ioptronHC8406.cpp

Go to the documentation of this file.

/*
    ioptronHC8406 INDI driver
 
    Copyright (C) 2017 Nacho Mas. Base on GotoNova driver by Jasem Mutlaq
 
    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.
 
    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
    Lesser General Public License for more details.
 
    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
*/
 
/*
HC8406 CMD hardware TEST
V1.10 March 21, 2011
UPGRADE INFO ON: http://www.ioptron.com/Articles.asp?ID=268
 
INFO
----
# ->            repeat last command
:GG#            +08:00:00    UTC OffSet
:Gg#            -003*18:03#  longitud
:Gt#            +41*06:56#   latitude
:GL#            7:02:47.0#   local time
:GS#            20:12: 3.3#  Sidereal Time
:GR#            2:12:57.4#   RA
:GD#            +90* 0: 0#   DEC
:GA#            +41* 6:55#   ALT
:GZ#            0* 0: 0#     AZ
:GC#            03:12:09#    Calendar day
:pS#            East#        pier side
:FirmWareDate#      :20110506#
:V#             V1.00#
 
COMMANDS
--------
:CM#            Coordinates     matched.        #
:CMR#           Coordinates     matched.        #
 
This only works if the mount is not stopped (tracking)
:RT0# -->       Lunar
:RT1# -->       solar
:RT2# -->       sidereal
:RT9# -->               zero but not work!!
 
!!!There isn't a command to start/stop tracking !!! You have to do manually
 
This speeds only are taken into account for protocol buttons, not for the HC Buttons
:RG#  -->  Select guide speed for :Mn#,:Ms# ....
:RG0,1,2 -->preselect guide speed 0.25x, 0.5x, 1.0x (HC shows it)
:RC#  -->  Select center speed for :Mn#,:Ms# .... (Not Works)
:RC0,1,2 -->preselect guide speed  (HC doesn't shows it)
:Mn# :Ms# :Me# :Mw#  (move until :Q# at guiding or center speed :RG# (works)or :RC#(not work, use :RC0/1/2 instead))
:MnXXX# :MsXXX# :MeXXX# :MwXXX#  (move XXX ms at guiding speed no mather what :RCx#,:RGX# or :RSX# was issue)
 
Firmware update (HC v1.10 -> v1.12, also mainboard firmware)
------------------------------------------------------------------
HC8406 CMD hardware TEST
V1.12 2011-08-12
UPGRADE INFO ON: http://www.ioptron.com/Articles.asp?ID=268
 
:RT9#     -> stop tracking
:RT0#     -> start tracking at sidera speed. Formerly only preselect sidereal speed but
             not start the tracking itself
 
:Me#
:Mw#
:Mexxx#
:Mwxxx#   ->Al this commands are broken. Only RA axes, the equivalent :Ms#,:Mn#... work.
 
Summarizing:
 
old firmware v1.10: is not possible to start/stop tracking. Guide/move commands OK
new firmware v1.12: is possible to start/stop tracking. Guide/move commands NOT OK
 
*/
 
/* SOCAT sniffer
socat  -v  PTY,link=/tmp/serial,wait-slave,raw /dev/ttyUSB0,raw
*/
 
 
 
#include "ioptronHC8406.h"
 
#include "indicom.h"
#include "lx200driver.h"
 
#include <libnova/transform.h>
 
#include <cmath>
#include <cstring>
#include <termios.h>
#include <unistd.h>
 
/* Simulation Parameters */
#define SLEWRATE 1        /* slew rate, degrees/s */
#define SIDRATE  0.004178 /* sidereal rate, degrees/s */
#define ioptronHC8406_TIMEOUT 1 /* timeout */
#define ioptronHC8406_CALDATE_RESULT "                                #                 " /* result of calendar date */
 
 
ioptronHC8406::ioptronHC8406()
{
    setVersion(1, 3);
    setLX200Capability(LX200_HAS_FOCUS | LX200_HAS_PULSE_GUIDING);
    SetTelescopeCapability(TELESCOPE_CAN_PARK | TELESCOPE_CAN_SYNC | TELESCOPE_CAN_GOTO |
                           TELESCOPE_CAN_ABORT | TELESCOPE_HAS_TIME | TELESCOPE_HAS_LOCATION |
                           TELESCOPE_HAS_TRACK_MODE | TELESCOPE_CAN_CONTROL_TRACK, 4);
 
}
 
bool ioptronHC8406::initProperties()
{
    LX200Generic::initProperties();
 
    // Sync Type
    IUFillSwitch(&SyncCMRS[USE_REGULAR_SYNC], "USE_REGULAR_SYNC", ":CM#", ISS_ON);
    IUFillSwitch(&SyncCMRS[USE_CMR_SYNC], "USE_CMR_SYNC", ":CMR#", ISS_OFF);
    IUFillSwitchVector(&SyncCMRSP, SyncCMRS, 2, getDeviceName(), "SYNC_MODE", "Sync", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 0,
                       IPS_IDLE);
 
