From 845a3ac1d1b75e0b9ea7c4dea8770a1bc54f2497 Mon Sep 17 00:00:00 2001
From: gereta <35538147+gereta@users.noreply.github.com>
Date: Mon, 10 Mar 2025 09:15:31 +0100
Subject: [PATCH] Update skywatcher.c - park rotator, improved rotator movement

Added function to park the rotator.

Changed behavior for incoming requests to change position. If the motor is moving, the requests are silently ignored. Stopping the motor movement before each request to change position caused the movement from point A to point B to take a very long time because tracking applications send the dynamic position of the tracked object (e.g. satellite) in regular short intervals and in case the rotator was on the opposite side, by the time the rotator reached the position of the object, the object had traveled a considerable distance.
---
 rotators/skywatcher/skywatcher.c | 40 +++++++++++++++++++++++++-------
 1 file changed, 31 insertions(+), 9 deletions(-)

diff --git a/rotators/skywatcher/skywatcher.c b/rotators/skywatcher/skywatcher.c
index c7b65801b..4216b963d 100644
--- a/rotators/skywatcher/skywatcher.c
+++ b/rotators/skywatcher/skywatcher.c
@@ -58,9 +58,10 @@ static int skywatcher_cmd(ROT *rot, const char *cmd, char *response,
     rig_flush(port);
     size_t cmd_len = strlen(cmd);
     ERROR_CHECK(write_block(port, (unsigned char *) cmd, cmd_len));
-    // echo from the device
-    int code = read_string(port, (unsigned char *) response, response_len, "\r", 1,
-                           0, 1);
+
+    // the actual response
+    int code = read_string(port, (unsigned char *) response, response_len, "\r", 1, 0,
+                       1);
 
     if (code < 0)
     {
@@ -212,14 +213,26 @@ int skywatcher_set_motor_position(ROT *rot, int motor_index, float angle)
 
     if (!stopped)
     {
-        return RIG_EPROTO;
+        // ignore instructions to move the motor as long as it is moving
+        rig_debug(RIG_DEBUG_TRACE, "%s called: motor:%d angle:%f but the motor is moving - ignoring \n", __func__, motor_index, angle);  
+        // pretend it's OK
+        return RIG_OK; 
+
+        /*  
+            Changed behavior for incoming requests to change position. 
+            If the motor is moving, the requests are silently ignored. 
+            Stopping the motor movement before each request to change position caused the movement from point A to point B to take a very long time 
+            because tracking applications send the dynamic position of the tracked object (e.g. satellite) in regular short intervals and in case 
+            the rotator was on the opposite side, by the time the rotator reached the position of the object, 
+            the object had traveled a considerable distance. gereta @ 10.Mar.2025
+        */
     }
 
     SNPRINTF(req, sizeof(req), ":G%d00\r", motor_index);
     ERROR_CHECK(skywatcher_cmd(rot, req, str, sizeof(str)));
     uint32_t cpr;
     ERROR_CHECK(skywatcher_get_spr(rot, motor_index, &cpr));
-    double ticks_per_angle = (double) cpr / 360.0;
+    double ticks_per_angle = (double) cpr / 360.0; 
     uint32_t value = ((uint32_t)(ticks_per_angle * angle)) & 0xFFFFFF;
     value = value | 0x800000;
     SNPRINTF(req, sizeof(req), ":S%d%02X%02X%02X\r", motor_index, (value & 0xFF),
@@ -234,9 +247,7 @@ int skywatcher_set_motor_position(ROT *rot, int motor_index, float angle)
 static int skywatcher_set_position(ROT *rot, azimuth_t az, elevation_t el)
 {
     rig_debug(RIG_DEBUG_TRACE, "%s called: %f %f\n", __func__, az, el);
-    ERROR_CHECK(skywatcher_stop(rot));
-    // stop is called for 1 then for 2 motor. do motor position in reverse because it awaits "stop motor" state.
-    // potentially saving 1 call to :f
+
     ERROR_CHECK(skywatcher_set_motor_position(rot, 2, el));
     ERROR_CHECK(skywatcher_set_motor_position(rot, 1, az));
     return RIG_OK;
@@ -270,6 +281,16 @@ static int skywatcher_cleanup(ROT *rot)
     return RIG_OK;
 }
 
+static int skywatcher_park(ROT *rot)
+{
+    rig_debug(RIG_DEBUG_TRACE, "%s called: %d %d\n", __func__, 0, 0);
+
+    ERROR_CHECK(skywatcher_set_motor_position(rot, 1, 0));
+    ERROR_CHECK(skywatcher_set_motor_position(rot, 2, 0));
+
+    return RIG_OK;
+}
+
 /* ************************************************************************* */
 /*
  * Protocol documentation:
@@ -280,7 +301,7 @@ const struct rot_caps skywatcher_rot_caps =
     ROT_MODEL(ROT_MODEL_SKYWATCHER),
     .model_name =     "Sky-Watcher",
     .mfg_name =       "Sky-Watcher",
-    .version =        "20240825.0",
+    .version =        "20250310.0",
     .copyright =      "LGPL",
     .status =         RIG_STATUS_STABLE,
     .rot_type =       ROT_TYPE_AZEL,
@@ -307,6 +328,7 @@ const struct rot_caps skywatcher_rot_caps =
     .set_position = skywatcher_set_position,
     .stop         = skywatcher_stop,
     .get_info     = skywatcher_get_info,
+    .park         = skywatcher_park,
 };