lx200_TeenAstro.cpp

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/*
 
LX200_TeenAstro
 
Based on LX200_OnStep and others
François Desvallées https://github.com/fdesvallees
 
Copyright (C) 2015 Jasem Mutlaq ([email protected])
 
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
 
*/
 
#include "lx200_TeenAstro.h"
#include <libnova/sidereal_time.h>
 
#include <unistd.h>
#include <termios.h>
#include <stdlib.h>
#include <cerrno>
 
#include <cmath>
#include <memory>
#include <cstring>
#include <mutex>
 
 
/* Simulation Parameters */
#define SLEWRATE 1        /* slew rate, degrees/s */
#define SIDRATE  0.004178 /* sidereal rate, degrees/s */
 
#define FIRMWARE_TAB "Firmware data"
 
#define ONSTEP_TIMEOUT  3
 
// Our telescope auto pointer
static std::unique_ptr<LX200_TeenAstro> teenAstro(new LX200_TeenAstro());
extern std::mutex lx200CommsLock;
 
/*
 * LX200 TeenAstro constructor
 */
LX200_TeenAstro::LX200_TeenAstro() : GI(this)
{
    setVersion(1, 4);           // don't forget to update drivers.xml
 
    DBG_SCOPE = INDI::Logger::getInstance().addDebugLevel("Scope Verbose", "SCOPE");
 
    SetTelescopeCapability(
        TELESCOPE_CAN_GOTO | TELESCOPE_CAN_SYNC | TELESCOPE_CAN_PARK | TELESCOPE_CAN_ABORT |
        TELESCOPE_HAS_TIME | TELESCOPE_HAS_LOCATION | TELESCOPE_HAS_PIER_SIDE |
        TELESCOPE_HAS_TRACK_MODE  | TELESCOPE_CAN_CONTROL_TRACK, 5);
 
    LOG_DEBUG("Initializing from LX200 TeenAstro device...");
}
 
void LX200_TeenAstro::debugTriggered(bool enable)
{
    INDI_UNUSED(enable);
    setLX200Debug(getDeviceName(), DBG_SCOPE);
}
 
const char *LX200_TeenAstro::getDriverName()
{
    return getDefaultName();
}
 
const char *LX200_TeenAstro::getDefaultName()
{
    return "LX200 TeenAstro";
}
 
bool LX200_TeenAstro::initProperties()
{
    /* Make sure to init parent properties first */
    INDI::Telescope::initProperties();
 
    SetParkDataType(PARK_RA_DEC);
 
    // ============== MAIN_CONTROL_TAB
 
    // Tracking Mode
    AddTrackMode("TRACK_SIDEREAL", "Sidereal", true);
    AddTrackMode("TRACK_SOLAR", "Solar");
    AddTrackMode("TRACK_LUNAR", "Lunar");
 
    // Error Status
    IUFillText(&ErrorStatusT[0], "Error code", "", "");
    IUFillTextVector(&ErrorStatusTP, ErrorStatusT, 1, getDeviceName(), "Mount Status", "", MAIN_CONTROL_TAB, IP_RO, 0,
                     IPS_IDLE);
 
 
    // ============== MOTION_TAB
    // Motion speed of axis when pressing NSWE buttons
    IUFillSwitch(&SlewRateS[0], "Guide", "Guide Speed", ISS_OFF);
    IUFillSwitch(&SlewRateS[1], "Slow", "Slow", ISS_OFF);
    IUFillSwitch(&SlewRateS[2], "Medium", "Medium", ISS_OFF);
    IUFillSwitch(&SlewRateS[3], "Fast", "Fast", ISS_ON);
    IUFillSwitch(&SlewRateS[4], "Max", "Max", ISS_OFF);
    IUFillSwitchVector(&SlewRateSP, SlewRateS, 5, getDeviceName(), "TELESCOPE_SLEW_RATE", "Centering Rate",
                       MOTION_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
 
    // ============== GUIDE_TAB
    // Motion speed of axis when guiding
    IUFillNumber(&GuideRateN[0], "Guide Rate", "value", "%.2f", 0.0, 1.0, 0.1, INITIAL_GUIDE_RATE);
    IUFillNumberVector(&GuideRateNP, GuideRateN, 1, getDeviceName(), "TELESCOPE_GUIDE_RATE", "Guide Rate",
                       GUIDE_TAB, IP_RW, 0, IPS_IDLE);
    GI::initProperties(GUIDE_TAB);
 
    // ============== OPTIONS_TAB
    // Slew threshold
    IUFillNumber(&SlewAccuracyN[0], "SlewRA", "RA (arcmin)", "%10.6m", 0., 60., 1., 3.0);   // min,max,step,current
    IUFillNumber(&SlewAccuracyN[1], "SlewDEC", "Dec (arcmin)", "%10.6m", 0., 60., 1., 3.0);
    IUFillNumberVector(&SlewAccuracyNP, SlewAccuracyN, NARRAY(SlewAccuracyN), getDeviceName(), "Slew Accuracy", "",
                       OPTIONS_TAB, IP_RW, 0, IPS_IDLE);
 
