wip

5 files changed, 175 insertions, 93 deletions

diff --git a/indi-celestronaux/CMakeLists.txt b/indi-celestronaux/CMakeLists.txt
index 9a3cd27..7cc3810 100644
--- a/indi-celestronaux/CMakeLists.txt
+++ b/indi-celestronaux/CMakeLists.txt
@@ -26,7 +26,7 @@ include_directories( ${EV_INCLUDE_DIR})
 
 include(CMakeCommon)
 
-add_executable(indi_celestron_aux auxproto.cpp celestronaux.cpp)
+add_executable(indi_celestron_aux auxproto.cpp celestronaux.cpp syslog_proxy.cpp)
 target_link_libraries(indi_celestron_aux ${INDI_LIBRARIES} ${NOVA_LIBRARIES} ${GSL_LIBRARIES})
 install(TARGETS indi_celestron_aux RUNTIME DESTINATION bin)
 
diff --git a/indi-celestronaux/celestronaux.cpp b/indi-celestronaux/celestronaux.cpp
index a806fcd..51583ad 100644
--- a/indi-celestronaux/celestronaux.cpp
+++ b/indi-celestronaux/celestronaux.cpp
@@ -32,12 +32,10 @@
 #include <sys/ioctl.h>
 #include <thread>
 #include <chrono>
-extern "C" {
-#include <syslog.h>
-}
 
 #include <alignment/DriverCommon.h>
 #include "celestronaux.h"
+#include "syslog_proxy.h"
 #include "config.h"
 
 #define DEBUG_PID
@@ -81,7 +79,7 @@ CelestronAUX::CelestronAUX()
     //Both communication available, Serial and network (tcp/ip).
     setTelescopeConnection(CONNECTION_TCP | CONNECTION_SERIAL);
 
-    openlog("indi_celestron_aux",0,LOG_DAEMON);
+    openlog_proxy("indi_celestron_aux");
 }
 
 /////////////////////////////////////////////////////////////////////////////////////
@@ -240,6 +238,20 @@ bool CelestronAUX::initProperties()
         SetTelescopeCapability(GetTelescopeCapability() | TELESCOPE_HAS_PIER_SIDE, 8);
     }
 
+    MountTypeSP[EQUATORIAL].fill("EQUATORIAL", "Equatorial", configMountType == EQUATORIAL ? ISS_ON : ISS_OFF);
+    MountTypeSP[ALTAZ].fill("ALTAZ", "AltAz", configMountType == ALTAZ ? ISS_ON : ISS_OFF);
+    MountTypeSP.fill(getDeviceName(), "MOUNT_TYPE", "Mount Type", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
+
+    TrackMethodSP[TRACK_METHOD_NONE].fill("NONE", "None", ISS_OFF);
+    TrackMethodSP[TRACK_METHOD_MOUNT].fill("MOUNT", "Mount", ISS_OFF);
+    TrackMethodSP[TRACK_METHOD_DRIVER].fill("DRIVER", "Driver", ISS_ON);
+    TrackMethodSP.fill(getDeviceName(), "TRACK_METHOD", "Tracking Method", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
+
+    DriverTrackMethodSP[TRACK_METHOD_UNALIGNED].fill("DUMB", "Unaligned", ISS_OFF);
+    DriverTrackMethodSP[TRACK_METHOD_ALIGNED].fill("RADEC", "Aligned", ISS_ON);
+    DriverTrackMethodSP[TRACK_METHOD_ALIGNED_RA_ONLY].fill("RAONLY", "Aligned RA Only", ISS_OFF);
+    DriverTrackMethodSP.fill(getDeviceName(), "DRIVER_TRACK_METHOD", "Driver Tracking Method", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
+
     // Horizontal Coords
     HorizontalCoordsNP[AXIS_AZ].fill("AZ", "Az D:M:S", "%10.6m", 0.0, 360.0, 0.0, 0);
     HorizontalCoordsNP[AXIS_ALT].fill("ALT", "Alt  D:M:S", "%10.6m", -90., 90.0, 0.0, 0);
@@ -400,6 +412,9 @@ bool CelestronAUX::updateProperties()
             defineProperty(&HorizontalCoordsNP);
         defineProperty(&HomeSP);
 
+        defineProperty(&TrackMethodSP);
+        defineProperty(&DriverTrackMethodSP);
+
         // Guide
         defineProperty(&GuideNSNP);
         defineProperty(&GuideWENP);
@@ -475,6 +490,9 @@ bool CelestronAUX::updateProperties()
             deleteProperty(HorizontalCoordsNP.getName());
         deleteProperty(HomeSP.getName());
 
+        deleteProperty(DriverTrackMethodSP.getName());
+        deleteProperty(TrackMethodSP.getName());
+
         deleteProperty(GuideNSNP.name);
         deleteProperty(GuideWENP.name);
         deleteProperty(GuideRateNP.getName());
@@ -517,6 +535,8 @@ bool CelestronAUX::saveConfigItems(FILE *fp)
     IUSaveConfigSwitch(fp, &CordWrapPositionSP);
     IUSaveConfigSwitch(fp, &CordWrapBaseSP);
     IUSaveConfigSwitch(fp, &GPSEmuSP);
+    IUSaveConfigSwitch(fp, &TrackMethodSP);
+    IUSaveConfigSwitch(fp, &DriverTrackMethodSP);
 
     if (MountTypeSP[ALTAZ].getState() == ISS_ON)
     {
@@ -762,6 +782,25 @@ bool CelestronAUX::ISNewSwitch(const char *dev, const char *name, ISState *state
             return true;
         }
 
+        // Tracking Method Emulation
+        if (TrackMethodSP.isNameMatch(name))
+        {
+            TrackMethodSP.update(states, names, n);
+            TrackMethodSP.setState(IPS_OK);
+            TrackMethodSP.apply();
+            return true;
+        }
+
+        // Tracking Method Emulation
+        if (DriverTrackMethodSP.isNameMatch(name))
+        {
+            DriverTrackMethodSP.update(states, names, n);
+            DriverTrackMethodSP.setState(IPS_OK);
+            DriverTrackMethodSP.apply();
+            return true;
+        }
+
+
         // GPS Emulation
         if (GPSEmuSP.isNameMatch(name))
         {
@@ -1171,9 +1210,11 @@ bool CelestronAUX::ReadScopeStatus()
                 TrackState = SCOPE_TRACKING;
                 resetTracking();
 
+
                 // For equatorial mounts, engage tracking.
-                if (MountTypeSP[EQUATORIAL].getState() == ISS_ON)
-                    SetTrackMode(IUFindOnSwitchIndex(&TrackModeSP));
+                if ((TrackMethodSP[TRACK_METHOD_MOUNT].getState() == ISS_ON) && \
+			(MountTypeSP[EQUATORIAL].getState() == ISS_ON))
+                    		SetTrackMode(IUFindOnSwitchIndex(&TrackModeSP));
                 LOG_INFO("Tracking started.");
             }
             else
@@ -1450,6 +1491,60 @@ bool CelestronAUX::mountToSkyCoords()
     return true;
 }
 
+void CelestronAUX::calculate_tracking_vector(double &mt_ra, double &mt_dec) 
+{
+    double delta = 1./3600.; 
+    double ra1 = m_SkyTrackingTarget.rightascension;
+    double ra2 = ra1 + delta;
+    double dec= m_SkyTrackingTarget.declination;
+    
+    TelescopeDirectionVector TDV;
+    INDI::IEquatorialCoordinates m1 { ra1, dec };
+    INDI::IEquatorialCoordinates m2 { ra2, dec };
+
+
+    if (DriverTrackMethodSP[TRACK_METHOD_UNALIGNED].getState() == ISS_OFF) {
+        if (TransformCelestialToTelescope(ra1, dec, 0.0, TDV))
+        {
+           EquatorialCoordinatesFromTelescopeDirectionVector(TDV, m1);
+        }
+    
+    
+        if (TransformCelestialToTelescope(ra2, dec, 0.0, TDV))
+        {
+           EquatorialCoordinatesFromTelescopeDirectionVector(TDV, m2);
+        }
+    }
+ 
+    double r_ra = (m2.rightascension - m1.rightascension) / delta;
+    double r_dec = (m2.declination - m1.declination) / delta;
+
+    uint32_t e1[2];
+    CelestronAUX::RADEToEncoders(m1,e1[0],e1[1]);
+
+    uint32_t e2[2];
+    CelestronAUX::RADEToEncoders(m2,e2[0],e2[1]);
+
+    int d_a1 = e2[0] - e1[0];
+    int d_a2 = e2[1] - e1[1];
+
+    r_ra *= TRACKRATE_SIDEREAL;
+    r_dec *= TRACKRATE_SIDEREAL * (24. / 360.);
+
+    mt_ra = std::abs(r_ra);
+    mt_dec = std::abs(r_dec);
+
+    if (d_a1>0) 
+        mt_ra = -mt_ra;
+    if (d_a2>0)
+        mt_dec = -mt_dec;
+
+    if (DriverTrackMethodSP[TRACK_METHOD_ALIGNED_RA_ONLY].getState() == ISS_ON)
+        mt_dec = 0;
+
+    syslog_proxy("sidereal tracking vectors RA %.4e DEC %.4e -> mount %.4e %.4e", r_ra, r_dec, mt_ra, mt_dec);
+}
+
 /////////////////////////////////////////////////////////////////////////////////////
 ///
 /////////////////////////////////////////////////////////////////////////////////////
@@ -1457,7 +1552,7 @@ void CelestronAUX::TimerHit()
 {
     INDI::Telescope::TimerHit();
 
-syslog(LOG_ERR,"Timer hit state=%d",(int)TrackState);
+    syslog_proxy("Timer hit state = %d",(int)TrackState);
 
     switch (TrackState)
     {
@@ -1572,79 +1667,27 @@ syslog(LOG_ERR,"Timer hit state=%d",(int)TrackState);
 #endif
                     trackByRate(AXIS_ALT, trackRates[AXIS_ALT]);
                 }
-            } else {
-                double delta=1./3600.;
+            } else if (TrackMethodSP[TRACK_METHOD_DRIVER].getState() == ISS_ON) {
+		double r_ra, r_dec;
 
-                double ra1 = m_SkyTrackingTarget.rightascension;
-                double ra2=ra1+delta;
-                double dec= m_SkyTrackingTarget.declination;
+		calculate_tracking_vector(r_ra, r_dec);
 
-
-
-/*
-
-                INDI::IEquatorialCoordinates m1;
-                if (!SkyToTelescopeEquatorial(ra1,dec,m1.rightascension,m1.declination)) {
-                        m1.rightascension=ra1;
-                        m1.declination=dec;
-                }
-
-                uint32_t e1[2];
-                CelestronAUX::RADEToEncoders(m1,e1[0],e1[1]);
-
-                INDI::IEquatorialCoordinates m2;
-                if (!SkyToTelescopeEquatorial(ra2,dec,m2.rightascension,m2.declination)) {
-                        m2.rightascension=ra2;
-                        m2.declination=dec;
+		if ((TrackRateN[AXIS_AZ].value != r_ra)  || (TrackRateN[AXIS_ALT].value != r_dec)) {
+                    TrackRateN[AXIS_AZ].value = r_ra;
+                    TrackRateN[AXIS_ALT].value = r_dec;
+	            IDSetNumber(&TrackRateNP, nullptr);
                 }
-                uint32_t e2[2];
-                CelestronAUX::RADEToEncoders(m2,e2[0],e2[1]);
-*/
-
-
-
-    TelescopeDirectionVector TDV;
-    INDI::IEquatorialCoordinates m1 { ra1, dec };
-
-    if (TransformCelestialToTelescope(ra1, dec, 0.0, TDV))
-    {
-       EquatorialCoordinatesFromTelescopeDirectionVector(TDV, m1);
-    }
-                uint32_t e1[2];
-                CelestronAUX::RADEToEncoders(m1,e1[0],e1[1]);
-
-    INDI::IEquatorialCoordinates m2 { ra2, dec };
-
-    if (TransformCelestialToTelescope(ra2, dec, 0.0, TDV))
-    {
-       EquatorialCoordinatesFromTelescopeDirectionVector(TDV, m2);
-    }
-                uint32_t e2[2];
-                CelestronAUX::RADEToEncoders(m2,e2[0],e2[1]);
-
-                double r_ra=(m2.rightascension-m1.rightascension)/delta;
-                double r_dec=(m2.declination-m1.declination)/delta;
-
-		syslog(LOG_ERR,"tracking vectors %.4e %.4e",r_ra,r_dec);
-
-                int d_a1=e2[0]-e1[0];
-                int d_a2=e2[1]-e1[1];
-
-		syslog(LOG_ERR,"tracking e vectors %d %d",d_a1,d_a2);
 
