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Productive version 1.0 of AOK Skywalker (#114)
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@escribana
escribana committed May 2, 2020
1 parent 7d7a185 commit 2bf53f0
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6 changes: 6 additions & 0 deletions debian/indi-aok/changelog
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Original file line number Diff line number Diff line change
@@ -1,3 +1,9 @@
indi-aok (1.0) bionic; urgency=low
* cleared up the handling of notification of mountlock & trackstate
* added query of mount when connecting, so mountlock and trackstate is reflected correctly

-- Jasem Mutlaq <mutlaqja@ikarustech.com> Sat, 2 May 2019 07:45:00 +0300

indi-aok (0.9) bionic; urgency=low
* implemented park position management
* corrected readout of firmwareserial
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6 changes: 6 additions & 0 deletions indi-aok/ChangeLog
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Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
Version 1.0 - 2020-03-06
+ cleared up the handling of notification of mountlock & trackstate
+ added query of mount when connecting, so mountlock and trackstate
is reflected correctly

Version 0.9 - 2019-11-23 (minor changes after pull)
+ corrected readout of firmwareserial
+ implemented improved park position management

Version 0.8 - 2019-10-08
+ renamed driver to product line (AOK Skywalker)
- removed real 'unpark()' at start, TCS unparks automatically
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154 changes: 96 additions & 58 deletions indi-aok/lx200aok.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
/*
/*
AOK Skywalker driver
Copyright (C) 2019 T. Schriber
Expand Down Expand Up @@ -430,37 +430,21 @@ bool LX200Skywalker::isSlewComplete()
{
if (TrackState == SCOPE_SLEWING)
{
TrackStateS[TRACK_ON].s = ISS_ON;
TrackStateS[TRACK_OFF].s = ISS_OFF;
TrackState = SCOPE_TRACKING;
TrackStateSP.s = IPS_OK;
IDSetSwitch(&TrackStateSP, nullptr);
if ((setPierSide()) && (MountLocked())) // Normally lock is set by TCS if slew ends
notifyTrackState(SCOPE_TRACKING);
if ((notifyPierSide()) && (MountLocked())) // Normally lock is set by TCS if slew ends
{
MountStateS[0].s = ISS_ON;
MountStateS[1].s = ISS_OFF;
MountStateSP.s = IPS_OK;
CurrentMountState = MOUNT_LOCKED; // ALWAYS set status!
IDSetSwitch(&MountStateSP, nullptr);
notifyMountLock(true);
result = true;
}
else
LOG_ERROR("Mount could not be locked by TCS!");
}
else if (TrackState == SCOPE_PARKING)
{
TrackStateS[TRACK_ON].s = ISS_OFF;
TrackStateS[TRACK_OFF].s = ISS_ON;
TrackState = SCOPE_PARKED;
TrackStateSP.s = IPS_OK;
IDSetSwitch(&TrackStateSP, nullptr);
notifyTrackState(SCOPE_PARKED);
if (SetMountLock(false))
{
MountStateS[0].s = ISS_OFF;
MountStateS[1].s = ISS_ON;
MountStateSP.s = IPS_OK;
CurrentMountState = MOUNT_UNLOCKED; // ALWAYS set status!
IDSetSwitch(&MountStateSP, nullptr);
notifyMountLock(false);
result = true;
}
else
Expand Down Expand Up @@ -520,7 +504,27 @@ void LX200Skywalker::getBasicData()
IDSetSwitch(&TrackModeSP, nullptr);
}
if (InitPark())
{
LOG_INFO("Parkdata loaded");
if (!INDI::Telescope::isParked()) // Mount is unparked and working on connection of the driver!
{
if ((MountLocked()) && (MountTracking())) // default state of working mount
{
notifyMountLock(true);
notifyTrackState(SCOPE_TRACKING);
ParkSP.s = IPS_OK;
IDSetSwitch(&ParkSP, nullptr);
//LOG_INFO("Mount is working");
}
else
LOG_WARN("Mount is unparked but not locked and/or not tracking!");
}
else // Mount is parked
{
notifyMountLock(MountLocked());
notifyTrackState(SCOPE_PARKED);
}
}
else
LOG_INFO("Parkdata load failed");
}
Expand Down Expand Up @@ -566,7 +570,7 @@ bool LX200Skywalker::updateLocation(double latitude, double longitude, double el
fs_sexa(l, latitude, 3, 3600);
fs_sexa(L, longitude, 4, 3600);

