indidome.cpp

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/*******************************************************************************
 INDI Dome Base Class
 Copyright(c) 2014 Jasem Mutlaq. All rights reserved.
 
 The code used calculate dome target AZ and ZD is written by Ferran Casarramona, and adapted from code from Markus Wildi.
 The transformations are based on the paper Matrix Method for Coordinates Transformation written by Toshimi Taki (http://www.asahi-net.or.jp/~zs3t-tk).
 
 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Library General Public
 License version 2 as published by the Free Software Foundation.
 
 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Library General Public License for more details.
 
 You should have received a copy of the GNU Library General Public License
 along with this library; see the file COPYING.LIB.  If not, write to
 the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
 Boston, MA 02110-1301, USA.
*******************************************************************************/
 
#include "indidome.h"
 
#include "indicom.h"
#include "indicontroller.h"
#include "inditimer.h"
#include "connectionplugins/connectionserial.h"
#include "connectionplugins/connectiontcp.h"
 
#include <libnova/julian_day.h>
#include <libnova/sidereal_time.h>
#include <libnova/transform.h>
 
#include <cerrno>
#include <cmath>
#include <cstring>
#include <wordexp.h>
#include <pwd.h>
#include <unistd.h>
#include <limits>
 
#define DOME_SLAVING_TAB "Slaving"
#define DOME_COORD_THRESHOLD \
    0.1 /* Only send debug messages if the differences between old and new values of Az/Alt excceds this value */
 
namespace INDI
{
 
Dome::Dome() : ParkDataFileName(GetHomeDirectory() + "/.indi/ParkData.xml")
{
    controller = new Controller(this);
 
    controller->setButtonCallback(buttonHelper);
 
    prev_az = prev_alt = prev_ra = prev_dec = 0;
    mountEquatorialCoords.declination = mountEquatorialCoords.rightascension = -1;
    m_MountState = IPS_ALERT;
 
    capability = 0;
 
    m_ShutterState = SHUTTER_UNKNOWN;
    m_DomeState    = DOME_IDLE;
 
    parkDataType = PARK_NONE;
    ParkdataXmlRoot = nullptr;
 
    m_MountUpdateTimer.callOnTimeout(std::bind(&Dome::UpdateMountCoords, this));
}
 
Dome::~Dome()
{
    delXMLEle(ParkdataXmlRoot);
 
    delete controller;
    delete serialConnection;
    delete tcpConnection;
}
 
std::string Dome::GetHomeDirectory() const
{
    // Check first the HOME environmental variable
    const char * HomeDir = getenv("HOME");
 
    // ...otherwise get the home directory of the current user.
    if (!HomeDir)
    {
        HomeDir = getpwuid(getuid())->pw_dir;
    }
    return (HomeDir ? std::string(HomeDir) : "");
}
 
bool Dome::initProperties()
{
    DefaultDevice::initProperties(); //  let the base class flesh in what it wants
 
    // Presets
    PresetNP[0].fill("Preset 1", "", "%6.2f", 0, 360.0, 1.0, 0);
    PresetNP[1].fill("Preset 2", "", "%6.2f", 0, 360.0, 1.0, 0);
    PresetNP[2].fill("Preset 3", "", "%6.2f", 0, 360.0, 1.0, 0);
    PresetNP.fill(getDeviceName(), "Presets", "", "Presets", IP_RW, 0, IPS_IDLE);
 
    //Preset GOTO
    PresetGotoSP[0].fill("Preset 1", "", ISS_OFF);
    PresetGotoSP[1].fill("Preset 2", "", ISS_OFF);
    PresetGotoSP[2].fill("Preset 3", "", ISS_OFF);
    PresetGotoSP.fill(getDeviceName(), "Goto", "", "Presets", IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
 
    // Active Devices
    ActiveDeviceTP[ACTIVE_MOUNT].fill("ACTIVE_TELESCOPE", "Telescope", "Telescope Simulator");
    ActiveDeviceTP[ACTIVE_INPUT].fill("ACTIVE_INPUT", "Input", "");
    ActiveDeviceTP[ACTIVE_OUTPUT].fill("ACTIVE_OUTPUT", "Output", "");
    ActiveDeviceTP.fill(getDeviceName(), "ACTIVE_DEVICES", "Snoop devices", OPTIONS_TAB, IP_RW, 60, IPS_IDLE);
    if (ActiveDeviceTP.load())
        ActiveDevicesUpdated();
 
    // Use locking if telescope is unparked
    // @INDI_STANDARD_PROPERTY@
    MountPolicySP[MOUNT_IGNORED].fill("MOUNT_IGNORED", "Mount ignored", ISS_ON);
    MountPolicySP[MOUNT_LOCKS].fill("MOUNT_LOCKS", "Mount locks", ISS_OFF);
    MountPolicySP.fill(getDeviceName(), "MOUNT_POLICY", "Mount Policy", OPTIONS_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
    MountPolicySP.load();
 
    // Shutter Policy
    // @INDI_STANDARD_PROPERTY@
    ShutterParkPolicySP[SHUTTER_CLOSE_ON_PARK].fill("SHUTTER_CLOSE_ON_PARK", "Close On Park", ISS_OFF);
    ShutterParkPolicySP[SHUTTER_OPEN_ON_UNPARK].fill("SHUTTER_OPEN_ON_UNPARK", "Open On UnPark", ISS_OFF);
    ShutterParkPolicySP.fill(getDeviceName(), "DOME_SHUTTER_PARK_POLICY", "Shutter", OPTIONS_TAB, IP_RW, ISR_NOFMANY, 60,
                             IPS_IDLE);
    ShutterParkPolicySP.load();
 
    // Measurements
    // @INDI_STANDARD_PROPERTY@
    DomeMeasurementsNP[DM_DOME_RADIUS].fill("DM_DOME_RADIUS", "Radius (m)", "%6.2f", 0.0, 50.0, 1.0, 0.0);
    DomeMeasurementsNP[DM_SHUTTER_WIDTH].fill("DM_SHUTTER_WIDTH", "Shutter width (m)", "%6.2f", 0.0, 10.0, 1.0, 0.0);
    DomeMeasurementsNP[DM_NORTH_DISPLACEMENT].fill("DM_NORTH_DISPLACEMENT", "N displacement (m)", "%6.2f", -10.0, 10.0, 1.0,
            0.0);
    DomeMeasurementsNP[DM_EAST_DISPLACEMENT].fill("DM_EAST_DISPLACEMENT", "E displacement (m)", "%6.2f", -10.0, 10.0, 1.0, 0.0);
    DomeMeasurementsNP[DM_UP_DISPLACEMENT].fill("DM_UP_DISPLACEMENT", "Up displacement (m)", "%6.2f", -10, 10.0, 1.0, 0.0);
    DomeMeasurementsNP[DM_OTA_OFFSET].fill("DM_OTA_OFFSET", "OTA offset (m)", "%6.2f", -10.0, 10.0, 1.0, 0.0);
    DomeMeasurementsNP.fill(getDeviceName(), "DOME_MEASUREMENTS", "Measurements", DOME_SLAVING_TAB, IP_RW, 60, IPS_OK);
    DomeMeasurementsNP.load();
 
    // @INDI_STANDARD_PROPERTY@
    OTASideSP[DM_OTA_SIDE_EAST].fill("DM_OTA_SIDE_EAST", "East", ISS_OFF);
    OTASideSP[DM_OTA_SIDE_WEST].fill("DM_OTA_SIDE_WEST", "West", ISS_OFF);
    OTASideSP[DM_OTA_SIDE_MOUNT].fill("DM_OTA_SIDE_MOUNT", "Mount", ISS_ON);
    OTASideSP[DM_OTA_SIDE_HA].fill("DM_OTA_SIDE_HA", "Hour Angle", ISS_OFF);
    OTASideSP[DM_OTA_SIDE_IGNORE].fill("DM_OTA_SIDE_IGNORE", "Ignore", ISS_OFF);
    OTASideSP.fill(getDeviceName(), "DM_OTA_SIDE", "Meridian side", DOME_SLAVING_TAB, IP_RW, ISR_ATMOST1, 60, IPS_OK);
 
    // @INDI_STANDARD_PROPERTY@
    DomeAutoSyncSP[INDI_ENABLED].fill("DOME_AUTOSYNC_ENABLE", "Enable", ISS_OFF);
    DomeAutoSyncSP[INDI_DISABLED].fill("DOME_AUTOSYNC_DISABLE", "Disable", ISS_ON);
    DomeAutoSyncSP.fill(getDeviceName(), "DOME_AUTOSYNC", "Slaving", DOME_SLAVING_TAB, IP_RW, ISR_1OFMANY, 60, IPS_OK);
 
    // @INDI_STANDARD_PROPERTY@
    DomeSpeedNP[0].fill("DOME_SPEED_VALUE", "RPM", "%6.2f", 0.0, 10, 0.1, 1.0);
    DomeSpeedNP.fill(getDeviceName(), "DOME_SPEED", "Speed", MAIN_CONTROL_TAB, IP_RW, 60, IPS_OK);
 
    // @INDI_STANDARD_PROPERTY@
    DomeSyncNP[0].fill("DOME_SYNC_VALUE", "Az", "%.2f", 0.0, 360, 10, 0.0);
    DomeSyncNP.fill(getDeviceName(), "DOME_SYNC", "Sync", MAIN_CONTROL_TAB, IP_RW, 60, IPS_OK);
 
    // @INDI_STANDARD_PROPERTY@
    DomeMotionSP[0].fill("DOME_CW", "Dome CW", ISS_OFF);
    DomeMotionSP[1].fill("DOME_CCW", "Dome CCW", ISS_OFF);
    DomeMotionSP.fill(getDeviceName(), "DOME_MOTION", "Motion", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 60, IPS_OK);
 
    // Driver can define those to clients if there is support
    // @INDI_STANDARD_PROPERTY@
    DomeAbsPosNP[0].fill("DOME_ABSOLUTE_POSITION", "Degrees", "%6.2f", 0.0, 360.0, 1.0, 0.0);
    DomeAbsPosNP.fill(getDeviceName(), "ABS_DOME_POSITION", "Absolute Position", MAIN_CONTROL_TAB, IP_RW, 60, IPS_OK);
 
    // @INDI_STANDARD_PROPERTY@
    DomeRelPosNP[0].fill("DOME_RELATIVE_POSITION", "Degrees", "%6.2f", -180, 180.0, 10.0, 0.0);
    DomeRelPosNP.fill(getDeviceName(), "REL_DOME_POSITION", "Relative Position", MAIN_CONTROL_TAB, IP_RW, 60, IPS_OK);
 
