kopia lustrzana https://github.com/Hamlib/Hamlib
Add INDI rotator backend
This backend lets Hamlib control an astronomical (telescope) rotator through an INDI (https://indilib.org/) server.pull/442/head
Nonoo
rodzic
801e16ac97
commit
8ba011eaf7
5
AUTHORS
5
AUTHORS
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@ -265,6 +265,10 @@ C: Chris Bryant, G3WIE
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M: Øystein Hårberg, LA7LKA
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[indi]
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M: Norbert Varga, HA2NON
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[Frontend]
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M: Stephane Fillod, F8CFE
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@ -362,3 +366,4 @@ Alexander Sack <pisymbol (at) gmail.com>
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Nirgal Vourgère <contact_hamlib (at) nirgal.com>
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Andrew Errington <a.errington (at) lancaster.ac.uk>
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Kārlis Millers YL3ALK <yl3alk (at) lrg.lv>
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Norbert Varga HA2NON <nonoo (at) nonoo.hu>
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1
INSTALL
1
INSTALL
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@ -287,6 +287,7 @@ are:
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--with-tcl-binding build Tcl binding and demo [default=no]
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--with-tcl=PATH directory containing tcl configuration (tclConfig.sh)
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--with-lua-binding build lua binding and demo [default=no]
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--without-indi disable INDI rotator support [default=no]
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Optional features that may require specialized hardware are:
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42
configure.ac
42
configure.ac
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@ -363,6 +363,46 @@ AS_IF([test x"$ax_cv_lib_readline" = "xno"], [
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cf_with_readline_support=no
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])
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dnl Check if INDI support in rigctl/rotctl is wanted
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AC_MSG_CHECKING([whether to use INDI in rigctl/rotctl])
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AC_ARG_WITH([indi],
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[AS_HELP_STRING([--without-indi],
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[disable INDI in rigctl/rotctl @<:@default=yes@:>@])],
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[cf_with_indi_support=no],
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[cf_with_indi_support=yes]
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)
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AS_IF([test x"$cf_with_indi_support" != "xno"], [
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# INDI support needs a C++ compiler, tested for presence above.
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AS_IF([test x"${cf_with_cxx}" != "xyes"], [
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AC_MSG_WARN([INDI support needs a C++ compiler.])
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cf_with_indi_support=no
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])
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])
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AS_IF([test x"$cf_with_indi_support" != "xno"], [
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# macros/ax_lib_nova.m4
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AX_LIB_NOVA
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AS_IF([test x"$ax_cv_lib_nova" = "xno"], [
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AC_MSG_WARN([libnova support not found, required by INDI.])
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cf_with_indi_support=no
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])
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AS_IF([test x"$ax_cv_lib_nova" != "xno"], [
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# macros/ax_lib_indi.m4
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AX_LIB_INDI
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AS_IF([test x"$ax_cv_lib_indi" = "xno"], [
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AC_MSG_WARN([INDI support not found.])
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cf_with_indi_support=no
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])
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AS_IF([test x"$cf_with_indi_support" != "xno"], [
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ROT_BACKEND_LIST="$ROT_BACKEND_LIST rotators/indi"
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])
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])
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])
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dnl Check if libgd-dev is installed, so we can enable rigmatrix
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AC_MSG_CHECKING([whether to build HTML rig feature matrix])
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@ -801,6 +841,7 @@ rotators/rotorez/Makefile
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rotators/sartek/Makefile
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rotators/spid/Makefile
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rotators/ts7400/Makefile
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rotators/indi/Makefile
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rigs/adat/Makefile
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rigs/alinco/Makefile
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rigs/aor/Makefile
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@ -857,6 +898,7 @@ echo \
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With Lua binding ${cf_with_lua_binding}
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With rigmem XML support ${cf_with_xml_support}
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With Readline support ${cf_with_readline_support}
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With INDI support ${cf_with_indi_support}
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Enable HTML rig feature matrix ${cf_enable_html_matrix}
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Enable WinRadio ${cf_with_winradio}
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@ -455,6 +455,20 @@
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#define ROT_MODEL_IOPTRON ROT_MAKE_MODEL(ROT_IOPTRON, 1)
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/**
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+ * \def ROT_MODEL_INDI
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+ * \brief A macro that returns the model number of the INDI backend.
