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gb_indi.c
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gb_indi.c
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/*############################################################################
# Title: gb-indi.c
# Author: Chris Johnson
# Date: 8/20/19
# Description: indi driver for vatt guider box
#
#
#############################################################################*/
/* Standard headers */
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include <sys/time.h>
#include <sys/time.h>
#include <time.h>
/* INDI Core headers */
#include <libindi/indiapi.h>
#include <libindi/indidevapi.h>
#include <libindi/eventloop.h>
#include <libindi/indicom.h>
#include <math.h>
/* header for this project */
#include "gb_commands.h"
/* Definitions */
#define TTYPORT "/dev/ttyUSB0"
#define mydev "INDI-VATT-GUIDEBOX"
#define MAIN_GROUP "Guider Control" /* Group name */
#define ENG_GROUP "Engineering"
#define qrydev "FILTERS"
#define logdev "LOGGER"
#define MOT1_GROUP "MOTOR 1 Eng"
#define MOT2_GROUP "MOTOR 2 Eng"
#define MOT3_GROUP "MOTOR 3 Eng"
#define MOT4_GROUP "MOTOR 4 Eng"
#define MOT5_GROUP "MOTOR 5 Eng"
#define MOT6_GROUP "MOTOR 6 Eng"
#define MOT7_GROUP "MOTOR 7 Eng"
//TODO these should be in a config file
#define ENCODER2MM (1.0/2000.0)
#define XOFFSET 102.6
#define YOFFSET 39.5
#define YOFFSET_UMIRROR 58.25
#define POLLMS 1000 /* poll period, ms */
#define NET 0
#define SER 1
#define OFF 0
#define ON 1
typedef enum{
XTRANS,
YTRANS,
FOCUSTRANS
} TRANS;
int RS485_FD;
int inited;
int polling=0;
static void gbIndiInit();
static void zeroTelem();
void guiderProc (void *p);
static void buildMStatusString(MSTATUS *, char *);
static void fillMotors();
static void fillFWheels();
static int saveFNames(char *, char *, char *);
static int loadFNames(char *, char[5][20]);
static int getCurrentFilters(char *, char *);
static void defMotors();
static void defWheels();
static void printAllmotors();
double focus_trans(double, double);
//global memory for IText properties
char gttyPORT[20];
char gnetwork[20];
char gstatusString[NMOTORS][1000];
int gcomtype;
// main connection switch
static ISwitch connectS[] = {
// {"CONNECT", "Connect", ISS_OFF, 0, 0}
{"CONNECT", "Connect", ISS_OFF, 0, 0}, {"DISCONNECT", "Disconnect", ISS_ON, 0, 0}
};
static ISwitchVectorProperty connectSP = { mydev, "CONNECTION", "Connection", MAIN_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, connectS, NARRAY(connectS), "", 0 };
static ISwitch getdataS[] = {
{"GETDATA", "Get Data", ISS_OFF, 0, 0}
//{"GETDATA", "On", ISS_OFF, 0, 0}, {"DISGETDATA", "Off", ISS_ON, 0, 0}
};
static ISwitchVectorProperty getdataSP = { qrydev, "GETDATA", "Get Data", MAIN_GROUP, IP_RW, ISR_NOFMANY, 0, IPS_IDLE, getdataS, NARRAY(getdataS), "", 0 };
// connection type switch
static ISwitch comTypeS[] = {
{"NETWORK", "Network", ISS_ON, 0, 0},
{"SERIAL", "Serial", ISS_OFF, 0, 0}
};
static ISwitchVectorProperty comTypeSP = { mydev, "COMTYPE", "Connection Type", ENG_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, comTypeS, NARRAY(comTypeS), "", 0 };
static ISwitch resetLtxS[] = {{"RESET_LTX", "Reset Lantronix", ISS_OFF, 0, 0},};