    // ============== SITE_TAB
    IUFillSwitch(&SiteS[0], "Site 1", "", ISS_OFF);
    IUFillSwitch(&SiteS[1], "Site 2", "", ISS_OFF);
    IUFillSwitch(&SiteS[2], "Site 3", "", ISS_OFF);
    IUFillSwitch(&SiteS[3], "Site 4", "", ISS_OFF);
    IUFillSwitchVector(&SiteSP, SiteS, 4, getDeviceName(), "Sites", "", SITE_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
 
    IUFillText(&SiteNameT[0], "Name", "", "");
    IUFillTextVector(&SiteNameTP, SiteNameT, 1, getDeviceName(), "Site Name", "", SITE_TAB, IP_RO, 0, IPS_IDLE);
 
 
    // ============== FIRMWARE_TAB
    IUFillText(&VersionT[0], "Date", "", "");
    IUFillText(&VersionT[1], "Time", "", "");
    IUFillText(&VersionT[2], "Number", "", "");
    IUFillText(&VersionT[3], "Name", "", "");
    IUFillTextVector(&VersionTP, VersionT, 4, getDeviceName(), "Firmware Info", "", FIRMWARE_TAB, IP_RO, 0, IPS_IDLE);
 
    addAuxControls();
    setDriverInterface(getDriverInterface() | GUIDER_INTERFACE);
 
    return true;
}
void LX200_TeenAstro::ISGetProperties(const char *dev)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) != 0)
        return;
 
    INDI::Telescope::ISGetProperties(dev);
}
 
bool LX200_TeenAstro::updateProperties()
{
    INDI::Telescope::updateProperties();
 
    if (isConnected())
    {
        // Delete inherited controls - too confusing
        deleteProperty("USEJOYSTICK");
        deleteProperty("ACTIVE_DEVICES");
        deleteProperty("DOME_POLICY");
        deleteProperty("TELESCOPE_HAS_TRACK_RATE");
        // Main Control
        defineProperty(&SlewAccuracyNP);
        defineProperty(&ErrorStatusTP);
        // Connection
        // Options
        // Motion Control
        defineProperty(&SlewRateSP);
        defineProperty(&GuideRateNP);
 
        // Site Management
        defineProperty(ParkOptionSP);
        defineProperty(&SetHomeSP);
 
        defineProperty(&SiteSP);
        defineProperty(&SiteNameTP);
 
        // Firmware Data
        defineProperty(&VersionTP);
        getBasicData();
    }
    else
    {
        // Main Control
        deleteProperty(SlewAccuracyNP.name);
        deleteProperty(ErrorStatusTP.name);
        // Connection
        // Options
        // Motion Control
        deleteProperty(SlewRateSP.name);
        deleteProperty(GuideRateNP.name);
        deleteProperty(SiteSP.name);
        deleteProperty(SiteNameTP.name);
 
        // Site Management
        deleteProperty(ParkOptionSP);
        deleteProperty(SetHomeSP.name);
        // Firmware Data
        deleteProperty(VersionTP.name);
    }
 
    GI::updateProperties();
 
    return true;
}
 
 
bool LX200_TeenAstro::Handshake()
{
    if (isSimulation())
    {
        LOG_INFO("Simulated Connection.");
        return true;
    }
 
    if (getLX200RA(PortFD, &currentRA) != 0)
    {
        LOG_ERROR("Error communicating with telescope.");
        return false;
    }
    LOG_INFO("TeenAstro is Connected");
    return true;
}
 
/*
 * ReadScopeStatus
 * Called when polling the mount about once per second
 */
bool LX200_TeenAstro::ReadScopeStatus()
{
    if (isSimulation())
    {
        mountSim();
        return true;
    }
    if (!isConnected())
        return false;
 
    if (getLX200RA(PortFD, &currentRA) < 0 || getLX200DEC(PortFD, &currentDEC) < 0)
    {
        EqNP.setState(IPS_ALERT);
        return false;
    }
 
    if (TrackState == SCOPE_SLEWING)
    {
        // Check if LX200 is done slewing
        if (isSlewComplete())
        {
            TrackState = SCOPE_TRACKING;
            LOG_INFO("Slew is complete. Tracking...");
        }
    }
    else if (TrackState == SCOPE_PARKING)
    {
        LOG_INFO("Parking");
    }
 
    // update mount status
    getCommandString(PortFD, OSStat, statusCommand);       // returns a string containing controller status
    if (OSStat[15] != '0')
    {
        updateMountStatus(OSStat[15]);              // error
    }
    if (strcmp(OSStat, OldOSStat) != 0)             // if status changed
    {
        handleStatusChange();
        snprintf(OldOSStat, sizeof(OldOSStat), "%s", OSStat);
    }
#if 0
    // HACK: simulate small change in RA to force update of hour angle (EKOS bug)
    static bool incRa;
    if (incRa)
    {
        currentRA += 0.000001;   // 0.02 arc sec
        incRa = false;
    }
    else
    {
        incRa = true;
    }
#endif
 