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+ *
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+ * The INDI backend can be used with rotators that support, among other, the
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+ * INDI interface.
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+ */
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//! @cond Doxygen_Suppress
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#define ROT_INDI 20
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#define ROT_BACKEND_INDI "indi"
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//! @endcond
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#define ROT_MODEL_INDI ROT_MAKE_MODEL(ROT_INDI, 1)
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/**
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@ -6,6 +6,8 @@ MACROS = \
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ax_pkg_swig.m4 \
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ax_pthread.m4 \
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ax_python_devel.m4 \
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ax_lib_indi.m4 \
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ax_lib_nova.m4 \
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gr_doxygen.m4 \
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gr_pwin32.m4 \
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hl_getaddrinfo.m4 \
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@ -0,0 +1,23 @@
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AU_ALIAS([VL_LIB_INDI], [AX_LIB_INDI])
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AC_DEFUN([AX_LIB_INDI], [
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AC_CACHE_CHECK([for INDI library],
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ax_cv_lib_indi, [
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AC_LANG_PUSH(C++)
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AC_CHECK_HEADER(libindi/baseclient.h, ax_cv_lib_indi="-lindiclient -lstdc++ -lz")
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AC_LANG_POP()
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if test -z "$ax_cv_lib_indi"; then
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ax_cv_lib_indi="no"
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fi
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])
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if test "$ax_cv_lib_indi" != "no"; then
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ORIG_LIBS="$LIBS"
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LIBS="$LIBS $ax_cv_lib_indi"
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AC_DEFINE(HAVE_LIBINDI, 1,
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[Define if you have an INDI compatible library])
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LIBS="$ORIG_LIBS"
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INDI_LIBS="$ax_cv_lib_indi"
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AC_SUBST([INDI_LIBS])
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fi
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])
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@ -0,0 +1,23 @@
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AU_ALIAS([VL_LIB_NOVA], [AX_LIB_NOVA])
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AC_DEFUN([AX_LIB_NOVA], [
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AC_CACHE_CHECK([for nova library],
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ax_cv_lib_nova, [
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AC_LANG_PUSH(C++)
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AC_CHECK_HEADER(libnova/libnova.h, ax_cv_lib_nova="-lnova -lstdc++ -lz")
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AC_LANG_POP()
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if test -z "$ax_cv_lib_nova"; then
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ax_cv_lib_nova="no"
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fi
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])
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if test "$ax_cv_lib_nova" != "no"; then
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ORIG_LIBS="$LIBS"
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LIBS="$LIBS $ax_cv_lib_nova"
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AC_DEFINE(HAVE_LIBNOVA, 1,
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[Define if you have a nova compatible library])
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LIBS="$ORIG_LIBS"
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NOVA_LIBS="$ax_cv_lib_nova"
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AC_SUBST([NOVA_LIBS])
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fi
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])
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@ -0,0 +1,12 @@
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LOCAL_PATH:= $(call my-dir)
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include $(CLEAR_VARS)
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LOCAL_SRC_FILES := indi.c indi_wrapper.cpp
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LOCAL_MODULE := indi
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LOCAL_CFLAGS := -DHAVE_CONFIG_H
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LOCAL_C_INCLUDES := android include src
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LOCAL_LDLIBS := -lhamlib -Lobj/local/armeabi
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include $(BUILD_STATIC_LIBRARY)
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@ -0,0 +1,6 @@
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noinst_LTLIBRARIES = libhamlib-indi.la
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libhamlib_indi_la_SOURCES = indi.c indi_wrapper.cpp indi_wrapper.hpp indi_wrapper.h
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libhamlib_indi_la_LDFLAGS = $(INDI_LIBS)
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EXTRA_DIST = Android.mk
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@ -0,0 +1,8 @@
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INDI rotator backend
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====================
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This backend lets Hamlib control an astronomical (telescope) rotator through an
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[INDI](https://indilib.org/) server.
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The easiest way to set up an INDI server is to use [EKOS](https://www.indilib.org/about/ekos.html),
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which is available in [KStars](https://edu.kde.org/kstars/).