static ISwitchVectorProperty resetLtxSP = { mydev, "lTXRESET", "Lantronix", ENG_GROUP, IP_RW, ISR_NOFMANY, 0, IPS_IDLE, resetLtxS, NARRAY(resetLtxS), "", 0 };
static ISwitch serialfixS[] = {{"FIXSERIAL", "Fix Serial Line", ISS_OFF, 0, 0},};
static ISwitchVectorProperty serialfixSP = { mydev, "SFIX", "FIX", ENG_GROUP, IP_RW, ISR_NOFMANY, 0, IPS_IDLE, serialfixS, NARRAY(serialfixS), "", 0 };
static IText networkT[] = {{"NETWORK", "Net", "10.0.3.15:4900", 0, 0, 0}};
static ITextVectorProperty networkTP = { mydev, "NET", "Guider Network Information", ENG_GROUP , IP_RW, 0, IPS_IDLE, networkT, NARRAY(networkT), "", 0};
static IText ttyPortT[] = {{"TTYport", "TTY Port", "/dev/ttyUSB0", 0, 0, 0}};
static ITextVectorProperty ttyPortTP = { mydev, "COM", "Guider Communication", ENG_GROUP , IP_RW, 0, IPS_IDLE, ttyPortT, NARRAY(ttyPortT), "", 0};
static ISwitch engSwitchsS[] = {{"SLIMITS", "FIND SOFT LIMITS", ISS_OFF, NULL, 0}};
static ISwitchVectorProperty engSwitchSP = {mydev, "Switches", "Switches", ENG_GROUP, IP_RW, ISR_NOFMANY, 0, IPS_IDLE, engSwitchsS, NARRAY(engSwitchsS), "", 0};
/************************************************
Group: MAIN
************************************************/
//guider actions
static ISwitch actionS[] = {{"INITIALIZE", "Initialize", ISS_OFF, 0, 0},{"HOME", "Reference", ISS_OFF, 0, 0}};
ISwitchVectorProperty actionSP = { mydev, "GUIDE_BOX_ACTIONS", "Guide Box Actions", MAIN_GROUP, IP_RW, ISR_NOFMANY, 0, IPS_IDLE, actionS, NARRAY(actionS), "", 0 };
//Upper Filter Goto
static INumber ufwNR[] = {{"FWHEEL_UPPER", "Upper Filter", "%f",0., 0., 0., 0., 0, 0, 0}, };
static INumberVectorProperty ufwNPR = { mydev, "FWHEEL_UPPER", "Upper Filter Wheel goto", MAIN_GROUP , IP_RW, 0, IPS_IDLE, ufwNR, NARRAY(ufwNR), "", 0};
//Lower Filter Goto
static INumber lfwNR[] = {{"FWHEEL_LOWER","Lower Filter", "%f",0., 0., 0., 0., 0, 0, 0}, };
static INumberVectorProperty lfwNPR = { mydev, "FWHEEL_LOWER", "Lower Filter Wheel goto", MAIN_GROUP , IP_RW, 0, IPS_IDLE, lfwNR, NARRAY(lfwNR), "", 0};
//Offset X Goto
static INumber offxNR[] = {{"OFFSET_X","Offset X", "%5.2f",0., 0., 0., 0., 0, 0, 0}, };
static INumberVectorProperty offxNPR = { mydev, "OFFSET_X", "offset x goto", MAIN_GROUP , IP_RW, 0, IPS_IDLE, offxNR, NARRAY(offxNR), "", 0};
//Offset Y Goto
static INumber offyNR[] = {{"OFFSET_Y","Offset Y", "%5.2f",0., 0., 0., 0., 0, 0, 0}, };
static INumberVectorProperty offyNPR = { mydev, "OFFSET_Y", "offset y goto", MAIN_GROUP , IP_RW, 0, IPS_IDLE, offyNR, NARRAY(offyNR), "", 0};
//Offset Focus Goto
//
/*
* An unfortunate naming scheme...
* The Focus in "OFFSET_FOCUS" refers to the offset guider. This is how we
* refer to the imager guider as opposed to the slit view (spectrogrpha) guider.
* The offFocNR widget is built to change the focus motor position of the offset
* guider. For reasons I won't get into, the position input from the user
* is separated into two parts an input position (z) and a user offset (z'). This offset
* is completely different from the "OFFSET" term used to differentiate the
* guiders. So, enjoy that future programmers!
*
* The positon that will be sent to the OFFSET_FOCUS motor will be
* p=z+f(x,y)+z'
* Where f is the focus_trans function that subtracts the substantial
* curvature of the field and is a function of the x and y positions
* of the offset guider.
