kstars/kstars/indi/mount_simulation.c

   1 #if 0
   2     INDI
   3     Copyright (C) 2003 Elwood C. Downey
   4
   5     This library is free software; you can redistribute it and/or
   6     modify it under the terms of the GNU Lesser General Public
   7     License as published by the Free Software Foundation; either
   8     version 2.1 of the License, or (at your option) any later version.
   9
  10     This library is distributed in the hope that it will be useful,
  11     but WITHOUT ANY WARRANTY; without even the implied warranty of
  12     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  13     Lesser General Public License for more details.
  14
  15     You should have received a copy of the GNU Lesser General Public
  16     License along with this library; if not, write to the Free Software
  17     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  18
  19 #endif
  20
  21 /* simulate a telescope mount on an INDI interface.
  22  * it can be told to slew to an RA or Dec and will go there slowly enough to
  23  * watch.
  24  */
  25
  26 #include <stdio.h>
  27 #include <stdlib.h>
  28 #include <string.h>
  29 #include <stdarg.h>
  30 //#include <math.h>
  31 #include <sys/time.h>
  32 #include <unistd.h>
  33
  34 #include "indiapi.h"
  35
  36 static void sendeq (char *msg);
  37 static void sendNewPow (void);
  38 static void mountSim (void *);
  39
  40 #define SLEWRATE        1                       /* slew rate, degrees/s */
  41 #define POLLMS          250                     /* poll period, ms */
  42 #define SIDRATE         0.004178                /* sidereal rate, degrees/s */
  43
  44
  45 /* INDI controls */
  46
  47 static char mydev[] = "Telescope Simulator";    /* our Device name */
  48
  49 /* equatorial position */
  50 static INumber eq[] = {
  51     {"RA",  "RA  H:M:S", "%10.6m",  0., 24., 0., 0.},
  52     {"DEC", "Dec D:M:S", "%10.6m", -90., 90., 0., 0.},
  53 };
  54 static INumberVectorProperty eqNum = {
  55     mydev, "EQUATORIAL_COORD", "Equatorial J2000", NULL, IP_RW, 0, IPS_IDLE,
  56     eq, NARRAY(eq),
  57 };
  58
  59 /* main power switch */
  60 static ISwitch power[] = {
  61     {"CONNECT",  "On",  ISS_OFF},
  62 };
  63 static ISwitchVectorProperty powSw = {
  64     mydev, "CONNECTION", "Connection", NULL, IP_RW, ISR_1OFMANY, 0., IPS_IDLE,
  65     power, NARRAY(power),
  66 };
  67
  68 /* operational info */
  69 static double targetRA;
  70 static double targetDEC;
  71 static double currentRA;        /* scope's current simulated RA, rads */
  72 static double currentDec;       /* scope's current simulated Dec, rads */
  73
  74 /* call first, then benign there after */
  75 static void
  76 mountInit()
  77 {
  78         static int inited;              /* set once mountInit is called */
  79
  80         if (inited)
  81             return;
  82
  83         /* start timer to simulate mount motion */
  84         IEAddTimer (POLLMS, mountSim, NULL);
  85
  86         inited = 1;
  87
  88 }
  89
  90 /* send client definitions of all properties */
  91 void
  92 ISGetProperties (const char *dev)
  93 {
  94         if (dev && strcmp (mydev, dev))
  95             return;
  96
  97         IDDefNumber (&eqNum, NULL);
  98         IDDefSwitch (&powSw, NULL);
  99 }
 100
 101 void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
 102 {}
 103
 104 /* client is sending us a new value for a Numeric vector property */
 105 void
 106 ISNewNumber (const char *dev, const char *name, double values[],
 107 char *names[], int n)
 108 {
 109         char msg[64];
 110
 111         /* ignore if not ours */
 112         if (strcmp (dev, mydev))
 113             return;
 114
 115         mountInit();
 116
 117         if (!strcmp (name, eqNum.name)) {
 118             /* new equatorial target coords */
 119             double newra = 0, newdec = 0;
 120             int i, nset;
 121             if (power[0].s != ISS_ON) {
 122                 eqNum.s = IPS_IDLE;
 123                 sendeq ("Power is off");
 124                 return;
 125             }
 126             for (nset = i = 0; i < n; i++) {
 127                 INumber *eqp = IUFindNumber (&eqNum, names[i]);
 128                 if (eqp == &eq[0]) {
 129                     newra = (values[i]);
 130                     nset += newra >= 0 && newra <= 24;
 131                 } else if (eqp == &eq[1]) {