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@ -0,0 +1,70 @@
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/*
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* Hamlib Rotator backend - INDI integration
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* Copyright (c) 2020 by Norbert Varga HA2NON <nonoo@nonoo.hu>
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include "indi_wrapper.h"
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#include <hamlib/rotator.h>
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#include <register.h>
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const struct rot_caps indi_rot_caps =
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{
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ROT_MODEL(ROT_MODEL_INDI),
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.model_name = "INDI",
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.mfg_name = "INDI",
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.version = "0.1",
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.copyright = "LGPL",
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.status = RIG_STATUS_ALPHA,
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.rot_type = ROT_TYPE_OTHER,
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.port_type = RIG_PORT_NONE,
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.write_delay = 0,
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.post_write_delay = 0,
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.timeout = 200,
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.retry = 3,
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.min_az = 0,
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.max_az = 360,
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.min_el = -90,
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.max_el = 90,
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.set_position = indi_wrapper_set_position,
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.get_position = indi_wrapper_get_position,
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.stop = indi_wrapper_stop,
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.park = indi_wrapper_park,
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.move = indi_wrapper_move,
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.get_info = indi_wrapper_get_info,
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.rot_open = indi_wrapper_open,
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.rot_close = indi_wrapper_close,
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};
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/* ************************************************************************* */
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DECLARE_INITROT_BACKEND(indi)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __func__);
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rot_register(&indi_rot_caps);
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return RIG_OK;
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}
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@ -0,0 +1,621 @@
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/*
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* Hamlib Rotator backend - INDI integration
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* Copyright (c) 2020 by Norbert Varga HA2NON <nonoo@nonoo.hu>
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*
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#include "indi_wrapper.hpp"
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#include <math.h>
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#include <limits.h>
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#define DIV_ROUND_UP(n,d) (((n) + (d) - 1) / (d))
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static std::unique_ptr<RotINDIClient> indi_wrapper_client(new RotINDIClient());
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int RotINDIClient::setSpeed(int speedPercent)
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{
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if (!mTelescope || !mTelescope->isConnected())
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{
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rig_debug(RIG_DEBUG_ERR, "indi: telescope not connected\n");
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return -RIG_EIO;
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}
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ISwitchVectorProperty *switchVector =
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mTelescope->getSwitch("TELESCOPE_SLEW_RATE");
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if (!switchVector)
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{
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rig_debug(RIG_DEBUG_ERR,
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"indi: unable to find telescope or TELESCOPE_SLEW_RATE switch\n");