    NewRaDec(currentRA, currentDEC);
 
    return true;
}
 
/*
 * Use OSStat to detect status change - handle each byte separately
 * called by ReadScopeStatus()
 */
void LX200_TeenAstro::handleStatusChange(void)
{
    LOGF_DEBUG ("Status Change: %s", OSStat);
 
    if (OSStat[0] != OldOSStat[0])
    {
        if (OSStat[0] == '0')
        {
            TrackState = SCOPE_IDLE;
        }
        else if (OSStat[0] == '1')
        {
            TrackState = SCOPE_TRACKING;
        }
        else if (OSStat[0] == '2' || OSStat[0] == '3' )
        {
            TrackState = SCOPE_SLEWING;
        }
    }
 
 
    // Byte 2 is park status
    if (OSStat[2] != OldOSStat[2])
    {
        if (OSStat[2] == 'P')
        {
            SetParked(true);            // defaults to TrackState=SCOPE_PARKED
        }
        else
        {
            SetParked(false);
            //            SetTrackEnabled(false);     //disable since TeenAstro enables it by default
        }
    }
    // Byte 4 is current slew rate
    if (OSStat[4] != OldOSStat[4])
    {
        updateSlewRate();
    }
 
 
    // Byte 13 is pier side
    if (OSStat[13] != OldOSStat[13])
    {
        setPierSide(OSStat[13] == 'W' ? INDI::Telescope::PIER_WEST : INDI::Telescope::PIER_EAST);
    }
    // Byte 15 is the error status
    if (OSStat[15] != OldOSStat[15])
    {
        updateMountStatus(OSStat[15]);
    }
}
 
/*
 * Mount Error status
 * 0:ERR_NONE,  1: ERR_MOTOR_FAULT, 2: ERR_ALT, 3: ERR_LIMIT_SENSE
 * 4: ERR_AXIS2,5: ERR_AZM, 6: ERR_UNDER_POLE, 7: ERR_MERIDIAN, 8: ERR_SYNC
 */
void LX200_TeenAstro::updateMountStatus(char status)
{
    static const char *errCodes[9] = {"ERR_NONE",  "ERR_MOTOR_FAULT", "ERR_ALT", "ERR_LIMIT_SENSE",
                                      "ERR_AXIS2", "ERR_AZM", "ERR_UNDER_POLE", "ERR_MERIDIAN", "ERR_SYNC"
                                     };
 
    if (status < '0' || status > '9')
    {
        return;
    }
    if (status == '0')
    {
        ErrorStatusTP.s = IPS_OK;
    }
    else
    {
        ErrorStatusTP.s = IPS_ALERT;
        TrackState = SCOPE_IDLE;     // Tell Ekos mount is not tracking anymore
    }
    IUSaveText(&ErrorStatusT[0], errCodes[status - '0']);
    IDSetText(&ErrorStatusTP, nullptr);
}
 
/*
 *  Goto target
 *  Use standard lx200driver command (:Sr   #)
 *  Set state to slewing
 */
bool LX200_TeenAstro::Goto(double r, double d)
{
    targetRA  = r;
    targetDEC = d;
    char RAStr[64] = {0}, DecStr[64] = {0};
 
    fs_sexa(RAStr, targetRA, 2, 3600);
    fs_sexa(DecStr, targetDEC, 2, 3600);
 
    // 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.");
            AbortSP.apply();
            return false;
        }
 
        AbortSP.setState(IPS_OK);
        EqNP.setState(IPS_IDLE);
        LOG_ERROR("Slew aborted.");
        AbortSP.apply();
        EqNP.apply();
 
        // sleep for 100 mseconds
        const struct timespec ms100_delay = {.tv_sec = 0, .tv_nsec = 100000000};
        nanosleep(&ms100_delay, NULL);
    }
 
    if (!isSimulation())
    {
        if (setObjectRA(PortFD, targetRA) < 0 || (setObjectDEC(PortFD, targetDEC)) < 0)  // standard LX200 command
        {
            EqNP.setState(IPS_ALERT);
            LOG_ERROR("Error setting RA/DEC.");
            EqNP.apply();
            return false;
        }
 
        int err = 0;
 
        /* Slew reads the '0', that is not the end of the slew */
        if ((err = Slew(PortFD)))
        {
            EqNP.setState(IPS_ALERT);
            LOGF_ERROR("Error Slewing to JNow RA %s - DEC %s\n", RAStr, DecStr);
            EqNP.apply();
            slewError(err);
            return false;
        }
    }
 
    TrackState = SCOPE_SLEWING;
    EqNP.setState(IPS_BUSY);
 
    LOGF_INFO("Slewing to RA: %s - DEC: %s", RAStr, DecStr);
    return true;
}
 
bool LX200_TeenAstro::isSlewComplete()
{
    const double dx = targetRA - currentRA;
    const double dy = targetDEC - currentDEC;
    return fabs(dx) <= (SlewAccuracyN[0].value / (900.0)) && fabs(dy) <= (SlewAccuracyN[1].value / 60.0);
}
 
bool LX200_TeenAstro::SetTrackMode(uint8_t mode)
{
    if (isSimulation())
        return true;
 
    bool rc = (selectTrackingMode(PortFD, mode) == 0);
 
    return rc;
}
 
/*
 * Sync - synchronizes the telescope with its currently selected database object coordinates
 */
bool LX200_TeenAstro::Sync(double ra, double dec)
{
    char syncString[256] = {0};
 