*
* */
static INumber offFocInputNR[] = {{"USER_POS","Focus", "%5.2f",0., 0., 0., 0., 0, 0, 0},
{"USER_OFFSET","User Offset", "%5.2f",0., 0., 0., 0., 0, 0, 0}};
static INumberVectorProperty offFocInputNPR = { mydev, "FOCUS_INPUT", "Offset Focus GOTO", MAIN_GROUP , IP_WO, 0, IPS_IDLE, offFocInputNR, NARRAY(offFocInputNR), "", 0};
static INumber offFocNR[] = {{"OFFSET_FOCUS","Focus", "%5.2f",0., 0., 0., 0., 0, 0, 0}};
static INumberVectorProperty offFocNPR = { mydev, "OFFSET_FOCUS", "Focus Pos.", MAIN_GROUP , IP_RO, 0, IPS_IDLE, offFocNR, NARRAY(offFocNR), "", 0};
//Offset Mirror Goto
static INumber offMirrNR[] = {{"OFFSET_MIRRORS","Offset Mirror Position", "%5.2f",0., 90., 0., 0., 0, 0, 0}, };
static INumberVectorProperty offMirrNPR = { mydev, "OFFSET_MIRRORS", "offset mirror goto", MAIN_GROUP , IP_RW, 0, IPS_IDLE, offMirrNR, NARRAY(offMirrNR), "", 0};
//Offset Filter Goto
static INumber ofwNR[] = {{"OFFSET_FWHEEL","Offset Filter Position", "%5.2f",0., 90., 0., 0., 0, 0, 0}, };
static INumberVectorProperty ofwNPR = { mydev, "OFFSET_FWHEEL", "offset filter goto", MAIN_GROUP , IP_RW, 0, IPS_IDLE, ofwNR, NARRAY(ofwNR), "", 0};
/*****************************************************
* A note on Text Properties in INDI:
* Each IText struct has a char pointer
* member named "text". The memory this pointer
* points to needs to be allocated. I do this
* in this module by creating a global char
* array like head_nodeString. We might be able
* to do this with a malloc but the memory
* needs to globally accessible because all
* our VectorProperties are global. Doing this
* statically with a char arrays seems like the way to go.
* As far as I can tell, this causes IUUpdateText to
* flip out and give a seg fault. Instead of IUUpdate,
* I use strcpy to copy whatever text I want to the
* IText.text memeber and update the client with IDSetText.
*************************************************************/
// Head Node Name
static IText head_nodeT[] = {{"HEAD", "Head Motor Node", "IDK?", 0, 0, 0}};
static char head_nodeString[20];
static ITextVectorProperty head_nodeTP = { mydev, "HEAD", "Head Motor Node", ENG_GROUP , IP_RO, 0, IPS_IDLE, head_nodeT, NARRAY(head_nodeT), "", 0};
//Auto Focus Button
static ISwitch autoFocusS[1] = {{"AUTOFOC", "Auto Focus", ISS_OFF, 0, 0}};
static ISwitchVectorProperty autoFocusSP = {mydev, "AUTOFOC", "", MAIN_GROUP, IP_RW, ISR_NOFMANY, 0, IPS_IDLE, autoFocusS, NARRAY(autoFocusS), "", 0};
//Filter wheel buttons
static ISwitch lfS[5];
static ISwitchVectorProperty lfSP;
static ISwitch ufS[5];
static ISwitchVectorProperty ufSP;
static ISwitch gfS[] = {
{"GF0S", "Clear", ISS_OFF, 0, 0},
{"GF1S", "Bl+ND", ISS_OFF, 0, 0},
{"GF2S", "Blue", ISS_OFF, 0, 0},
{"GF3S", "Rd+ND", ISS_OFF, 0, 0},
{"GF4S", "Red", ISS_OFF, 0, 0},
};
ISwitchVectorProperty gfSP = { mydev, "GFS", "Guider Wheel", MAIN_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, gfS, NARRAY(gfS), "", 0 };
//Umirror/Centerfield position
static ISwitch mirr_posS[] = {
{"CENTER", "Center", ISS_OFF, 0, 0},
{"UMIRROR", "U-Mirror", ISS_OFF, 0, 0},
{"CALIB", "Calib.", ISS_OFF, 0, 0},
};
ISwitchVectorProperty mirr_posSP = { mydev, "MIRRORS", "Mirror", MAIN_GROUP, IP_RW, ISR_1OFMANY, 0, IPS_IDLE, mirr_posS, NARRAY(mirr_posS), "", 0 };
