The MLAstroRPA class drives the MLAstro Robotic Polar Alignment controller via its ESP32-based serial protocol. More...

#include <mlastro_rpa.h>

Inheritance diagram for MLAstroRPA:

Public Member Functions
	MLAstroRPA ()
	Constructor.

virtual	~MLAstroRPA () override=default

const char *	getDefaultName () override
	Basic device info.

bool	ISNewNumber (const char dev, const char name, double values[], char *names[], int n) override
	ISNewNumber.

bool	ISNewSwitch (const char dev, const char name, ISState states, char names[], int n) override
	ISNewSwitch.

bool	ISNewText (const char dev, const char name, char texts[], char names[], int n) override
	ISNewText.

Public Member Functions inherited from INDI::DefaultDevice
	DefaultDevice ()

virtual	~DefaultDevice () override=default

void	addAuxControls ()
	Add Debug, Simulation, and Configuration options to the driver.

void	addDebugControl ()
	Add Debug control to the driver.

void	addSimulationControl ()
	Add Simulation control to the driver.

void	addConfigurationControl ()
	Add Configuration control to the driver.

void	addPollPeriodControl ()
	Add Polling period control to the driver.

void	addNicknameControl ()
	Add Nickname text property to the driver.

void	resetProperties ()
	Set all properties to IDLE state.

void	defineNumber (INumberVectorProperty *nvp)
	Define number vector to client & register it. Alternatively, IDDefNumber can be used but the property will not get registered and the driver will not be able to save configuration files.

void	defineProperty (INumberVectorProperty *property)

void	defineText (ITextVectorProperty *tvp)
	Define text vector to client & register it. Alternatively, IDDefText can be used but the property will not get registered and the driver will not be able to save configuration files.

void	defineProperty (ITextVectorProperty *property)

void	defineSwitch (ISwitchVectorProperty *svp)
	Define switch vector to client & register it. Alternatively, IDDefswitch can be used but the property will not get registered and the driver will not be able to save configuration files.

void	defineProperty (ISwitchVectorProperty *property)

void	defineLight (ILightVectorProperty *lvp)
	Define light vector to client & register it. Alternatively, IDDeflight can be used but the property will not get registered and the driver will not be able to save configuration files.

void	defineProperty (ILightVectorProperty *property)

void	defineBLOB (IBLOBVectorProperty *bvp)
	Define BLOB vector to client & register it. Alternatively, IDDefBLOB can be used but the property will not get registered and the driver will not be able to save configuration files.

void	defineProperty (IBLOBVectorProperty *property)

void	defineProperty (INDI::Property &property)

virtual bool	deleteProperty (const char *propertyName)
	Delete a property and unregister it. It will also be deleted from all clients.

bool	deleteProperty (INDI::Property &property)
	deleteProperty Delete a property and unregister it. It will also be deleted from all clients.

virtual void	setConnected (bool status, IPState state=IPS_OK, const char *msg=nullptr)
	Set connection switch status in the client.

int	SetTimer (uint32_t ms)
	Set a timer to call the function TimerHit after ms milliseconds.

void	RemoveTimer (int id)
	Remove timer added with SetTimer.

virtual const char *	getDriverExec ()

virtual const char *	getDriverName ()

void	setVersion (uint16_t vMajor, uint16_t vMinor)
	Set driver version information to be defined in DRIVER_INFO property as vMajor.vMinor.

uint16_t	getMajorVersion () const

uint16_t	getMinorVersion () const

virtual void	ISGetProperties (const char *dev)
	define the driver's properties to the client. Usually, only a minimum set of properties are defined to the client in this function if the device is in disconnected state. Those properties should be enough to enable the client to establish a connection to the device. In addition to CONNECT/DISCONNECT, such properties may include port name, IP address, etc. You should check if the device is already connected, and if this is true, then you must define the remainder of the the properties to the client in this function. Otherwise, the remainder of the driver's properties are defined to the client in updateProperties() function which is called when a client connects/disconnects from a device.

virtual bool	ISNewBLOB (const char dev, const char name, int sizes[], int blobsizes[], char blobs[], char formats[], char *names[], int n)
	Process the client newBLOB command.

virtual bool	ISSnoopDevice (XMLEle *root)
	Process a snoop event from INDI server. This function is called when a snooped property is updated in a snooped driver.