    // goto target
    if (!isSimulation() && (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;
    }
 
    // Use the parent Sync() function (lx200driver.cpp)
    if (!isSimulation() && ::Sync(PortFD, syncString) < 0)
    {
        EqNP.setState(IPS_ALERT);
        LOG_ERROR("Synchronization failed");
        EqNP.apply();
        return false;
    }
 
    currentRA  = ra;
    currentDEC = dec;
 
    LOG_INFO("Synchronization successful.");
    EqNP.setState(IPS_OK);
    NewRaDec(currentRA, currentDEC);
 
    return true;
}
 
 
 
//======================== Parking =======================
bool LX200_TeenAstro::SetCurrentPark()
{
    char response[RB_MAX_LEN];
 
    if (isSimulation())
    {
        LOG_DEBUG("SetCurrentPark: CMD <:hQ>");
        return true;
    }
 
    if (getCommandString(PortFD, response, ":hQ#") < 0)
    {
        LOGF_WARN("===CMD==> Set Park Pos %s", response);
        return false;
    }
    SetAxis1Park(currentRA);
    SetAxis2Park(currentDEC);
    LOG_WARN("Park Value set to current position");
    return true;
}
 
bool LX200_TeenAstro::UnPark()
{
    char response[RB_MAX_LEN];
 
    if (isSimulation())
    {
        LOG_DEBUG("UnPark: CMD <:hR>");
        TrackState = SCOPE_IDLE;
        EqNP.setState(IPS_OK);
        return true;
    }
    if (getCommandString(PortFD, response, ":hR#") < 0)
    {
        return false;
    }
    SetParked(false);
 
    return true;
}
 
bool LX200_TeenAstro::Park()
{
    if (isSimulation())
    {
        LOG_DEBUG("SlewToPark: CMD <:hP>");
        TrackState = SCOPE_PARKED;
        EqNP.setState(IPS_OK);
        return true;
    }
 
    // If scope is moving, let's stop it first.
    if (EqNP.getState() == IPS_BUSY)
    {
        if (abortSlew(PortFD) < 0)
        {
            Telescope::AbortSP.setState(IPS_ALERT);
            LOG_ERROR("Abort slew failed.");
            Telescope::AbortSP.apply();
            return false;
        }
        Telescope::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();
        }
    }
    if (slewToPark(PortFD) < 0)  // slewToPark is a macro (lx200driver.h)
    {
        ParkSP.setState(IPS_ALERT);
        LOG_ERROR("Parking Failed.");
        ParkSP.apply();
        return false;
    }
    ParkSP.setState(IPS_BUSY);
    TrackState = SCOPE_PARKING;
    LOG_INFO("Parking is in progress...");
 
    return true;
}
 
 
/*
 *  updateLocation: not used - use hand controller to update
 */
bool LX200_TeenAstro::updateLocation(double latitude, double longitude, double elevation)
{
    INDI_UNUSED(latitude);
    INDI_UNUSED(longitude);
    INDI_UNUSED(elevation);
 
    return true;
}
 
void LX200_TeenAstro::updateSlewRate()
{
    int slewRateIndex;
 
    // get current slew rate
    if (getSlewRate(&slewRateIndex))
    {
        LOGF_INFO("current slew rate : %d", slewRateIndex);
        IUResetSwitch(&SlewRateSP);
        SlewRateS[slewRateIndex].s = ISS_ON;
        SlewRateSP.s = IPS_OK;
        IDSetSwitch(&SlewRateSP, nullptr);
    }
    else
    {
        LOG_ERROR("Error reading current slew rate");
    }
}
 
 
/*
 *  getBasicData: standard LX200 commands
 */
void LX200_TeenAstro::getBasicData()
{
    int currentSiteIndex;
 
    if (!isSimulation())
    {
        checkLX200EquatorialFormat(PortFD);
        char buffer[128];
        getVersionDate(PortFD, buffer);
        IUSaveText(&VersionT[0], buffer);
        getVersionTime(PortFD, buffer);
        IUSaveText(&VersionT[1], buffer);
        getVersionNumber(PortFD, buffer);
        statusCommand = ":GXI#";
        guideSpeedCommand = ":SXR0:%02d#";
        IUSaveText(&VersionT[2], buffer);
        getProductName(PortFD, buffer);
        IUSaveText(&VersionT[3], buffer);
 
        IDSetText(&VersionTP, nullptr);
        SiteNameT[0].text = new char[64];
        sendScopeTime();
 
        if (getSiteIndex(&currentSiteIndex))
        {
            SiteS[currentSiteIndex].s = ISS_ON;
            currentSiteNum = currentSiteIndex + 1;
            LOGF_INFO("Site number %d", currentSiteNum);
            getSiteName(PortFD, SiteNameTP.tp[0].text, currentSiteNum);
            SiteNameTP.s = IPS_OK;
            SiteSP.s = IPS_OK;
            IDSetText(&SiteNameTP, nullptr);
            IDSetSwitch(&SiteSP, nullptr);
            getLocation();                  // read site from TeenAstro
        }
        else
        {
            LOG_ERROR("Error reading current site number");
        }
 
