPE_ABORT_MOTION", "Abort Motion", MAIN_CONTROL_TAB,
IP_RW, ISR_ATMOST1, 60, IPS_IDLE);
IP_RW, ISR_ATMOST1, 60, IPS_IDLE);

// @INDI_STANDARD_PROPERTY@
MovementNSSP[DIRECTION_NORTH].fill("MOTION_NORTH", "North", ISS_OFF);
MovementNSSP[DIRECTION_SOUTH].fill("MOTION_SOUTH", "South", ISS_OFF);
MovementNSSP.fill(getDeviceName(), "TELESCOPE_MOTION_NS", "Motion N/S", MOTION_TAB,
IP_RW, ISR_ATMOST1, 60, IPS_IDLE);
IP_RW, ISR_ATMOST1, 60, IPS_IDLE);

// @INDI_STANDARD_PROPERTY@
MovementWESP[DIRECTION_WEST].fill("MOTION_WEST", "West", ISS_OFF);
MovementWESP[DIRECTION_EAST].fill("MOTION_EAST", "East", ISS_OFF);
MovementWESP.fill(getDeviceName(), "TELESCOPE_MOTION_WE", "Motion W/E", MOTION_TAB,
IP_RW, ISR_ATMOST1, 60, IPS_IDLE);
IP_RW, ISR_ATMOST1, 60, IPS_IDLE);

// Reverse NS or WE
// @INDI_STANDARD_PROPERTY@
Expand All @@ -228,14 +228,14 @@ bool Telescope::initProperties()
MotionControlModeTP[MOTION_CONTROL_MODE_JOYSTICK].fill("MOTION_CONTROL_MODE_JOYSTICK", "4-Way Joystick", ISS_ON);
MotionControlModeTP[MOTION_CONTROL_MODE_AXES].fill("MOTION_CONTROL_MODE_AXES", "Two Separate Axes", ISS_OFF);
MotionControlModeTP.fill(getDeviceName(), "MOTION_CONTROL_MODE", "Motion Control",
"Joystick", IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
"Joystick", IP_RW, ISR_1OFMANY, 60, IPS_IDLE);

// Lock Axis
// @INDI_STANDARD_PROPERTY@
LockAxisSP[LOCK_AXIS_1].fill("LOCK_AXIS_1", "West/East", ISS_OFF);
LockAxisSP[LOCK_AXIS_2].fill("LOCK_AXIS_2", "North/South", ISS_OFF);
LockAxisSP.fill(getDeviceName(), "JOYSTICK_LOCK_AXIS", "Lock Axis", "Joystick", IP_RW,
ISR_ATMOST1, 60, IPS_IDLE);
ISR_ATMOST1, 60, IPS_IDLE);

TrackState = SCOPE_IDLE;

Expand Down Expand Up @@ -664,7 +664,7 @@ void Telescope::NewRaDec(double ra, double dec)
break;
}

if (TrackState != SCOPE_TRACKING && CanControlTrack() && TrackStateSP[TRACK_ON].getState() == ISS_ON)
if (TrackState != SCOPE_TRACKING && CanControlTrack() && TrackStateSP[TRACK_ON].getState() == ISS_ON)
{
TrackStateSP.setState(IPS_IDLE);
TrackStateSP[TRACK_ON].setState(ISS_OFF);
Expand All @@ -680,8 +680,8 @@ void Telescope::NewRaDec(double ra, double dec)
}