    // Cursor move Guiding/Center
    IUFillSwitch(&CursorMoveSpeedS[USE_GUIDE_SPEED], "USE_GUIDE_SPEED", "Guide Speed", ISS_ON);
    IUFillSwitch(&CursorMoveSpeedS[USE_CENTERING_SPEED], "USE_CENTERING_SPEED", "Centering Speed", ISS_OFF);
    IUFillSwitchVector(&CursorMoveSpeedSP, CursorMoveSpeedS, 2, getDeviceName(),
                       "CURSOR_MOVE_MODE", "Cursor Move Speed", MOTION_TAB, IP_RO, ISR_1OFMANY, 0, IPS_IDLE);
 
    // Guide Rate
    IUFillSwitch(&GuideRateS[0], "0.25x", "", ISS_OFF);
    IUFillSwitch(&GuideRateS[1], "0.50x", "", ISS_ON);
    IUFillSwitch(&GuideRateS[2], "1.0x", "", ISS_OFF);
    IUFillSwitchVector(&GuideRateSP, GuideRateS, 3, getDeviceName(),
                       "GUIDE_RATE", "Guide Speed", MOTION_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
 
    // Center Rate
    IUFillSwitch(&CenterRateS[0], "12x", "", ISS_OFF);
    IUFillSwitch(&CenterRateS[1], "64x", "", ISS_ON);
    IUFillSwitch(&CenterRateS[2], "600x", "", ISS_OFF);
    IUFillSwitch(&CenterRateS[3], "1200x", "", ISS_OFF);
    IUFillSwitchVector(&CenterRateSP, CenterRateS, 4, getDeviceName(),
                       "CENTER_RATE", "Center Speed", MOTION_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
 
    TrackModeSP = 3;
 
    return true;
}
 
bool ioptronHC8406::updateProperties()
{
    LX200Generic::updateProperties();
 
    if (isConnected())
    {
        defineProperty(&SyncCMRSP);
        defineProperty(&GuideRateSP);
        defineProperty(&CenterRateSP);
        defineProperty(&CursorMoveSpeedSP);
        ioptronHC8406Init();
    }
    else
    {
        deleteProperty(SyncCMRSP.name);
        deleteProperty(GuideRateSP.name);
        deleteProperty(CenterRateSP.name);
        deleteProperty(CursorMoveSpeedSP.name);
    }
 
    return true;
}
 
const char *ioptronHC8406::getDefaultName()
{
    return (const char *)"iOptron HC8406";
}
 
bool ioptronHC8406::checkConnection()
{
    const timespec timeout = {0, 50000000L};
 
    if (isSimulation())
        return true;
 
    char initCMD[] = ":V#";
    int errcode    = 0;
    char errmsg[MAXRBUF];
    char response[8];
    int nbytes_read    = 0;
    int nbytes_written = 0;
 
    LOG_DEBUG("Initializing iOptron using :V# CMD...");
 
    for (int i = 0; i < 2; i++)
    {
        if ((errcode = tty_write(PortFD, initCMD, 3, &nbytes_written)) != TTY_OK)
        {
            tty_error_msg(errcode, errmsg, MAXRBUF);
            LOGF_ERROR("%s", errmsg);
            nanosleep(&timeout, nullptr);
            continue;
        }
 
        if ((errcode = tty_read_section(PortFD, response, '#', 3, &nbytes_read)))
        {
            tty_error_msg(errcode, errmsg, MAXRBUF);
            LOGF_ERROR("%s", errmsg);
            nanosleep(&timeout, nullptr);
            continue;
        }
 
        if (nbytes_read > 0)
        {
            response[nbytes_read] = '\0';
            LOGF_DEBUG("RES (%s)", response);
 
            if (!strcmp(response, "V1.00#"))
                return true;
        }
 
        nanosleep(&timeout, nullptr);
    }
 
    return false;
}
 
bool ioptronHC8406::ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
 
        // Sync type
        if (!strcmp(name, SyncCMRSP.name))
        {
            IUResetSwitch(&SyncCMRSP);
            IUUpdateSwitch(&SyncCMRSP, states, names, n);
            IUFindOnSwitchIndex(&SyncCMRSP);
            SyncCMRSP.s = IPS_OK;
            IDSetSwitch(&SyncCMRSP, nullptr);
            return true;
        }
 
        // Cursor move type
        if (!strcmp(name, CursorMoveSpeedSP.name))
        {
            int currentSwitch = IUFindOnSwitchIndex(&CursorMoveSpeedSP);
            IUUpdateSwitch(&CursorMoveSpeedSP, states, names, n);
            if (setioptronHC8406CursorMoveSpeed(IUFindOnSwitchIndex(&CursorMoveSpeedSP)) == TTY_OK)
                CursorMoveSpeedSP.s = IPS_OK;
            else
            {
                IUResetSwitch(&CursorMoveSpeedSP);
                CursorMoveSpeedS[currentSwitch].s = ISS_ON;
                CursorMoveSpeedSP.s = IPS_ALERT;
            }
            return true;
        }
 