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return -RIG_EPROTO;
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}
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if (speedPercent < 0)
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{
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speedPercent = 0;
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}
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if (speedPercent > 100)
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{
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speedPercent = 100;
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}
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int speed = DIV_ROUND_UP(speedPercent, 10);
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for (int i = 1; i <= 10; i++)
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{
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char switchName[4];
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snprintf(switchName, sizeof(switchName), "%ux", i);
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ISwitch *slewrate = IUFindSwitch(switchVector, switchName);
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if (slewrate)
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{
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if (speed == i)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "indi: setting speed %s\n", switchName);
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slewrate->s = ISS_ON;
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}
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else
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{
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slewrate->s = ISS_OFF;
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}
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}
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else
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{
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rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member %s\n", switchName);
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return -RIG_EPROTO;
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}
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}
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sendNewSwitch(switchVector);
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return RIG_OK;
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}
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int RotINDIClient::move(int direction, int speedPercent)
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{
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if (!mTelescope || !mTelescope->isConnected())
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{
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rig_debug(RIG_DEBUG_ERR, "indi: telescope not connected\n");
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return -RIG_EIO;
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}
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int err = setSpeed(speedPercent);
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if (err != RIG_OK)
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{
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return err;
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}
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ISwitchVectorProperty *switchVector =
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mTelescope->getSwitch("TELESCOPE_MOTION_NS");
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if (!switchVector)
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{
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rig_debug(RIG_DEBUG_ERR,
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"indi: unable to find telescope or TELESCOPE_MOTION_NS switch\n");
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return -RIG_EPROTO;
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}
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ISwitch *motion_north = IUFindSwitch(switchVector, "MOTION_NORTH");
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if (!motion_north)
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{
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rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member MOTION_NORTH\n");
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return -RIG_EPROTO;
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}
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if (direction & ROT_MOVE_UP)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "indi: moving up\n");
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motion_north->s = ISS_ON;
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}
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else
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{
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motion_north->s = ISS_OFF;