if (std::abs(EqNP[AXIS_RA].getValue() - ra) > EQ_NOTIFY_THRESHOLD ||
std::abs(EqNP[AXIS_DE].getValue() - dec) > EQ_NOTIFY_THRESHOLD ||
EqNP.getState() != lastEqState)
std::abs(EqNP[AXIS_DE].getValue() - dec) > EQ_NOTIFY_THRESHOLD ||
EqNP.getState() != lastEqState)
{
EqNP[AXIS_RA].setValue(ra);
EqNP[AXIS_DE].setValue(dec);
Expand Down Expand Up @@ -1255,11 +1255,22 @@ bool Telescope::ISNewSwitch(const char *dev, const char *name, ISState *states,
///////////////////////////////////
if (HomeSP.isNameMatch(name))
{
auto onSwitchName = std::string(IUFindOnSwitchName(states, names, n));
auto onSwitchName = IUFindOnSwitchName(states, names, n);
// No switch selected. Cancel whatever action if any and return
if (onSwitchName == NULL)
{
if (HomeSP.getState() == IPS_BUSY)
Abort();
HomeSP.reset();
HomeSP.setState(IPS_IDLE);
HomeSP.apply();
return true;
}
auto actionString = std::string(onSwitchName);
auto action = HOME_FIND;
if (onSwitchName == "SET")
if (actionString == "SET")
action = HOME_SET;
else if (onSwitchName == "GO")
else if (actionString == "GO")
action = HOME_GO;

if (isParked())
Expand Down Expand Up @@ -1430,7 +1441,7 @@ bool Telescope::ISNewSwitch(const char *dev, const char *name, ISState *states,
bool rc = false;

if ((TrackState != SCOPE_IDLE && TrackState != SCOPE_TRACKING) || MovementNSSP.getState() == IPS_BUSY ||
MovementWESP.getState() == IPS_BUSY)
MovementWESP.getState() == IPS_BUSY)
{
LOG_INFO("Can not change park position while slewing or already parked...");
ParkOptionSP.setState(IPS_ALERT);
Expand Down Expand Up @@ -1684,7 +1695,7 @@ int Telescope::AddTrackMode(const char *name, const char *label, bool isDefault)
TrackModeSP.push(std::move(node));

TrackModeSP.shrink_to_fit();
TrackModeSP.fill(getDeviceName(), name,label, MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 60, IPS_IDLE);
TrackModeSP.fill(getDeviceName(), name, label, MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 60, IPS_IDLE);

return (TrackModeSP.count() - 1);
}
Expand Down Expand Up @@ -1867,9 +1878,9 @@ void Telescope::SetTelescopeCapability(uint32_t cap, uint8_t slewRateCount)
for (int i = 0; i < nSlewRate; i++)
{
// char name[4];
auto name = std::to_string(i+1) + "x";
auto name = std::to_string(i + 1) + "x";
// snprintf(name, 4, "%dx", i + 1);
// IUFillSwitch(SlewRateS + i, name, name, ISS_OFF);
// IUFillSwitch(SlewRateS + i, name, name, ISS_OFF);
node.fill(name, name, ISS_OFF);
SlewRateSP.push(std::move(node));
}
Expand All @@ -1885,10 +1896,10 @@ void Telescope::SetTelescopeCapability(uint32_t cap, uint8_t slewRateCount)
}

// By Default we set current Slew Rate to 0.5 of max
SlewRateSP[nSlewRate /2].setState(ISS_ON);
SlewRateSP[nSlewRate / 2].setState(ISS_ON);

SlewRateSP.fill(getDeviceName(), "TELESCOPE_SLEW_RATE", "Slew Rate",
MOTION_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
MOTION_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
}

if (CanHomeFind() || CanHomeSet() || CanHomeGo())
Expand Down Expand Up @@ -2385,7 +2396,8 @@ void Telescope::processButton(const char *button_n, ISState state)
{
auto trackSW = getSwitch("TELESCOPE_TRACK_MODE");
// Only abort if we have some sort of motion going on
if (ParkSP.getState() == IPS_BUSY || MovementNSSP.getState() == IPS_BUSY || MovementWESP.getState() == IPS_BUSY || EqNP.getState() == IPS_BUSY ||
if (ParkSP.getState() == IPS_BUSY || MovementNSSP.getState() == IPS_BUSY || MovementWESP.getState() == IPS_BUSY
|| EqNP.getState() == IPS_BUSY ||
(trackSW && trackSW.getState() == IPS_BUSY))
{
// Invoke parent processing so that Telescope takes care of abort cross-check
Expand Down

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