bool	ISNewProperty (INDI::Property &property, const std::string &elementName, const std::any &value)
	Generic convenience function to update a property element as if by client request, simulating an ISNew... call.

template<typename PropertyType , typename ValueType >
bool	updateProperty (PropertyType &property, ValueType values, char names[], int n, std::function< bool()> updater, bool saveConfig=false)
	Generic helper function to update an INDI property based on an external operation.

uint32_t	getDriverInterface () const

void	setDriverInterface (uint32_t value)
	setInterface Set driver interface. By default the driver interface is set to GENERAL_DEVICE. You may send an ORed list of DeviceInterface values.

void	watchDevice (const char *deviceName, const std::function< void(INDI::BaseDevice)> &callback)
	Add a device to the watch list.

Public Member Functions inherited from INDI::ParentDevice
	ParentDevice (Type type)

	~ParentDevice ()

	ParentDevice (ParentDevice &&other)=default

ParentDevice &	operator= (ParentDevice &&other)=default

Public Member Functions inherited from INDI::BaseDevice
	BaseDevice ()

virtual	~BaseDevice ()

void	registerProperty (const INDI::Property &property)
	Register the property to be able to observe and update.

void	registerProperty (const INDI::Property &property, INDI_PROPERTY_TYPE type)

int	removeProperty (const char name, char errmsg)
	Remove a property.

void	watchProperty (const char *name, const std::function< void(INDI::Property)> &callback, WATCH watch=WATCH_NEW)
	Call the callback function if property is available.

Property	getProperty (const char *name, INDI_PROPERTY_TYPE type=INDI_UNKNOWN) const
	Return a property and its type given its name.

Properties	getProperties ()
	Return a list of all properties in the device.

const Properties	getProperties () const

INDI::PropertyNumber	getNumber (const char *name) const

INDI::PropertyText	getText (const char *name) const

INDI::PropertySwitch	getSwitch (const char *name) const

INDI::PropertyLight	getLight (const char *name) const

INDI::PropertyBlob	getBLOB (const char *name) const

IPState	getPropertyState (const char *name) const

IPerm	getPropertyPermission (const char *name) const

void *	getRawProperty (const char *name, INDI_PROPERTY_TYPE type=INDI_UNKNOWN) const
	Return a property and its type given its name.

void	addMessage (const std::string &msg)
	Add message to the driver's message queue.

void	checkMessage (XMLEle *root)

void	doMessage (XMLEle *msg)

const std::string &	messageQueue (size_t index) const

const std::string &	lastMessage () const

bool	isValid () const

bool	isSameDevice (const BaseDevice &other) const

bool	isConnected () const

void	attach ()
	indicates that the device is ready

void	detach ()
	indicates that the device is being removed

void	setMediator (INDI::BaseMediator *mediator)
	Set the driver's mediator to receive notification of news devices and updated property values.

INDI::BaseMediator *	getMediator () const

void	setDeviceName (const char *dev)
	Set the device name.

const char *	getDeviceName () const

bool	isDeviceNameMatch (const char *otherName) const
	Check that the device name matches the argument.

bool	isDeviceNameMatch (const std::string &otherName) const
	Check that the device name matches the argument.

const char *	getDriverName () const

const char *	getDriverExec () const

const char *	getDriverVersion () const

uint16_t	getDriverInterface () const
	getDriverInterface returns ORed values of DRIVER_INTERFACE. It presents the device classes supported by the driver.

bool	buildSkeleton (const char *filename)
	Build driver properties from a skeleton file.

int	buildProp (const INDI::LilXmlElement &root, char *errmsg, bool isDynamic=false)
	Build a property given the supplied XML element (defXXX)

int	setValue (const INDI::LilXmlElement &root, char *errmsg)
	handle SetXXX commands from client

	operator BaseDevice * ()

BaseDevice *	operator-> ()

bool	operator!= (std::nullptr_t) const

bool	operator== (std::nullptr_t) const

	operator bool () const

	operator bool ()

Public Member Functions inherited from INDI::PACInterface
uint32_t	GetCapability () const

void	SetCapability (uint32_t cap)
	SetCapability sets the PAC device capabilities. Call this in the driver constructor.

bool	HasSpeed ()

bool	CanReverse ()

bool	HasPosition ()

bool	CanHome ()

bool	HasBacklash ()

bool	CanSync ()

Protected Member Functions
bool	initProperties () override
	initProperties

bool	updateProperties () override
	updateProperties

bool	saveConfigItems (FILE *fp) override
	saveConfigItems

bool	Handshake ()
	Handshake.

void	TimerHit () override
	TimerHit.