        // Guide Rate
        if (!strcmp(GuideRateSP.name, name))
        {
            int currentSwitch = IUFindOnSwitchIndex(&GuideRateSP);
            IUUpdateSwitch(&GuideRateSP, states, names, n);
            if (setioptronHC8406GuideRate(IUFindOnSwitchIndex(&GuideRateSP)) == TTY_OK)
            {
                GuideRateSP.s = IPS_OK;
                //Shows guide speed selected
                CursorMoveSpeedS[USE_GUIDE_SPEED].s = ISS_ON;
                CursorMoveSpeedS[USE_CENTERING_SPEED].s = ISS_OFF;
                CursorMoveSpeedSP.s = IPS_OK;
                IDSetSwitch(&CursorMoveSpeedSP, nullptr);
            }
            else
            {
                IUResetSwitch(&GuideRateSP);
                GuideRateS[currentSwitch].s = ISS_ON;
                GuideRateSP.s = IPS_ALERT;
            }
 
            IDSetSwitch(&GuideRateSP, nullptr);
            return true;
        }
 
        // Center Rate
        if (!strcmp(CenterRateSP.name, name))
        {
            int currentSwitch = IUFindOnSwitchIndex(&CenterRateSP);
            IUUpdateSwitch(&CenterRateSP, states, names, n);
            if (setioptronHC8406CenterRate(IUFindOnSwitchIndex(&CenterRateSP)) == TTY_OK)
            {
                CenterRateSP.s = IPS_OK;
                //Shows centering speed selected
                CursorMoveSpeedS[USE_GUIDE_SPEED].s = ISS_OFF;
                CursorMoveSpeedS[USE_CENTERING_SPEED].s = ISS_ON;
                CursorMoveSpeedSP.s = IPS_OK;
                IDSetSwitch(&CursorMoveSpeedSP, nullptr);
            }
            else
            {
                IUResetSwitch(&CenterRateSP);
                CenterRateS[currentSwitch].s = ISS_ON;
                CenterRateSP.s = IPS_ALERT;
            }
 
            IDSetSwitch(&CenterRateSP, nullptr);
            return true;
        }
 
        //        // Slew Rate
        //        if (!strcmp(SlewRateSP.name, name))
        //        {
        //            int currentSwitch = IUFindOnSwitchIndex(&SlewRateSP);
        //            IUUpdateSwitch(&SlewRateSP, states, names, n);
        //            if (setioptronHC8406SlewRate(IUFindOnSwitchIndex(&SlewRateSP)) == TTY_OK)
        //                SlewRateSP.s = IPS_OK;
        //            else
        //            {
        //                IUResetSwitch(&SlewRateSP);
        //                SlewRateS[currentSwitch].s = ISS_ON;
        //                SlewRateSP.s = IPS_ALERT;
        //            }
 
        //            IDSetSwitch(&SlewRateSP, nullptr);
        //            return true;
        //        }
 
    }
 
    return LX200Generic::ISNewSwitch(dev, name, states, names, n);
}
 
bool ioptronHC8406::isSlewComplete()
{
    /* HC8406 doesn't have :SE# or :SE? command, thus we check if the slew is
       completed comparing targetRA/DEC with actual RA/DEC */
 
    float tolerance = 1 / 3600.; // 5 arcsec
 
    if (fabs(currentRA - targetRA) <= tolerance && fabs(currentDEC - targetDEC) <= tolerance)
        return true;
 
    return false;
}
 
void ioptronHC8406::getBasicData()
{
    checkLX200EquatorialFormat(PortFD);
    sendScopeLocation();
    sendScopeTime();
}
 
void ioptronHC8406::ioptronHC8406Init()
{
    //This mount doesn't report anything so we send some CMD
    //just to get synchronized with the GUI at start time
    LOG_WARN("Sending init CMDs. Unpark, Stop tracking");
    UnPark();
    TrackState = SCOPE_IDLE;
    SetTrackEnabled(false);
    setioptronHC8406GuideRate(1);
}
 
bool ioptronHC8406::Goto(double r, double d)
{
    const timespec timeout = {0, 100000000L};
 
    targetRA  = r;
    targetDEC = d;
    char RAStr[64], DecStr[64];
 
    fs_sexa(RAStr, targetRA, 2, 3600);
    fs_sexa(DecStr, targetDEC, 2, 3600);
    LOGF_DEBUG("<GOTO RA/DEC> %s/%s", RAStr, DecStr);
 
    // If moving, let's stop it first.
    if (EqNP.getState() == IPS_BUSY)
    {
        if (!isSimulation() && abortSlew(PortFD) < 0)
        {
            AbortSP.setState(IPS_ALERT);
            LOG_ERROR("Abort slew failed.");
            Telescope::AbortSP.apply();
            return false;
        }
 
        AbortSP.setState(IPS_OK);
        EqNP.setState(IPS_IDLE);
        LOG_ERROR("Slew aborted.");
        Telescope::AbortSP.apply();
        EqNP.apply();
 
        if (MovementNSSP.getState() == IPS_BUSY || MovementWESP.getState() == IPS_BUSY)
        {
            MovementNSSP.setState(IPS_IDLE);
            MovementWESP.setState(IPS_IDLE);
            EqNP.setState(IPS_IDLE);
            MovementNSSP.reset();
            MovementWESP.reset();
            MovementNSSP.apply();
            MovementWESP.apply();
        }
 