 
        // Get initial state and set switches
        for (unsigned i = 0; i < sizeof(OldOSStat); i++)
            OldOSStat[i] = 'x';                         // reset old OS stat to force re-evaluation
        getCommandString(PortFD, OSStat, statusCommand);       // returns a string containing controller status
        handleStatusChange();
        LOGF_INFO("Initial Status: %s", OSStat);
 
        updateSlewRate();
        SetGuideRate(INITIAL_GUIDE_RATE);
 
        // Turn off tracking. (too much interaction with telescope.cpp if we try to keep the mount's current track state)
        if (TrackState != SCOPE_TRACKING)
        {
            SetTrackEnabled(false);
        }
 
 
        if (InitPark())
        {
            // If loading parking data is successful, we just set the default parking values.
            LOG_INFO("=============== Parkdata loaded");
        }
        else
        {
            // Otherwise, we set all parking data to default in case no parking data is found.
            LOG_INFO("=============== Parkdata Load Failed");
        }
    }
}
 
/*
 * ISNewNumber: callback from user interface
 *
 * when user has entered a number, handle it to store corresponding driver parameter
 *
 */
bool LX200_TeenAstro::ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n)
{
    // Check guider interface
    if (GI::processNumber(dev, name, values, names, n))
        return true;
 
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        if (!strcmp(name, SlewAccuracyNP.name))
        {
            if (IUUpdateNumber(&SlewAccuracyNP, values, names, n) < 0)
                return false;
 
            SlewAccuracyNP.s = IPS_OK;
 
            if (SlewAccuracyN[0].value < 3 || SlewAccuracyN[1].value < 3)
                IDSetNumber(&SlewAccuracyNP, "Warning: Setting the slew accuracy too low may result in a dead lock");
 
            IDSetNumber(&SlewAccuracyNP, nullptr);
            return true;
        }
        if (!strcmp(name, GuideRateNP.name))
        {
            IUUpdateNumber(&GuideRateNP, values, names, n);
            GuideRateNP.s = IPS_OK;
            IDSetNumber(&GuideRateNP, nullptr);
            float guideRate = GuideRateN[0].value;
            SetGuideRate(guideRate);
        }
    }
 
    return INDI::Telescope::ISNewNumber(dev, name, values, names, n);
}
 
/*
 * ISNewSwitch: callback from user interface
 *
 * when user has entered a switch, handle it to store corresponding driver parameter
 *
 */
bool LX200_TeenAstro::ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        // Slew button speed
        if (!strcmp(name, SlewRateSP.name))
        {
            IUUpdateSwitch(&SlewRateSP, states, names, n);
            int slewRate = IUFindOnSwitchIndex(&SlewRateSP);
 
            if (!selectSlewRate(slewRate))
            {
                LOGF_ERROR("Error setting move to rate %d.", slewRate);
                return false;
            }
 
            SlewRateSP.s = IPS_OK;
            IDSetSwitch(&SlewRateSP, nullptr);
            return true;
        }
 
        // Sites
        if (!strcmp(name, SiteSP.name))
        {
            if (IUUpdateSwitch(&SiteSP, states, names, n) < 0)
                return false;
 
            currentSiteNum = IUFindOnSwitchIndex(&SiteSP) + 1;
            LOGF_DEBUG("currentSiteNum: %d", currentSiteNum);
            if (!isSimulation() && (!setSite(currentSiteNum)))
            {
                SiteSP.s = IPS_ALERT;
                IDSetSwitch(&SiteSP, "Error selecting sites.");
                return false;
            }
 
            if (isSimulation())
                IUSaveText(&SiteNameTP.tp[0], "Sample Site");
            else
            {
                LOGF_DEBUG("Site name %s", SiteNameTP.tp[0].text);
                getSiteName(PortFD, SiteNameTP.tp[0].text, currentSiteNum);
            }
 
            // When user selects a new site, read it from TeenAstro
            getLocation();
 
            LOGF_INFO("Setting site number %d", currentSiteNum);
            SiteS[currentSiteNum - 1].s = ISS_ON;
            SiteNameTP.s = IPS_OK;
            SiteSP.s = IPS_OK;
 
            IDSetText(&SiteNameTP, nullptr);
            IDSetSwitch(&SiteSP, nullptr);
 
            return false;
        }
    }
 
    return INDI::Telescope::ISNewSwitch(dev, name, states, names, n);
}
 
bool LX200_TeenAstro::ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        if (!strcmp(name, SiteNameTP.name))
        {
            if (!isSimulation() && setSiteName(PortFD, texts[0], currentSiteNum) < 0)
            {
                SiteNameTP.s = IPS_ALERT;
                IDSetText(&SiteNameTP, nullptr);
                return false;
            }
 
            SiteNameTP.s = IPS_OK;
            IText *tp    = IUFindText(&SiteNameTP, names[0]);
            IUSaveText(tp, texts[0]);
            IDSetText(&SiteNameTP, nullptr);
            return true;
        }
    }
 
    return INDI::Telescope::ISNewText(dev, name, texts, names, n);
}
 
 
 
