From a6c654a55d287f8988c72afb49bb9883bd91b7e4 Mon Sep 17 00:00:00 2001
From: James McKenzie <root@ka-ata-killa.panaceas.james.local>
Date: Wed, 25 Jan 2023 10:40:55 +0000
Subject: add timer based guiding

---
 indi-lxd650/lxd650.cpp | 148 +++++++++++++++++++++++++++++++++++++++++++------
 indi-lxd650/lxd650.h   |  16 ++++++
 2 files changed, 146 insertions(+), 18 deletions(-)

diff --git a/indi-lxd650/lxd650.cpp b/indi-lxd650/lxd650.cpp
index 8126ac9..813f6bd 100644
--- a/indi-lxd650/lxd650.cpp
+++ b/indi-lxd650/lxd650.cpp
@@ -495,47 +495,159 @@ bool LXD650::ISNewText(const char *dev, const char *name, char *texts[], char *n
 
 /////////////////////////////////////////////////////////////////////////////////////
 ///
+//
+//
+//
+//void 
 /////////////////////////////////////////////////////////////////////////////////////
+//
+
+
+void LXD650::GuideNorthCB(void)
+{
+    GuideNorth_TID = 0;
+    HaltMovement(PortFD, LX200_NORTH);
+}
+
+
+void LXD650::GuideNorthProxy(void *context)
+{
+    static_cast<LXD650 *>(context)->GuideNorthCB();
+}
+
+
 IPState LXD650::GuideNorth(uint32_t ms)
 {
-    int8_t rate = static_cast<int8_t>(GuideRateNP[AXIS_ALT].getValue() * 100);
-    guidePulse(AXIS_DE, ms, rate);
+    double rate = GuideRateNP[AXIS_ALT].getValue();
+
+    ms = (uint32_t) (rate * (double) ms);
+
+    setSlewMode(PortFD, LX200_SLEW_GUIDE);
+
+    if (GuideNorth_TID)
+    {
+        IERmTimer(GuideNorth_TID); 
+        GuideNorth_TID = 0;
+    }
+
+
+    MoveTo(PortFD, LX200_NORTH);
+
+    GuideNorth_TID = IEAddTimer(ms, GuideNorthProxy, this);
+
     return IPS_BUSY;
 }
 
+
+void LXD650::GuideSouthCB(void)
+{
+    GuideSouth_TID = 0;
+    HaltMovement(PortFD, LX200_SOUTH);
+}
+
+
+void LXD650::GuideSouthProxy(void *context)
+{
+    static_cast<LXD650 *>(context)->GuideSouthCB();
+}
+
+
 IPState LXD650::GuideSouth(uint32_t ms)
 {
-    int8_t rate = static_cast<int8_t>(GuideRateNP[AXIS_ALT].getValue() * 100);
-    guidePulse(AXIS_DE, ms, -rate);
+    double rate = GuideRateNP[AXIS_ALT].getValue();
+
+    ms = (uint32_t) (rate * (double) ms);
+
+    setSlewMode(PortFD, LX200_SLEW_GUIDE);
+
+    if (GuideSouth_TID)
+    {
+        IERmTimer(GuideSouth_TID); 
+        GuideSouth_TID = 0;
+    }
+
+
+    MoveTo(PortFD, LX200_SOUTH);
+
+    GuideSouth_TID = IEAddTimer(ms, GuideSouthProxy, this);
+
     return IPS_BUSY;
 }
 
-IPState LXD650::GuideEast(uint32_t ms)
+
+void LXD650::GuideWestCB(void)
 {
-    int8_t rate = static_cast<int8_t>(GuideRateNP[AXIS_AZ].getValue() * 100);
-    guidePulse(AXIS_RA, ms, -rate);
-    return IPS_BUSY;
+    GuideWest_TID = 0;
+    HaltMovement(PortFD, LX200_WEST);
+}
+
+
+void LXD650::GuideWestProxy(void *context)
+{
+    static_cast<LXD650 *>(context)->GuideWestCB();
 }
 
+
 IPState LXD650::GuideWest(uint32_t ms)
 {
-    int8_t rate = static_cast<int8_t>(GuideRateNP[AXIS_AZ].getValue() * 100);
-    guidePulse(AXIS_RA, ms, rate);
+    double rate = GuideRateNP[AXIS_ALT].getValue();
+
+    ms = (uint32_t) (rate * (double) ms);
+
+    setSlewMode(PortFD, LX200_SLEW_GUIDE);
+
+    if (GuideWest_TID)
+    {
+        IERmTimer(GuideWest_TID); 
+        GuideWest_TID = 0;
+    }
+
+
+    MoveTo(PortFD, LX200_WEST);
+
+    GuideWest_TID = IEAddTimer(ms, GuideWestProxy, this);
+
     return IPS_BUSY;
 }
 
-bool LXD650::guidePulse(INDI_EQ_AXIS axis, uint32_t ms, int8_t rate)
+
+void LXD650::GuideEastCB(void)
 {
-    // FIXME
-    //
-    //
-    (void) axis;
-    (void) ms;
-    (void) rate;
-    return true;
+    GuideEast_TID = 0;
+    HaltMovement(PortFD, LX200_EAST);
+}
+
+
+void LXD650::GuideEastProxy(void *context)
+{
+    static_cast<LXD650 *>(context)->GuideEastCB();
 }
 
 
+IPState LXD650::GuideEast(uint32_t ms)
+{
+    double rate = GuideRateNP[AXIS_ALT].getValue();
+
+    ms = (uint32_t) (rate * (double) ms);
+
+    setSlewMode(PortFD, LX200_SLEW_GUIDE);
+
+    if (GuideEast_TID)
+    {
+        IERmTimer(GuideEast_TID); 
+        GuideEast_TID = 0;
+    }
+
+
+    MoveTo(PortFD, LX200_EAST);
+
+    GuideEast_TID = IEAddTimer(ms, GuideEastProxy, this);
+
+    return IPS_BUSY;
+}
+
+
+
 /**************************************************************************************
 **
 ***************************************************************************************/
diff --git a/indi-lxd650/lxd650.h b/indi-lxd650/lxd650.h
index 731c9e4..0c912c1 100644
--- a/indi-lxd650/lxd650.h
+++ b/indi-lxd650/lxd650.h
@@ -48,6 +48,11 @@ class LXD650 : public INDI::Telescope,
         virtual bool ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n) override;
         virtual bool ISSnoopDevice(XMLEle *root) override;
 
+	static void GuideNorthProxy(void *context);
+	static void GuideSouthProxy(void *context);
+	static void GuideWestProxy(void *context);
+	static void GuideEastProxy(void *context);
+
     protected:
         virtual bool Abort() override;
         virtual bool Goto(double, double) override;
@@ -79,4 +84,15 @@ class LXD650 : public INDI::Telescope,
         INDI::PropertyNumber GuideRateNP {2};
         bool guidePulse(INDI_EQ_AXIS axis, uint32_t ms, int8_t rate);
         void show_alignment(const char *wot, double ra1,double dec1, double ra2,double dec2);
+
+	int GuideNorth_TID {0};
+	int GuideSouth_TID {0};
+	int GuideWest_TID {0};
+	int GuideEast_TID {0};
+
+        void GuideNorthCB(void);
+        void GuideSouthCB(void);
+        void GuideWestCB(void);
+        void GuideEastCB(void);
+
 };
-- 
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