IPState	MoveAZ (double degrees) override
	PACInterface – axis movement.

IPState	MoveALT (double degrees) override
	MoveALT.

IPState	MoveBoth (double azDegrees, double altDegrees) override

double	applyCorrectionAZ (double azDegrees) const
	Scale a requested azimuth step by the configured correction percentage.

double	applyCorrectionALT (double altDegrees) const
	applyCorrectionALT – correction percentage, or full error + overshoot

bool	AbortMotion () override
	PACInterface – abort, speed and reverse.

bool	SetPACSpeed (uint16_t speed) override
	SetPACSpeed (SLvl: 1–5)

bool	ReverseAZ (bool enabled) override
	ReverseAZ.

bool	ReverseALT (bool enabled) override
	ReverseALT.

bool	SetHome () override
	PACInterface – home management.

IPState	GoHome () override
	GoHome.

bool	ResetHome () override
	ResetHome.

bool	SyncAZ (double degrees) override
	PACInterface – sync.

bool	SyncALT (double degrees) override
	SyncALT – same mechanism as SyncAZ.

bool	SetBacklashEnabled (bool enabled) override
	PACInterface – backlash.

bool	SetBacklashAZ (int32_t steps) override
	SetBacklashAZ.

bool	SetBacklashALT (int32_t steps) override
	SetBacklashALT.

Protected Member Functions inherited from INDI::DefaultDevice
void	setDynamicPropertiesBehavior (bool defineEnabled, bool deleteEnabled)
	setDynamicPropertiesBehavior controls handling of dynamic properties. Dynamic properties are those generated from an external skeleton XML file. By default all properties, including dynamic properties, are defined to the client in ISGetProperties(). Furthermore, when űdeleteProperty(properyName) is called, the dynamic property is deleted by default, and can only be restored by calling buildSkeleton(filename) again. However, it is sometimes desirable to skip the definition of the dynamic properties on startup and delegate this task to the child class. To control this behavior, set enabled to false.

virtual bool	loadConfig (bool silent=false, const char *property=nullptr)
	Load the last saved configuration file.

bool	loadConfig (INDI::Property &property)
	Load property config from the configuration file. If the property configuration is successfully parsed, the corresponding ISNewXXX is called with the values parsed from the config file.

virtual bool	saveConfig (bool silent=false, const char *property=nullptr)
	Save the current properties in a configuration file.

bool	saveConfig (INDI::Property &property)
	Save a property in the configuration file.

virtual bool	purgeConfig ()
	purgeConfig Remove config file from disk.

virtual bool	saveAllConfigItems (FILE *fp)
	saveAllConfigItems Save all the drivers' properties in the configuration file

virtual bool	loadDefaultConfig ()
	Load the default configuration file.

void	setDebug (bool enable)
	Toggle driver debug status A driver can be more verbose if Debug option is enabled by the client.

void	setSimulation (bool enable)
	Toggle driver simulation status A driver can run in simulation mode if Simulation option is enabled by the client.

virtual void	debugTriggered (bool enable)
	Inform driver that the debug option was triggered. This function is called after setDebug is triggered by the client. Reimplement this function if your driver needs to take specific action after debug is enabled/disabled. Otherwise, you can use isDebug() to check if simulation is enabled or disabled.

virtual void	simulationTriggered (bool enable)
	Inform driver that the simulation option was triggered. This function is called after setSimulation is triggered by the client. Reimplement this function if your driver needs to take specific action after simulation is enabled/disabled. Otherwise, you can use isSimulation() to check if simulation is enabled or disabled.

bool	isDebug () const

bool	isSimulation () const

virtual bool	Connect ()
	Connect to the device. INDI::DefaultDevice implementation connects to appropriate connection interface (Serial or TCP) governed by connectionMode. If connection is successful, it proceed to call Handshake() function to ensure communication with device is successful. For other communication interface, override the method in the child class implementation.

virtual bool	Disconnect ()
	Disconnect from device.

void	registerConnection (Connection::Interface *newConnection)
	registerConnection Add new connection plugin to the existing connection pool. The connection type shall be defined to the client in ISGetProperties()

bool	unRegisterConnection (Connection::Interface *existingConnection)
	unRegisterConnection Remove connection from existing pool