// User given names for filters in lower filter wheel
static IText lfnT[] = {
{"F0", "Filter 0", "Clear", 0, 0, 0},
{"F1", "Filter 1", "lf1", 0, 0, 0},
{"F2", "Filter 2", "lf2", 0, 0, 0},
{"F3", "Filter 3", "lf3", 0, 0, 0},
{"F4", "Filter 4", "lf4", 0, 0, 0},
};
char lfnChars[5][30];
static ITextVectorProperty lfnTP = { mydev, "LOWER_FNAMES", "Lower Filter Wheel Names", MAIN_GROUP , IP_RW, 0, IPS_IDLE, lfnT, NARRAY(lfnT), "", 0};
// User given names for filters in upper filter wheel
static IText ufnT[] = {
{"F0", "Filter 0", "Clear", 0, 0, 0},
{"F1", "Fiuter 1", "uf1", 0, 0, 0},
{"F2", "Fiuter 2", "uf2", 0, 0, 0},
{"F3", "Fiuter 3", "uf3", 0, 0, 0},
{"F4", "Fiuter 4", "uf4", 0, 0, 0},
};
char ufnChars[5][30];
static ITextVectorProperty ufnTP = { mydev, "UPPER_FNAMES", "Upper Filter Wheel Names", MAIN_GROUP , IP_RW, 0, IPS_IDLE, ufnT, NARRAY(ufnT), "", 0};
// User given names for filters in upper filter wheel
static IText gfnT[] = {
{"F0", "Filter 0", "U", 0, 0, 0},
{"F1", "Filter 1", "B", 0, 0, 0},
{"F2", "Filter 2", "V", 0, 0, 0},
{"F3", "Filter 3", "R", 0, 0, 0},
{"F4", "Filter 4", "I", 0, 0, 0},
};
char gfnChars[5][30];
static ITextVectorProperty gfnTP = { mydev, "GUIDER_FNAMES", "Guider Filter Wheel Names", MAIN_GROUP , IP_RW, 0, IPS_IDLE, gfnT, NARRAY(gfnT), "", 0};
// Engineering stuff for each motor
typedef struct _INDIMOTOR
{
ILightVectorProperty word0LP;
ILight word0L[16];
ILightVectorProperty word1LP;
ILight word1L[16];
ILightVectorProperty userbitsLP;
ILight userbitsL[16];
ISwitchVectorProperty iowordSP;
ISwitch iowordS[13];//GPIO, fault state and enable line
ITextVectorProperty nameTP;
IText nameT[1];
char nameString[30];
ISwitchVectorProperty engSwitchesSP;
ISwitch engSwitchesS[2];
INumberVectorProperty softLimitsNP;
INumber softLimitsN[2];
INumberVectorProperty fdistNP;
INumber fdsitN[1];
INumberVectorProperty word6NP;
INumber word6N[1];
INumberVectorProperty currentNP;
INumber currentN[1];
INumberVectorProperty tempNP;
INumber tempN[1];
int motor_num; //CAN address
} INDIMOTOR;
//The structures in this array are filled
//in the fillmotors function.
INDIMOTOR indi_motors[NMOTORS];
static IText rawCmdT[] = {{"RAWCMD", "Raw Command", "Response Here", 0, 0, 0}};
static ITextVectorProperty rawCmdTP = {mydev, "RAWCMD", "Raw Command", ENG_GROUP, IP_RW, 0, IPS_IDLE, rawCmdT, NARRAY(rawCmdT) };
char rawCmdString[50];
/* Note that we must define ISNewBLOB and ISSnoopDevice even if we don't use them, otherwise, the driver will NOT compile */
void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n) {}
void ISSnoopDevice (XMLEle *root) {}
/*############################################################################
# Title: ISGetProperties
# Author: C.Johnson
# Date: 9/9/19
# Args:
# Returns: N/A
# Description: publishes all properties that will be displayed by the driver
#
#############################################################################*/
void ISGetProperties (const char *dev)
{
static int firstGetProperties = 1;
char filter_names[5][20];
char upper[20], lower[20];
if (dev && strcmp (mydev, dev))
{
if(!strcmp(qrydev, dev))
{
getCurrentFilters(upper, lower);
IDMessage(qrydev, "upper:%s lower:%s", upper, lower);
}
return;
}
if(firstGetProperties)
{
networkTP.tp[0].text = gnetwork;
ttyPortTP.tp[0].text = gttyPORT;