    // @INDI_STANDARD_PROPERTY@
    AbortSP[0].fill("ABORT", "Abort", ISS_OFF);
    AbortSP.fill(getDeviceName(), "DOME_ABORT_MOTION", "Abort Motion", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 60, IPS_IDLE);
 
    // @INDI_STANDARD_PROPERTY@
    DomeParamNP[0].fill("AUTOSYNC_THRESHOLD", "Autosync threshold (deg)", "%6.2f", 0.0, 360.0, 1.0, 0.5);
    DomeParamNP.fill(getDeviceName(), "DOME_PARAMS", "Params", DOME_SLAVING_TAB, IP_RW, 60, IPS_OK);
    DomeParamNP.load();
 
    // @INDI_STANDARD_PROPERTY@
    ParkSP[0].fill("PARK", "Park(ed)", ISS_OFF);
    ParkSP[1].fill("UNPARK", "UnPark(ed)", ISS_OFF);
    ParkSP.fill(getDeviceName(), "DOME_PARK", "Parking", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 60, IPS_OK);
 
    // Backlash Compensation
    // @INDI_STANDARD_PROPERTY@
    DomeBacklashSP[INDI_ENABLED].fill("INDI_ENABLED", "Enabled", ISS_OFF);
    DomeBacklashSP[INDI_DISABLED].fill("INDI_DISABLED", "Disabled", ISS_ON);
    DomeBacklashSP.fill(getDeviceName(), "DOME_BACKLASH_TOGGLE", "Backlash", OPTIONS_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
 
    // Backlash Compensation Value
    // @INDI_STANDARD_PROPERTY@
    DomeBacklashNP[0].fill("DOME_BACKLASH_VALUE", "Steps", "%.f", 0, 1e6, 100, 0);
    DomeBacklashNP.fill(getDeviceName(), "DOME_BACKLASH_STEPS", "Backlash", OPTIONS_TAB, IP_RW, 60, IPS_OK);
    DomeBacklashNP.load();
 
    // @INDI_STANDARD_PROPERTY@
    DomeShutterSP[0].fill("SHUTTER_OPEN", "Open", ISS_OFF);
    DomeShutterSP[1].fill("SHUTTER_CLOSE", "Close", ISS_ON);
    DomeShutterSP.fill(getDeviceName(), "DOME_SHUTTER", "Shutter", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 60, IPS_OK);
 
    // @INDI_STANDARD_PROPERTY@
    ParkOptionSP[0].fill("PARK_CURRENT", "Current", ISS_OFF);
    ParkOptionSP[1].fill("PARK_DEFAULT", "Default", ISS_OFF);
    ParkOptionSP[2].fill("PARK_WRITE_DATA", "Write Data", ISS_OFF);
    ParkOptionSP.fill(getDeviceName(), "DOME_PARK_OPTION", "Park Options", SITE_TAB, IP_RW, ISR_ATMOST1, 60, IPS_IDLE);
 
    addDebugControl();
 
    controller->mapController("Dome CW", "CW/Open", Controller::CONTROLLER_BUTTON, "BUTTON_1");
    controller->mapController("Dome CCW", "CCW/Close", Controller::CONTROLLER_BUTTON, "BUTTON_2");
 
    controller->initProperties();
 
    const auto scope = ActiveDeviceTP[0].getText();
    IDSnoopDevice(scope, "EQUATORIAL_EOD_COORD");
    IDSnoopDevice(scope, "GEOGRAPHIC_COORD");
    IDSnoopDevice(scope, "TELESCOPE_PARK");
    if (CanAbsMove())
        IDSnoopDevice(scope, "TELESCOPE_PIER_SIDE");
 
    setDriverInterface(DOME_INTERFACE);
 
    if (domeConnection & CONNECTION_SERIAL)
    {
        serialConnection = new Connection::Serial(this);
        serialConnection->registerHandshake([&]()
        {
            return callHandshake();
        });
        registerConnection(serialConnection);
    }
 
    if (domeConnection & CONNECTION_TCP)
    {
        tcpConnection = new Connection::TCP(this);
        tcpConnection->registerHandshake([&]()
        {
            return callHandshake();
        });
        registerConnection(tcpConnection);
    }
 
    return true;
}
 
void Dome::ISGetProperties(const char * dev)
{
    DefaultDevice::ISGetProperties(dev);
 
    defineProperty(ActiveDeviceTP);
    defineProperty(MountPolicySP);
 
    controller->ISGetProperties(dev);
    return;
}
 
bool Dome::updateProperties()
{
    if (isConnected())
    {
        if (HasShutter())
        {
            defineProperty(DomeShutterSP);
            defineProperty(ShutterParkPolicySP);
        }
 
        //  Now we add our Dome specific stuff
        defineProperty(DomeMotionSP);
 
        if (HasVariableSpeed())
        {
            defineProperty(DomeSpeedNP);
        }
        if (CanRelMove())
            defineProperty(DomeRelPosNP);
        if (CanAbsMove())
            defineProperty(DomeAbsPosNP);
        if (CanAbort())
            defineProperty(AbortSP);
        if (CanAbsMove())
        {
            defineProperty(PresetNP);
            defineProperty(PresetGotoSP);
 
            defineProperty(DomeAutoSyncSP);
            defineProperty(OTASideSP);
            defineProperty(DomeParamNP);
            defineProperty(DomeMeasurementsNP);
        }
        if (CanSync())
            defineProperty(DomeSyncNP);
 
        if (CanPark())
        {
            defineProperty(ParkSP);
            if (parkDataType != PARK_NONE)
            {
                defineProperty(ParkPositionNP);
                defineProperty(ParkOptionSP);
            }
        }
 
        if (HasBacklash())
        {
            defineProperty(DomeBacklashSP);
            defineProperty(DomeBacklashNP);
        }
    }
    else
    {
        if (HasShutter())
        {
            deleteProperty(DomeShutterSP);
            deleteProperty(ShutterParkPolicySP);
        }
 
        deleteProperty(DomeMotionSP);
 
        if (HasVariableSpeed())
        {
            deleteProperty(DomeSpeedNP);
        }
        if (CanRelMove())
            deleteProperty(DomeRelPosNP);
        if (CanAbsMove())
            deleteProperty(DomeAbsPosNP);
        if (CanAbort())
            deleteProperty(AbortSP);
        if (CanAbsMove())
        {
            deleteProperty(PresetNP);
            deleteProperty(PresetGotoSP);
 
            deleteProperty(DomeAutoSyncSP);
            deleteProperty(OTASideSP);
            deleteProperty(DomeParamNP);
            deleteProperty(DomeMeasurementsNP);
        }
 
        if (CanSync())
            deleteProperty(DomeSyncNP);
 
        if (CanPark())
        {
            deleteProperty(ParkSP);
            if (parkDataType != PARK_NONE)
            {
                deleteProperty(ParkPositionNP);
                deleteProperty(ParkOptionSP);
            }
        }
 
        if (HasBacklash())
        {
            deleteProperty(DomeBacklashSP);
            deleteProperty(DomeBacklashNP);
        }
    }
 
    controller->updateProperties();
    return true;
}
 
bool Dome::ISNewNumber(const char * dev, const char * name, double values[], char * names[], int n)
{
    //  first check if it's for our device
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        if (PresetNP.isNameMatch(name))
        {
            PresetNP.update(values, names, n);
            PresetNP.setState(IPS_OK);
            PresetNP.apply(nullptr);
            saveConfig(PresetNP);
            return true;
        }
        // Dome Sync
        else if (DomeSyncNP.isNameMatch(name))
        {
            if (Sync(values[0]))
            {
                DomeSyncNP.update(values, names, n);
                DomeSyncNP.setState(IPS_OK);
                DomeAbsPosNP[0].setValue(values[0]);
                DomeAbsPosNP.apply();
            }
            else
            {
                DomeSyncNP.setState(IPS_ALERT);
            }
 
            DomeSyncNP.apply();
            return true;
        }
        else if (DomeParamNP.isNameMatch(name))
        {
            DomeParamNP.update(values, names, n);
            DomeParamNP.setState(IPS_OK);
            DomeParamNP.apply();
            // If slaving is enabled, report the differential threshold update.
            if (DomeAutoSyncSP[INDI_ENABLED].getState() == ISS_ON)
                LOGF_INFO("Dome slaving differential threshold updated to %.2f degrees.", DomeParamNP[0].getValue());
            saveConfig(DomeParamNP);
            return true;
        }
        else if (DomeSpeedNP.isNameMatch(name))
        {
            auto newSpeed = values[0];
            Dome::SetSpeed(newSpeed);
            return true;
        }
        else if (DomeAbsPosNP.isNameMatch(name))
        {
            auto newPos = values[0];
            Dome::MoveAbs(newPos);
            return true;
        }
        else if (DomeRelPosNP.isNameMatch(name))
        {
            auto newPos = values[0];
            Dome::MoveRel(newPos);
            return true;
        }
        else if (DomeMeasurementsNP.isNameMatch(name))
        {
            DomeMeasurementsNP.update(values, names, n);
            DomeMeasurementsNP.setState(IPS_OK);
            DomeMeasurementsNP.apply();
            saveConfig(DomeMeasurementsNP);
            return true;
        }
        else if (ParkPositionNP.isNameMatch(name))
        {
            ParkPositionNP.update(values, names, n);
            ParkPositionNP.setState(IPS_OK);
            Axis1ParkPosition = ParkPositionNP[AXIS_RA].getValue();
            ParkPositionNP.apply();
            return true;
        }
        // Backlash value
        else if (DomeBacklashNP.isNameMatch(name))
        {
            if (DomeBacklashSP[INDI_ENABLED].getState() != ISS_ON)
            {
                DomeBacklashNP.setState(IPS_IDLE);
                LOG_WARN("Dome backlash must be enabled first.");
            }
            else
            {
                auto steps = static_cast<uint32_t>(values[0]);
                if (SetBacklash(steps))
                {
                    DomeBacklashNP[0].setValue(values[0]);
                    DomeBacklashNP.setState(IPS_OK);
                }
                else
                    DomeBacklashNP.setState(IPS_ALERT);
            }
            DomeBacklashNP.apply();
            saveConfig(DomeBacklashNP);
            return true;
        }
    }
 
    return DefaultDevice::ISNewNumber(dev, name, values, names, n);
}
 
bool Dome::ISNewSwitch(const char * dev, const char * name, ISState * states, char * names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        // GOTO Presets
        if (PresetGotoSP.isNameMatch(name))
        {
            if (m_DomeState == DOME_PARKED)
            {
                LOG_ERROR("Please unpark before issuing any motion commands.");
                PresetGotoSP.setState(IPS_ALERT);
                PresetGotoSP.apply();
                return false;
            }
 