Connection::Interface *	getActiveConnection ()

void	setActiveConnection (Connection::Interface *existingConnection)
	setActiveConnection Switch the active connection to the passed connection plugin

void	setDefaultPollingPeriod (uint32_t msec)
	setDefaultPollingPeriod Change the default polling period to call TimerHit() function in the driver.

void	setPollingPeriodRange (uint32_t minimum, uint32_t maximum)
	setPollingPeriodRange Set the range permitted by the polling range in milliseconds

uint32_t	getPollingPeriod () const
	getPollingPeriod Return the polling period.

void	setCurrentPollingPeriod (uint32_t msec)
	setCurrentPollingPeriod Change the current polling period to call TimerHit() function in the driver.

uint32_t	getCurrentPollingPeriod () const
	getCurrentPollingPeriod Return the current polling period.

uint32_t &	refCurrentPollingPeriod () __attribute__((deprecated))

uint32_t	refCurrentPollingPeriod () const __attribute__((deprecated))

bool	isConfigLoading () const
	isConfigLoading Check if driver configuration is currently in the process of getting loaded.

bool	isInitializationComplete () const
	isInitializationComplete Check if driver initialization is complete.

void	syncDriverInfo ()
	syncDriverInfo sends the current driver information to the client.

void	setDeviceNickname (const char *nick)
	Set the device nickname.

const char *	getDeviceNickname ()

const char *	lookupDeviceNicknameFromId (const char identifier, const char device=nullptr)
	Lookup device nickname for an identifier.

bool	setDeviceNicknameFromId (const char *identifier)
	Set device nickname based on an identifier.

void	saveNicknameId (const char nickname, const char identifier)

virtual void	nicknameSet (const char *nickname)
	Inform driver that the nickname has been set.

	DefaultDevice (const std::shared_ptr< DefaultDevicePrivate > &dd)

Protected Member Functions inherited from INDI::ParentDevice
	ParentDevice (const std::shared_ptr< ParentDevicePrivate > &dd)

Protected Member Functions inherited from INDI::BaseDevice
	BaseDevice (BaseDevicePrivate &dd)

	BaseDevice (const std::shared_ptr< BaseDevicePrivate > &dd)

Protected Member Functions inherited from INDI::PACInterface
	PACInterface (DefaultDevice *device)

virtual	~PACInterface ()=default

void	initProperties (const char *group)
	initProperties Initialize PAC properties. Call this from your driver's initProperties().

bool	updateProperties ()
	updateProperties Define or delete properties based on connection state. Call this from your driver's updateProperties().

bool	processSwitch (const char dev, const char name, ISState states, char names[], int n)
	Process PAC switch properties.

bool	processNumber (const char dev, const char name, double values[], char *names[], int n)
	Process PAC number properties.

bool	saveConfigItems (FILE *fp)
	saveConfigItems Save PAC interface properties to config file. Call this from your driver's saveConfigItems().

Additional Inherited Members
Public Types inherited from INDI::ParentDevice
enum	Type { Valid , Invalid }

Public Types inherited from INDI::BaseDevice
enum	INDI_ERROR { INDI_DEVICE_NOT_FOUND = -1 , INDI_PROPERTY_INVALID = -2 , INDI_PROPERTY_DUPLICATED = -3 , INDI_DISPATCH_ERROR = -4 }

enum	{ INDI_ENABLED , INDI_DISABLED }

enum	WATCH { WATCH_NEW = 0 , WATCH_UPDATE , WATCH_NEW_OR_UPDATE }

enum	DRIVER_INTERFACE { GENERAL_INTERFACE = 0 , TELESCOPE_INTERFACE = (1 << 0) , CCD_INTERFACE = (1 << 1) , GUIDER_INTERFACE = (1 << 2) , FOCUSER_INTERFACE = (1 << 3) , FILTER_INTERFACE = (1 << 4) , DOME_INTERFACE = (1 << 5) , GPS_INTERFACE = (1 << 6) , WEATHER_INTERFACE = (1 << 7) , AO_INTERFACE = (1 << 8) , DUSTCAP_INTERFACE = (1 << 9) , LIGHTBOX_INTERFACE = (1 << 10) , DETECTOR_INTERFACE = (1 << 11) , ROTATOR_INTERFACE = (1 << 12) , SPECTROGRAPH_INTERFACE = (1 << 13) , CORRELATOR_INTERFACE = (1 << 14) , AUX_INTERFACE = (1 << 15) , OUTPUT_INTERFACE = (1 << 16) , INPUT_INTERFACE = (1 << 17) , POWER_INTERFACE = (1 << 18) , IMU_INTERFACE = (1 << 19) , PAC_INTERFACE = (1 << 20) , SENSOR_INTERFACE = SPECTROGRAPH_INTERFACE \| DETECTOR_INTERFACE \| CORRELATOR_INTERFACE }
	The DRIVER_INTERFACE enum defines the class of devices the driver implements. A driver may implement one or more interfaces. More...