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}
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ISwitch *motion_south = IUFindSwitch(switchVector, "MOTION_SOUTH");
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if (!motion_south)
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{
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rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member MOTION_SOUTH\n");
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return -RIG_EPROTO;
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}
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if (direction & ROT_MOVE_DOWN)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "indi: moving down\n");
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motion_south->s = ISS_ON;
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}
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else
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{
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motion_south->s = ISS_OFF;
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}
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sendNewSwitch(switchVector);
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switchVector = mTelescope->getSwitch("TELESCOPE_MOTION_WE");
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if (!switchVector)
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{
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rig_debug(RIG_DEBUG_ERR,
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"indi: unable to find telescope or TELESCOPE_MOTION_WE switch\n");
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return -RIG_EPROTO;
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}
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ISwitch *motion_west = IUFindSwitch(switchVector, "MOTION_WEST");
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if (!motion_west)
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{
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rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member MOTION_WEST\n");
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return -RIG_EPROTO;
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}
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if (direction & ROT_MOVE_LEFT)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "indi: moving left\n");
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motion_west->s = ISS_ON;
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}
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else
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{
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motion_west->s = ISS_OFF;
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}
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ISwitch *motion_east = IUFindSwitch(switchVector, "MOTION_EAST");
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if (!motion_east)
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{
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rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member MOTION_RIGHT\n");
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return -RIG_EPROTO;
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}
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if (direction & ROT_MOVE_RIGHT)
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{
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rig_debug(RIG_DEBUG_VERBOSE, "indi: moving right\n");
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motion_east->s = ISS_ON;
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}
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else
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{
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motion_east->s = ISS_OFF;
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}
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sendNewSwitch(switchVector);
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||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
int RotINDIClient::stop()
|
||||
{
|
||||
if (!mTelescope || !mTelescope->isConnected())
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: telescope not connected\n");
|
||||
return -RIG_EIO;
|
||||
}
|
||||
|
||||
ISwitchVectorProperty *switchVector =
|
||||
mTelescope->getSwitch("TELESCOPE_ABORT_MOTION");
|
||||
|
||||
if (!switchVector)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR,
|
||||
"indi: unable to find telescope or TELESCOPE_ABORT_MOTION switch\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
ISwitch *sw = IUFindSwitch(switchVector, "ABORT");
|
||||
|
||||
if (!sw)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member ABORT_MOTION\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
sw->s = ISS_ON;
|
||||
sendNewSwitch(switchVector);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
int RotINDIClient::park()
|
||||
{