rawCmdT[0].text = rawCmdString;
head_nodeT[0].text = head_nodeString;
strcpy(ttyPortTP.tp[0].text, "/dev/ttyUSB0");
strcpy(networkTP.tp[0].text, "10.0.3.15:4900");
fillFWheels();
fillMotors();
firstGetProperties=0;
}
IDDefSwitch (&connectSP, NULL);
IDDefSwitch (&engSwitchSP, NULL);
IDDefSwitch (&comTypeSP, NULL);
IDDefSwitch (&resetLtxSP, NULL);
IDDefSwitch(&getdataSP, NULL);
IDDefText(&networkTP, NULL);
IDDefText(&ttyPortTP, NULL);
IDDefText(&rawCmdTP, NULL);
IDDefSwitch(&lfSP, NULL);
IDDefSwitch(&ufSP, NULL);
IDDefSwitch(&gfSP, NULL);
IDDefSwitch(&serialfixSP, NULL);
IDDefSwitch(&mirr_posSP, NULL);
IDDefSwitch(&autoFocusSP, NULL);
IDDefText(&head_nodeTP, NULL);
defMotors();
defWheels();
gcomtype = NET;
/***********GOTO*************/
IDDefNumber (&ufwNPR, NULL);
IDDefNumber (&lfwNPR, NULL);
IDDefNumber (&offxNPR, NULL);
IDDefNumber (&offyNPR, NULL);
IDDefNumber (&offFocNPR, NULL);
IDDefNumber (&offFocInputNPR, NULL);
IDDefNumber (&offMirrNPR, NULL);
IDDefNumber (&ofwNPR, NULL);
IDDefSwitch (&actionSP, NULL);
if (!inited)
{
//guiderInit();
//sp->s = states[0];
//connectS[0].s = ISS_ON;
//connectS[1].s = ISS_OFF;
//connectDome();
}
}
/*############################################################################
# Title: ISNewText
# Author: C.Johnson
# Date: 9/9/19
# Args: default indi definition
# Returns: N/A
# Description: Catches all new text events. Required to be here even if
# not used
#
#############################################################################*/
void ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
{
char septext[30];
char respbuff[100];
if( strcmp(mydev, dev) )
{
return;
}
if( !strcmp(name, "COM") )
{
IText *tp = IUFindText( &ttyPortTP, names[0] );
strcpy(gttyPORT, texts[0]);
strcpy(gttyPORT, texts[0]);
tp->text = gttyPORT;
IDSetText(&ttyPortTP, "Changing port to [%s]", ttyPortT[0].text);
}
if( !strcmp(name, "RAWCMD") )
{
IDMessage(mydev, "SENDING COMMAND %s", texts[0]);
if(connectSP.s == IPS_OK)
{
//TODO: we might want to make this part of the
//gb_commands if we are trying to stay away from
//directo moog_* class.
//
IDMessage(mydev, "WRITING...");
moog_write( RS485_FD, texts[0] );
usleep(50000);
IDMessage(mydev, "READING...");
moog_read(RS485_FD, respbuff);
strcpy(rawCmdT[0].text, respbuff );
rawCmdT[0].text[strlen(respbuff)] = '\0';
IDMessage(mydev, "Are we here %s", respbuff);
IDSetText(&rawCmdTP, "Response is %s", respbuff);
}
}
if( !strcmp(name, "LOWER_FNAMES") )
{
//IUUpdateText(&lfnTP, texts, names, n);
for(int jj=0; jj<n; jj++)
{
if( strcmp(texts[jj], lfnT[jj].text) )
{
strcpy( lfnT[jj].text, texts[jj] );
strcpy( lfS[jj].label, texts[jj] );
saveFNames(lfnTP.name, texts[jj], lfnT[jj].name );
}
}
IDSetSwitch(&lfSP, "changed the switch");
IDSetText(&lfnTP, NULL );
}
if( !strcmp(name, "UPPER_FNAMES") )
{
//IUUpdateText(&ufnTP, texts, names, n);
for(int jj=0; jj<n; jj++)
{
if( strcmp(texts[jj], ufnT[jj].text) != 0 )
{
strcpy( ufnT[jj].text, texts[jj] );
strcpy( ufS[jj].label, texts[jj] );
saveFNames(ufnTP.name, texts[jj], ufnT[jj].name );
}
}
IDSetSwitch(&ufSP, "changed the switch");
IDSetText(&ufnTP, NULL );
}
if( !strcmp(name, "GUIDER_FNAMES") )
{
for(int jj=0; jj<n; jj++)
{
strcpy( gfnT[jj].text, texts[jj] );
}
IDSetText(&gfnTP, NULL );
}
return;
}
