initial platesolving for lxd650 mount

2 files changed, 231 insertions, 3 deletions

diff --git a/indi-lxd650/lxd650.cpp b/indi-lxd650/lxd650.cpp
index 1e0c4a4..3b62fa4 100644
--- a/indi-lxd650/lxd650.cpp
+++ b/indi-lxd650/lxd650.cpp
@@ -95,6 +95,19 @@ bool LXD650::initProperties()
     currentRA  = get_local_sidereal_time(LocationN[LOCATION_LONGITUDE].value);
     currentDEC = LocationN[LOCATION_LATITUDE].value > 0 ? 90 : -90;
 
+    InitAlignmentProperties(this);
+
+    getSwitch("ALIGNMENT_SUBSYSTEM_ACTIVE")->sp[0].s = ISS_ON;
+
+
+    initGuiderProperties(getDeviceName(), GUIDE_TAB);
+    // Rate rate
+    GuideRateNP[AXIS_AZ].fill("GUIDE_RATE_WE", "W/E Rate", "%.f", 0, 1, .1, 0.5);
+    GuideRateNP[AXIS_ALT].fill("GUIDE_RATE_NS", "N/S Rate", "%.f", 0, 1, .1, 0.5);
+    GuideRateNP.fill(getDeviceName(), "GUIDE_RATE", "Guiding Rate", GUIDE_TAB, IP_RW, 0, IPS_IDLE);
+
+    setDriverInterface(getDriverInterface() | GUIDER_INTERFACE);
+
     return true;
 }
 
@@ -152,6 +165,7 @@ bool LXD650::isSlewComplete()
 ***************************************************************************************/
 bool LXD650::ReadScopeStatus()
 {
+
     if (!isConnected())
         return false;
 
@@ -178,7 +192,16 @@ bool LXD650::ReadScopeStatus()
         }
     }
 
-    NewRaDec(currentRA, currentDEC);
+    INDI::IEquatorialCoordinates MountRADE { currentRA, currentDEC };
+    TelescopeDirectionVector TDV = TelescopeDirectionVectorFromEquatorialCoordinates(MountRADE);
+
+    double sky_RA, sky_DEC;
+    if (!TransformTelescopeToCelestial(TDV, sky_RA, sky_DEC)) {
+	sky_RA=currentRA;
+	sky_DEC=currentDEC;
+    }
+
+    NewRaDec(sky_RA, sky_DEC);
 
     return true;
 }
@@ -188,6 +211,20 @@ bool LXD650::ReadScopeStatus()
 ***************************************************************************************/
 bool LXD650::Goto(double r, double d)
 {
+#if 1
+
+    TelescopeDirectionVector TDV;
+    INDI::IEquatorialCoordinates MountRADE { r, d };
+
+    if (TransformCelestialToTelescope(r, d, 0.0, TDV)) {
+            EquatorialCoordinatesFromTelescopeDirectionVector(TDV, MountRADE);
+    } // Conversion failed, use values as is
+
+   r=MountRADE.rightascension;
+   d=MountRADE.declination;
+
+#endif
+
     targetRA  = r;
     targetDEC = d;
     char RAStr[64] = {0}, DecStr[64] = {0};
@@ -245,6 +282,7 @@ bool LXD650::Goto(double r, double d)
 /**************************************************************************************
 **
 ***************************************************************************************/
+#if 0
 bool LXD650::Sync(double ra, double dec)
 {
     char syncString[256] = {0};
@@ -274,6 +312,88 @@ bool LXD650::Sync(double ra, double dec)
 
     return true;
 }
+#else
+bool LXD650::Sync(double ra, double dec)
+{
+    getBasicData();
+
+    AlignmentDatabaseEntry NewEntry;
+    NewEntry.ObservationJulianDate = ln_get_julian_from_sys();
+    NewEntry.RightAscension     = ra;
+    NewEntry.Declination        = dec;
+
+    INDI::IEquatorialCoordinates MountRADE {currentRA, currentDEC};
+    NewEntry.TelescopeDirection = TelescopeDirectionVectorFromEquatorialCoordinates(MountRADE);
+
+    NewEntry.PrivateDataSize    = 0;
+
+    DEBUGF(INDI::AlignmentSubsystem::DBG_ALIGNMENT, "New sync point Date %lf RA %lf DEC %lf TDV(x %lf y %lf z %lf)",
+           NewEntry.ObservationJulianDate, NewEntry.RightAscension, NewEntry.Declination, NewEntry.TelescopeDirection.x,
+           NewEntry.TelescopeDirection.y, NewEntry.TelescopeDirection.z);
+
+    if (!CheckForDuplicateSyncPoint(NewEntry))
+    {
+        GetAlignmentDatabase().push_back(NewEntry);
+
+        // Tell the client about size change
+        UpdateSize();
+
+        // Tell the math plugin to reinitialise
+        Initialise(this);
+
+        // Force read before restarting
+        ReadScopeStatus();
+
+#if 0
+        // Sync cord wrap
+        syncCoordWrapPosition();
+#endif
+
+#if 0
+        // The tracking seconds should be reset to restart the drift compensation
+        resetTracking();
+#endif
+
+        return true;
+    }
+    return false;
+}
+#endif
+
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////
+///
+/////////////////////////////////////////////////////////////////////////////////////
+bool LXD650::ISSnoopDevice(XMLEle *root)
+{
+#if 0
+    const char *propName = findXMLAttValu(root, "name");
+
+    // update cordwrap position at each init of the alignment subsystem
+    if (!strcmp(propName, "ALIGNMENT_SUBSYSTEM_MATH_PLUGIN_INITIALISE") && telescope_caux->isConnected())
+        telescope_caux->syncCoordWrapPosition();
+#endif
+
+    return Telescope::ISSnoopDevice(root);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////
+///
+/////////////////////////////////////////////////////////////////////////////////////
+bool LXD650::ISNewBLOB(const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[],
+                             char *formats[], char *names[], int n)
+{
+    if (strcmp(dev, getDeviceName()) == 0)
+    {
+        // Process alignment properties
+        ProcessAlignmentBLOBProperties(this, name, sizes, blobsizes, blobs, formats, names, n);
+    }
+    // Pass it up the chain
+    return INDI::Telescope::ISNewBLOB(dev, name, sizes, blobsizes, blobs, formats, names, n);
+}
+
 
 /**************************************************************************************
 **
@@ -295,11 +415,97 @@ bool LXD650::ISNewNumber(const char *dev, const char *name, double values[], cha
             IDSetNumber(&SlewAccuracyNP, nullptr);
             return true;
         }
-    }
+
+
+        // Guide Rate
+        if (GuideRateNP.isNameMatch(name))
+        {
+            GuideRateNP.update(values, names, n);
+            GuideRateNP.setState(IPS_OK);
+            GuideRateNP.apply();
+            return true;
+        }
+
+        // Process Guide Properties
+        processGuiderProperties(name, values, names, n);
+
+        // Process Alignment Properties
+        ProcessAlignmentNumberProperties(this, name, values, names, n);
+     }
 
     return INDI::Telescope::ISNewNumber(dev, name, values, names, n);
 }
 
+/////////////////////////////////////////////////////////////////////////////////////
+///
+/////////////////////////////////////////////////////////////////////////////////////
+bool LXD650::ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
+{
+    if (strcmp(dev, getDeviceName()) == 0)
+    {
+        // Process alignment properties
+        ProcessAlignmentSwitchProperties(this, name, states, names, n);
+    }
+
+    return INDI::Telescope::ISNewSwitch(dev, name, states, names, n);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////
+///
+/////////////////////////////////////////////////////////////////////////////////////
+bool LXD650::ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n)
+{
+    if (!strcmp(dev, getDeviceName()))
+        ProcessAlignmentTextProperties(this, name, texts, names, n);
+
+    return INDI::Telescope::ISNewText(dev, name, texts, names, n);
+}
+
+
+
+/////////////////////////////////////////////////////////////////////////////////////
+///
+/////////////////////////////////////////////////////////////////////////////////////
+IPState LXD650::GuideNorth(uint32_t ms)
+{
+    int8_t rate = static_cast<int8_t>(GuideRateNP[AXIS_ALT].getValue() * 100);
+    guidePulse(AXIS_DE, ms, rate);
+    return IPS_BUSY;
+}
+
+IPState LXD650::GuideSouth(uint32_t ms)
+{
+    int8_t rate = static_cast<int8_t>(GuideRateNP[AXIS_ALT].getValue() * 100);
+    guidePulse(AXIS_DE, ms, -rate);
+    return IPS_BUSY;
+}
+
+IPState LXD650::GuideEast(uint32_t ms)
+{
+    int8_t rate = static_cast<int8_t>(GuideRateNP[AXIS_AZ].getValue() * 100);
+    guidePulse(AXIS_RA, ms, -rate);
+    return IPS_BUSY;
+}
+
+IPState LXD650::GuideWest(uint32_t ms)
+{
+    int8_t rate = static_cast<int8_t>(GuideRateNP[AXIS_AZ].getValue() * 100);
+    guidePulse(AXIS_RA, ms, rate);
+    return IPS_BUSY;
+}
+
+bool LXD650::guidePulse(INDI_EQ_AXIS axis, uint32_t ms, int8_t rate)
+{
+    // FIXME
+    //
+    //
+    (void) axis;
+    (void) ms;
+    (void) rate;
+    return true;
+}
+
+
 /**************************************************************************************
 **
 ***************************************************************************************/
diff --git a/indi-lxd650/lxd650.h b/indi-lxd650/lxd650.h
index ea6b144..6333fd2 100644
--- a/indi-lxd650/lxd650.h
+++ b/indi-lxd650/lxd650.h
@@ -21,8 +21,16 @@
 #pragma once
 
 #include "inditelescope.h"
+#include <indiguiderinterface.h>
+#include <alignment/AlignmentSubsystemForDrivers.h>
+#include <indipropertyswitch.h>
+#include <indipropertynumber.h>
+#include <indipropertytext.h>
 
-class LXD650 : public INDI::Telescope
+
+class LXD650 : public INDI::Telescope,
+    public INDI::GuiderInterface,
+    public INDI::AlignmentSubsystem::AlignmentSubsystemForDrivers
 {
     public:
         LXD650();
@@ -33,7 +41,12 @@ class LXD650 : public INDI::Telescope
         virtual bool ReadScopeStatus() override;
         virtual bool initProperties() override;
         virtual bool updateProperties() override;
+        virtual bool ISNewBLOB(const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[],
+                               char *formats[], char *names[], int n) override;
         virtual bool ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n) override;
+        virtual bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override;
+        virtual bool ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n) override;
+        virtual bool ISSnoopDevice(XMLEle *root) override;
 
     protected:
         virtual bool Abort() override;
@@ -45,6 +58,11 @@ class LXD650 : public INDI::Telescope
 
         void getBasicData();
 
+        virtual IPState GuideNorth(uint32_t ms) override;
+        virtual IPState GuideSouth(uint32_t ms) override;
+        virtual IPState GuideEast(uint32_t ms) override;
+        virtual IPState GuideWest(uint32_t ms) override;
+
     protected:
         bool isSlewComplete();
         void slewError(int slewCode);
@@ -56,4 +74,8 @@ class LXD650 : public INDI::Telescope
         double targetRA = 0, targetDEC = 0;
         double currentRA = 0, currentDEC = 0;
         uint32_t DBG_SCOPE = 0;
+
+     private:
+        INDI::PropertyNumber GuideRateNP {2};
+        bool guidePulse(INDI_EQ_AXIS axis, uint32_t ms, int8_t rate);
 };