|
||||
if (!mTelescope)
|
||||
{
|
||||
return -RIG_EIO;
|
||||
}
|
||||
|
||||
if (!mTelescope->isConnected())
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: telescope not connected\n");
|
||||
return -RIG_EIO;
|
||||
}
|
||||
|
||||
ISwitchVectorProperty *switchVector = mTelescope->getSwitch("TELESCOPE_PARK");
|
||||
|
||||
if (!switchVector)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR,
|
||||
"indi: unable to find telescope or TELESCOPE_PARK switch\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
ISwitch *unpark = IUFindSwitch(switchVector, "UNPARK");
|
||||
|
||||
if (!unpark)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member UNPARK\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
unpark->s = ISS_OFF;
|
||||
|
||||
ISwitch *park = IUFindSwitch(switchVector, "PARK");
|
||||
|
||||
if (!park)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member PARK\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
park->s = ISS_ON;
|
||||
|
||||
sendNewSwitch(switchVector);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
int RotINDIClient::unPark()
|
||||
{
|
||||
if (!mTelescope || !mTelescope->isConnected())
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: telescope not connected\n");
|
||||
return -RIG_EIO;
|
||||
}
|
||||
|
||||
ISwitchVectorProperty *switchVector = mTelescope->getSwitch("TELESCOPE_PARK");
|
||||
|
||||
if (!switchVector)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR,
|
||||
"indi: unable to find telescope or TELESCOPE_PARK switch\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
ISwitch *park = IUFindSwitch(switchVector, "PARK");
|
||||
|
||||
if (!park)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member PARK\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
park->s = ISS_OFF;
|
||||
|
||||
ISwitch *unpark = IUFindSwitch(switchVector, "UNPARK");
|
||||
|
||||
if (!unpark)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member UNPARK\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
unpark->s = ISS_ON;
|
||||
|
||||
sendNewSwitch(switchVector);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
void RotINDIClient::position(azimuth_t *az, elevation_t *el)
|
||||
{
|
||||
*az = mAz;
|
||||
*el = mEl;
|
||||
}
|
||||
|
||||
double RotINDIClient::getPositionDiffBetween(double deg1, double deg2)
|
||||
{
|
||||
return fabs(deg1 - deg2);
|
||||
}
|
||||
|
||||
double RotINDIClient::getPositionDiffOutside(double deg1, double deg2,
|
||||
double minDeg, double maxDeg)
|
||||
{
|
||||
if (deg1 < deg2)
|
||||
{
|
||||
return getPositionDiffBetween(minDeg, deg1) + getPositionDiffBetween(deg2,
|
||||
maxDeg);
|
||||
}
|
||||
|
||||
return getPositionDiffBetween(minDeg, deg2) + getPositionDiffBetween(deg1,
|
||||
maxDeg);
|
||||
}
|
||||
|
||||
double RotINDIClient::getPositionDiff(double deg1, double deg2, double minDeg,
|
||||
double maxDeg)
|
||||
{
|
||||
double between = getPositionDiffBetween(deg1, deg2);
|
||||
double outside = getPositionDiffOutside(deg1, deg2, minDeg, maxDeg);
|
||||
|
||||
if (between < outside)
|
||||
{
|
||||
return between;
|
||||
}
|
||||
|
||||
return outside;
|
||||
}
|
||||
|
||||
int RotINDIClient::setPosition(azimuth_t az, elevation_t el)
|
||||
{
|
||||
if (!mTelescope || !mTelescope->isConnected())
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: telescope not connected\n");
|
||||
return -RIG_EIO;
|
||||
}
|
||||
|
||||
if (fabs(mDstAz - az) < 0.001 && fabs(mDstEl - el) < 0.001)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE,
|
||||
"indi: ignoring new position, already approaching\n");
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
// Each coordinate set command stops and restarts the rotator, so we have to avoid unnecessary
|
||||
// set calls by defining a range of distance from the new az/el coords which we ignore until
|
||||
// we are closer to the new az/el coords than this value.
|
||||
const int quickJumpRangeDegrees = 10;
|
||||
|
||||
double currDstNewDstAzDiff = getPositionDiff(mDstAz, az, 0, 360);
|
||||
double currDstNewDstElDiff = getPositionDiff(mDstEl, el, -90, 90);
|
||||
double currDstNewDstDistance = sqrt(pow(currDstNewDstAzDiff,
|
||||
2) + pow(currDstNewDstElDiff, 2));
|
||||
double currPosNewDstAzDiff = getPositionDiff(mAz, az, 0, 360);
|
||||
double currPosNewDstElDiff = getPositionDiff(mEl, el, -90, 90);
|
||||
double currPosNewDstDistance = sqrt(pow(currPosNewDstAzDiff,
|
||||
2) + pow(currPosNewDstElDiff, 2));
|
||||
|
||||
if (currDstNewDstDistance < quickJumpRangeDegrees
|
||||
&& currPosNewDstDistance > quickJumpRangeDegrees)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE,
|
||||
"indi: ignoring new position, approaching quickly, newDst/currDst distance: %f newDst/currPos distance: %f\n",
|
||||
currDstNewDstDistance, currPosNewDstDistance);
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "indi: setting position to az: %f el: %f\n", az,
|
||||
el);
|
||||
|
||||
mDstAz = az;
|
||||
mDstEl = el;
|
||||
|
||||