/*############################################################################
# Title: ISNewNumber
# Author: C.Johnson
# Date: 9/9/19
# Args: default indi definition
# Returns: N/A
# Description: Catches all new number events. Required to be here even if
# not used
#
#############################################################################*/
void ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
{
int err; char ret[100];
double zmm, zprimemm, xmm, ymm, focusmm, delta_focusmm, focus_curve_subtraction;
/* ignore if not ours */
if (strcmp (dev, mydev))
return;
if (!strcmp (name, offFocInputNPR.name)) {
/* new Focus Position */
/* Check connectSP, if it is idle, then return */
if (connectSP.s == IPS_IDLE)
{
offFocInputNPR.s = IPS_IDLE;
IDSetNumber(&offFocNPR, "Guider is offline.");
return;
}
zmm=0;
zprimemm=0;
for(int ii=0; ii<n; ii++ )
{
if( !strcmp(names[ii], "USER_POS") )
zmm=values[ii];
else if( !strcmp(names[ii], "USER_OFFSET") )
zprimemm = values[ii];
}
xmm = offxNPR.np[0].value;
ymm = offyNPR.np[0].value;
offFocInputNPR.np[0].value=zmm;
offFocInputNPR.np[1].value=zprimemm;
focus_curve_subtraction = focus_trans(xmm, ymm);
if(autoFocusS[0].s == ISS_ON)
{
stageGoTo(RS485_FD, offFocNPR.name, (int)((zmm + zprimemm + focus_curve_subtraction)/ENCODER2MM));
}
else
{
stageGoTo(RS485_FD, offFocNPR.name, (int)((zmm + zprimemm)/ENCODER2MM));
}
IDSetNumber(&offFocNPR, NULL);
return;
}
else if (!strcmp (name, offxNPR.name)) {
/* new X Position */
/* Check connectSP, if it is idle, then return */
IDMessage(mydev, "Starting Off X move...");
if (connectSP.s == IPS_IDLE)
{
offxNPR.s = IPS_IDLE;
IDSetNumber(&offxNPR, "Guider is offline.");
IDMessage(mydev, "Off X Guider is offline returning...");
return;
}
xmm = offxNPR.np[0].value;
ymm = offyNPR.np[0].value;
zmm = offFocInputNPR.np[0].value;
zprimemm = offFocInputNPR.np[1].value;
delta_focusmm = focus_trans(values[0], ymm);
focus_curve_subtraction = focus_trans(values[0], ymm);
IDMessage(mydev, "X Offset: %f,%f,%f,%f,%f", xmm, ymm, zmm, zprimemm, focus_curve_subtraction);
if(autoFocusS[0].s == ISS_ON)
{
IDMessage(mydev, "Autofoc on, moving stage before Off X move");
stageGoTo(RS485_FD, offFocNPR.name, (int)((zmm + zprimemm + focus_curve_subtraction)/ENCODER2MM));
}
IDMessage(mydev, "Moving off X stage");
stageGoTo(RS485_FD, offxNPR.name, (int)((values[0]+XOFFSET)/ENCODER2MM));
offxNPR.s = IPS_IDLE;
IDSetNumber(&offxNPR, NULL);
IDMessage(mydev, "Off X Success! Returning...");
return;
}
else if (!strcmp (name, offyNPR.name)) {
/* new Y Position */
/* Check connectSP, if it is idle, then return */
IDMessage(mydev, "Starting Off Y move...");
if (connectSP.s == IPS_IDLE)
{
offyNPR.s = IPS_IDLE;
IDSetNumber(&offyNPR, "Guider is offline.");
IDMessage(mydev, "Off Y Guider is offline returning...");
return;
}
xmm = offxNPR.np[0].value;
ymm = offyNPR.np[0].value;
zmm = offFocInputNPR.np[0].value;
zprimemm = offFocInputNPR.np[1].value;
focus_curve_subtraction = focus_trans(xmm, values[0]);
IDMessage(mydev, "y Offset: %f,%f,%f,%f,%f", xmm, ymm, zmm, zprimemm, focus_curve_subtraction);
if(autoFocusS[0].s == ISS_ON)
{
IDMessage(mydev, "Autofoc on, moving stage before Off Y move");
stageGoTo(RS485_FD, offFocNPR.name, (int)((zmm + zprimemm + focus_curve_subtraction)/ENCODER2MM));
}
// TODO check which mirros is in.
IDMessage(mydev, "Moving off Y stage");
stageGoTo(RS485_FD, offyNPR.name, (int)((values[0]+YOFFSET)/ENCODER2MM));
offyNPR.s = IPS_IDLE;
IDSetNumber(&offyNPR, NULL);
IDMessage(mydev, "Off Y Success! Returning...");
return;
}
else if (!strcmp (name, ufwNPR.name)) {
/* new upper filter position */
/* Check connectSP, if it is idle, then return */
if (connectSP.s == IPS_IDLE)
{
ufwNPR.s = IPS_IDLE;
IDSetNumber(&ufwNPR, "Guider is offline.");
return;
}
stageGoTo(RS485_FD, ufwNPR.name, (int)values[0]);
ufwNPR.s = IPS_IDLE;
IDSetNumber(&ufwNPR, NULL);
return;
}
else if (!strcmp (name, lfwNPR.name)) {
/* new lower filter position */
/* Check connectSP, if it is idle, then return */
if (connectSP.s == IPS_IDLE)
{
lfwNPR.s = IPS_IDLE;
IDSetNumber(&lfwNPR, "Guider is offline.");
return;
}
stageGoTo(RS485_FD, lfwNPR.name, (int)values[0]);
lfwNPR.s = IPS_IDLE;
IDSetNumber(&lfwNPR, NULL);
return;
}
else if (!strcmp (name, ofwNPR.name)) {
/* new offset filter position */
/* Check connectSP, if it is idle, then return */
if (connectSP.s == IPS_IDLE)
{
ofwNPR.s = IPS_IDLE;
IDSetNumber(&ofwNPR, "Guider is offline.");
return;
}
stageGoTo(RS485_FD, ofwNPR.name, (int)values[0]);
ofwNPR.s = IPS_IDLE;
IDSetNumber(&ofwNPR, NULL);
return;
}
else if (!strcmp (name, offMirrNPR.name)) {
/* new offset mirror position */
/* Check connectSP, if it is idle, then return */
if (connectSP.s == IPS_IDLE)
{
offMirrNPR.s = IPS_IDLE;
IDSetNumber(&offMirrNPR, "Guider is offline.");
return;
}
stageGoTo(RS485_FD, offMirrNPR.name, (int)(values[0]/ENCODER2MM));
offMirrNPR.s = IPS_IDLE;
IDSetNumber(&offMirrNPR, NULL);
return;
}
else{
/* unknown value*/
IDMessage(mydev, "New Number not recognized.");
}
}
/*############################################################################
# Title: ISNewSwitch
# Author: C.Johnson
# Date: 9/9/19
# Args: default indi definition
# Returns: N/A
# Description: Catches all new switch events. Required to be here even if
# not used
#
#############################################################################*/
void ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
{
ISwitch *sp;
int i, err;
char ret[20];
ISState state;
int isDifferent;
char respbuffer[50];
char L, F, S;
int fnum, init_struct=1;
double focus_curve_subtraction, xmm, ymm, zmm, zprimemm;
/* ignore if not ours */
if (strcmp (dev, mydev))
return;
else if (! strcmp(name, comTypeSP.name))
{
IUUpdateSwitch(&comTypeSP, states, names, n);
comTypeSP.s = IPS_BUSY;
if (comTypeS[0].s == ISS_ON)
{
gcomtype = NET;
IDMessage(mydev, "Changing COM to Network");
}
else if (comTypeS[1].s == ISS_ON)
{
gcomtype = SER;
IDMessage(mydev, "Changing COM to Serial");
}
comTypeSP.s = 0;
IDSetSwitch(&comTypeSP, NULL);
return;
}
else if (! strcmp(name, resetLtxSP.name))
{
IUUpdateSwitch(&resetLtxSP, states, names, n);
resetLtxSP.s = IPS_BUSY;
if (resetLtxS[0].s == ISS_ON)
{
resetLtxS[0].s = ISS_OFF;
IDSetSwitch(&resetLtxSP, "lantronix is resetting.");
lantronix_reset(networkT[0].text);
resetLtxSP.s = 0;
IDSetSwitch(&resetLtxSP, "Lantronix Reset Complete");
}
else
IDSetSwitch(&resetLtxSP, "false trigger.");
return;
}
else if (!strcmp(name, connectSP.name))
{
sp = IUFindSwitch (&connectSP, names[0]);
if (! strcmp(sp->name, connectS[0].name))
{
if(states[0] == ISS_ON)
{
//if(connectS[0].s == ISS_ON){return;}//hack so code wont run twice
IUResetSwitch(&connectSP);
//sp->s = states[0];
connectS[0].s = ISS_ON;
//connectS[1].s = ISS_OFF;
if (gcomtype == NET)
{
RS485_FD = net_ttyOpen(networkT[0].text);
IDMessage(mydev, "networkT[0].text=%s", networkT[0].text);
}
else
{
RS485_FD = ttyOpen(ttyPortT[0].text);
}
if (RS485_FD > 0)
{
connectS[0].s = ISS_ON;
connectSP.s = IPS_OK;
IDSetSwitch (&connectSP, NULL);
moog_write(RS485_FD, "Rxxx");
if( moog_read(RS485_FD, ret ) == 0 )
{//check if the head node has been initialized.
if(atoi(ret) != MOOG_INITIALIZED)
{// if not initialize. This will loose the home position.
