alignment_scope.h

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#pragma once
 
#include <inditelescope.h>
#include <indicom.h>
#include <alignment/AlignmentSubsystemForDrivers.h>
 
using namespace INDI::AlignmentSubsystem;
 
char _me[] = "MockAlignmentScope";
char *me = _me;
 
class Scope : public INDI::Telescope, public INDI::AlignmentSubsystem::AlignmentSubsystemForDrivers
{
    public:
        Scope(MountType mountType) : INDI::Telescope(), INDI::AlignmentSubsystem::AlignmentSubsystemForDrivers()
        {
            m_mountType = mountType;
            ISGetProperties(nullptr);
        }
 
        virtual const char *getDefaultName() override
        {
            return "MockAlignmentScope";
        }
 
        // make sure to pass new values into the alignment subsystem with all the ISNew* methods
        bool ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n) override
        {
            if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
                ProcessAlignmentNumberProperties(this, name, values, names, n);
            return true;
        }
        bool ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n) override
        {
            if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
                ProcessAlignmentTextProperties(this, name, texts, names, n);
            return true;
        }
        bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override
        {
            if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
                ProcessAlignmentSwitchProperties(this, name, states, names, n);
            return true;
        }
        bool ISNewBLOB(const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[],
                       char *formats[], char *names[], int n) override
        {
            if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
                ProcessAlignmentBLOBProperties(this, name, sizes, blobsizes, blobs, formats, names, n);
            return true;
        }
        void ISGetProperties(const char *dev) override
        {
            INDI::Telescope::ISGetProperties(dev);
        }
        bool ISSnoopDevice(XMLEle *root) override
        {
            return INDI::Telescope::ISSnoopDevice(root);
        }
 
        virtual bool initProperties() override
        {
            INDI::Telescope::initProperties();
            // initialize the alignment subsystem properties AFTER creating the base telescope properties
            InitAlignmentProperties(this);
            return true;
        }
 
        virtual bool Handshake() override
        {
            // should be called before Initialise
            SetApproximateMountAlignmentFromMountType(m_mountType);
 
            // the next two lines reset the alignment database
            // skip if you want to reuse your model
            // these also need to be called before Initialise
            GetAlignmentDatabase().clear();
            UpdateSize();
 
            Initialise(this);
 
            SetAlignmentSubsystemActive(true);
 
            return INDI::Telescope::Handshake();
        }
 
        virtual bool updateLocation(double latitude, double longitude, double elevation) override
        {
            // call UpdateLocation in the alignment subsystem
            UpdateLocation(latitude, longitude, elevation);
            m_Location.longitude = longitude;
            m_Location.latitude  = latitude;
            m_Location.elevation = elevation;
 
            return true;
        }
 
        virtual bool ReadScopeStatus() override
        {
            if (m_mountType == EQUATORIAL)
            {
                // TODO: Implement your own code to read the RA/Dec from the scope.
                // mountRA should be in decimal hours.
                double mountRA = 0, mountDec = 0;
                double actualRA, actualDec;
 
                // use the alignment subsystem to convert where the mount thinks it is
                // to where the alignment subsystem calculates we are actually pointing
                if (!TelescopeEquatorialToSky(range24(mountRA), rangeDec(mountDec), actualRA, actualDec))
                {
                    // We were unable to transform the coordinates, just use what we have.
                    actualRA = mountRA;
                    actualDec = mountDec;
                }
 
                // tell the driver where we are pointing
                NewRaDec(actualRA, actualDec);
            }
            else if (m_mountType == ALTAZ)
            {
                // TODO: Implement your own code to read the Alt/Az from the scope.
                double mountAlt = 0, mountAz = 0;
                double actualRA, actualDec;
 
                // use the alignment subsystem to convert where the mount thinks it is
                // to where the alignment subsystem calculates we are actually pointing
                if (!TelescopeAltAzToSky(range360(mountAlt), range360(mountAz), actualRA, actualDec))
                {
                    // We were unable to transform the coordinates, just convert the mountAlt/mountAz
                    // directly to ra/dec
 
                    INDI::IHorizontalCoordinates altAz {mountAz, mountAlt};
                    INDI::IEquatorialCoordinates raDec;
                    INDI::HorizontalToEquatorial(&altAz, &m_Location, ln_get_julian_from_sys(), &raDec);
                    actualRA = range360(raDec.rightascension);
                    actualDec = rangeDec(raDec.declination);
                }
 
                // tell the driver where we are pointing
                NewRaDec(actualRA, actualDec);
            }
 
            return true;
        }
 
        virtual bool Sync(double ra, double dec) override
        {
            if (m_mountType == EQUATORIAL)
            {
                // In an actual driver, you would get the mounts RA/Dec and use them here.
                // For the test class, we are assuming a "perfect" sync.
                double mountRA = ra, mountDec = dec;
 
                return AddAlignmentEntryEquatorial(ra, dec, mountRA, mountDec);
            }
            else if (m_mountType == ALTAZ)
            {
                // In an actual driver, you would get the mounts Alt/Az and use them here.
                // For the test class, we are assuming a "perfect" sync.
 
                // BEGIN perfect sync code
                INDI::IGeographicCoordinates location;
                GetDatabaseReferencePosition(location);
                INDI::IEquatorialCoordinates raDec {ra, dec};
                INDI::IHorizontalCoordinates altAz;
                INDI::EquatorialToHorizontal(&raDec, &m_Location, ln_get_julian_from_sys(), &altAz);
                double mountAlt = range360(altAz.altitude), mountAz = range360(altAz.azimuth);
                return AddAlignmentEntryAltAz(ra, dec, mountAlt, mountAz);
            }
            return false;
        }
 
        virtual bool Goto(double ra, double dec) override
        {
            if (m_mountType == EQUATORIAL)
            {
                double mountRA, mountDec;
                SkyToTelescopeEquatorial(ra, dec, mountRA, mountDec);
 
                // In an actual driver, you would send the mount to mountRA/mountDec
                // here.
 
                return true;
            }
            else if (m_mountType == ALTAZ)
            {
                double mountAlt, mountAz;
                SkyToTelescopeAltAz(ra, dec, mountAlt, mountAz);
 
                // In an actual driver, you would send the mount to mountAlt/mountAz
                // here.
            }
            return false;
        }
 
        MountType m_mountType;
};
 
// static std::unique_ptr<Scope> scope(new Scope());
 
void ISGetProperties(const char *dev)
{
    INDI_UNUSED(dev);
}
 
void ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
{
    INDI_UNUSED(dev);
    INDI_UNUSED(name);
    INDI_UNUSED(states);
    INDI_UNUSED(names);
    INDI_UNUSED(n);
}
 
void ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n)
{
    INDI_UNUSED(dev);
    INDI_UNUSED(name);
    INDI_UNUSED(texts);
    INDI_UNUSED(names);
    INDI_UNUSED(n);
}
 
void ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n)
{
    INDI_UNUSED(dev);
    INDI_UNUSED(name);
    INDI_UNUSED(values);
    INDI_UNUSED(names);
    INDI_UNUSED(n);
}
 
void ISNewBLOB(const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[],
               char *names[], int n)
{
    INDI_UNUSED(dev);
    INDI_UNUSED(name);
    INDI_UNUSED(sizes);
    INDI_UNUSED(blobsizes);
    INDI_UNUSED(blobs);
    INDI_UNUSED(formats);
    INDI_UNUSED(names);
    INDI_UNUSED(n);
}
 
void ISSnoopDevice(XMLEle *root)
{
    INDI_UNUSED(root);
}