ISwitchVectorProperty *switchVector = mTelescope->getSwitch("ON_COORD_SET");
|
||||
|
||||
if (!switchVector)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR,
|
||||
"indi: unable to find telescope or ON_COORD_SET switch\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
ISwitch *slew = IUFindSwitch(switchVector, "SLEW");
|
||||
|
||||
if (!slew)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member SLEW\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
slew->s = ISS_OFF;
|
||||
|
||||
ISwitch *track = IUFindSwitch(switchVector, "TRACK");
|
||||
|
||||
if (!track)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member TRACK\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
track->s = ISS_ON;
|
||||
|
||||
ISwitch *sync = IUFindSwitch(switchVector, "SYNC");
|
||||
|
||||
if (!sync)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: unable to find switch member SYNC\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
sync->s = ISS_OFF;
|
||||
|
||||
sendNewSwitch(switchVector);
|
||||
|
||||
INumberVectorProperty *property = mTelescope->getNumber("HORIZONTAL_COORD");
|
||||
|
||||
if (!property)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR,
|
||||
"indi: unable to find telescope or HORIZONTAL_COORD property\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
property->np[0].value = az;
|
||||
property->np[1].value = el;
|
||||
sendNewNumber(property);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
void RotINDIClient::removeDevice(INDI::BaseDevice *dp) {}
|
||||
void RotINDIClient::newProperty(INDI::Property *property)
|
||||
{
|
||||
std::string name(property->getName());
|
||||
|
||||
if (!mTelescope && name == "TELESCOPE_INFO")
|
||||
{
|
||||
mTelescope = property->getBaseDevice();
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "indi: using device %s\n",
|
||||
mTelescope->getDeviceName());
|
||||
watchDevice(mTelescope->getDeviceName());
|
||||
|
||||
if (!mTelescope->isConnected())
|
||||
{
|
||||
connectDevice(mTelescope->getDeviceName());
|
||||
}
|
||||
|
||||
mDstAz = INT_MAX;
|
||||
mDstEl = INT_MAX;
|
||||
}
|
||||
|
||||
if (name == "HORIZONTAL_COORD")
|
||||
{
|
||||
mAz = property->getNumber()->np[0].value;
|
||||
mEl = property->getNumber()->np[1].value;
|
||||
}
|
||||
}
|
||||
void RotINDIClient::removeProperty(INDI::Property *property) {}
|
||||
void RotINDIClient::newBLOB(IBLOB *bp) {}
|
||||
void RotINDIClient::newSwitch(ISwitchVectorProperty *svp) {}
|
||||
void RotINDIClient::newNumber(INumberVectorProperty *nvp)
|
||||
{
|
||||
std::string name(nvp->name);
|
||||
|
||||
if (name == "HORIZONTAL_COORD")
|
||||
{
|
||||
mAz = nvp->np[0].value;
|
||||
mEl = nvp->np[1].value;
|
||||
}
|
||||
}
|
||||
void RotINDIClient::newMessage(INDI::BaseDevice *dp, int messageID) {}
|
||||
void RotINDIClient::newText(ITextVectorProperty *tvp) {}
|
||||
void RotINDIClient::newLight(ILightVectorProperty *lvp) {}
|
||||
void RotINDIClient::newDevice(INDI::BaseDevice *dp) {}
|
||||
|
||||
void RotINDIClient::serverConnected()
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "indi: server connected\n");
|
||||
}
|
||||
|
||||
void RotINDIClient::serverDisconnected(int exit_code)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_VERBOSE, "indi: server disconnected\n");
|
||||
}
|
||||
|
||||
const char *RotINDIClient::getInfo(void)
|
||||
{
|
||||
static char info[128];
|
||||
|
||||
if (mTelescope && mTelescope->isConnected())
|
||||
{
|
||||
snprintf(info, sizeof(info), "using INDI device %s",
|
||||
mTelescope->getDeviceName());
|
||||
return info;
|
||||
}
|
||||
|
||||
return "no INDI device connected";
|
||||
}
|
||||
|
||||
void RotINDIClient::close(void)
|
||||
{
|
||||
if (mTelescope && mTelescope->isConnected())
|
||||
{
|
||||
disconnectDevice(mTelescope->getDeviceName());
|
||||
}
|
||||
|
||||
disconnectServer();
|
||||
}
|
||||
|
||||
extern "C" int indi_wrapper_set_position(ROT *rot, azimuth_t az,
|
||||
elevation_t el)
|
||||
{
|
||||
int res;
|
||||
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called: az=%f el=%f\n", __func__, az, el);
|
||||
|
||||
res = indi_wrapper_client->unPark();
|
||||
|
||||
if (res != RIG_OK)
|
||||
{
|
||||
return res;
|
||||
}
|
||||
|
||||
return indi_wrapper_client->setPosition(az, el);
|
||||
}
|
||||
|
||||
extern "C" int indi_wrapper_get_position(ROT *rot, azimuth_t *az,
|
||||
elevation_t *el)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
||||
|
||||
indi_wrapper_client->position(az, el);
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
extern "C" int indi_wrapper_stop(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
||||
|
||||
return indi_wrapper_client->stop();
|
||||
}
|
||||
|
||||
extern "C" int indi_wrapper_park(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
||||
|
||||
return indi_wrapper_client->park();
|
||||
}
|
||||
|
||||
extern "C" int indi_wrapper_move(ROT *rot, int direction, int speed)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
||||
|
||||
return indi_wrapper_client->move(direction, speed);
|
||||
}