        // sleep for 100 mseconds
        nanosleep(&timeout, nullptr);
    }
 
    if (!isSimulation())
    {
        if (setObjectRA(PortFD, targetRA) < 0 || (setObjectDEC(PortFD, targetDEC)) < 0)
        {
            EqNP.setState(IPS_ALERT);
            LOG_ERROR("Error setting RA/DEC");
            EqNP.apply();
            return false;
        }
 
        if (slewioptronHC8406() == 0)
        {
            EqNP.setState(IPS_ALERT);
            LOGF_ERROR("Error Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr);
            EqNP.apply();
            slewError(1);
            return false;
        }
    }
 
    TrackState = SCOPE_SLEWING;
    LOGF_DEBUG("Slewing to RA: %s - DEC: %s", RAStr, DecStr);
    return true;
}
 
bool ioptronHC8406::Sync(double ra, double dec)
{
    char syncString[256];
    int syncType = IUFindOnSwitchIndex(&SyncCMRSP);
 
    if (!isSimulation())
    {
        if (setObjectRA(PortFD, ra) < 0 || setObjectDEC(PortFD, dec) < 0)
        {
            EqNP.setState(IPS_ALERT);
            LOG_ERROR("Error setting RA/DEC. Unable to Sync.");
            EqNP.apply();
            return false;
        }
 
        bool syncOK = true;
 
        switch (syncType)
        {
            case USE_REGULAR_SYNC:
                if (::Sync(PortFD, syncString) < 0)
                    syncOK = false;
                break;
 
            case USE_CMR_SYNC:
                if (ioptronHC8406SyncCMR(syncString) < 0)
                    syncOK = false;
                break;
 
            default:
                break;
        }
 
        if (syncOK == false)
        {
            EqNP.setState(IPS_ALERT);
            LOG_ERROR("Synchronization failed.");
            EqNP.apply();
            return false;
        }
 
    }
 
    currentRA  = ra;
    currentDEC = dec;
 
    LOGF_DEBUG("%s Synchronization successful %s", (syncType == USE_REGULAR_SYNC ? "CM" : "CMR"), syncString);
    LOG_INFO("Synchronization successful.");
    NewRaDec(currentRA, currentDEC);
 
    return true;
}
 
int ioptronHC8406::ioptronHC8406SyncCMR(char *matchedObject)
{
    const timespec timeout = {0, 10000000L};
    int error_type;
    int nbytes_write = 0;
    int nbytes_read  = 0;
 
    LOGF_DEBUG("CMD <%s>", ":CMR#");
 
    if ((error_type = tty_write_string(PortFD, ":CMR#", &nbytes_write)) != TTY_OK)
        return error_type;
 
    if ((error_type = tty_read_section(PortFD, matchedObject, '#', 3, &nbytes_read)) != TTY_OK)
        return error_type;
 
    matchedObject[nbytes_read - 1] = '\0';
 
    LOGF_DEBUG("RES <%s>", matchedObject);
 
    /* Sleep 10ms before flushing. This solves some issues with LX200 compatible devices. */
    nanosleep(&timeout, nullptr);
 
    tcflush(PortFD, TCIFLUSH);
 
    return 0;
}
 
 
int ioptronHC8406::slewioptronHC8406()
{
    DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
    char slewNum[2];
    int error_type;
    int nbytes_write = 0, nbytes_read = 0;
 
    DEBUGF(DBG_SCOPE, "CMD <%s>", ":MS#");
 
    if ((error_type = tty_write_string(PortFD, ":MS#", &nbytes_write)) != TTY_OK)
        return error_type;
 
    error_type = tty_read(PortFD, slewNum, 1, 3, &nbytes_read);
 
    if (nbytes_read < 1)
    {
        DEBUGF(DBG_SCOPE, "RES ERROR <%d>", error_type);
        return error_type;
    }
 
    /* We don't need to read the string message, just return corresponding error code */
    tcflush(PortFD, TCIFLUSH);
 
    DEBUGF(DBG_SCOPE, "RES <%c>", slewNum[0]);
 
    return slewNum[0];
}
 
 
 
bool ioptronHC8406::updateTime(ln_date *utc, double utc_offset)
{
    struct ln_zonedate ltm;
 
    if (isSimulation())
        return true;
 
    ln_date_to_zonedate(utc, &ltm, utc_offset * 3600.0);
 
    JD = ln_get_julian_day(utc);
 
    LOGF_DEBUG("New JD is %.2f", JD);
 
    // Set Local Time
    if (setLocalTime(PortFD, ltm.hours, ltm.minutes, ltm.seconds) < 0)
    {
        LOG_ERROR("Error setting local time.");
        return false;
    }
 
    if (setCalenderDate(PortFD, ltm.days, ltm.months, ltm.years) < 0)
    {
        LOG_ERROR("Error setting local date.");
        return false;
    }
 
    if (setioptronHC8406UTCOffset(utc_offset) < 0)
    {
        LOG_ERROR("Error setting UTC Offset.");
        return false;
    }
 
    return true;
}
 
int ioptronHC8406::setCalenderDate(int fd, int dd, int mm, int yy)
{
    char read_buffer[16];
    char response[67];
    char good_result[] = ioptronHC8406_CALDATE_RESULT;
    int error_type;
    int nbytes_write = 0, nbytes_read = 0;
    yy = yy % 100;
 
    snprintf(read_buffer, sizeof(read_buffer), ":SC %02d:%02d:%02d#", mm, dd, yy);
 
    DEBUGF(DBG_SCOPE, "CMD <%s>", read_buffer);
 
    tcflush(fd, TCIFLUSH);
    /* Sleep 100ms before flushing. This solves some issues with LX200 compatible devices. */
    //usleep(10);
    if ((error_type = tty_write_string(fd, read_buffer, &nbytes_write)) != TTY_OK)
        return error_type;
 
    error_type = tty_read(fd, response, sizeof(response), ioptronHC8406_TIMEOUT, &nbytes_read);
 
    tcflush(fd, TCIFLUSH);
 
    if (nbytes_read < 1)
    {
        LOG_ERROR("Unable to read response");
        return error_type;
    }
 
    response[nbytes_read] = '\0';
 
    DEBUGF(DBG_SCOPE, "RES <%s>", response);
 
    if (strncmp(response, good_result, strlen(good_result)) == 0)
    {
        return 0;
    }
 
 
    tcflush(fd, TCIFLUSH);
 
    LOGF_DEBUG("Set date failed! Response: <%s>", response);
 
    return -1;
}
 
bool ioptronHC8406::updateLocation(double latitude, double longitude, double elevation)
{
    INDI_UNUSED(elevation);
 
    if (isSimulation())
        return true;
 
    double final_longitude;
 
    if (longitude > 180)
        final_longitude = longitude - 360.0;
    else
        final_longitude = longitude;
 
    if (!isSimulation() && setioptronHC8406Longitude(final_longitude) < 0)
    {
        LOG_ERROR("Error setting site longitude coordinates");
        return false;
    }
 
    if (!isSimulation() && setioptronHC8406Latitude(latitude) < 0)
    {
        LOG_ERROR("Error setting site latitude coordinates");
        return false;
    }
 
    char l[32], L[32];
    fs_sexa(l, latitude, 3, 3600);
    fs_sexa(L, longitude, 4, 3600);
 
    IDMessage(getDeviceName(), "Site location updated to Lat %.32s - Long %.32s", l, L);
 
    return true;
}
 
int ioptronHC8406::setioptronHC8406Longitude(double Long)
{
    int d, m, s;
    char sign;
    char temp_string[32];
 
    if (Long > 0)
        sign = '+';
    else
        sign = '-';
 
    Long = 360 - Long;
 
    getSexComponents(Long, &d, &m, &s);
 
    snprintf(temp_string, sizeof(temp_string), ":Sg %c%03d*%02d:%02d#", sign, abs(d), m, s);
 
    return (setioptronHC8406StandardProcedure(PortFD, temp_string));
}
 
int ioptronHC8406::setioptronHC8406Latitude(double Lat)
{
    int d, m, s;
    char sign;
    char temp_string[32];
 
    if (Lat > 0)
        sign = '+';
    else
        sign = '-';
 
    getSexComponents(Lat, &d, &m, &s);
 
    snprintf(temp_string, sizeof(temp_string), ":St %c%02d*%02d:%02d#", sign, abs(d), m, s);
 
    return (setioptronHC8406StandardProcedure(PortFD, temp_string));
}
 
int ioptronHC8406::setioptronHC8406UTCOffset(double hours)
{
    char temp_string[16];
    char sign;
    int h = 0, m = 0, s = 0;
 
    if (hours > 0)
        sign = '+';
    else
        sign = '-';
 
    getSexComponents(hours, &h, &m, &s);
 
    snprintf(temp_string, sizeof(temp_string), ":SG %c%02d#", sign, abs(h));
 
    return (setioptronHC8406StandardProcedure(PortFD, temp_string));
}
 
int ioptronHC8406::setioptronHC8406StandardProcedure(int fd, const char *data)
{
    const timespec timeout = {0, 10000000L};
    char bool_return[2];
    int error_type = 0;
    int nbytes_write = 0, nbytes_read = 0;
 
    DEBUGF(DBG_SCOPE, "CMD <%s>", data);
 
    if ((error_type = tty_write_string(fd, data, &nbytes_write)) != TTY_OK)
        return error_type;
 
    error_type = tty_read(fd, bool_return, 1, 5, &nbytes_read);
 
    // JM: Hack from Jon in the INDI forums to fix longitude/latitude settings failure
 
    nanosleep(&timeout, nullptr);
    tcflush(fd, TCIFLUSH);
    nanosleep(&timeout, nullptr);
 
 
 
    if (nbytes_read < 1)
        return error_type;
 
    DEBUGF(DBG_SCOPE, "RES <%c>", bool_return[0]);
 
    if (bool_return[0] == '0')
    {
        DEBUGF(DBG_SCOPE, "CMD <%s> failed.", data);
        return -1;
    }
 
    DEBUGF(DBG_SCOPE, "CMD <%s> successful.", data);
 
    return 0;
}
 
bool ioptronHC8406::SetTrackEnabled(bool enabled)
{
    if (enabled)
    {
        LOG_WARN("<SetTrackEnabled> START TRACKING AT SIDEREAL SPEED (:RT2#)");
        return setioptronHC8406TrackMode(0);
    }
    else
    {
        LOG_WARN("<SetTrackEnabled> STOP TRACKING (:RT9#)");
        return setioptronHC8406TrackMode(3);
    }
}
 
bool ioptronHC8406::SetTrackMode(uint8_t mode)
{
    return (setioptronHC8406TrackMode(mode));
}
 
int ioptronHC8406::setioptronHC8406TrackMode(int mode)
{
 
    char cmd[8];
    int mmode = 0;
    int error_type = 0;
    int nbytes_write = 0 ;
 
    DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
 
    if (mode == 0 )
    {
        mmode = 2;
    }
    else if (mode == 1)
    {
        mmode = 1;
    }
    else if (mode == 2)
    {
        mmode = 0;
    }
    else if (mode == 3)
    {
        mmode = 9;
    }
    snprintf(cmd, 8, ":RT%d#", mmode);
 
    DEBUGF(DBG_SCOPE, "CMD <%s>", cmd);
 
    //None return value so just write cmd and exit without reading the response
    if ((error_type = tty_write_string(PortFD, cmd, &nbytes_write)) != TTY_OK)
        return error_type;
 
    return 1;
}
 
bool ioptronHC8406::Park()
{
    DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
    int error_type;
    int nbytes_write = 0;
 
    if ((error_type = tty_write_string(PortFD, ":KA#", &nbytes_write)) != TTY_OK)
        return error_type;
    tcflush(PortFD, TCIFLUSH);
    DEBUG(DBG_SCOPE, "CMD <:KA#>");
 
    TrackState = SCOPE_PARKING;
    LOG_INFO("Parking is in progress...");
 
    return true;
}
 
bool ioptronHC8406::UnPark()
{
    SetParked(false);
    return true;
}
 
bool ioptronHC8406::ReadScopeStatus()
{
    const timespec timeout = {1, 0L};
 
    //return true; //for debug
 
    if (!isConnected())
        return false;
 
    if (isSimulation())
    {
        mountSim();
        return true;
    }
 
    switch (TrackState)
    {
        case SCOPE_IDLE:
            LOG_WARN("<ReadScopeStatus> IDLE");
            break;
        case SCOPE_SLEWING:
            LOG_WARN("<ReadScopeStatus> SLEWING");
            break;
        case SCOPE_TRACKING:
            LOG_WARN("<ReadScopeStatus> TRACKING");
            break;
        case SCOPE_PARKING:
            LOG_WARN("<ReadScopeStatus> PARKING");
            break;
        case SCOPE_PARKED:
            LOG_WARN("<ReadScopeStatus> PARKED");
            break;
        default:
            LOG_WARN("<ReadScopeStatus> UNDEFINED");
            break;
    }
 
    if (TrackState == SCOPE_SLEWING )
    {
        // Check if LX200 is done slewing
        if (isSlewComplete())
        {
            nanosleep(&timeout, nullptr); //Wait until :MS# finish
            if (CoordSP.isSwitchOn("SYNC") || CoordSP.isSwitchOn("SLEW"))
            {
                TrackState = SCOPE_IDLE;
                LOG_WARN("Slew is complete. IDLE");
                SetTrackEnabled(false);
            }
            else
            {
                TrackState = SCOPE_TRACKING;
                LOG_WARN("Slew is complete. TRACKING");
                SetTrackEnabled(true);
            }
        }
    }
    else if (TrackState == SCOPE_PARKING)
    {
        // isSlewComplete() not work because is base on actual RA/DEC vs target RA/DEC. DO ALWAYS
        if (true || isSlewComplete())
        {
            SetParked(true);
            TrackState = SCOPE_PARKED;
        }
    }
 
    if (getLX200RA(PortFD, &currentRA) < 0 || getLX200DEC(PortFD, &currentDEC) < 0)
    {
        EqNP.setState(IPS_ALERT);
        LOG_ERROR("Error reading RA/DEC.");
        EqNP.apply();
        return false;
    }
 
    NewRaDec(currentRA, currentDEC);
 
    //sendScopeTime();
    //syncSideOfPier();
 
    return true;
}
 
void ioptronHC8406::mountSim()
{
    static struct timeval ltv;
    struct timeval tv;
    double dt, da, dx;
    int nlocked;
 
    /* update elapsed time since last poll, don't presume exactly POLLMS */
    gettimeofday(&tv, nullptr);
 
    if (ltv.tv_sec == 0 && ltv.tv_usec == 0)
        ltv = tv;
 
    dt  = tv.tv_sec - ltv.tv_sec + (tv.tv_usec - ltv.tv_usec) / 1e6;
    ltv = tv;
    da  = SLEWRATE * dt;
 
    /* Process per current state. We check the state of EQUATORIAL_COORDS and act accordingly */
    switch (TrackState)
    {
        case SCOPE_TRACKING:
            /* RA moves at sidereal, Dec stands still */
            currentRA += (SIDRATE * dt / 15.);
            break;
 
        case SCOPE_SLEWING:
        case SCOPE_PARKING:
            /* slewing - nail it when both within one pulse @ SLEWRATE */
            nlocked = 0;
 
            dx = targetRA - currentRA;
 
            if (fabs(dx) <= da)
            {
                currentRA = targetRA;
                nlocked++;
            }
            else if (dx > 0)
                currentRA += da / 15.;
            else
                currentRA -= da / 15.;
 
            dx = targetDEC - currentDEC;
            if (fabs(dx) <= da)
            {
                currentDEC = targetDEC;
                nlocked++;
            }
            else if (dx > 0)
                currentDEC += da;
            else
                currentDEC -= da;
 
            if (nlocked == 2)
            {
                if (TrackState == SCOPE_SLEWING)
                    TrackState = SCOPE_TRACKING;
                else
                    SetParked(true);
            }
 
            break;
 
        default:
            break;
    }
 
    NewRaDec(currentRA, currentDEC);
}
 
 
 
int ioptronHC8406::setioptronHC8406GuideRate(int rate)
{
    return setMoveRate(rate, USE_GUIDE_SPEED);
}
 
int ioptronHC8406::setioptronHC8406CenterRate(int rate)
{
    return setMoveRate(rate, USE_CENTERING_SPEED);
}
 
int ioptronHC8406::setioptronHC8406SlewRate(int rate)
{
    return setMoveRate(rate, USE_SLEW_SPEED);
}
 
int ioptronHC8406::setioptronHC8406CursorMoveSpeed(int type)
{
    return setMoveRate(-1, type);
}
 
int ioptronHC8406::setMoveRate(int rate, int move_type)
{
    char cmd[16];
    int errcode = 0;
    char errmsg[MAXRBUF];
    int nbytes_written = 0;
 
    if (isSimulation())
    {
        return 0;
    }
 
    if (rate >= 0)
    {
        switch (move_type)
        {
            case USE_GUIDE_SPEED:
                snprintf(cmd, 16, ":RG%0d#", rate);
                break;
            case USE_CENTERING_SPEED:
                snprintf(cmd, 16, ":RC%0d#", rate);
                break;
            case USE_SLEW_SPEED:
                snprintf(cmd, 16, ":RS%0d#", rate);  //NOT WORK!!
                break;
 
            default:
                break;
        }
    }
    else
    {
        switch (move_type)
        {
            case USE_GUIDE_SPEED:
                snprintf(cmd, 16, ":RG#");
                break;
            case USE_CENTERING_SPEED:
                snprintf(cmd, 16, ":RC#"); //NOT WORK!!
                break;
            case USE_SLEW_SPEED:
                snprintf(cmd, 16, ":RS#"); //NOT WORK!!
                break;
            default:
                break;
        }
    }
 
    LOGF_DEBUG("CMD (%s)", cmd);
 
 
    tcflush(PortFD, TCIFLUSH);
 
    if ((errcode = tty_write(PortFD, cmd, strlen(cmd), &nbytes_written)) != TTY_OK)
    {
        tty_error_msg(errcode, errmsg, MAXRBUF);
        LOGF_ERROR("%s", errmsg);
        return errcode;
    }
 
    return 0;
}
 
 
void ioptronHC8406::syncSideOfPier()
{
    const char *cmd = ":pS#";
    // Response
    char response[16] = { 0 };
    int rc = 0, nbytes_read = 0, nbytes_written = 0;
 
    LOGF_DEBUG("CMD: <%s>", cmd);
 
    tcflush(PortFD, TCIOFLUSH);
 
    if ((rc = tty_write(PortFD, cmd, strlen(cmd), &nbytes_written)) != TTY_OK)
    {
        char errmsg[256];
        tty_error_msg(rc, errmsg, 256);
        LOGF_ERROR("Error writing to device %s (%d)", errmsg, rc);
        return;
    }
 
    // Read Side
    if ((rc = tty_read_section(PortFD, response, '#', 3, &nbytes_read)) != TTY_OK)
    {
        char errmsg[256];
        tty_error_msg(rc, errmsg, 256);
        LOGF_ERROR("Error reading from device %s (%d)", errmsg, rc);
        return;
    }
 
    response[nbytes_read - 1] = '\0';
 
    tcflush(PortFD, TCIOFLUSH);
 
    LOGF_DEBUG("RES: <%s>", response);
 
    if (!strcmp(response, "East"))
        setPierSide(INDI::Telescope::PIER_EAST);
    else
        setPierSide(INDI::Telescope::PIER_WEST);
 
}
 
bool ioptronHC8406::saveConfigItems(FILE *fp)
{
    LX200Generic::saveConfigItems(fp);
 
    IUSaveConfigSwitch(fp, &SyncCMRSP);
 
    return true;
}
 
int ioptronHC8406::getCommandString(int fd, char *data, const char *cmd)
{
    char *term;
    int error_type;
    int nbytes_write = 0, nbytes_read = 0;
 
 
    if ((error_type = tty_write_string(fd, cmd, &nbytes_write)) != TTY_OK)
        return error_type;
 
    error_type = tty_read_section(fd, data, '#', ioptronHC8406_TIMEOUT, &nbytes_read);
    tcflush(fd, TCIFLUSH);
 
    if (error_type != TTY_OK)
        return error_type;
 
    term = strchr(data, '#');
    if (term)
        *term = '\0';
 
 
 
    return 0;
 
}
 
bool ioptronHC8406::sendScopeTime()
{
    char cdate[32] = {0};
    double ctime;
    int h, m, s;
    int utc_h, utc_m, utc_s;
    double lx200_utc_offset = 0;
    char utc_offset_res[32] = {0};
    int day, month, year, result;
    struct tm ltm;
    struct tm utm;
 
    memset(&ltm, 0, sizeof(ltm));
    memset(&utm, 0, sizeof(utm));
 
    time_t time_epoch;
 
    if (isSimulation())
    {
        snprintf(cdate, 32, "%d-%02d-%02dT%02d:%02d:%02d", 1979, 6, 25, 3, 30, 30);
        IDLog("Telescope ISO date and time: %s\n", cdate);
        TimeTP[UTC].setText(cdate);
        TimeTP[OFFSET].setText("3");
        TimeTP.setState(IPS_OK);
        TimeTP.apply();
        return true;
    }
 
    //getCommandSexa(PortFD, &lx200_utc_offset, ":GG#");
    //tcflush(PortFD, TCIOFLUSH);
    getCommandString(PortFD, utc_offset_res, ":GG#");
 
    f_scansexa(utc_offset_res, &lx200_utc_offset);
    result = sscanf(utc_offset_res, "%d%*c%d%*c%d", &utc_h, &utc_m, &utc_s);
    if (result != 3)
    {
        LOG_ERROR("Error reading UTC offset from Telescope.");
        return false;
    }
    LOGF_DEBUG("<VAL> UTC offset: %d:%d:%d --->%g", utc_h, utc_m, utc_s, lx200_utc_offset);
    // LX200 TimeT Offset is defined at the number of hours added to LOCAL TIME to get TimeT. This is contrary to the normal definition.
    LOGF_DEBUG("<VAL> UTC offset str: %s", utc_offset_res);
    TimeTP[OFFSET].setText(utc_offset_res);
    //IUSaveText(&TimeT[1], lx200_utc_offset);
 
    getLocalTime24(PortFD, &ctime);
    getSexComponents(ctime, &h, &m, &s);
 
    getCalendarDate(PortFD, cdate);
    result = sscanf(cdate, "%d%*c%d%*c%d", &year, &month, &day);
    if (result != 3)
    {
        LOG_ERROR("Error reading date from Telescope.");
        return false;
    }
 
    // Let's fill in the local time
    ltm.tm_sec  = s;
    ltm.tm_min  = m;
    ltm.tm_hour = h;
    ltm.tm_mday = day;
    ltm.tm_mon  = month - 1;
    ltm.tm_year = year - 1900;
    ltm.tm_isdst = 0;
 
    // Get time epoch
    time_epoch = mktime(&ltm);
 
    // Convert to TimeT
    //time_epoch -= (int)(atof(TimeT[1].text) * 3600.0);
    time_epoch -= (int)(lx200_utc_offset * 3600.0);
 
    // Get UTC (we're using localtime_r, but since we shifted time_epoch above by UTCOffset, we should be getting the real UTC time
    localtime_r(&time_epoch, &utm);
 
    /* Format it into ISO 8601 */
    strftime(cdate, 32, "%Y-%m-%dT%H:%M:%S", &utm);
    TimeTP[UTC].setText(cdate);
 
    LOGF_DEBUG("Mount controller Local Time: %02d:%02d:%02d", h, m, s);
    LOGF_DEBUG("Mount controller UTC Time: %s", TimeTP[UTC].getText());
 
    // Let's send everything to the client
    TimeTP.setState(IPS_OK);
    TimeTP.apply();
    return true;
}
 
int ioptronHC8406::SendPulseCmd(int8_t direction, uint32_t duration_msec)
{
    const timespec timeout = {1, 0L};
    int rc = 0,  nbytes_written = 0;
    char cmd[20];
    uint32_t duration_left = 0, duration_now = duration_msec;
    if (duration_msec > 999)
    {
        duration_now = 999;            //limited to 999
        duration_left = duration_msec - duration_now; //pending ms
    }
    else
    {
        duration_left = 0;
        LOGF_DEBUG("Pulse %d <999 Sent only one", duration_msec);
    }
 
    switch (direction)
    {
        case LX200_NORTH:
            sprintf(cmd, ":Mn%03d#", duration_now);
            break;
        case LX200_SOUTH:
            sprintf(cmd, ":Ms%03d#", duration_now);
            break;
        case LX200_EAST:
            sprintf(cmd, ":Me%03d#", duration_now);
            break;
        case LX200_WEST:
            sprintf(cmd, ":Mw%03d#", duration_now);
            break;
        default:
            return 1;
    }
    LOGF_DEBUG("CMD <%s>", cmd);
 
    if ((rc = tty_write(PortFD, cmd, strlen(cmd), &nbytes_written)) != TTY_OK)
    {
        char errmsg[256];
        tty_error_msg(rc, errmsg, 256);
        LOGF_ERROR("Error writing to device %s (%d)", errmsg, rc);
        return 1;
    }
    tcflush(PortFD, TCIFLUSH);
 
    if (duration_left != 0)
    {
        LOGF_DEBUG("pulse guide. Pulse >999. ms left:%d", duration_left);
        nanosleep(&timeout, nullptr);   //wait until the previous one has fineshed
        return SendPulseCmd(direction, duration_left);
    }
    return 0;
}