            PresetGotoSP.update(states, names, n);
            auto index  = PresetGotoSP.findOnSwitchIndex();
            IPState rc = Dome::MoveAbs(PresetNP[index].getValue());
            if (rc == IPS_OK || rc == IPS_BUSY)
            {
                PresetGotoSP.setState(IPS_OK);
                LOGF_INFO("Moving to Preset %d (%.2f degrees).", index + 1, PresetNP[index].getValue());
                PresetGotoSP.apply();
                return true;
            }
 
            PresetGotoSP.setState(IPS_ALERT);
            PresetGotoSP.apply();
            return false;
        }
        // Dome Auto Sync
        else if (DomeAutoSyncSP.isNameMatch(name))
        {
            DomeAutoSyncSP.update(states, names, n);
            DomeAutoSyncSP.setState(IPS_OK);
 
            if (DomeAutoSyncSP[0].getState() == ISS_ON)
            {
                LOGF_WARN("Dome will now be synced to mount azimuth position if the differential threshold exceeds %.2f degrees.",
                          DomeParamNP[0].getValue());
                DomeAutoSyncSP.apply();
                UpdateMountCoords();
                m_MountUpdateTimer.start(HORZ_UPDATE_TIMER);
            }
            else
            {
                LOG_WARN("Dome is no longer synced to mount azimuth position.");
                DomeAutoSyncSP.apply();
                m_MountUpdateTimer.stop();
                if (DomeAbsPosNP.getState() == IPS_BUSY || DomeRelPosNP.getState() == IPS_BUSY)
                    Dome::Abort();
            }
 
            return true;
        }
        // OTA Side
        else if (OTASideSP.isNameMatch(name))
        {
            OTASideSP.update(states, names, n);
            OTASideSP.setState(IPS_OK);
 
            if (OTASideSP[DM_OTA_SIDE_EAST].getState() == ISS_ON)
            {
                LOG_WARN("Dome shall be synced assuming OTA situated east of the pier");
            }
            else if (OTASideSP[DM_OTA_SIDE_WEST].getState() == ISS_ON)
            {
                LOG_WARN("Dome shall be synced assuming OTA situated west of the pier");
            }
            else if (OTASideSP[DM_OTA_SIDE_MOUNT].getState() == ISS_ON)
            {
                LOG_WARN("Dome shall be synced from pier side as reported by the mount.");
            }
            else if (OTASideSP[DM_OTA_SIDE_HA].getState() == ISS_ON)
            {
                LOG_WARN("Dome shall be synced for OTA pier side derived from Hour Angle.");
            }
            else if (OTASideSP[DM_OTA_SIDE_IGNORE].getState() == ISS_ON)
            {
                LOG_WARN("Dome shall be synced by ignoring pier side as in a fork mount.");
            }
 
            UpdateAutoSync();
            OTASideSP.apply();
            saveConfig(OTASideSP);
            return true;
        }
        // Dome Motion
        else if (DomeMotionSP.isNameMatch(name))
        {
            // Check if any switch is ON
            for (int i = 0; i < n; i++)
            {
                if (states[i] == ISS_ON)
                {
                    if (DomeMotionSP[DOME_CW].isNameMatch(names[i]))
                        Dome::Move(DOME_CW, MOTION_START);
                    else
                        Dome::Move(DOME_CCW, MOTION_START);
 
                    return true;
                }
            }
 
            // All switches are off, so let's turn off last motion
            auto current_direction = DomeMotionSP.findOnSwitchIndex();
            // Shouldn't happen
            if (current_direction < 0)
            {
                DomeMotionSP.setState(IPS_IDLE);
                DomeMotionSP.apply();
                return false;
            }
 
            Dome::Move(static_cast<DomeDirection>(current_direction), MOTION_STOP);
 
            return true;
        }
        // Abort Motion
        else if (AbortSP.isNameMatch(name))
        {
            Dome::Abort();
            return true;
        }
        // Shutter
        else if (DomeShutterSP.isNameMatch(name))
        {
            // Check if any switch is ON
            for (int i = 0; i < n; i++)
            {
                if (states[i] == ISS_ON)
                {
                    // Open
                    if (DomeShutterSP[0].isNameMatch(names[i]))
                    {
                        return (Dome::ControlShutter(SHUTTER_OPEN) != IPS_ALERT);
                    }
                    else
                    {
                        return (Dome::ControlShutter(SHUTTER_CLOSE) != IPS_ALERT);
                    }
                }
            }
        }
        // Parking Switch
        else if (ParkSP.isNameMatch(name))
        {
            // Check if any switch is ON
            for (int i = 0; i < n; i++)
            {
                if (states[i] == ISS_ON)
                {
                    if (ParkSP[0].isNameMatch(names[i]))
                    {
                        if (m_DomeState == DOME_PARKING)
                            return false;
 
                        return (Dome::Park() != IPS_ALERT);
                    }
                    else
                    {
                        if (m_DomeState == DOME_UNPARKING)
                            return false;
 
                        return (Dome::UnPark() != IPS_ALERT);
                    }
                }
            }
        }
        // Parking Option
        else if (ParkOptionSP.isNameMatch(name))
        {
            ParkOptionSP.update(states, names, n);
            auto sp = ParkOptionSP.findOnSwitch();
            if (!sp)
                return false;
 
            bool rc = false;
 
            ParkOptionSP.reset();
 
            if (sp->isNameMatch("PARK_CURRENT"))
            {
                rc = SetCurrentPark();
            }
            else if (sp->isNameMatch("PARK_DEFAULT"))
            {
                rc = SetDefaultPark();
            }
            else if (sp->isNameMatch( "PARK_WRITE_DATA"))
            {
                rc = WriteParkData();
                if (rc)
                    LOG_INFO("Saved Park Status/Position.");
                else
                    LOG_WARN( "Can not save Park Status/Position.");
            }
 
            ParkOptionSP.setState(rc ? IPS_OK : IPS_ALERT);
            ParkOptionSP.apply();
            return true;
        }
        // Auto Park
#if 0
        else if (!strcmp(name, AutoParkSP.name))
        {
            IUUpdateSwitch(&AutoParkSP, states, names, n);
 
            AutoParkSP.s = IPS_OK;
 
            if (AutoParkS[0].s == ISS_ON)
                LOG_WARN( "Warning: Auto park is enabled. If weather conditions are in the "
                          "danger zone, the dome will be automatically parked. Only enable this "
                          "option is parking the dome at any time will not cause damage to any "
                          "equipment.");
            else
                DEBUG(Logger::DBG_SESSION, "Auto park is disabled.");
 
            IDSetSwitch(&AutoParkSP, nullptr);
 
            return true;
        }
#endif
        // Telescope Parking Policy
        else if (MountPolicySP.isNameMatch(name))
        {
            MountPolicySP.update(states, names, n);
            MountPolicySP.setState(IPS_OK);
            if (MountPolicySP[MOUNT_IGNORED].getState() == ISS_ON)
                LOG_INFO("Mount Policy set to: Mount ignored. Dome can park regardless of mount parking state.");
            else
                LOG_WARN("Mount Policy set to: Mount locks. This prevents the dome from parking when mount is unparked.");
            MountPolicySP.apply();
            saveConfig(MountPolicySP);
            triggerSnoop(ActiveDeviceTP[0].getText(), "TELESCOPE_PARK");
            return true;
        }
        // Shutter Parking Policy
        else if (ShutterParkPolicySP.isNameMatch(name))
        {
            ShutterParkPolicySP.update(states, names, n);
            ShutterParkPolicySP.setState(IPS_OK);
            ShutterParkPolicySP.apply();
            saveConfig(ShutterParkPolicySP);
            return true;
        }
        // Backlash enable/disable
        else if (DomeBacklashSP.isNameMatch(name))
        {
            auto prevIndex = DomeBacklashSP.findOnSwitchIndex();
            DomeBacklashSP.update(states, names, n);
            auto enabled = DomeBacklashSP.findOnSwitchIndex() == INDI_ENABLED;
 
            if (SetBacklashEnabled(enabled))
            {
                DomeBacklashSP.update(states, names, n);
                DomeBacklashSP.setState(IPS_OK);
                LOGF_INFO("Dome backlash is %s.", (enabled ? "enabled" : "disabled"));
            }
            else
            {
                DomeBacklashSP.reset();
                DomeBacklashSP[prevIndex].setState(ISS_ON);
                DomeBacklashSP.setState(IPS_ALERT);
                LOG_ERROR("Failed to set trigger Dome backlash.");
            }
 
            DomeBacklashSP.apply();
            saveConfig(DomeBacklashSP);
            return true;
        }
    }
 
    controller->ISNewSwitch(dev, name, states, names, n);
 
    //  Nobody has claimed this, so, ignore it
    return DefaultDevice::ISNewSwitch(dev, name, states, names, n);
}
 
bool Dome::ISNewText(const char * dev, const char * name, char * texts[], char * names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        if (ActiveDeviceTP.isNameMatch(name))
        {
            ActiveDeviceTP.setState(IPS_OK);
            ActiveDeviceTP.update(texts, names, n);
            ActiveDeviceTP.apply();
 
            auto mount = ActiveDeviceTP[ACTIVE_MOUNT].getText();
            IDSnoopDevice(mount, "EQUATORIAL_EOD_COORD");
            IDSnoopDevice(mount, "TARGET_EOD_COORD");
            IDSnoopDevice(mount, "GEOGRAPHIC_COORD");
            IDSnoopDevice(mount, "TELESCOPE_PARK");
            if (CanAbsMove())
                IDSnoopDevice(mount, "TELESCOPE_PIER_SIDE");
 
            saveConfig(ActiveDeviceTP);
            ActiveDevicesUpdated();
            return true;
        }
    }
 
    controller->ISNewText(dev, name, texts, names, n);
 
    return DefaultDevice::ISNewText(dev, name, texts, names, n);
}
 
bool Dome::ISSnoopDevice(XMLEle * root)
{
    XMLEle * ep           = nullptr;
    const char * propName = findXMLAttValu(root, "name");
    auto deviceName = std::string(findXMLAttValu(root, "device"));
 
    // Check TARGET
    if (!strcmp("TARGET_EOD_COORD", propName) && deviceName == ActiveDeviceTP[ACTIVE_MOUNT].getText())
    {
        int rc_ra = -1, rc_de = -1;
        double ra = std::numeric_limits<double>::quiet_NaN(), de = std::numeric_limits<double>::quiet_NaN();
 
        for (ep = nextXMLEle(root, 1); ep != nullptr; ep = nextXMLEle(root, 0))
        {
            const char * elemName = findXMLAttValu(ep, "name");
 