|
||||
|
||||
extern "C" const char *indi_wrapper_get_info(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
||||
|
||||
return indi_wrapper_client->getInfo();
|
||||
}
|
||||
|
||||
extern "C" int indi_wrapper_open(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
||||
|
||||
indi_wrapper_client->setServer("localhost", 7624);
|
||||
|
||||
if (!indi_wrapper_client->connectServer())
|
||||
{
|
||||
rig_debug(RIG_DEBUG_ERR, "indi: server refused connection\n");
|
||||
return -RIG_EPROTO;
|
||||
}
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
||||
extern "C" int indi_wrapper_close(ROT *rot)
|
||||
{
|
||||
rig_debug(RIG_DEBUG_TRACE, "%s called\n", __func__);
|
||||
|
||||
indi_wrapper_client->close();
|
||||
|
||||
return RIG_OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
/*
|
||||
* Hamlib Rotator backend - INDI integration
|
||||
* Copyright (c) 2020 by Norbert Varga HA2NON <nonoo@nonoo.hu>
|
||||
*
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef _INDI_WRAPPER_H
|
||||
#define _INDI_WRAPPER_H 1
|
||||
|
||||
#include <hamlib/rotator.h>
|
||||
|
||||
int indi_wrapper_set_position(ROT *rot, azimuth_t az, elevation_t el);
|
||||
int indi_wrapper_get_position(ROT *rot, azimuth_t *az, elevation_t *el);
|
||||
int indi_wrapper_stop(ROT *rot);
|
||||
int indi_wrapper_park(ROT *rot);
|
||||
int indi_wrapper_move(ROT *rot, int direction, int speed);
|
||||
const char *indi_wrapper_get_info(ROT *rot);
|
||||
int indi_wrapper_open(ROT *rot);
|
||||
int indi_wrapper_close(ROT *rot);
|
||||
|
||||
#endif // _INDI_WRAPPER_H
|
||||
|
|
@ -0,0 +1,71 @@
|
|||
/*
|
||||
* Hamlib Rotator backend - INDI integration
|
||||
* Copyright (c) 2020 by Norbert Varga HA2NON <nonoo@nonoo.hu>
|
||||
*
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library; if not, write to the Free Software
|
||||
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef _INDI_WRAPPER_HPP
|
||||
#define _INDI_WRAPPER_HPP 1
|
||||
|
||||
#include <libindi/basedevice.h>
|
||||
#include <libindi/baseclient.h>
|
||||
|
||||
#include <hamlib/rotator.h>
|
||||
|
||||
class RotINDIClient : public INDI::BaseClient
|
||||
{
|
||||
public:
|
||||
int setSpeed(int speedPercent);
|
||||
int move(int direction, int speedPercent);
|
||||
int stop();
|
||||
int park();
|
||||
int unPark();
|
||||
void position(azimuth_t *az, elevation_t *el);
|
||||
int setPosition(azimuth_t az, elevation_t el);
|
||||
const char *getInfo();
|
||||
void close(void);
|
||||
|
||||
protected:
|
||||
virtual void newDevice(INDI::BaseDevice *dp);
|
||||
virtual void removeDevice(INDI::BaseDevice *dp);
|
||||
virtual void newProperty(INDI::Property *property);
|
||||
virtual void removeProperty(INDI::Property *property);
|
||||
virtual void newBLOB(IBLOB *bp);
|
||||
virtual void newSwitch(ISwitchVectorProperty *svp);
|
||||
virtual void newNumber(INumberVectorProperty *nvp);
|
||||
virtual void newMessage(INDI::BaseDevice *dp, int messageID);
|
||||
virtual void newText(ITextVectorProperty *tvp);
|
||||
virtual void newLight(ILightVectorProperty *lvp);
|
||||
virtual void serverConnected();
|
||||
virtual void serverDisconnected(int exit_code);
|
||||
|
||||
private:
|
||||
double getPositionDiffBetween(double deg1, double deg2);
|
||||
double getPositionDiffOutside(double deg1, double deg2, double minDeg, double maxDeg);
|
||||
double getPositionDiff(double deg1, double deg2, double minDeg, double maxDeg);
|
||||
|
||||
INDI::BaseDevice *mTelescope;
|
||||
|
||||
azimuth_t mDstAz;
|
||||
elevation_t mDstEl;
|
||||
|
||||
azimuth_t mAz;
|
||||
elevation_t mEl;
|
||||
};
|
||||
|
||||
#endif // _INDI_WRAPPER_HPP
|
||||
|
|
@ -12,7 +12,7 @@ libhamlib_la_SOURCES = $(RIGSRC)
|
|||
libhamlib_la_LDFLAGS = $(WINLDFLAGS) $(OSXLDFLAGS) -no-undefined -version-info $(ABI_VERSION):$(ABI_REVISION):$(ABI_AGE)
|
||||
|
||||
libhamlib_la_LIBADD = $(top_builddir)/lib/libmisc.la \
|
||||
$(BACKENDEPS) $(RIG_BACKENDEPS) $(ROT_BACKENDEPS) $(AMP_BACKENDEPS) $(NET_LIBS) $(MATH_LIBS) $(LIBUSB_LIBS)
|
||||
$(BACKENDEPS) $(RIG_BACKENDEPS) $(ROT_BACKENDEPS) $(AMP_BACKENDEPS) $(NET_LIBS) $(MATH_LIBS) $(LIBUSB_LIBS) $(INDI_LIBS)
|
||||
|
||||
libhamlib_la_DEPENDENCIES = $(top_builddir)/lib/libmisc.la $(BACKENDEPS) $(RIG_BACKENDEPS) $(ROT_BACKENDEPS) $(AMP_BACKENDEPS)
|
||||
|
||||
|
|
|
|||
|
|
@ -84,6 +84,9 @@ DEFINE_INITROT_BACKEND(cnctrk);
|
|||
DEFINE_INITROT_BACKEND(prosistel);
|
||||
DEFINE_INITROT_BACKEND(meade);
|
||||
DEFINE_INITROT_BACKEND(ioptron);
|
||||
#if HAVE_LIBINDI
|
||||
DEFINE_INITROT_BACKEND(indi);
|
||||
#endif
|
||||
//! @endcond
|
||||
|
||||
/**
|
||||
|
|
@ -123,6 +126,9 @@ static struct
|
|||
{ ROT_PROSISTEL, ROT_BACKEND_PROSISTEL, ROT_FUNCNAMA(prosistel) },
|
||||
{ ROT_MEADE, ROT_BACKEND_MEADE, ROT_FUNCNAMA(meade) },
|
||||
{ ROT_IOPTRON, ROT_BACKEND_IOPTRON, ROT_FUNCNAMA(ioptron) },
|
||||
#if HAVE_LIBINDI
|
||||
{ ROT_INDI, ROT_BACKEND_INDI, ROT_FUNCNAMA(indi) },
|
||||
#endif
|
||||
{ 0, NULL }, /* end */
|
||||
};
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue