working motion and guiding

2 files changed, 97 insertions, 5 deletions

diff --git a/indi-lxd650/lxd650.cpp b/indi-lxd650/lxd650.cpp
index 995145d..c47b29a 100644
--- a/indi-lxd650/lxd650.cpp
+++ b/indi-lxd650/lxd650.cpp
@@ -54,7 +54,7 @@ LXD650::LXD650()
 
     DBG_SCOPE = INDI::Logger::getInstance().addDebugLevel("Scope Verbose", "SCOPE");
 
-    SetTelescopeCapability(TELESCOPE_CAN_SYNC | TELESCOPE_CAN_GOTO | TELESCOPE_CAN_ABORT | TELESCOPE_HAS_LOCATION | TELESCOPE_HAS_TIME, 4);
+    SetTelescopeCapability(TELESCOPE_CAN_SYNC | TELESCOPE_CAN_GOTO | TELESCOPE_CAN_ABORT | TELESCOPE_HAS_LOCATION | TELESCOPE_HAS_TIME , 4);
 
 
     LOG_DEBUG("Initializing from LX200 Basic device...");
@@ -84,6 +84,7 @@ bool LXD650::initProperties()
 {
     /* Make sure to init parent properties first */
     INDI::Telescope::initProperties();
+    setDriverInterface(getDriverInterface() | GUIDER_INTERFACE);
 
     // Slew threshold
     IUFillNumber(&SlewAccuracyN[0], "SlewRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0);
@@ -108,6 +109,7 @@ bool LXD650::initProperties()
     GuideRateNP.fill(getDeviceName(), "GUIDE_RATE", "Guiding Rate", GUIDE_TAB, IP_RW, 0, IPS_IDLE);
 
     setDriverInterface(getDriverInterface() | GUIDER_INTERFACE);
+//    SetTelescopeCapability(GetTelescopeCapability() | TELESCOPE_HAS_PIER_SIDE, 4);
 
     return true;
 }
@@ -123,14 +125,23 @@ bool LXD650::updateProperties()
     {
         defineProperty(&SlewAccuracyNP);
 
-        // We don't support NSWE controls
+        defineProperty(&GuideNSNP);
+        defineProperty(&GuideWENP);
+        defineProperty(&GuideRateNP);
+
+#if 0
+        // We don't support NSWE controls (yet)
         deleteProperty(MovementNSSP.name);
         deleteProperty(MovementWESP.name);
+#endif
 
         getBasicData();
     }
     else
     {
+        deleteProperty(GuideNSNP.name);
+        deleteProperty(GuideWENP.name);
+        deleteProperty(GuideRateNP.getName());
         deleteProperty(SlewAccuracyNP.name);
     }
 
@@ -230,6 +241,9 @@ bool LXD650::ReadScopeStatus()
     show_alignment("Mount->Sky", currentRA, currentDEC, sky_RA, sky_DEC);
 #endif
 
+//    setPierSide(PIER_UNKNOWN);
+//    setPierSide(PIER_WEST);
+
     return true;
 }
 
@@ -604,9 +618,14 @@ bool LXD650::ISNewText(const char *dev, const char *name, char *texts[], char *n
 //
 //
 //
-//void 
+// 
 /////////////////////////////////////////////////////////////////////////////////////
-//
+
+void LXD650::show_guide (const char *dir, int ms)
+{
+    LOGF_INFO ("Guiding %s for %d ms", dir, ms);
+}
+
 
 
 void LXD650::GuideNorthCB(void)
@@ -637,8 +656,9 @@ IPState LXD650::GuideNorth(uint32_t ms)
     }
 
 
-    MoveTo(PortFD, LX200_NORTH);
+    show_guide("N", ms);
 
+    MoveTo(PortFD, LX200_NORTH);
     GuideNorth_TID = IEAddTimer(ms, GuideNorthProxy, this);
 
     return IPS_BUSY;
@@ -672,6 +692,7 @@ IPState LXD650::GuideSouth(uint32_t ms)
         GuideSouth_TID = 0;
     }
 
+    show_guide("S", ms);
 
     MoveTo(PortFD, LX200_SOUTH);
 
@@ -708,6 +729,7 @@ IPState LXD650::GuideWest(uint32_t ms)
         GuideWest_TID = 0;
     }
 
+    show_guide("W", ms);
 
     MoveTo(PortFD, LX200_WEST);
 
@@ -744,6 +766,7 @@ IPState LXD650::GuideEast(uint32_t ms)
         GuideEast_TID = 0;
     }
 
+    show_guide("E", ms);
 
     MoveTo(PortFD, LX200_EAST);
 
@@ -753,6 +776,68 @@ IPState LXD650::GuideEast(uint32_t ms)
 }
 
 
+/////////////////////////////////////////////////////////////////////////////////////
+///
+/////////////////////////////////////////////////////////////////////////////////////
+void LXD650::set_slew_rate_from_property(void)
+{
+    unsigned rate = IUFindOnSwitchIndex(&SlewRateSP);
+
+    enum TSlew rates[]={LX200_SLEW_GUIDE,LX200_SLEW_FIND,LX200_SLEW_CENTER,LX200_SLEW_GUIDE};
+
+    if (rate>=(sizeof(rates)/sizeof(rates[0]))) 
+	return;
+
+    setSlewMode(PortFD, rates[rate]);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////
+///
+/////////////////////////////////////////////////////////////////////////////////////
+bool LXD650::MoveNS(INDI_DIR_NS dir, TelescopeMotionCommand command)
+{
+    if (command == MOTION_START) {
+	set_slew_rate_from_property();
+
+	if (dir == DIRECTION_NORTH) {
+            MoveTo(PortFD, LX200_NORTH);
+	} else {
+            MoveTo(PortFD, LX200_SOUTH);
+	}
+    } else {
+	if (dir == DIRECTION_NORTH) {
+            HaltMovement(PortFD, LX200_NORTH);
+	} else {
+            HaltMovement(PortFD, LX200_SOUTH);
+	}
+    }
+
+    return true;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////
+///
+/////////////////////////////////////////////////////////////////////////////////////
+bool LXD650::MoveWE(INDI_DIR_WE dir, TelescopeMotionCommand command)
+{
+    if (command == MOTION_START) {
+	set_slew_rate_from_property();
+
+	if (dir == DIRECTION_WEST) {
+            MoveTo(PortFD, LX200_WEST);
+	} else {
+            MoveTo(PortFD, LX200_EAST);
+	}
+    } else {
+	if (dir == DIRECTION_WEST) {
+            HaltMovement(PortFD, LX200_WEST);
+	} else {
+            HaltMovement(PortFD, LX200_EAST);
+	}
+    }
+
+    return true;
+}
 
 /**************************************************************************************
 **
diff --git a/indi-lxd650/lxd650.h b/indi-lxd650/lxd650.h
index 7a6fc96..0e24976 100644
--- a/indi-lxd650/lxd650.h
+++ b/indi-lxd650/lxd650.h
@@ -53,6 +53,7 @@ class LXD650 : public INDI::Telescope,
 	static void GuideWestProxy(void *context);
 	static void GuideEastProxy(void *context);
 
+
     protected:
         virtual bool Abort() override;
         virtual bool Goto(double, double) override;
@@ -63,6 +64,9 @@ class LXD650 : public INDI::Telescope,
 
         void getBasicData();
 
+        virtual bool MoveNS(INDI_DIR_NS dir, TelescopeMotionCommand command) override;
+        virtual bool MoveWE(INDI_DIR_WE dir, TelescopeMotionCommand command) override;
+
         virtual IPState GuideNorth(uint32_t ms) override;
         virtual IPState GuideSouth(uint32_t ms) override;
         virtual IPState GuideEast(uint32_t ms) override;
@@ -102,6 +106,9 @@ class LXD650 : public INDI::Telescope,
         virtual bool setLocalDate(uint8_t days, uint8_t months, uint16_t years);
         virtual bool setLocalTime24(uint8_t hour, uint8_t minute, uint8_t second);
         virtual bool setUTCOffset(double offset);
+	
+	void set_slew_rate_from_property(void);
+	void show_guide (const char *dir, int ms);
 
  
 };