IDMessage(mydev, "Guidebox is not initialized.");
IDMessage(mydev, "Initializing.");
gbIndiInit( );
}
else
{
IDMessage(mydev, "Guidebox is initialized.");
}
}
else
{
IDMessage(mydev, "Guidebox did not respond to init status check.");
IDMessage(mydev, "Initializing.");
gbIndiInit( );
}
//if the motors don't respond try initializing.
if(!polling)
{
IEAddTimer (POLLMS, guiderProc, &init_struct);
}
}
else
{
connectS[0].s = ISS_OFF;
//connectS[1].s = ISS_ON;
connectSP.s = IPS_ALERT;
IDSetSwitch (&connectSP, "Could Not connect to guider on port %s", ttyPortT[0].text);
inited=0;
}
}
else
{
ttyClose(RS485_FD);
connectS[0].s = ISS_OFF;
connectSP.s = IPS_IDLE;
IDSetSwitch(&connectSP, "Disconnecting Guider");
ufwNPR.s = IPS_IDLE;
IDSetNumber(&ufwNPR, "DID THIS HAPPEN??");
lfwNPR.s = IPS_IDLE;
IDSetNumber(&lfwNPR, NULL);
offxNPR.s = IPS_IDLE;
IDSetNumber(&offxNPR, NULL);
offyNPR.s = IPS_IDLE;
IDSetNumber(&offyNPR, NULL);
offFocNPR.s = IPS_IDLE;
IDSetNumber(&offFocNPR, NULL);
offMirrNPR.s = IPS_IDLE;
IDSetNumber(&offMirrNPR, NULL);
ofwNPR.s = IPS_IDLE;
IDSetNumber(&ofwNPR, NULL);
lfSP.s = IPS_IDLE;
IDSetSwitch(&lfSP, NULL);
ufSP.s = IPS_IDLE;
IDSetSwitch(&ufSP, NULL);
mirr_posSP.s = IPS_IDLE;
IDSetSwitch(&mirr_posSP, NULL);
gfSP.s = IPS_IDLE;
IDSetSwitch(&gfSP, NULL);
actionSP.s = IPS_IDLE;
IDSetSwitch(&actionSP, NULL);
}
}
else
{
//if(connectS[0].s == ISS_OFF){return;}//hack so code wont run twice
if(states[0] == ISS_ON)
{
ttyClose(RS485_FD);
connectSP.s = IPS_IDLE;
IDSetSwitch(&connectSP, "Disconnecting Guider");
ufwNPR.s = IPS_IDLE;
IDSetNumber(&ufwNPR, NULL);
lfwNPR.s = IPS_IDLE;
IDSetNumber(&lfwNPR, NULL);
offxNPR.s = IPS_IDLE;
IDSetNumber(&offxNPR, NULL);
offyNPR.s = IPS_IDLE;
IDSetNumber(&offyNPR, NULL);
offFocNPR.s = IPS_IDLE;
IDSetNumber(&offFocNPR, NULL);
offMirrNPR.s = IPS_IDLE;
IDSetNumber(&offMirrNPR, NULL);
ofwNPR.s = IPS_IDLE;
IDSetNumber(&ofwNPR, NULL);
lfSP.s = IPS_IDLE;
IDSetSwitch(&lfSP, NULL);
ufSP.s = IPS_IDLE;
IDSetSwitch(&ufSP, NULL);
mirr_posSP.s = IPS_IDLE;
IDSetSwitch(&mirr_posSP, NULL);
gfSP.s = IPS_IDLE;
IDSetSwitch(&gfSP, NULL);
actionSP.s = IPS_IDLE;
IDSetSwitch(&actionSP, NULL);
}
IUResetSwitch(&connectSP);
//sp->s = states[1];
connectS[0].s = ISS_OFF;
connectS[1].s = ISS_ON;
connectSP.s = IPS_IDLE;
ttyClose(RS485_FD);
IDSetSwitch (&connectSP, "Guider is disconnected.");
}
}