-                r_ra*=TRACKRATE_SIDEREAL;
-                r_dec*=TRACKRATE_SIDEREAL*(24./360.);
-		r_dec=0;
-
-                r_ra=std::abs(r_ra);
-                r_dec=std::abs(r_dec);
-
-		syslog(LOG_ERR,"tracking %.4e %.4e",r_ra,r_dec);
-                if (d_a1>0) r_ra=-r_ra;
-                if (d_a2>0) r_dec=-r_dec;
-
-                CelestronAUX::SetTrackRate(r_ra,r_dec);
+#if 0
+                if (IUFindOnSwitchIndex(&TrackModeSP) != TRACK_CUSTOM) {
+	                IUResetSwitch(&TrackModeSP);
+			TrackModeS[TRACK_CUSTOM].s=ISS_ON;
+                	TrackModeSP.s          = IPS_ALERT;
+            		IDSetSwitch(&TrackModeSP, nullptr);
+		}
+#endif
 
+                CelestronAUX::SetTrackRate(r_ra, r_dec);
             }
         }
         break;
@@ -2175,10 +2218,12 @@ bool CelestronAUX::SetTrackEnabled(bool enabled)
         m_SkyTrackingTarget.rightascension = EqN[AXIS_RA].value;
         m_SkyTrackingTarget.declination = EqN[AXIS_DE].value;
 
-        if (IUFindOnSwitchIndex(&TrackModeSP) == TRACK_CUSTOM)
-            return SetTrackRate(TrackRateN[AXIS_AZ].value, TrackRateN[AXIS_ALT].value);
-        else
-            return SetTrackMode(IUFindOnSwitchIndex(&TrackModeSP));
+        if (TrackMethodSP[TRACK_METHOD_MOUNT].getState() == ISS_ON) {
+            if (IUFindOnSwitchIndex(&TrackModeSP) == TRACK_CUSTOM)
+                return SetTrackRate(TrackRateN[AXIS_AZ].value, TrackRateN[AXIS_ALT].value);
+            else
+                return SetTrackMode(IUFindOnSwitchIndex(&TrackModeSP));
+        }
     }
     else
     {
@@ -2211,6 +2256,7 @@ bool CelestronAUX::SetTrackRate(double raRate, double deRate)
         // rate = (steps) * gain
         steps[AXIS_AZ] = raRate * STEPS_PER_ARCSEC * GAIN_STEPS;
         steps[AXIS_ALT] = deRate * STEPS_PER_ARCSEC * GAIN_STEPS;
+        syslog_proxy("CelestronAUX::trackByRate %.2f %.2f", steps[AXIS_AZ], step[AXIS_ALT]);
         trackByRate(AXIS_AZ, steps[AXIS_AZ]);
         trackByRate(AXIS_ALT, steps[AXIS_ALT]);
     }
@@ -2222,9 +2268,6 @@ bool CelestronAUX::SetTrackRate(double raRate, double deRate)
 /////////////////////////////////////////////////////////////////////////////
 bool CelestronAUX::SetTrackMode(uint8_t mode)
 {
-
-    return true;
-
     if (mode == TRACK_SIDEREAL)
         m_TrackRates[AXIS_AZ] = TRACKRATE_SIDEREAL;
     else if (mode == TRACK_SOLAR)
@@ -2239,17 +2282,22 @@ bool CelestronAUX::SetTrackMode(uint8_t mode)
 