typedef INDI::Properties	Properties

Public Types inherited from INDI::PACInterface
enum	{ MANUAL_AZ , MANUAL_ALT }

enum	{ POSITION_AZ , POSITION_ALT }

enum	{ PAC_HAS_SPEED = 1 << 0 , PAC_CAN_REVERSE = 1 << 1 , PAC_HAS_POSITION = 1 << 2 , PAC_CAN_HOME = 1 << 3 , PAC_HAS_BACKLASH = 1 << 4 , PAC_CAN_SYNC = 1 << 5 }
	PAC capability flags passed to SetCapability(). More...

Static Public Member Functions inherited from INDI::BaseDevice
static std::string	getSharedFilePath (std::string fileName)

Public Attributes inherited from INDI::PACInterface
enum INDI::PACInterface:: { ... }	PACCapability
	PAC capability flags passed to SetCapability().

Protected Types inherited from INDI::PACInterface
enum	{ HOME_SET , HOME_GO , HOME_RESET }

enum	{ SYNC_AZ , SYNC_ALT }

enum	{ BACKLASH_AZ , BACKLASH_ALT }

Protected Attributes inherited from INDI::BaseDevice
std::shared_ptr< BaseDevicePrivate >	d_ptr

Protected Attributes inherited from INDI::PACInterface
INDI::PropertyNumber	ManualAdjustmentNP {2}

INDI::PropertySwitch	AbortSP {1}

INDI::PropertyNumber	PositionNP {2}

INDI::PropertyNumber	SpeedNP {1}

INDI::PropertySwitch	AZReverseSP {2}

INDI::PropertySwitch	ALTReverseSP {2}

INDI::PropertySwitch	HomeSP {3}

INDI::PropertyNumber	SyncNP {2}

INDI::PropertySwitch	BacklashSP {2}

INDI::PropertyNumber	BacklashNP {2}

Detailed Description

The MLAstroRPA class drives the MLAstro Robotic Polar Alignment controller via its ESP32-based serial protocol.

Protocol summary:

Handshake: [MLAstroRPA-TC]
→ ok
(older firmware) or ok,firmware X.Y.Z,SN:AA:BB:CC:DD:EE:F0
(newer)
Telemetry: ?
→ <STATUS|Mpos:X.XXXXX,Y.YYYYY|>DATA_SETTING
Relative move (AZ): JoRe:1, ReDe:D,ReAM:M,ReAS:S, MAzL:1 or MAzR:1
Relative move (ALT): JoRe:1, ReDe:D,ReAM:M,ReAS:S, MAlU:1 or MAlD:1
Stop: STOP:1
(smooth deceleration)
Speed: SLvl:X
(1–5)
Home: SetH:1
/ RetH:1
/ RstH:1
Sync: SetH:1
(marks current position as 0,0 reference)
Backlash: Back:X
, AzBl:X
, AlBl:X
Alt overshoot (2-leg P.A routine): Over:X
, OvUp:X
, OvDn:X
, OvD:X
, OvM:X
, OvS:X
When enabled for a given direction, a downward altitude move overshoots the target and returns upward for the final approach so the platform always comes to rest moving up, which settles more stably than a final downward approach.
Reverse: AzRD:X
, AlRD:X
Motor config: chained commands + Save&Reboot:1
Network: STAs:X
, STAp:X
, APss:X
, APpa:X
, APip:X
(set-only; requires Save&Reboot to persist). Password fields are write-only in the driver — never read back, never saved to the local config.

Client-side correction shaping (Correction tab), mirroring MLAstro's N.I.N.A. plugin:

Correction Percentage (default 75%, 1-100%) is applied to Azimuth on every automated correction and to Altitude when the software overshoot is not active for the current correction direction.
Software Overshoot (ALT): when enabled for the current direction, the Alt axis corrects 100% of the error and then travels the configured overshoot (0-240 arcmin) past the target so the platform always settles from the same direction.