            LOGF_DEBUG("Snooped Target RA-DEC: %s", pcdataXMLEle(ep));
            if (!strcmp(elemName, "RA"))
                rc_ra = f_scansexa(pcdataXMLEle(ep), &ra);
            else if (!strcmp(elemName, "DEC"))
                rc_de = f_scansexa(pcdataXMLEle(ep), &de);
        }
        //  Dont start moving the dome till the mount has initialized all the variables
        if (HaveRaDec && CanAbsMove())
        {
            if (rc_ra == 0 && rc_de == 0 && !std::isnan(ra) && !std::isnan(de))
            {
                // Ignore empty/uninitialized target coordinates (e.g. default RA=0, DEC=0 broadcast on startup
                // before any actual GOTO has been commanded). Without this guard the dome would spuriously
                // slew to the position corresponding to RA=0/DEC=0 and then have to correct itself once the
                // real mount coordinates arrive, mirroring the same protection already present in the
                // EQUATORIAL_EOD_COORD handler.
                if (ra == 0 && de == 0)
                    return true;
 
                //  everything parsed ok, so lets start the dome to moving
                //  If this slew involves a meridian flip, then the slaving calcs will end up using
                //  the wrong OTA side.  Lets set things up so our slaving code will calculate the side
                //  for the target slew instead of using mount pier side info
                //  and see if we can get there at the same time as the mount
                // TODO: see what happens in a meridian flip with OTASide
                mountEquatorialCoords.rightascension  = ra;
                mountEquatorialCoords.declination = de;
                LOGF_DEBUG("Calling Update mount to anticipate goto target: %g - DEC: %g",
                           mountEquatorialCoords.rightascension, mountEquatorialCoords.declination);
                UseHourAngle = true;
                UpdateMountCoords();
                UseHourAngle = false;
            }
        }
 
        return true;
    }
    // Check EOD
    if (!strcmp("EQUATORIAL_EOD_COORD", propName) && deviceName == ActiveDeviceTP[ACTIVE_MOUNT].getText())
    {
        int rc_ra = -1, rc_de = -1;
        double ra = std::numeric_limits<double>::quiet_NaN(), de = std::numeric_limits<double>::quiet_NaN();
 
        for (ep = nextXMLEle(root, 1); ep != nullptr; ep = nextXMLEle(root, 0))
        {
            const char * elemName = findXMLAttValu(ep, "name");
 
            if (!strcmp(elemName, "RA"))
                rc_ra = f_scansexa(pcdataXMLEle(ep), &ra);
            else if (!strcmp(elemName, "DEC"))
                rc_de = f_scansexa(pcdataXMLEle(ep), &de);
        }
 
        if (rc_ra == 0 && rc_de == 0 && !std::isnan(ra) && !std::isnan(de))
        {
            // Do not spam log
            if (std::fabs(mountEquatorialCoords.rightascension - ra) > 0.01
                    || std::fabs(mountEquatorialCoords.declination - de) > 0.01)
            {
                // Ignore empty coords.
                if (ra == 0 && de == 0)
                    return true;
 
                char RAStr[64] = {0}, DEStr[64] = {0};
                fs_sexa(RAStr, ra, 2, 3600);
                fs_sexa(DEStr, de, 2, 3600);
 
                LOGF_DEBUG("Snooped RA %s DEC %s", RAStr, DEStr);
            }
 
            mountEquatorialCoords.rightascension  = ra;
            mountEquatorialCoords.declination = de;
        }
 
        m_MountState = IPS_ALERT;
        crackIPState(findXMLAttValu(root, "state"), &m_MountState);
 
        // If the diff > 0.1 then the mount is in motion, so let's wait until it settles before moving the doom
        if (fabs(mountEquatorialCoords.rightascension - prev_ra) > DOME_COORD_THRESHOLD ||
                fabs(mountEquatorialCoords.declination - prev_dec) > DOME_COORD_THRESHOLD)
        {
            prev_ra  = mountEquatorialCoords.rightascension;
            prev_dec = mountEquatorialCoords.declination;
            //LOGF_DEBUG("Snooped RA: %g - DEC: %g", mountEquatorialCoords.rightascension, mountEquatorialCoords.declination);
            //  a mount still initializing will emit 0 and 0 on the first go
            //  we dont want to process 0/0
            if ((mountEquatorialCoords.rightascension != 0) || (mountEquatorialCoords.declination != 0))
                HaveRaDec = true;
        }
        // else mount stable, i.e. tracking, so let's update mount coords and check if we need to move
        else if (m_MountState == IPS_OK || m_MountState == IPS_IDLE)
            UpdateMountCoords();
 
        return true;
    }
 
    // Check Geographic coords
    if (!strcmp("GEOGRAPHIC_COORD", propName) && deviceName == ActiveDeviceTP[ACTIVE_MOUNT].getText())
    {
        for (ep = nextXMLEle(root, 1); ep != nullptr; ep = nextXMLEle(root, 0))
        {
            const char * elemName = findXMLAttValu(ep, "name");
            if (!strcmp(elemName, "LONG"))
            {
                double indiLong;
                f_scansexa(pcdataXMLEle(ep), &indiLong);
                if (indiLong > 180)
                    indiLong -= 360;
                observer.longitude = indiLong;
                HaveLatLong  = true;
            }
            else if (!strcmp(elemName, "LAT"))
                f_scansexa(pcdataXMLEle(ep), &(observer.latitude));
        }
 
        LOGF_DEBUG("Snooped LONG: %g - LAT: %g", observer.longitude, observer.latitude);
 
        UpdateMountCoords();
 
        return true;
    }
 
    // Check Telescope Park status
    if (!strcmp("TELESCOPE_PARK", propName) && deviceName == ActiveDeviceTP[ACTIVE_MOUNT].getText())
    {
        if (!strcmp(findXMLAttValu(root, "state"), "Ok"))
        {
            bool prevState = IsLocked;
            for (ep = nextXMLEle(root, 1); ep != nullptr; ep = nextXMLEle(root, 0))
            {
                const char * elemName = findXMLAttValu(ep, "name");
 
                if ((!strcmp(elemName, "PARK") && !strcmp(pcdataXMLEle(ep), "On")))
                    IsMountParked = true;
                else if ((!strcmp(elemName, "UNPARK") && !strcmp(pcdataXMLEle(ep), "On")))
                    IsMountParked = false;
 
                if (IsLocked && !strcmp(elemName, "PARK") && !strcmp(pcdataXMLEle(ep), "On"))
                    IsLocked = false;
                else if (!IsLocked && !strcmp(elemName, "UNPARK") && !strcmp(pcdataXMLEle(ep), "On"))
                    IsLocked = true;
            }
            if (prevState != IsLocked && MountPolicySP[1].getState() == ISS_ON)
                LOGF_INFO("Telescope status changed. Lock is set to: %s", IsLocked ? "locked" : "unlocked");
        }
        return true;
    }
 
    // Weather Status
    // JM 2020-07-16: Weather handling moved to Watchdog driver
#if 0
    if (!strcmp("WEATHER_STATUS", propName))
    {
        weatherState = IPS_ALERT;
        crackIPState(findXMLAttValu(root, "state"), &weatherState);
 
        if (weatherState == IPS_ALERT)
        {
            if (CanPark())
            {
                if (!isParked())
                {
                    if (AutoParkS[0].s == ISS_ON)
                    {
                        LOG_WARN("Weather conditions in the danger zone! Parking dome...");
                        Dome::Park();
                    }
                    else
                    {
                        LOG_WARN("Weather conditions in the danger zone! AutoPark is disabled. Please park the dome!");
                    }
                }
            }
            else
                LOG_WARN("Weather conditions in the danger zone! Close the dome immediately!");
 
            return true;
        }
    }
#endif
    if (!strcmp("TELESCOPE_PIER_SIDE", propName) && deviceName == ActiveDeviceTP[ACTIVE_MOUNT].getText())
    {
        //  crack the message
        for (ep = nextXMLEle(root, 1); ep != nullptr; ep = nextXMLEle(root, 0))
        {
            const char * elemName = findXMLAttValu(ep, "name");
 
            if (!strcmp(elemName, "PIER_EAST") && !strcmp(pcdataXMLEle(ep), "On"))
                mountOTASide = -1;
            else if (!strcmp(elemName, "PIER_WEST") && !strcmp(pcdataXMLEle(ep), "On"))
                mountOTASide = 1;
        }
 
        return true;
    }
 
    controller->ISSnoopDevice(root);
 
    return DefaultDevice::ISSnoopDevice(root);
}
 
bool Dome::SetBacklash(int32_t steps)
{
    INDI_UNUSED(steps);
    LOG_ERROR("Dome does not support backlash compensation.");
    return false;
}
 
bool Dome::SetBacklashEnabled(bool enabled)
{
    // If disabled, set the Domeer backlash to zero.
    if (enabled)
        return SetBacklash(static_cast<int32_t>(DomeBacklashNP[0].getValue()));
    else
        return SetBacklash(0);
}
 
bool Dome::saveConfigItems(FILE * fp)
{
    DefaultDevice::saveConfigItems(fp);
 
    ActiveDeviceTP.save(fp);
    MountPolicySP.save(fp);
    PresetNP.save(fp);
    DomeParamNP.save(fp);
    DomeMeasurementsNP.save(fp);
    DomeAutoSyncSP.save(fp);
    OTASideSP.save(fp);
 
    if (HasBacklash())
    {
        DomeBacklashSP.save(fp);
        DomeBacklashNP.save(fp);
    }
 
    if (HasShutter())
    {
        ShutterParkPolicySP.save(fp);
    }
 
    controller->saveConfigItems(fp);
 
    return true;
}
 
void Dome::triggerSnoop(const char * driverName, const char * snoopedProp)
{
    LOGF_DEBUG("Active Snoop, driver: %s, property: %s", driverName, snoopedProp);
    IDSnoopDevice(driverName, snoopedProp);
}
 
bool Dome::isLocked()
{
    return MountPolicySP[1].getState() == ISS_ON && IsLocked;
}
 
void Dome::buttonHelper(const char * button_n, ISState state, void * context)
{
    static_cast<Dome *>(context)->processButton(button_n, state);
}
 
void Dome::processButton(const char * button_n, ISState state)
{
    //ignore OFF
    if (state == ISS_OFF)
        return;
 
    // Dome In
    if (!strcmp(button_n, "Dome CW"))
    {
        if (DomeMotionSP.getState() != IPS_BUSY)
            Dome::Move(DOME_CW, MOTION_START);
        else
            Dome::Move(DOME_CW, MOTION_STOP);
    }
    else if (!strcmp(button_n, "Dome CCW"))
    {
        if (DomeMotionSP.getState() != IPS_BUSY)
            Dome::Move(DOME_CCW, MOTION_START);
        else
            Dome::Move(DOME_CCW, MOTION_STOP);
    }
    else if (!strcmp(button_n, "Dome Abort"))
    {
        Dome::Abort();
    }
}
 