 132                     newdec = (values[i]);
 133                     nset += newdec >= -90 && newdec <= 90;
 134                 }
 135             }
 136             if (nset == 2) {
 137                 char r[32], d[32];
 138                 eqNum.s = IPS_BUSY;
 139                 targetRA = newra;
 140                 targetDEC = newdec;
 141                 fs_sexa (r, targetRA, 2, 3600);
 142                 fs_sexa (d, targetDEC, 3, 3600);
 143                 snprintf (msg, sizeof(msg), "Moving to RA Dec %.32s %.32s", r, d);
 144             } else {
 145                 eqNum.s = IPS_IDLE;
 146                 snprintf (msg, sizeof(msg), "RA or Dec absent or bogus");
 147             }
 148             sendeq (msg);
 149             return;
 150         }
 151 }
 152
 153 /* client is sending us a new value for a Switch property */
 154 void
 155 ISNewSwitch (const char *dev, const char *name, ISState *states,
 156 char *names[], int n)
 157 {
 158         ISwitch *sp;
 159
 160         /* ignore if not ours */
 161         if (strcmp (dev, mydev))
 162             return;
 163
 164         IDLog("Before mount init \n");
 165         mountInit();
 166
 167         IDLog("before find switch\n");
 168         sp = IUFindSwitch (&powSw, names[0]);
 169
 170         IDLog("after find switch\n");
 171
 172         if (sp) {
 173             sp->s = states[0];
 174             sendNewPow ();
 175         }
 176
 177         IDLog("after send now\n");
 178         /*powSw.sw[0].s = states[0];*/
 179 }
 180
 181 /* update the "mount" over time */
 182 void
 183 mountSim (void *p)
 184 {
 185         static struct timeval ltv;
 186         struct timeval tv;
 187         double dt, da, dx;
 188         int nlocked;
 189
 190         /* update elapsed time since last poll, don't presume exactly POLLMS */
 191         gettimeofday (&tv, NULL);
 192         if (ltv.tv_sec == 0 && ltv.tv_usec == 0)
 193             ltv = tv;
 194         dt = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec)/1e6;
 195         ltv = tv;
 196         da = SLEWRATE*dt;
 197
 198         /* process per current state */
 199         switch (eqNum.s)
 200         {
 201         case IPS_IDLE:
 202             /* RA moves at sidereal, Dec stands still */
 203             currentRA += (SIDRATE*dt/15.);
 204             sendeq (NULL);
 205             break;
 206
 207         case IPS_BUSY:
 208             /* slewing - nail it when both within one pulse @ SLEWRATE */
 209             nlocked = 0;
 210
 211             dx = targetRA - currentRA;
 212             if (fabs(dx) <= da)
 213             {
 214                 currentRA = targetRA;
 215                 nlocked++;
 216             }
 217             else if (dx > 0)
 218                 currentRA += da/15.;
 219             else
 220                 currentRA -= da/15.;
 221
 222
 223             dx = targetDEC - currentDec;
 224             if (fabs(dx) <= da)
 225             {
 226                 currentDec = targetDEC;
 227                 nlocked++;
 228             }
 229             else if (dx > 0)
 230               currentDec += da;
 231             else
 232               currentDec -= da;
 233
 234             if (nlocked == 2)
 235             {
 236                 eqNum.s = IPS_OK;
 237                 sendeq("Now tracking");
 238             } else
 239                 sendeq(NULL);
 240
 241             break;
 242
 243         case IPS_OK:
 244             /* tracking */
 245             sendeq (NULL);
 246             break;
 247
 248         case IPS_ALERT:
 249             break;
 250         }
 251
 252         /* again */
 253         IEAddTimer (POLLMS, mountSim, NULL);
 254 }
 255
 256 /* set eqNum from currentRA and Dec and send to client with optional message */
 257 static void
 258 sendeq (char *msg)
 259 {
 260         eq[0].value = currentRA;
 261         eq[1].value = currentDec;
 262         IDSetNumber (&eqNum, msg);
 263 }
 264
 265 static void
 266 sendNewPow ()
 267 {
 268         if (power[0].s == ISS_ON) {
 269             powSw.s = IPS_OK;
 270             IDSetSwitch (&powSw, "Power on");
 271             eqNum.s = IPS_OK;
 272         } else {
 273             powSw.s = IPS_IDLE;
 274             IDSetSwitch (&powSw, "Power off");
 275             eqNum.s = IPS_IDLE;
 276             sendeq (NULL);
 277         }
 278 }