Definition at line 70 of file mlastro_rpa.h.

Constructor & Destructor Documentation

◆ MLAstroRPA()

MLAstroRPA::MLAstroRPA ( )

Constructor.

Definition at line 39 of file mlastro_rpa.cpp.

◆ ~MLAstroRPA()

virtual MLAstroRPA::~MLAstroRPA ( )

overridevirtualdefault

Member Function Documentation

◆ AbortMotion()

bool MLAstroRPA::AbortMotion ( )

overrideprotectedvirtual

PACInterface – abort, speed and reverse.

AbortMotion.

Reimplemented from INDI::PACInterface.

Definition at line 976 of file mlastro_rpa.cpp.

◆ applyCorrectionALT()

double MLAstroRPA::applyCorrectionALT ( double altDegrees ) const

protected

applyCorrectionALT – correction percentage, or full error + overshoot

Scale a requested altitude step by the correction percentage, or apply the full error plus the configured overshoot when the driver-side correction overshoot is active for the move direction.

Definition at line 850 of file mlastro_rpa.cpp.

◆ applyCorrectionAZ()

double MLAstroRPA::applyCorrectionAZ ( double azDegrees ) const

protected

Scale a requested azimuth step by the configured correction percentage.

applyCorrectionAZ – scale a requested step by the correction percentage

Definition at line 842 of file mlastro_rpa.cpp.

◆ getDefaultName()

const char * MLAstroRPA::getDefaultName ( void )

overridevirtual

Basic device info.

Implements INDI::DefaultDevice.

Definition at line 54 of file mlastro_rpa.cpp.

◆ GoHome()

IPState MLAstroRPA::GoHome ( )

overrideprotectedvirtual

GoHome.

Reimplemented from INDI::PACInterface.

Definition at line 1072 of file mlastro_rpa.cpp.

◆ Handshake()

bool MLAstroRPA::Handshake ( )

protected

Handshake.

Definition at line 320 of file mlastro_rpa.cpp.

◆ initProperties()

bool MLAstroRPA::initProperties ( )

overrideprotectedvirtual

initProperties

Reimplemented from INDI::DefaultDevice.

Definition at line 62 of file mlastro_rpa.cpp.

◆ ISNewNumber()

bool MLAstroRPA::ISNewNumber	(	const char *	dev,
		const char *	name,
		double	values[],
		char *	names[],
		int	n
	)

overridevirtual

ISNewNumber.

Reimplemented from INDI::DefaultDevice.

Definition at line 1226 of file mlastro_rpa.cpp.

◆ ISNewSwitch()

bool MLAstroRPA::ISNewSwitch	(	const char *	dev,
		const char *	name,
		ISState *	states,
		char *	names[],
		int	n
	)

overridevirtual

ISNewSwitch.

Reimplemented from INDI::DefaultDevice.

Definition at line 1379 of file mlastro_rpa.cpp.

◆ ISNewText()

bool MLAstroRPA::ISNewText	(	const char *	dev,
		const char *	name,
		char *	texts[],
		char *	names[],
		int	n
	)

overridevirtual

ISNewText.

Reimplemented from INDI::DefaultDevice.

Definition at line 1472 of file mlastro_rpa.cpp.

◆ MoveALT()

IPState MLAstroRPA::MoveALT ( double degrees )

overrideprotectedvirtual

MoveALT.

Reimplemented from INDI::PACInterface.

Definition at line 890 of file mlastro_rpa.cpp.

◆ MoveAZ()

IPState MLAstroRPA::MoveAZ ( double degrees )

overrideprotectedvirtual

PACInterface – axis movement.

MoveAZ.

Reimplemented from INDI::PACInterface.

Definition at line 874 of file mlastro_rpa.cpp.

◆ MoveBoth()

IPState MLAstroRPA::MoveBoth	(	double	azDegrees,
		double	altDegrees
	)

overrideprotectedvirtual

MoveBoth Uses the MLAstro alignment chained command to move both axes with a single serial command. The device handles the AZ→ALT sequencing internally and the completion is detected via telemetry (STATUS transitions from ALIGNING to ALIGN_COMPLETED / READY), exactly like single-axis alignment moves.

Reimplemented from INDI::PACInterface.

Definition at line 910 of file mlastro_rpa.cpp.

◆ ResetHome()

bool MLAstroRPA::ResetHome ( )

overrideprotectedvirtual

ResetHome.

Reimplemented from INDI::PACInterface.

Definition at line 1100 of file mlastro_rpa.cpp.

◆ ReverseALT()

bool MLAstroRPA::ReverseALT ( bool enabled )

overrideprotectedvirtual

ReverseALT.

Reimplemented from INDI::PACInterface.

Definition at line 1033 of file mlastro_rpa.cpp.

◆ ReverseAZ()

bool MLAstroRPA::ReverseAZ ( bool enabled )

overrideprotectedvirtual

ReverseAZ.

Reimplemented from INDI::PACInterface.

Definition at line 1012 of file mlastro_rpa.cpp.

◆ saveConfigItems()

bool MLAstroRPA::saveConfigItems ( FILE * fp )

overrideprotectedvirtual

saveConfigItems

Reimplemented from INDI::DefaultDevice.

Definition at line 294 of file mlastro_rpa.cpp.

◆ SetBacklashALT()

bool MLAstroRPA::SetBacklashALT ( int32_t steps )

overrideprotectedvirtual

SetBacklashALT.

Reimplemented from INDI::PACInterface.

Definition at line 1205 of file mlastro_rpa.cpp.

◆ SetBacklashAZ()

bool MLAstroRPA::SetBacklashAZ ( int32_t steps )

overrideprotectedvirtual

SetBacklashAZ.

Reimplemented from INDI::PACInterface.

Definition at line 1184 of file mlastro_rpa.cpp.

◆ SetBacklashEnabled()

bool MLAstroRPA::SetBacklashEnabled ( bool enabled )

overrideprotectedvirtual

PACInterface – backlash.

SetBacklashEnabled.

Reimplemented from INDI::PACInterface.

Definition at line 1163 of file mlastro_rpa.cpp.

◆ SetHome()

bool MLAstroRPA::SetHome ( )

overrideprotectedvirtual

PACInterface – home management.

SetHome.

Reimplemented from INDI::PACInterface.

Definition at line 1054 of file mlastro_rpa.cpp.

◆ SetPACSpeed()

bool MLAstroRPA::SetPACSpeed ( uint16_t speed )

overrideprotectedvirtual

SetPACSpeed (SLvl: 1–5)

Reimplemented from INDI::PACInterface.

Definition at line 991 of file mlastro_rpa.cpp.

◆ SyncALT()

bool MLAstroRPA::SyncALT ( double degrees )

overrideprotectedvirtual

SyncALT – same mechanism as SyncAZ.

Reimplemented from INDI::PACInterface.

Definition at line 1143 of file mlastro_rpa.cpp.

◆ SyncAZ()

bool MLAstroRPA::SyncAZ ( double degrees )

overrideprotectedvirtual

PACInterface – sync.

SyncAZ – marks current position as the AZ reference (zero) The device has no arbitrary-value position sync, so any sync operation calls SetH:1 which zeros both axes simultaneously.

Reimplemented from INDI::PACInterface.

Definition at line 1122 of file mlastro_rpa.cpp.

◆ TimerHit()

void MLAstroRPA::TimerHit ( )

overrideprotectedvirtual

TimerHit.

Reimplemented from INDI::DefaultDevice.

Definition at line 384 of file mlastro_rpa.cpp.

◆ updateProperties()

bool MLAstroRPA::updateProperties ( )

overrideprotectedvirtual

updateProperties

Reimplemented from INDI::DefaultDevice.

Definition at line 234 of file mlastro_rpa.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MLAstroRPA()

◆ ~MLAstroRPA()

Member Function Documentation

◆ AbortMotion()

◆ applyCorrectionALT()

◆ applyCorrectionAZ()

◆ getDefaultName()

◆ GoHome()

◆ Handshake()

◆ initProperties()

◆ ISNewNumber()

◆ ISNewSwitch()

◆ ISNewText()

◆ MoveALT()

◆ MoveAZ()

◆ MoveBoth()

◆ ResetHome()

◆ ReverseALT()

◆ ReverseAZ()

◆ saveConfigItems()

◆ SetBacklashALT()

◆ SetBacklashAZ()

◆ SetBacklashEnabled()

◆ SetHome()

◆ SetPACSpeed()

◆ SyncALT()

◆ SyncAZ()

◆ TimerHit()

◆ updateProperties()