IPState Dome::getMountState() const
{
    return m_MountState;
}
 
void Dome::setShutterState(const Dome::ShutterState &value)
{
    switch (value)
    {
        case SHUTTER_OPENED:
            DomeShutterSP.reset();
            DomeShutterSP[SHUTTER_OPEN].setState(ISS_ON);
            DomeShutterSP.setState(IPS_OK);
            break;
 
        case SHUTTER_CLOSED:
            DomeShutterSP.reset();
            DomeShutterSP[SHUTTER_CLOSE].setState(ISS_ON);
            DomeShutterSP.setState(IPS_OK);
            break;
 
 
        case SHUTTER_MOVING:
            DomeShutterSP.setState(IPS_BUSY);
            break;
 
        case SHUTTER_ERROR:
            DomeShutterSP.setState(IPS_ALERT);
            LOG_WARN("Shutter failure.");
            break;
 
        case SHUTTER_UNKNOWN:
            DomeShutterSP.reset();
            DomeShutterSP.setState(IPS_IDLE);
            LOG_WARN("Unknown shutter status.");
            break;
    }
 
    DomeShutterSP.apply();
    m_ShutterState = value;
}
 
void Dome::setDomeState(const Dome::DomeState &value)
{
    switch (value)
    {
        case DOME_IDLE:
            if (DomeMotionSP.getState() == IPS_BUSY)
            {
                DomeMotionSP.reset();
                DomeMotionSP.setState(IPS_IDLE);
                DomeMotionSP.apply();
            }
            if (DomeAbsPosNP.getState() == IPS_BUSY)
            {
                DomeAbsPosNP.setState(IPS_IDLE);
                DomeAbsPosNP.apply();
            }
            if (DomeRelPosNP.getState() == IPS_BUSY)
            {
                DomeRelPosNP.setState(IPS_IDLE);
                DomeRelPosNP.apply();
            }
            break;
 
        case DOME_SYNCED:
            if (DomeMotionSP.getState() == IPS_BUSY)
            {
                DomeMotionSP.reset();
                DomeMotionSP.setState(IPS_OK);
                DomeMotionSP.apply();
            }
            if (DomeAbsPosNP.getState() == IPS_BUSY)
            {
                DomeAbsPosNP.setState(IPS_OK);
                DomeAbsPosNP.apply();
            }
            if (DomeRelPosNP.getState() == IPS_BUSY)
            {
                DomeRelPosNP.setState(IPS_OK);
                DomeRelPosNP.apply();
            }
            break;
 
        case DOME_PARKED:
            if (DomeMotionSP.getState() == IPS_BUSY)
            {
                DomeMotionSP.reset();
                DomeMotionSP.setState(IPS_IDLE);
                DomeMotionSP.apply();
            }
            if (DomeAbsPosNP.getState() == IPS_BUSY)
            {
                DomeAbsPosNP.setState(IPS_IDLE);
                DomeAbsPosNP.apply();
            }
            if (DomeRelPosNP.getState() == IPS_BUSY)
            {
                DomeRelPosNP.setState(IPS_IDLE);
                DomeRelPosNP.apply();
            }
            ParkSP.reset();
            ParkSP.setState(IPS_OK);
            ParkSP[0].setState(ISS_ON);
            ParkSP.apply();
            IsParked = true;
            break;
 
        case DOME_PARKING:
            ParkSP.reset();
            ParkSP.setState(IPS_BUSY);
            ParkSP[0].setState(ISS_ON);
            ParkSP.apply();
            break;
 
        case DOME_UNPARKING:
            ParkSP.reset();
            ParkSP.setState(IPS_BUSY);
            ParkSP[1].setState(ISS_ON);
            ParkSP.apply();
            break;
 
        case DOME_UNPARKED:
            ParkSP.reset();
            ParkSP.setState(IPS_OK);
            ParkSP[1].setState(ISS_ON);
            ParkSP.apply();
            IsParked = false;
            break;
 
        case DOME_UNKNOWN:
            ParkSP.reset();
            ParkSP.setState(IPS_IDLE);
            IsParked = false;
            ParkSP.apply();
            break;
 
        case DOME_ERROR:
            ParkSP.setState(IPS_ALERT);
            ParkSP.apply();
            break;
 
        case DOME_MOVING:
            break;
    }
 
    m_DomeState = value;
}
 
bool Dome::GetTargetAz(double &Az, double &Alt, double &minAz, double &maxAz)
{
    point3D MountCenter, OptCenter, OptVector, DomeIntersect;
    double hourAngle;
    double mu1, mu2;
 
    if (HaveLatLong == false)
    {
        triggerSnoop(ActiveDeviceTP[0].getText(), "GEOGRAPHIC_COORD");
        LOG_WARN( "Geographic coordinates are not yet defined, triggering snoop...");
        return false;
    }
 
    double JD  = ln_get_julian_from_sys();
    double LST = get_local_sidereal_time(observer.longitude);
    char lstStr[64], latStr[64], lonStr[64];
    fs_sexa(lstStr, LST, 2, 3600);
    fs_sexa(latStr, observer.latitude, 2, 3600);
    fs_sexa(lonStr, observer.longitude, 2, 3600);
 
    // Condensed Initial Coords Log
    LOGF_DEBUG("Coords - LST: %s, Lat: %s, Lon: %s", lstStr, latStr, lonStr);
 
    MountCenter.x = DomeMeasurementsNP[DM_EAST_DISPLACEMENT].getValue(); // Positive to East
    MountCenter.y = DomeMeasurementsNP[DM_NORTH_DISPLACEMENT].getValue();  // Positive to North
    MountCenter.z = DomeMeasurementsNP[DM_UP_DISPLACEMENT].getValue();    // Positive Up
 
    // Get hour angle in hours
    hourAngle = get_local_hour_angle(LST, mountEquatorialCoords.rightascension);
    char raStr[64], decStr[64], haStr[64];
    fs_sexa(raStr, mountEquatorialCoords.rightascension, 2, 3600);
    fs_sexa(decStr, mountEquatorialCoords.declination, 2, 3600);
    fs_sexa(haStr, hourAngle, 2, 3600);
 
    // To be sure mountHoriztonalCoords is up to date before potentially using it.
    EquatorialToHorizontal(&mountEquatorialCoords, &observer, JD, &mountHoriztonalCoords);
    char mountAzStr[64], mountAltStr[64];
    fs_sexa(mountAzStr, mountHoriztonalCoords.azimuth, 2, 3600);
    fs_sexa(mountAltStr, mountHoriztonalCoords.altitude, 2, 3600);
 
    // Condensed Mount Coords Log
    LOGF_DEBUG("Mount - RA: %s, Dec: %s, HA: %s --> Az: %s, Alt: %s", raStr, decStr, haStr, mountAzStr, mountAltStr);
 
    // Near the celestial pole, HA calculated from RA can be unreliable for determining pier side.
    // Use Azimuth to infer a more reliable effective HA for the OpticalCenter calculation.
    double effectiveHourAngle = hourAngle; // Use original HA by default
    const double poleThresholdDec = 89.0; // Degrees
    bool nearPole = std::abs(mountEquatorialCoords.declination) > poleThresholdDec;
 
    // Define a threshold for azimuth deviation when near the pole
    const double POLE_AZIMUTH_DEVIATION_THRESHOLD = 30.0; // Degrees
 
    // Lambda function to perform the core calculations
    auto performCalculations = [&](double currentEffectiveHourAngle)
    {
        // Side of the telescope with respect of the mount, 1: west, -1: east, 0: use the mid point
        int OTASide = 0;
        int otaSideSelection = OTASideSP.findOnSwitchIndex(); // Get selected mode
 
        if (OTASideSP.getState() == IPS_OK)
        {
            if(otaSideSelection == DM_OTA_SIDE_HA || (UseHourAngle && otaSideSelection == DM_OTA_SIDE_MOUNT))
            {
                // Note if the telescope points West (HA > 0), OTA is at east of the pier, and vice-versa.
                double haForSide = nearPole ? currentEffectiveHourAngle : hourAngle; // Use effective HA near pole
 
                // Determine side based on HA. HA=0 means pointing East (OTA West), HA=12 means pointing West (OTA East)
                if (haForSide > 0.1 && haForSide < 11.9) // Pointing West
                    OTASide = -1; // OTA East
                else // Pointing East (HA near 0 or 12)
                    OTASide = 1; // OTA West
            }
            else if(otaSideSelection == DM_OTA_SIDE_EAST)
                OTASide = -1;
            else if(otaSideSelection == DM_OTA_SIDE_WEST)
                OTASide = 1;
            else if(otaSideSelection == DM_OTA_SIDE_MOUNT)
                OTASide = mountOTASide;
            // DM_OTA_SIDE_IGNORE results in OTASide = 0
        }
 
        double otaOffset = OTASide * DomeMeasurementsNP[DM_OTA_OFFSET].getValue();
        OpticalCenter(MountCenter, otaOffset, observer.latitude, currentEffectiveHourAngle, OptCenter);
 
        // Get optical axis point. This and the previous form the optical axis line
        OpticalVector(mountHoriztonalCoords.azimuth, mountHoriztonalCoords.altitude, OptVector);
 
        // Condensed Geometry Log
        char effHaStr[64];
        fs_sexa(effHaStr, currentEffectiveHourAngle, 2, 3600);
        LOGF_DEBUG("Geom - Mount(E:%.2f,N:%.2f,Up:%.2f) OTA(SideSel:%d, SideUsed:%d, Off:%.2f, EffHA:%s) -> OptCenter(X:%.3f,Y:%.3f,Z:%.3f) OptVec(X:%.3f,Y:%.3f,Z:%.3f)",
                   MountCenter.x, MountCenter.y, MountCenter.z,
                   otaSideSelection, OTASide, DomeMeasurementsNP[DM_OTA_OFFSET].getValue(), effHaStr,
                   OptCenter.x, OptCenter.y, OptCenter.z,
                   OptVector.x, OptVector.y, OptVector.z);
 
        if (Intersection(OptCenter, OptVector, DomeMeasurementsNP[DM_DOME_RADIUS].getValue(), mu1, mu2))
        {
            // If telescope is pointing over the horizon, the solution is mu1, else is mu2
            if (mu1 < 0)
            {
                LOGF_DEBUG("Intersection mu1 < 0, using mu2 (%.3f)", mu2); // Less critical
                mu1 = mu2;
            }
 
            DomeIntersect.x = OptCenter.x + mu1 * (OptVector.x );
            DomeIntersect.y = OptCenter.y + mu1 * (OptVector.y );
            DomeIntersect.z = OptCenter.z + mu1 * (OptVector.z );
            LOGF_DEBUG("Intersection - Point(X:%.3f, Y:%.3f, Z:%.3f) Dist: %.3f", DomeIntersect.x, DomeIntersect.y, DomeIntersect.z,
                       mu1);
 
            // Calculate Azimuth using atan2(x, y) for robustness.
            Az = atan2(DomeIntersect.x, DomeIntersect.y) * 180.0 / M_PI;
 
            // Normalize Az to [0, 360) range
            if (Az < 0)
            {
                Az += 360.0;
            }
            if (Az >= 360.0)
            {
                Az = 0.0;
            }
 
            if ((std::abs(DomeIntersect.x) > 0.00001) || (std::abs(DomeIntersect.y) > 0.00001))
                Alt = 180 * atan(DomeIntersect.z / sqrt((DomeIntersect.x * DomeIntersect.x) + (DomeIntersect.y * DomeIntersect.y))) /  M_PI;
            else
                Alt = 90; // Dome Zenith
 
            double RadiusAtAlt = DomeMeasurementsNP[DM_DOME_RADIUS].getValue() * cos(M_PI * Alt / 180);
 
            if (DomeMeasurementsNP[DM_SHUTTER_WIDTH].getValue() < (2 * RadiusAtAlt))
            {
                double HalfApertureChordAngle = 180 * asin(DomeMeasurementsNP[DM_SHUTTER_WIDTH].getValue() / (2 * RadiusAtAlt)) / M_PI;
                minAz = range360(Az - HalfApertureChordAngle);
                maxAz = range360(Az + HalfApertureChordAngle);
            }
            else
            {
                minAz = 0;
                maxAz = 360;
            }
            return true;
        }
        return false;
    };
 
    // Initial calculation attempt
    bool success = performCalculations(effectiveHourAngle);
 
    // If near pole and initial calculation deviates significantly, try the other effectiveHourAngle
    if (nearPole && success)
    {
        double initialAz = Az;
        double diff = std::abs(initialAz - mountHoriztonalCoords.azimuth);
        if (diff > 180.0) // Handle wrap-around for angular difference
            diff = 360.0 - diff;
 
        if (diff > POLE_AZIMUTH_DEVIATION_THRESHOLD)
        {
            LOGF_DEBUG("Near pole, initial Az (%.2f) deviates from mount Az (%.2f) by %.2f degrees. Attempting alternative effectiveHourAngle.",
                       initialAz, mountHoriztonalCoords.azimuth, diff);
 
            // Flip effectiveHourAngle
            effectiveHourAngle = (effectiveHourAngle == 0.0) ? 12.0 : 0.0;
            success = performCalculations(effectiveHourAngle);
 
            if (success)
            {
                LOGF_DEBUG("Re-calculated Az (%.2f) with alternative effectiveHourAngle (%.2f).", Az, effectiveHourAngle);
            }
            else
            {
                LOG_WARN("Re-calculation with alternative effectiveHourAngle failed.");
            }
        }
    }
 
    if (success)
    {
        // Final Condensed Log
        char currentAzStr[64], targetAzStr[64], targetAltStr[64], minAzStr[64], maxAzStr[64];
        fs_sexa(currentAzStr, DomeAbsPosNP[0].getValue(), 2, 3600);
        fs_sexa(targetAzStr, Az, 2, 3600);
        fs_sexa(targetAltStr, Alt, 2, 3600);
        fs_sexa(minAzStr, minAz, 2, 3600);
        fs_sexa(maxAzStr, maxAz, 2, 3600);
        LOGF_DEBUG("Result - Current Az:%s , Target Az: %s, Alt: %s --> Range Min: %s, Max: %s", currentAzStr, targetAzStr,
                   targetAltStr, minAzStr, maxAzStr);
        return true;
    }
    else
    {
        LOG_WARN("Optical axis does not intersect dome sphere.");
        return false;
    }
}
 
bool Dome::Intersection(point3D p1, point3D dp, double r, double &mu1, double &mu2)
{
    double a, b, c;
    double bb4ac;
 
    a     = dp.x * dp.x + dp.y * dp.y + dp.z * dp.z;
    b     = 2 * (dp.x * p1.x + dp.y * p1.y + dp.z * p1.z);
    c     = 0.0;
    c     = c + p1.x * p1.x + p1.y * p1.y + p1.z * p1.z;
    c     = c - r * r;
    bb4ac = b * b - 4 * a * c;
    if ((fabs(a) < 0.0000001) || (bb4ac < 0))
    {
        mu1 = 0;
        mu2 = 0;
        return false;
    }
 
    mu1 = (-b + sqrt(bb4ac)) / (2 * a);
    mu2 = (-b - sqrt(bb4ac)) / (2 * a);
 
    return true;
}
 
bool Dome::OpticalCenter(point3D MountCenter, double dOpticalAxis, double Lat, double Ah, point3D &OP)
{
    double q, f;
    double cosf, sinf, cosq, sinq;
 
    // Note: this transformation is a circle rotated around X axis -(90 - Lat) degrees
    q = M_PI * (90 - Lat) / 180;
    f = -M_PI * (180 + Ah * 15) / 180;
 
    cosf = cos(f);
    sinf = sin(f);
    cosq = cos(q);
    sinq = sin(q);
 
    // The sign of dOpticalAxis determines de side of the tube
    OP.x = (dOpticalAxis * cosf + MountCenter.x);
    OP.y = (dOpticalAxis * sinf * cosq + MountCenter.y);
    OP.z = (dOpticalAxis * sinf * sinq + MountCenter.z);
 
    return true;
}
 
bool Dome::OpticalVector(double Az, double Alt, point3D &OV)
{
    double q, f;
 
    q    = M_PI * Alt / 180;
    f    = M_PI * Az / 180;
    OV.x = cos(q) * sin(f);
    OV.y = cos(q) * cos(f);
    OV.z = sin(q);
 
    return true;
}
 
double Dome::Csc(double x)
{
    return 1.0 / sin(x);
}
 
double Dome::Sec(double x)
{
    return 1.0 / cos(x);
}
 
bool Dome::CheckHorizon(double HA, double dec, double lat)
{
    double sinh_value;
 
    sinh_value = cos(lat) * cos(HA) * cos(dec) + sin(lat) * sin(dec);
 
    if (sinh_value >= 0.0)
        return true;
 
    return false;
}
 
void Dome::UpdateMountCoords()
{
    // If not initialized yet, return.
    if (mountEquatorialCoords.rightascension == -1)
        return;
 
    //  Dont do this if we haven't had co-ordinates from the mount yet
    if (!HaveLatLong)
        return;
    if (!HaveRaDec)
        return;
 
    EquatorialToHorizontal(&mountEquatorialCoords, &observer, ln_get_julian_from_sys(), &mountHoriztonalCoords);
 
    // Control debug flooding
    if (fabs(mountHoriztonalCoords.azimuth - prev_az) > DOME_COORD_THRESHOLD ||
            fabs(mountHoriztonalCoords.altitude - prev_alt) > DOME_COORD_THRESHOLD)
    {
        prev_az  = mountHoriztonalCoords.azimuth;
        prev_alt = mountHoriztonalCoords.altitude;
        LOGF_DEBUG("Updated telescope Az: %g - Alt: %g", prev_az, prev_alt);
    }
 
    // Check if we need to move if mount is unparked.
    if (IsMountParked == false)
        UpdateAutoSync();
}
 
void Dome::UpdateAutoSync()
{
    if ((m_MountState == IPS_OK || m_MountState == IPS_IDLE) && DomeAbsPosNP.getState() != IPS_BUSY
            && DomeAutoSyncSP[0].getState() == ISS_ON)
    {
        if (CanPark())
        {
            if (isParked() == true)
            {
                if (AutoSyncWarning == false)
                {
                    LOG_WARN("Cannot perform autosync with dome parked. Please unpark to enable autosync operation.");
                    AutoSyncWarning = true;
                }
                return;
            }
        }
 
        AutoSyncWarning = false;
        double targetAz = 0, targetAlt = 0, minAz = 0, maxAz = 0;
        bool res;
        res = GetTargetAz(targetAz, targetAlt, minAz, maxAz);
        if (!res)
        {
            LOGF_DEBUG("GetTargetAz failed %g", targetAz);
            return;
        }
 
        double diff = std::abs(targetAz - DomeAbsPosNP[0].getValue());
        if (diff > 180.0)
            diff = 360.0 - diff;
        if (diff > DomeParamNP[0].getValue())
        {
            IPState ret = Dome::MoveAbs(targetAz);
            if (ret == IPS_OK)
                LOGF_DEBUG("Dome synced to position %.2f degrees.", targetAz);
            else if (ret == IPS_BUSY)
                LOGF_DEBUG("Dome is syncing to position %.2f degrees...", targetAz);
            else
                LOG_ERROR("Dome failed to sync to new requested position.");
 
            DomeAbsPosNP.setState(ret);
            DomeAbsPosNP.apply();
        }
    }
}
 
void Dome::SetDomeCapability(uint32_t cap)
{
    capability = cap;
 
    if (CanAbort())
        controller->mapController("Dome Abort", "Dome Abort", Controller::CONTROLLER_BUTTON, "BUTTON_3");
}
 
const char * Dome::GetShutterStatusString(ShutterState status)
{
    switch (status)
    {
        case SHUTTER_OPENED:
            return "Shutter is open.";
        case SHUTTER_CLOSED:
            return "Shutter is closed.";
        case SHUTTER_MOVING:
            return "Shutter is moving.";
        case SHUTTER_ERROR:
            return "Shutter has errors.";
        case SHUTTER_UNKNOWN:
        default:
            return "Shutter status is unknown.";
    }
}
 
void Dome::SetParkDataType(Dome::DomeParkData type)
{
    parkDataType = type;
 
    switch (parkDataType)
    {
        case PARK_NONE:
            DomeMotionSP[DOME_CW].setLabel("Open");
            DomeMotionSP[DOME_CCW].setLabel("Close");
            break;
 
        case PARK_AZ:
            ParkPositionNP[AXIS_AZ].fill("PARK_AZ", "AZ D:M:S", "%10.6m", 0.0, 360.0, 0.0, 0);
            ParkPositionNP.fill(getDeviceName(), "DOME_PARK_POSITION", "Park Position", SITE_TAB, IP_RW, 60, IPS_IDLE);
            break;
 
        case PARK_AZ_ENCODER:
            ParkPositionNP[AXIS_AZ].fill("PARK_AZ", "AZ Encoder", "%.0f", 0, 16777215, 1, 0);
            ParkPositionNP.fill(getDeviceName(), "DOME_PARK_POSITION", "Park Position", SITE_TAB, IP_RW, 60, IPS_IDLE);
            break;
 
        default:
            break;
    }
}
 
void Dome::SyncParkStatus(bool isparked)
{
    IsParked = isparked;
 
    setDomeState(DOME_IDLE);
 
    if (IsParked)
    {
        setDomeState(DOME_PARKED);
        LOG_INFO("Dome is parked.");
    }
    else
    {
        setDomeState(DOME_UNPARKED);
        LOG_INFO("Dome is unparked.");
    }
}
 
void Dome::SetParked(bool isparked)
{
    SyncParkStatus(isparked);
    WriteParkData();
}
 
bool Dome::isParked()
{
    return IsParked;
}
 
bool Dome::InitPark()
{
    const char * loadres = LoadParkData();
    if (loadres)
    {
        LOGF_INFO("InitPark: No Park data in file %s: %s", ParkDataFileName.c_str(), loadres);
        SyncParkStatus(false);
        return false;
    }
 
    SyncParkStatus(isParked());
 
    if (parkDataType != PARK_NONE)
    {
        LOGF_DEBUG("InitPark Axis1 %.2f", Axis1ParkPosition);
        ParkPositionNP[AXIS_AZ].setValue(Axis1ParkPosition);
        ParkPositionNP.apply();
 
        // If parked, store the position as current azimuth angle or encoder ticks
        if (isParked() && CanAbsMove())
        {
            DomeAbsPosNP[0].setValue(ParkPositionNP[AXIS_AZ].getValue());
            DomeAbsPosNP.apply();
        }
    }
 
    return true;
}
 
const char * Dome::LoadParkXML()
{
    wordexp_t wexp;
    FILE * fp;
    LilXML * lp;
    static char errmsg[XML_ERROR_SIZE];
 
    XMLEle * parkxml;
    XMLAtt * ap;
    bool devicefound = false;
 
    ParkDeviceName       = getDeviceName();
    ParkstatusXml        = nullptr;
    ParkdeviceXml        = nullptr;
    ParkpositionXml      = nullptr;
    ParkpositionAxis1Xml = nullptr;
 
    if (wordexp(ParkDataFileName.c_str(), &wexp, 0))
    {
        wordfree(&wexp);
        return "Badly formed filename.";
    }
 
    if (!(fp = fopen(wexp.we_wordv[0], "r")))
    {
        wordfree(&wexp);
        return strerror(errno);
    }
    wordfree(&wexp);
 
    lp = newLilXML();
 
    if (ParkdataXmlRoot)
        delXMLEle(ParkdataXmlRoot);
 
    ParkdataXmlRoot = readXMLFile(fp, lp, errmsg);
    fclose(fp);
 
    delLilXML(lp);
    if (!ParkdataXmlRoot)
        return errmsg;
 
    if (!strcmp(tagXMLEle(nextXMLEle(ParkdataXmlRoot, 1)), "parkdata"))
        return "Not a park data file";
 
    parkxml = nextXMLEle(ParkdataXmlRoot, 1);
 
    while (parkxml)
    {
        if (strcmp(tagXMLEle(parkxml), "device"))
        {
            parkxml = nextXMLEle(ParkdataXmlRoot, 0);
            continue;
        }
        ap = findXMLAtt(parkxml, "name");
        if (ap && (!strcmp(valuXMLAtt(ap), ParkDeviceName)))
        {
            devicefound = true;
            break;
        }
        parkxml = nextXMLEle(ParkdataXmlRoot, 0);
    }
 
    if (!devicefound)
        return "No park data found for this device";
 
    ParkdeviceXml        = parkxml;
    ParkstatusXml        = findXMLEle(parkxml, "parkstatus");
 
    if (parkDataType != PARK_NONE)
    {
        ParkpositionXml      = findXMLEle(parkxml, "parkposition");
        ParkpositionAxis1Xml = findXMLEle(ParkpositionXml, "axis1position");
 
        if (ParkpositionAxis1Xml == nullptr)
        {
            return "Park position invalid or missing.";
        }
    }
    else if (ParkstatusXml == nullptr)
        return "Park status invalid or missing.";
 
    return nullptr;
}
 
const char * Dome::LoadParkData()
{
    IsParked = false;
 
    const char * result = LoadParkXML();
    if (result != nullptr)
        return result;
 
    if (!strcmp(pcdataXMLEle(ParkstatusXml), "true"))
        IsParked = true;
 
    if (parkDataType == PARK_NONE)
        return nullptr;
 
    double axis1Pos = std::numeric_limits<double>::quiet_NaN();
 
    int rc = sscanf(pcdataXMLEle(ParkpositionAxis1Xml), "%lf", &axis1Pos);
    if (rc != 1)
    {
        return "Unable to parse Park Position Axis 1.";
    }
 
    if (std::isnan(axis1Pos) == false)
    {
        Axis1ParkPosition = axis1Pos;
        return nullptr;
    }
 
    return "Failed to parse Park Position.";
}
 
bool Dome::WriteParkData()
{
    // We need to refresh parking data in case other devices parking states were updated since we
    // read the data the first time.
    if (LoadParkXML() != nullptr)
        LOG_DEBUG("Failed to refresh parking data.");
 
    wordexp_t wexp;
    FILE * fp;
    char pcdata[30];
    ParkDeviceName = getDeviceName();
 
    if (wordexp(ParkDataFileName.c_str(), &wexp, 0))
    {
        wordfree(&wexp);
        LOGF_INFO("WriteParkData: can not write file %s: Badly formed filename.",
                  ParkDataFileName.c_str());
        return false;
    }
 
    if (!(fp = fopen(wexp.we_wordv[0], "w")))
    {
        wordfree(&wexp);
        LOGF_INFO("WriteParkData: can not write file %s: %s", ParkDataFileName.c_str(),
                  strerror(errno));
        return false;
    }
 
    if (!ParkdataXmlRoot)
        ParkdataXmlRoot = addXMLEle(nullptr, "parkdata");
 
    if (!ParkdeviceXml)
    {
        ParkdeviceXml = addXMLEle(ParkdataXmlRoot, "device");
        addXMLAtt(ParkdeviceXml, "name", ParkDeviceName);
    }
 
    if (!ParkstatusXml)
        ParkstatusXml = addXMLEle(ParkdeviceXml, "parkstatus");
    if (parkDataType != PARK_NONE)
    {
        if (!ParkpositionXml)
            ParkpositionXml = addXMLEle(ParkdeviceXml, "parkposition");
        if (!ParkpositionAxis1Xml)
            ParkpositionAxis1Xml = addXMLEle(ParkpositionXml, "axis1position");
    }
 
    editXMLEle(ParkstatusXml, (IsParked ? "true" : "false"));
 
    if (parkDataType != PARK_NONE)
    {
        snprintf(pcdata, sizeof(pcdata), "%lf", Axis1ParkPosition);
        editXMLEle(ParkpositionAxis1Xml, pcdata);
    }
 
    prXMLEle(fp, ParkdataXmlRoot, 0);
    fclose(fp);
    wordfree(&wexp);
 
    return true;
}
 
double Dome::GetAxis1Park()
{
    return Axis1ParkPosition;
}
 
double Dome::GetAxis1ParkDefault()
{
    return Axis1DefaultParkPosition;
}
 
void Dome::SetAxis1Park(double value)
{
    Axis1ParkPosition = value;
    ParkPositionNP[AXIS_RA].setValue(value);
    ParkPositionNP.apply();
}
 
void Dome::SetAxis1ParkDefault(double value)
{
    Axis1DefaultParkPosition = value;
}
 
IPState Dome::Move(DomeDirection dir, DomeMotionCommand operation)
{
    // Check if it is already parked.
    if (CanPark())
    {
        if (parkDataType != PARK_NONE && isParked())
        {
            LOG_WARN( "Please unpark the dome before issuing any motion commands.");
            return IPS_ALERT;
        }
    }
 
    if ((DomeMotionSP.getState() != IPS_BUSY && (DomeAbsPosNP.getState() == IPS_BUSY || DomeRelPosNP.getState() == IPS_BUSY)) ||
            (m_DomeState == DOME_PARKING))
    {
        LOG_WARN( "Please stop dome before issuing any further motion commands.");
        return IPS_ALERT;
    }
 
    auto current_direction = DomeMotionSP.findOnSwitchIndex();
 
    // if same move requested, return
    if (DomeMotionSP.getState() == IPS_BUSY && current_direction == dir && operation == MOTION_START)
        return IPS_BUSY;
 
    DomeMotionSP.setState(Move(dir, operation));
 
    if (DomeMotionSP.getState() == IPS_BUSY || DomeMotionSP.getState() == IPS_OK)
    {
        m_DomeState = (operation == MOTION_START) ? DOME_MOVING : DOME_IDLE;
        DomeMotionSP.reset();
        if (operation == MOTION_START)
            DomeMotionSP[dir].setState(ISS_ON);
    }
 
    DomeMotionSP.apply();
 
    return DomeMotionSP.getState();
}
 
IPState Dome::MoveRel(double azDiff)
{
    if (CanRelMove() == false)
    {
        LOG_ERROR( "Dome does not support relative motion.");
        return IPS_ALERT;
    }
 
    if (m_DomeState == DOME_PARKED)
    {
        LOG_ERROR( "Please unpark before issuing any motion commands.");
        DomeRelPosNP.setState(IPS_ALERT);
        DomeRelPosNP.apply();
        return IPS_ALERT;
    }
 
    if ((DomeRelPosNP.getState() != IPS_BUSY && DomeMotionSP.getState() == IPS_BUSY) || (m_DomeState == DOME_PARKING))
    {
        LOG_WARN( "Please stop dome before issuing any further motion commands.");
        DomeRelPosNP.setState(IPS_IDLE);
        DomeRelPosNP.apply();
        return IPS_ALERT;
    }
 
    IPState rc;
 
    if ((rc = MoveRel(azDiff)) == IPS_OK)
    {
        m_DomeState = DOME_IDLE;
        DomeRelPosNP.setState(IPS_OK);
        DomeRelPosNP[0].setValue(azDiff);
        LOGF_INFO("Dome moved %.2f degrees %s.", azDiff, (azDiff > 0) ? "clockwise" : "counter clockwise");
        DomeRelPosNP.apply();
        if (CanAbsMove())
        {
            DomeAbsPosNP.setState(IPS_OK);
            DomeAbsPosNP.apply();
        }
        return IPS_OK;
    }
    else if (rc == IPS_BUSY)
    {
        m_DomeState = DOME_MOVING;
        DomeRelPosNP[0].setValue(azDiff);
        DomeRelPosNP.setState(IPS_BUSY);
        LOGF_INFO("Dome moved %.2f degrees %s.", azDiff, (azDiff > 0) ? "clockwise" : "counter clockwise");
        DomeRelPosNP.apply();
        if (CanAbsMove())
        {
            DomeAbsPosNP.setState(IPS_BUSY);
            DomeAbsPosNP.apply();
        }
 
