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Added TELESCOPE_CAN_FLIP to capabilities #1964

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Added TELESCOPE_CAN_FLIP to capabilities #1964

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107 changes: 105 additions & 2 deletions drivers/telescope/lx200_pegasus_nyx101.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@ LX200NYX101::LX200NYX101()
TELESCOPE_CAN_CONTROL_TRACK |
TELESCOPE_HAS_TIME |
TELESCOPE_HAS_LOCATION |
TELESCOPE_CAN_FLIP |
TELESCOPE_HAS_TRACK_MODE,
SLEW_MODES);
}
Expand Down Expand Up @@ -672,8 +673,12 @@ bool LX200NYX101::ISNewSwitch(const char *dev, const char *name, ISState *states
IPState state = IPS_OK;
if (isConnected())
{
char status[1] = {0};
FlipSP[0].setState(ISS_OFF);
sendCommand(":MN#");
sendCommand(":MN#", status, -1, sizeof(status));
if(*status != '0'){
state = IPS_ALERT;
}
}
FlipSP.setState(state);
FlipSP.apply();
Expand Down Expand Up @@ -788,7 +793,6 @@ bool LX200NYX101::ISNewText(const char *dev, const char *name, char *texts[], ch
{
if(DebugCommandTP[0].isNameMatch(names[i]))
{
char status[DRIVER_LEN] = {0};
sendCommand(texts[i]);
i=n;
}
Expand Down Expand Up @@ -1027,6 +1031,105 @@ bool LX200NYX101::sendCommand(const char * cmd, char * res, int cmd_len, int res
return true;
}

bool LX200NYX101::Flip(double ra, double dec)
{
return GotoInternal(ra, dec, true);
}

bool LX200NYX101::Goto(double ra, double dec)
{
return GotoInternal(ra, dec, false);
}

int LX200NYX101::Flip(int )
{
char status[1] = {0};
sendCommand(":MN#", status, -1, sizeof(status));
return static_cast<int> (*status - '0');
}

bool LX200NYX101::GotoInternal(double ra, double dec, bool flip)
{
const struct timespec timeout = {0, 100000000L};

targetRA = ra;
targetDEC = dec;
char RAStr[64] = {0}, DecStr[64] = {0};
int fracbase = 0;

switch (getLX200EquatorialFormat())
{
case LX200_EQ_LONGER_FORMAT:
fracbase = 360000;
break;
case LX200_EQ_LONG_FORMAT:
case LX200_EQ_SHORT_FORMAT:
default:
fracbase = 3600;
break;
}

fs_sexa(RAStr, targetRA, 2, fracbase);
fs_sexa(DecStr, targetDEC, 2, fracbase);

// If moving, let's stop it first.
if (EqNP.s == IPS_BUSY)
{
if (!isSimulation() && abortSlew(PortFD) < 0)
{
AbortSP.s = IPS_ALERT;
IDSetSwitch(&AbortSP, "Abort slew failed.");
return false;
}

AbortSP.s = IPS_OK;
EqNP.s = IPS_IDLE;
IDSetSwitch(&AbortSP, "Slew aborted.");
IDSetNumber(&EqNP, nullptr);

if (MovementNSSP.s == IPS_BUSY || MovementWESP.s == IPS_BUSY)
{
MovementNSSP.s = IPS_IDLE;
MovementWESP.s = IPS_IDLE;
EqNP.s = IPS_IDLE;
IUResetSwitch(&MovementNSSP);
IUResetSwitch(&MovementWESP);
IDSetSwitch(&MovementNSSP, nullptr);
IDSetSwitch(&MovementWESP, nullptr);
}

// sleep for 100 mseconds
nanosleep(&timeout, nullptr);
}

if (!isSimulation())
{
if (setObjectRA(PortFD, targetRA) < 0 || (setObjectDEC(PortFD, targetDEC)) < 0)
{
EqNP.s = IPS_ALERT;
IDSetNumber(&EqNP, "Error setting RA/DEC.");
return false;
}

int err = 0;

/* Slew reads the '0', that is not the end of the slew */
if ((err = flip ? Flip(PortFD) : Slew(PortFD)))
{
LOGF_ERROR("Error %s to JNow RA %s - DEC %s", flip ? "Flipping" : "Slewing", RAStr, DecStr);
slewError(err);
return false;
}
}

TrackState = SCOPE_SLEWING;
//EqNP.s = IPS_BUSY;

LOGF_INFO("%s to RA: %s - DEC: %s", flip ? "Flipping" : "Slewing", RAStr, DecStr);

return true;
}

void LX200NYX101::hexDump(char * buf, const char * data, int size)
{
for (int i = 0; i < size; i++)
Expand Down
5 changes: 4 additions & 1 deletion drivers/telescope/lx200_pegasus_nyx101.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,12 @@ class LX200NYX101 : public LX200Generic
virtual bool SetTrackEnabled(bool enabled) override;
virtual bool SetTrackMode(uint8_t mode) override;
virtual bool SetSlewRate(int index) override;
virtual bool Flip(double ra, double dec) override;
virtual bool Goto(double ra, double dec) override;

private:
bool GotoInternal(double ra, double dec, bool flip);
int Flip(int fd);
static constexpr const uint8_t SLEW_MODES {10};
static constexpr const uint8_t DRIVER_LEN {64};
static const char DRIVER_STOP_CHAR { 0x23 };
Expand Down Expand Up @@ -119,7 +123,6 @@ class LX200NYX101 : public LX200Generic
INDI::PropertyNumber MeridianLimitNP {1};
INDI::PropertySwitch SafetyLimitSP {2};


bool sendCommand(const char * cmd, char * res = nullptr, int cmd_len = -1, int res_len = -1);
void hexDump(char * buf, const char * data, int size);
std::vector<std::string> split(const std::string &input, const std::string &regex);
Expand Down
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