LOGF_INFO("Site location updated to Lat %.32s - Long %.32s", l, L);
// LOGF_INFO("Site location updated to Lat %.32s - Long %.32s", l, L); Info provided by "inditelescope"

return true;
}
Expand Down Expand Up @@ -598,22 +602,12 @@ bool LX200Skywalker::UnPark()
INDI::Telescope::SetParked(false);
if ((MountLocked()) && (MountTracking())) // TCS sets Mountlock & Tracking
{
MountStateS[0].s = ISS_ON;
MountStateS[1].s = ISS_OFF;
MountStateSP.s = IPS_OK;
CurrentMountState = MOUNT_LOCKED; // ALWAYS set status!
notifyMountLock(true);
// INDI::Telescope::SetParked(false) sets TrackState = SCOPE_IDLE but TCS is tracking
TrackStateS[TRACK_ON].s = ISS_ON;
TrackStateS[TRACK_OFF].s = ISS_OFF;
TrackStateSP.s = IPS_OK;
INDI::Telescope::TrackState = SCOPE_TRACKING;
notifyTrackState(SCOPE_TRACKING);
// INDI::Telescope::SetParked(false) sets ParkSP.S = IPS_IDLE but mount IS unparked!
ParkSP.s = IPS_OK;
IDSetSwitch(&MountStateSP, nullptr);
IDSetSwitch(&TrackStateSP, nullptr);
IDSetSwitch(&ParkSP, nullptr);
// return true;
// Should we do a sync here to show pierside?
return SyncDefaultPark();
}
else
Expand All @@ -635,6 +629,72 @@ bool LX200Skywalker::SavePark()
}
}

/********************************************************************************
* Notifier-Section
********************************************************************************/
// Changed from original "set_" to "notify_" because of the logic behind: From
// the controller view we change the viewer (and a copy of the model), not the
// the model itself!
bool LX200Skywalker::notifyPierSide()
{
char lstat[20] = {0};
if (getJSONData_Y(5, lstat)) // this is the model!
{
int li = std::stoi(lstat);
li = li & (1 << 7);
if (li > 0)
Telescope::setPierSide(INDI::Telescope::PIER_WEST);
else
Telescope::setPierSide(INDI::Telescope::PIER_EAST);
LOGF_INFO("Telescope pointing %s", (li > 0) ? "east" : "west");
return true;
}
else
{
Telescope::setPierSide(INDI::Telescope::PIER_UNKNOWN);
LOG_ERROR("Telescope pointing unknown!");
return false;
}
}

void LX200Skywalker::notifyMountLock(bool locked)
{
if (locked)
{
MountStateS[0].s = ISS_ON;
MountStateS[1].s = ISS_OFF;
MountStateSP.s = IPS_OK;
CurrentMountState = MOUNT_LOCKED; // ALWAYS set status!
}
else
{
MountStateS[0].s = ISS_OFF;
MountStateS[1].s = ISS_ON;
MountStateSP.s = IPS_OK;
CurrentMountState = MOUNT_UNLOCKED; // ALWAYS set status!
}
IDSetSwitch(&MountStateSP, nullptr);
}

void LX200Skywalker::notifyTrackState(INDI::Telescope::TelescopeStatus state)
{
if (state == SCOPE_TRACKING)
{
TrackStateS[TRACK_ON].s = ISS_ON;
TrackStateS[TRACK_OFF].s = ISS_OFF;
TrackStateSP.s = IPS_OK;
INDI::Telescope::TrackState = state;
}
else
{
TrackStateS[TRACK_ON].s = ISS_OFF;
TrackStateS[TRACK_OFF].s = ISS_ON;
TrackStateSP.s = IPS_OK;
INDI::Telescope::TrackState = state;
}
IDSetSwitch(&TrackStateSP, nullptr);
}

/*********************************************************************************
* config file
*********************************************************************************/
Expand Down Expand Up @@ -785,28 +845,6 @@ bool LX200Skywalker::getJSONData_Y(int jindex, char *jstr) // preliminary hardco
return true;
}

bool LX200Skywalker::setPierSide()
{
char lstat[20] = {0};
if (getJSONData_Y(5, lstat))
{
int li = std::stoi(lstat);
li = li & (1 << 7);
if (li > 0)
Telescope::setPierSide(INDI::Telescope::PIER_WEST);
else
Telescope::setPierSide(INDI::Telescope::PIER_EAST);
LOGF_INFO("Telescope pointing %s", (li > 0) ? "east" : "west");
return true;
}
else
{
Telescope::setPierSide(INDI::Telescope::PIER_UNKNOWN);
LOG_ERROR("Telescope pointing unknown!");
return false;
}
}

bool LX200Skywalker::MountLocked()
{
char lstat[20] = {0};
Expand Down Expand Up @@ -1633,7 +1671,7 @@ bool LX200Skywalker::Sync(double ra, double dec)

NewRaDec(currentRA, currentDEC);

if (!setPierSide())
if (!notifyPierSide())
return false;
// show lock
if (MountLocked()) // Normally lock is set by TCS on syncing
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4 changes: 3 additions & 1 deletion indi-aok/lx200aok.h
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,9 @@ class LX200Skywalker : public LX200Telescope
bool setSystemSlewSpeed (int xx);
bool getJSONData_Y(int jindex, char *jstr);
bool getJSONData_gp(int jindex, char *jstr);
bool setPierSide();
bool notifyPierSide();
void notifyMountLock(bool locked);
void notifyTrackState(INDI::Telescope::TelescopeStatus state);
bool MountLocked();
bool SetMountLock(bool enable);

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