/*
 * getLocalDate() to sendScopeTime() are copied from lx200telescope.cpp
 */
bool LX200_TeenAstro::getLocalDate(char *dateString)
{
    if (isSimulation())
    {
        time_t now = time(nullptr);
        strftime(dateString, MAXINDINAME, "%F", localtime(&now));
    }
    else
    {
        getCalendarDate(PortFD, dateString);
    }
 
    return true;
}
 
bool LX200_TeenAstro::setLocalDate(uint8_t days, uint8_t months, uint16_t years)
{
    return (setCalenderDate(PortFD, days, months, years) == 0);
}
 
bool LX200_TeenAstro::getLocalTime(char *timeString)
{
    if (isSimulation())
    {
        time_t now = time(nullptr);
        strftime(timeString, MAXINDINAME, "%T", localtime(&now));
    }
    else
    {
        double ctime = 0;
        int h, m, s;
        getLocalTime24(PortFD, &ctime);
        getSexComponents(ctime, &h, &m, &s);
        snprintf(timeString, MAXINDINAME, "%02d:%02d:%02d", h, m, s);
    }
 
    return true;
}
 
 
bool LX200_TeenAstro::getUTFOffset(double *offset)
{
    if (isSimulation())
    {
        *offset = 3;
        return true;
    }
 
    int lx200_utc_offset = 0;
    getUTCOffset(PortFD, &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.
    *offset = lx200_utc_offset * -1;
    return true;
}
 
bool LX200_TeenAstro::sendScopeTime()
{
    char cdate[MAXINDINAME] = {0};
    char ctime[MAXINDINAME] = {0};
    struct tm ltm;
    struct tm utm;
    time_t time_epoch;
 
    memset(&ltm, 0, sizeof(ltm));
    memset(&utm, 0, sizeof(utm));
 
    double offset = 0;
 
    if (getUTFOffset(&offset))
    {
        char utcStr[8] = {0};
        snprintf(utcStr, sizeof(utcStr), "%.2f", offset);
        TimeTP[OFFSET].setText(utcStr);
    }
    else
    {
        LOG_WARN("Could not obtain UTC offset from mount!");
        return false;
    }
 
    if (getLocalTime(ctime) == false)
    {
        LOG_WARN("Could not obtain local time from mount!");
        return false;
    }
 
    if (getLocalDate(cdate) == false)
    {
        LOG_WARN("Could not obtain local date from mount!");
        return false;
    }
 
    // To ISO 8601 format in LOCAL TIME!
    char datetime[MAXINDINAME] = {0};
    snprintf(datetime, MAXINDINAME, "%sT%s", cdate, ctime);
 
    // Now that date+time are combined, let's get tm representation of it.
    if (strptime(datetime, "%FT%T", &ltm) == nullptr)
    {
        LOGF_WARN("Could not process mount date and time: %s", datetime);
        return false;
    }
 
    ltm.tm_isdst = 0;
    // Get local time epoch in UNIX seconds
    time_epoch = mktime(&ltm);
 
    // LOCAL to UTC by subtracting offset.
    time_epoch -= static_cast<int>(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 the final UTC ISO 8601
    strftime(cdate, MAXINDINAME, "%Y-%m-%dT%H:%M:%S", &utm);
    TimeTP[UTC].setText(cdate);
 
    LOGF_DEBUG("Mount controller UTC Time: %s", TimeTP[UTC].getText());
    LOGF_DEBUG("Mount controller UTC Offset: %s", TimeTP[OFFSET].getText());
 
    // Let's send everything to the client
    TimeTP.setState(IPS_OK);
    TimeTP.apply();
 
    return true;
}
/*
 * Called by INDI - not sure when
 */
 
bool LX200_TeenAstro::sendScopeLocation()
{
    int dd = 0, mm = 0, elev = 0;
    double ssf = 0.0;
 
    LOG_INFO("Send location");
    return true;
 
    if (isSimulation())
    {
        LocationNP[LOCATION_LATITUDE].setValue(9.5);  // Kuwait - Jasem's home!
        LocationNP[LOCATION_LONGITUDE].setValue(48.0);
        LocationNP[LOCATION_ELEVATION].setValue(10);
        LocationNP.setState(IPS_OK);
        LocationNP.apply();
        return true;
    }
 
    if (getSiteLatitude(PortFD, &dd, &mm, &ssf) < 0)
    {
        LOG_WARN("Failed to get site latitude from device.");
        return false;
    }
    else
    {
        if (dd > 0)
            LocationNP[LOCATION_LATITUDE].setValue(dd + mm / 60.0);
        else
            LocationNP[LOCATION_LATITUDE].setValue(dd - mm / 60.0);
    }
    if (getSiteLongitude(PortFD, &dd, &mm, &ssf) < 0)
    {
        LOG_WARN("Failed to get site longitude from device.");
        return false;
    }
    else
    {
        if (dd > 0)
            LocationNP[LOCATION_LONGITUDE].setValue(360.0 - (dd + mm / 60.0));
        else
            LocationNP[LOCATION_LONGITUDE].setValue((dd - mm / 60.0) * -1.0);
    }
    LOGF_DEBUG("Mount Controller Latitude: %g Longitude: %g", LocationNP[LOCATION_LATITUDE].getValue(),
               LocationNP[LOCATION_LONGITUDE].getValue());
 
    if (getSiteElevation(&elev))
    {
        LocationNP[LOCATION_ELEVATION].setValue(elev);
    }
    else
    {
        LOG_ERROR("Error getting site elevation");
    }
    LocationNP.apply();
    saveConfig(true, "GEOGRAPHIC_COORD");
 
    return true;
}
 
/*
 * getSiteElevation - not in Meade standard
 */
bool LX200_TeenAstro::getSiteElevation(int *elevationP)
{
    if (getCommandInt(PortFD, elevationP, ":Ge#") != 0)
        return false;
    return true;
}
 