        DomeMotionSP.setState(IPS_BUSY);
        DomeMotionSP.reset();
        DomeMotionSP[DOME_CW].setState((azDiff > 0) ? ISS_ON : ISS_OFF);
        DomeMotionSP[DOME_CCW].setState((azDiff < 0) ? ISS_ON : ISS_OFF);
        DomeMotionSP.apply();
        return IPS_BUSY;
    }
 
    m_DomeState      = DOME_IDLE;
    DomeRelPosNP.setState(IPS_ALERT);
    LOG_WARN("Dome failed to move to new requested position.");
    DomeRelPosNP.apply();
    return IPS_ALERT;
}
 
IPState Dome::MoveAbs(double az)
{
    if (CanAbsMove() == false)
    {
        LOG_ERROR("Dome does not support MoveAbs(). MoveAbs() must be implemented in the child class.");
        return IPS_ALERT;
    }
 
    if (m_DomeState == DOME_PARKED)
    {
        LOG_ERROR( "Please unpark before issuing any motion commands.");
        DomeAbsPosNP.setState(IPS_ALERT);
        DomeAbsPosNP.apply();
        return IPS_ALERT;
    }
 
    if ((DomeRelPosNP.getState() != IPS_BUSY && DomeMotionSP.getState() == IPS_BUSY) || (m_DomeState == DOME_PARKING))
    {
        LOG_WARN( "Please stop dome before issuing any further motion commands.");
        return IPS_ALERT;
    }
 
    IPState rc;
 
    if (az < DomeAbsPosNP[0].getMin() || az > DomeAbsPosNP[0].getMax())
    {
        LOGF_ERROR( "Error: requested azimuth angle %.2f is out of range.", az);
        DomeAbsPosNP.setState(IPS_ALERT);
        DomeAbsPosNP.apply();
        return IPS_ALERT;
    }
 
    if ((rc = MoveAbs(az)) == IPS_OK)
    {
        m_DomeState = DOME_IDLE;
        DomeAbsPosNP.setState(IPS_OK);
        DomeAbsPosNP[0].setValue(az);
        LOGF_INFO("Dome moved to position %.2f degrees azimuth.", az);
        DomeAbsPosNP.apply();
 
        return IPS_OK;
    }
    else if (rc == IPS_BUSY)
    {
        m_DomeState = DOME_MOVING;
        DomeAbsPosNP.setState(IPS_BUSY);
        LOGF_INFO("Dome is moving to position %.2f degrees azimuth...", az);
        DomeAbsPosNP.apply();
 
        DomeMotionSP.setState(IPS_BUSY);
        DomeMotionSP.reset();
        DomeMotionSP[DOME_CW].setState((az > DomeAbsPosNP[0].getValue()) ? ISS_ON : ISS_OFF);
        DomeMotionSP[DOME_CCW].setState((az < DomeAbsPosNP[0].getValue()) ? ISS_ON : ISS_OFF);
        DomeMotionSP.apply();
 
        return IPS_BUSY;
    }
 
    m_DomeState = DOME_IDLE;
    DomeAbsPosNP.setState(IPS_ALERT);
    LOG_INFO("Dome failed to move to new requested position.");
    DomeAbsPosNP.apply();
    return IPS_ALERT;
}
 
bool Dome::Sync(double az)
{
    INDI_UNUSED(az);
    LOG_WARN("Syncing is not supported.");
    return false;
}
 
bool Dome::Abort()
{
    if (CanAbort() == false)
    {
        LOG_ERROR( "Dome does not support abort.");
        return false;
    }
 
    AbortSP.reset();
 
    if (Abort())
    {
        AbortSP.setState(IPS_OK);
 
        if (m_DomeState == DOME_PARKING || m_DomeState == DOME_UNPARKING)
        {
            ParkSP.reset();
            if (m_DomeState == DOME_PARKING)
            {
                DEBUG(Logger::DBG_SESSION, "Parking aborted.");
                // If parking was aborted then it was UNPARKED before
                ParkSP[1].setState(ISS_ON);
            }
            else
            {
                DEBUG(Logger::DBG_SESSION, "UnParking aborted.");
                // If unparking aborted then it was PARKED before
                ParkSP[0].setState(ISS_ON);
            }
 
            ParkSP.setState(IPS_ALERT);
            ParkSP.apply();
        }
 
        setDomeState(DOME_IDLE);
    }
    else
    {
        AbortSP.setState(IPS_ALERT);
 
        // If alert was aborted during parking or unparking, the parking state is unknown
        if (m_DomeState == DOME_PARKING || m_DomeState == DOME_UNPARKING)
        {
            ParkSP.reset();
            ParkSP.setState(IPS_IDLE);
            ParkSP.apply();
        }
    }
 
    AbortSP.apply();
 
    return (AbortSP.getState() == IPS_OK);
}
 
bool Dome::SetSpeed(double speed)
{
    if (HasVariableSpeed() == false)
    {
        LOG_ERROR( "Dome does not support variable speed.");
        return false;
    }
 
    if (SetSpeed(speed))
    {
        DomeSpeedNP.setState(IPS_OK);
        DomeSpeedNP[0].setValue(speed);
    }
    else
        DomeSpeedNP.setState(IPS_ALERT);
 
    DomeSpeedNP.apply();
 
    return (DomeSpeedNP.getState() == IPS_OK);
}
 
IPState Dome::ControlShutter(ShutterOperation operation)
{
    if (HasShutter() == false)
    {
        LOG_ERROR( "Dome does not have shutter control.");
        return IPS_ALERT;
    }
 
    auto currentStatus = DomeShutterSP.findOnSwitchIndex();
 
    // No change of status, let's return
    if (DomeShutterSP.getState() == IPS_BUSY && currentStatus == operation)
    {
        DomeShutterSP.apply();
        return DomeShutterSP.getState();
    }
 
    DomeShutterSP.setState(ControlShutter(operation));
 
    if (DomeShutterSP.getState() == IPS_OK)
    {
        LOGF_INFO("Shutter is %s.", (operation == SHUTTER_OPEN ? "open" : "closed"));
        DomeShutterSP.apply();
        setShutterState(operation == SHUTTER_OPEN ? SHUTTER_OPENED : SHUTTER_CLOSED);
        return DomeShutterSP.getState();
    }
    else if (DomeShutterSP.getState() == IPS_BUSY)
    {
        DomeShutterSP.reset();
        DomeShutterSP[operation].setState(ISS_ON);
        LOGF_INFO("Shutter is %s...", (operation == 0 ? "opening" : "closing"));
        DomeShutterSP.apply();
        setShutterState(SHUTTER_MOVING);
        return DomeShutterSP.getState();
    }
 
    LOGF_INFO("Shutter failed to %s.", (operation == 0 ? "open" : "close"));
    DomeShutterSP.apply();
    return IPS_ALERT;
}
 
IPState Dome::Park()
{
    // Not really supposed to get this at all, but just in case.
    if (CanPark() == false)
    {
        LOG_ERROR( "Dome does not support parking.");
        return IPS_ALERT;
    }
 
    // No need to park if parked already.
    if (m_DomeState == DOME_PARKED)
    {
        ParkSP.reset();
        ParkSP[0].setState(ISS_ON);
        LOG_INFO("Dome already parked.");
        ParkSP.apply();
        return IPS_OK;
    }
 
    // Check if dome is locked due to Mount Policy
    if (isLocked())
    {
        ParkSP.reset();
        ParkSP[1].s = ISS_ON;
        ParkSP.setState(IPS_ALERT);
        ParkSP.apply();
        LOG_INFO("Cannot Park Dome when mount is locking. See: Mount Policy in options tab.");
        return IPS_ALERT;
    }
 
    // Now ask child driver to start the actual parking process.
    ParkSP.setState(Park());
 
    // IPS_OK is when it is immediately parked so realisticly this does not happen
    // unless dome is physically parked but just needed a state change.
    if (ParkSP.getState() == IPS_OK)
        SetParked(true);
    // Dome is moving to parking position
    else if (ParkSP.getState() == IPS_BUSY)
    {
        setDomeState(DOME_PARKING);
 
        if (CanAbsMove())
            DomeAbsPosNP.setState(IPS_BUSY);
 
        ParkSP.reset();
        ParkSP[0].setState(ISS_ON);
    }
    else
        ParkSP.apply();
 
    return ParkSP.getState();
}
 
IPState Dome::UnPark()
{
    if (CanPark() == false)
    {
        LOG_ERROR( "Dome does not support parking.");
        return IPS_ALERT;
    }
 
    if (m_DomeState != DOME_PARKED)
    {
        ParkSP.reset();
        ParkSP[1].setState(ISS_ON);
        LOG_INFO("Dome already unparked.");
        ParkSP.apply();
        return IPS_OK;
    }
 
    ParkSP.setState(UnPark());
 
    if (ParkSP.getState() == IPS_OK)
        SetParked(false);
    else if (ParkSP.getState() == IPS_BUSY)
        setDomeState(DOME_UNPARKING);
    else
        ParkSP.apply();
 
    return ParkSP.getState();
}
 
bool Dome::SetCurrentPark()
{
    LOG_WARN( "Parking is not supported.");
    return false;
}
 
bool Dome::SetDefaultPark()
{
    LOG_WARN( "Parking is not supported.");
    return false;
}
 
bool Dome::Handshake()
{
    return false;
}
 
bool Dome::callHandshake()
{
    if (domeConnection > 0)
    {
        if (getActiveConnection() == serialConnection)
            PortFD = serialConnection->getPortFD();
        else if (getActiveConnection() == tcpConnection)
            PortFD = tcpConnection->getPortFD();
    }
 
    return Handshake();
}
 
uint8_t Dome::getDomeConnection() const
{
    return domeConnection;
}
 
void Dome::setDomeConnection(const uint8_t &value)
{
    uint8_t mask = CONNECTION_SERIAL | CONNECTION_TCP | CONNECTION_NONE;
 
    if (value == 0 || (mask & value) == 0)
    {
        LOGF_ERROR( "Invalid connection mode %d", value);
        return;
    }
 
    domeConnection = value;
}
 
}