     if (TrackState == SCOPE_TRACKING)
     {
-        if (mode == TRACK_CUSTOM)
-        {
-            double steps[2] = {0, 0};
-            // rate = (steps) * gain
-            steps[AXIS_AZ] = m_TrackRates[AXIS_AZ] * STEPS_PER_ARCSEC * GAIN_STEPS;
-            steps[AXIS_ALT] = m_TrackRates[AXIS_ALT] * STEPS_PER_ARCSEC * GAIN_STEPS;
-            trackByRate(AXIS_AZ, steps[AXIS_AZ]);
-            trackByRate(AXIS_ALT, steps[AXIS_ALT]);
+        if (TrackMethodSP[TRACK_METHOD_MOUNT].getState() == ISS_ON) {
+            if (mode == TRACK_CUSTOM)
+            {
+                double steps[2] = {0, 0};
+                // rate = (steps) * gain
+                steps[AXIS_AZ] = m_TrackRates[AXIS_AZ] * STEPS_PER_ARCSEC * GAIN_STEPS;
+                steps[AXIS_ALT] = m_TrackRates[AXIS_ALT] * STEPS_PER_ARCSEC * GAIN_STEPS;
+                syslog_proxy("CelestronAUX::trackByRate %.2f %.2f", steps[AXIS_AZ], step[AXIS_ALT]);
+                trackByRate(AXIS_AZ, steps[AXIS_AZ]);
+                trackByRate(AXIS_ALT, steps[AXIS_ALT]);
+            }
+            else {
+                syslog_proxy("CelestronAUX::trackByMode %d", mode);
+                trackByMode(AXIS_AZ, mode);
+            }
         }
-        else
-            trackByMode(AXIS_AZ, mode);
     }
 
     return true;
diff --git a/indi-celestronaux/celestronaux.h b/indi-celestronaux/celestronaux.h
index 6a79280..3200ffd 100644
--- a/indi-celestronaux/celestronaux.h
+++ b/indi-celestronaux/celestronaux.h
@@ -282,6 +282,8 @@ class CelestronAUX :
         bool processResponse(AUXCommand &cmd);
         int sendBuffer(AUXBuffer buf);
         void formatVersionString(char *s, int n, uint8_t *verBuf);
+        void calculate_tracking_vector(double &mt_ra, double &mt_dec);
+
 
         // GPS Emulation
         bool m_GPSEmulation {false};
@@ -355,6 +357,13 @@ class CelestronAUX :
         INDI::PropertySwitch GPSEmuSP {2};
         enum { GPSEMU_OFF, GPSEMU_ON };
 
+        // Tracking
+        INDI::PropertySwitch TrackMethodSP {3};
+        enum { TRACK_METHOD_NONE, TRACK_METHOD_MOUNT, TRACK_METHOD_DRIVER};
+
+        INDI::PropertySwitch DriverTrackMethodSP {3};
+        enum { TRACK_METHOD_UNALIGNED, TRACK_METHOD_ALIGNED, TRACK_METHOD_ALIGNED_RA_ONLY};
+
         // Horizontal Coords
         INDI::PropertyNumber HorizontalCoordsNP {2};
 
diff --git a/indi-celestronaux/syslog_proxy.cpp b/indi-celestronaux/syslog_proxy.cpp
new file mode 100644
index 0000000..d8c1ecf
--- /dev/null
+++ b/indi-celestronaux/syslog_proxy.cpp
@@ -0,0 +1,21 @@
+#include <stdarg.h>
+
+extern "C" {
+#include <syslog.h>
+};
+
+
+void syslog_proxy(const char *fmt, ...)
+{
+	va_list a;
+
+	va_start(a,fmt);
+	vsyslog(LOG_ERR, fmt, a);
+	va_end(a);
+}
+
+void openlog_proxy(const char *ident)
+{
+    openlog(ident,0,LOG_DAEMON);
+}
+
diff --git a/indi-celestronaux/syslog_proxy.h b/indi-celestronaux/syslog_proxy.h
new file mode 100644
index 0000000..3e7d16d
--- /dev/null
+++ b/indi-celestronaux/syslog_proxy.h
@@ -0,0 +1,4 @@
+
+
+void syslog_proxy(const char *fmt, ...);
+void openlog_proxy(const char *ident);