/*
 * getSiteIndex - not in Meade standard
 */
bool LX200_TeenAstro::getSiteIndex(int *ndxP)
{
    if (getCommandInt(PortFD, ndxP, ":W?#") != 0)
        return false;
    return true;
}
 
 
/*
 * getSlewRate - not in Meade standard
 */
bool LX200_TeenAstro::getSlewRate(int *ndxP)
{
    unsigned char rate = (OSStat[4] - '0');
    *ndxP = (int) rate;
    return true;
}
 
/*
 * setSite - not in Meade standard
 * argument is the site number (1 to 4)
 * TeenAstro handles numbers 0 to 3
 */
bool LX200_TeenAstro::setSite(int num)
{
    char buf[10];
    snprintf (buf, sizeof(buf), ":W%d#", num - 1);
    sendCommand(buf);
    return true;
}
 
/*
 * setSiteElevation - not in Meade standard
 */
bool LX200_TeenAstro::setSiteElevation(double elevation)
{
    char buf[20];
    snprintf (buf, sizeof(buf), ":Se%+4d#", static_cast<int>(elevation));
    sendCommand(buf);
    return true;
}
 
 
/*
 * getLocation
 * retrieve from scope, set into user interface
 */
bool LX200_TeenAstro::getLocation()
{
    int dd = 0, mm = 0, elev = 0;
    double ssf = 0.0;
 
    if (getSiteLatitude(PortFD, &dd, &mm, &ssf) < 0)
    {
        LOG_WARN("Failed to get site latitude from device.");
        return false;
    }
    else
    {
        if (dd > 0)
            LocationNP[LOCATION_LATITUDE].setValue(dd + mm / 60.0);
        else
            LocationNP[LOCATION_LATITUDE].setValue(dd - mm / 60.0);
    }
 
    if (getSiteLongitude(PortFD, &dd, &mm, &ssf) < 0)
    {
        LOG_WARN("Failed to get site longitude from device.");
        return false;
    }
    else
    {
        if (dd > 0)
            LocationNP[LOCATION_LONGITUDE].setValue(360.0 - (dd + mm / 60.0));
        else
            LocationNP[LOCATION_LONGITUDE].setValue((dd - mm / 60.0) * -1.0);
    }
    if (getSiteElevation(&elev))
    {
        LocationNP[LOCATION_ELEVATION].setValue(elev);
    }
    else
    {
        LOG_ERROR("Error getting site elevation");
    }
 
    LocationNP.apply();
    return true;
}
 
/*
 * Set Guide Rate -  :SXR0:dddd# (v1.2 and above) where ddd is guide rate * 100
 */
bool LX200_TeenAstro::SetGuideRate(float guideRate)
{
    char cmdString[20];
 
    snprintf (cmdString, sizeof(cmdString), guideSpeedCommand, (int) (guideRate * 100));
    sendCommand(cmdString);
 
    return true;
}
 
 
/*
 *  Guidexxx - use SendPulseCmd function from lx200driver.cpp
 */
IPState LX200_TeenAstro::GuideNorth(uint32_t ms)
{
    SendPulseCmd(LX200_NORTH, ms);
    if(MovementNSSP.getState() == IPS_BUSY)
        return IPS_ALERT;
 
    if (GuideNSTID)
    {
        IERmTimer(GuideNSTID);
        GuideNSTID = 0;
    }
 
    GuideNSTID = IEAddTimer(static_cast<int>(ms), guideTimeoutHelperNS, this);
    return IPS_BUSY;
}
 
IPState LX200_TeenAstro::GuideSouth(uint32_t ms)
{
    SendPulseCmd(LX200_SOUTH, ms);
    if(MovementNSSP.getState() == IPS_BUSY)
        return IPS_ALERT;
 
    if (GuideNSTID)
    {
        IERmTimer(GuideNSTID);
        GuideNSTID = 0;
    }
 
    GuideNSTID = IEAddTimer(static_cast<int>(ms), guideTimeoutHelperNS, this);
    return IPS_BUSY;
}
 
IPState LX200_TeenAstro::GuideEast(uint32_t ms)
{
    SendPulseCmd(LX200_EAST, ms);
    if(MovementWESP.getState() == IPS_BUSY)
        return IPS_ALERT;
 
    if (GuideWETID)
    {
        IERmTimer(GuideWETID);
        GuideWETID = 0;
    }
 
    GuideWETID = IEAddTimer(static_cast<int>(ms), guideTimeoutHelperWE, this);
    return IPS_BUSY;
}
 
IPState LX200_TeenAstro::GuideWest(uint32_t ms)
{
    SendPulseCmd(LX200_WEST, ms);
    if(MovementWESP.getState() == IPS_BUSY)
        return IPS_ALERT;
 
    if (GuideWETID)
    {
        IERmTimer(GuideWETID);
        GuideWETID = 0;
    }
 
    GuideWETID = IEAddTimer(static_cast<int>(ms), guideTimeoutHelperWE, this);
    return IPS_BUSY;
}
 
void LX200_TeenAstro::SendPulseCmd(int8_t direction, uint32_t duration_msec)
{
    ::SendPulseCmd(PortFD, direction, duration_msec);
}
 
 
/*
 * Abort() calls standard lx200driver command (:Q#)
 */
bool LX200_TeenAstro::Abort()
{
    if (!isSimulation() && abortSlew(PortFD) < 0)
    {
        LOG_ERROR("Failed to abort slew.");
        return false;
    }
 
    EqNP.setState(IPS_IDLE);
    TrackState = SCOPE_IDLE;
    EqNP.apply();
 
    LOG_INFO("Slew aborted.");
    return true;
}
 
/*
 * MoveNS and MoveWE call lx200telescope functions
 */
bool LX200_TeenAstro::MoveNS(INDI_DIR_NS dirns, TelescopeMotionCommand cmd)
{
    if (dirns == DIRECTION_NORTH)
        return Move(LX200_NORTH, cmd);
    else
        return Move(LX200_SOUTH, cmd);
}
bool LX200_TeenAstro::MoveWE(INDI_DIR_WE dirwe, TelescopeMotionCommand cmd)
{
    if (dirwe == DIRECTION_WEST)
        return Move(LX200_WEST, cmd);
    else
        return Move(LX200_EAST, cmd);
}
 
/*
 * Single function for move - use LX200 functions
 */
bool LX200_TeenAstro::Move(TDirection dir, TelescopeMotionCommand cmd)
{
    switch (cmd)
    {
        case MOTION_START:
            MoveTo(PortFD, dir);
            break;
        case MOTION_STOP:
            HaltMovement(PortFD, dir);
            break;
    }
    return true;
}
 
/*
 * Override default config saving
 */
bool LX200_TeenAstro::saveConfigItems(FILE *fp)
{
    IUSaveConfigSwitch(fp, &SlewRateSP);
    IUSaveConfigNumber(fp, &GuideRateNP);
 
    return INDI::Telescope::saveConfigItems(fp);
}
 
 
/*
 * Mount simulation
 */
void LX200_TeenAstro::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:
            /* 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)
            {
                TrackState = SCOPE_TRACKING;
            }
 
            break;
 
        default:
            break;
    }
 
    NewRaDec(currentRA, currentDEC);
}
 
void LX200_TeenAstro::slewError(int slewCode)
{
    EqNP.setState(IPS_ALERT);
 
    if (slewCode == 1)
    {
        LOG_INFO("Object below horizon");
        EqNP.apply();
    }
    else if (slewCode == 2)
    {
        LOG_INFO("Object below the minimum elevation limit.");
        EqNP.apply();
    }
    else
    {
        LOG_ERROR("Slew failed.");
        EqNP.apply();
    }
}
/*
 *  Enable or disable sidereal tracking (events handled by inditelescope)
 */
bool LX200_TeenAstro::SetTrackEnabled(bool enabled)
{
    LOGF_INFO("TrackEnable %d", enabled);
 
    if (enabled)
    {
        sendCommand(":Te#");
    }
    else
    {
        sendCommand(":Td#");
    }
    return true;
}
 
/*
 * selectSlewrate - select among TeenAstro's 5 predefined rates
 */
bool LX200_TeenAstro::selectSlewRate(int index)
{
    char cmd[20];
 
    snprintf(cmd, sizeof(cmd), ":R%d#", index);
    sendCommand(cmd);
    return true;
}
 
 
/*
 * Used instead of getCommandString when response is not terminated with '#'
 *
 */
void LX200_TeenAstro::sendCommand(const char *cmd)
{
    char resp;
    int nbytes_read;
    std::unique_lock<std::mutex> guard(lx200CommsLock);
    LOGF_INFO("sendCommand %s", cmd);
    int rc = write(PortFD, cmd, strlen(cmd));
    rc = tty_read(PortFD, &resp, 1, ONSTEP_TIMEOUT, &nbytes_read);
    INDI_UNUSED(rc);
}
 
void LX200_TeenAstro::guideTimeoutHelperNS(void * p)
{
    static_cast<LX200_TeenAstro *>(p)->guideTimeoutNS();
}
 
void LX200_TeenAstro::guideTimeoutHelperWE(void * p)
{
    static_cast<LX200_TeenAstro *>(p)->guideTimeoutWE();
}
 
void LX200_TeenAstro::guideTimeoutNS()
{
    GuideNSNP[0].setValue(0);
    GuideNSNP[1].setValue(0);
    GuideNSNP.setState(IPS_IDLE);
    GuideNSTID = 0;
    GuideNSNP.apply();
}
 
void LX200_TeenAstro::guideTimeoutWE()
{
    GuideWENP[0].setValue(0);
    GuideWENP[1].setValue(0);
    GuideWENP.setState(IPS_IDLE);
    GuideWETID = 0;
    GuideWENP.apply();
}