lx200gotonova.cpp

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/*
    GotoNova INDI driver
 
    Copyright (C) 2017 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
*/
 
#include "lx200gotonova.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 GOTONOVA_TIMEOUT 5 /* timeout */
#define GOTONOVA_CALDATE_RESULT "                                #                                #" /* result of calendar date */
 
LX200GotoNova::LX200GotoNova()
{
    setVersion(1, 0);
 
    setLX200Capability(LX200_HAS_FOCUS);
 
    SetTelescopeCapability(TELESCOPE_CAN_PARK | TELESCOPE_CAN_SYNC | TELESCOPE_CAN_GOTO | TELESCOPE_CAN_ABORT |
                           TELESCOPE_HAS_TIME | TELESCOPE_HAS_LOCATION | TELESCOPE_HAS_TRACK_MODE,
                           4);
}
 
bool LX200GotoNova::initProperties()
{
    LX200Generic::initProperties();
 
 
    // strcpy(SlewRateS[0].label, "16x");
    // strcpy(SlewRateS[1].label, "64x");
    // strcpy(SlewRateS[2].label, "256x");
    // strcpy(SlewRateS[3].label, "512x");
    SlewRateSP[0].setLabel("16x");
    SlewRateSP[1].setLabel("64x");
    SlewRateSP[2].setLabel("256x");
    SlewRateSP[3].setLabel("512x");
 
    // Sync Type
    IUFillSwitch(&SyncCMRS[USE_REGULAR_SYNC], ":CM#", ":CM#", ISS_ON);
    IUFillSwitch(&SyncCMRS[USE_CMR_SYNC], ":CMR#", ":CMR#", ISS_OFF);
    IUFillSwitchVector(&SyncCMRSP, SyncCMRS, 2, getDeviceName(), "SYNCCMR", "Sync", MOTION_TAB, IP_RW, ISR_1OFMANY, 0,
                       IPS_IDLE);
 
    // Park Position
    IUFillSwitch(&ParkPositionS[PS_NORTH_POLE], "North Pole", "", ISS_ON);
    IUFillSwitch(&ParkPositionS[PS_LEFT_VERTICAL], "Left and Vertical", "", ISS_OFF);
    IUFillSwitch(&ParkPositionS[PS_LEFT_HORIZON], "Left and Horizon", "", ISS_OFF);
    IUFillSwitch(&ParkPositionS[PS_RIGHT_VERTICAL], "Right and Vertical", "", ISS_OFF);
    IUFillSwitch(&ParkPositionS[PS_RIGHT_HORIZON], "Right and Horizon", "", ISS_OFF);
    IUFillSwitchVector(&ParkPositionSP, ParkPositionS, 5, getDeviceName(), "PARKING_POSITION", "Parking Position", SITE_TAB,
                       IP_RW, ISR_1OFMANY, 0,
                       IPS_IDLE);
 
    // Guide Rate
    IUFillSwitch(&GuideRateS[0], "1.0x", "", ISS_ON);
    IUFillSwitch(&GuideRateS[1], "0.8x", "", ISS_OFF);
    IUFillSwitch(&GuideRateS[2], "0.6x", "", ISS_OFF);
    IUFillSwitch(&GuideRateS[3], "0.4x", "", ISS_OFF);
    IUFillSwitchVector(&GuideRateSP, GuideRateS, 4, getDeviceName(), "GUIDE_RATE", "Guide Rate", MOTION_TAB, IP_RW, ISR_1OFMANY,
                       0,
                       IPS_IDLE);
 
    // Track Mode -- We do not support Custom so let's just define the first 3 properties
    TrackModeSP = 3;
 
    return true;
}
 
bool LX200GotoNova::updateProperties()
{
    LX200Generic::updateProperties();
 
    if (isConnected())
    {
        defineProperty(&SyncCMRSP);
        defineProperty(&ParkPositionSP);
        defineProperty(&GuideRateSP);
    }
    else
    {
        deleteProperty(SyncCMRSP.name);
        deleteProperty(ParkPositionSP.name);
        deleteProperty(GuideRateSP.name);
    }
 
    return true;
}
 
const char *LX200GotoNova::getDefaultName()
{
    return (const char *)"GotoNova";
}
 
bool LX200GotoNova::checkConnection()
{
    if (isSimulation())
        return true;
 
    const struct timespec timeout = {0, 50000000L};
    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 LX200GotoNova::ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        // Park Position
        if (!strcmp(ParkPositionSP.name, name))
        {
            int currentSwitch = IUFindOnSwitchIndex(&ParkPositionSP);
            IUUpdateSwitch(&ParkPositionSP, states, names, n);
            if (setGotoNovaParkPosition(IUFindOnSwitchIndex(&ParkPositionSP)) == TTY_OK)
                ParkPositionSP.s = IPS_OK;
            else
            {
                IUResetSwitch(&ParkPositionSP);
                ParkPositionS[currentSwitch].s = ISS_ON;
                ParkPositionSP.s = IPS_ALERT;
            }
 
            IDSetSwitch(&ParkPositionSP, nullptr);
            return true;
        }
 
        // Guide Rate
        if (!strcmp(GuideRateSP.name, name))
        {
            int currentSwitch = IUFindOnSwitchIndex(&ParkPositionSP);
            IUUpdateSwitch(&GuideRateSP, states, names, n);
            if (setGotoNovaGuideRate(IUFindOnSwitchIndex(&GuideRateSP)) == TTY_OK)
                GuideRateSP.s = IPS_OK;
            else
            {
                IUResetSwitch(&GuideRateSP);
                GuideRateS[currentSwitch].s = ISS_ON;
                GuideRateSP.s = IPS_ALERT;
            }
 
            IDSetSwitch(&GuideRateSP, nullptr);
            return true;
        }
 
        // 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;
        }
    }
 
    return LX200Generic::ISNewSwitch(dev, name, states, names, n);
}
 
bool LX200GotoNova::isSlewComplete()
{
    int errcode = 0;
    char errmsg[MAXRBUF];
    char response[8];
    int nbytes_read    = 0;
    int nbytes_written = 0;
 
    const char *cmd = ":SE?#";
 
    LOGF_DEBUG("CMD (%s)", cmd);
 
    if ((errcode = tty_write(PortFD, cmd, strlen(cmd), &nbytes_written)) != TTY_OK)
    {
        tty_error_msg(errcode, errmsg, MAXRBUF);
        LOGF_ERROR("%s", errmsg);
        return false;
    }
 
    if ((errcode = tty_read(PortFD, response, 1, 3, &nbytes_read)))
    {
        tty_error_msg(errcode, errmsg, MAXRBUF);
        LOGF_ERROR("%s", errmsg);
        return false;
    }
 
    if (nbytes_read > 0)
    {
        response[nbytes_read] = '\0';
        LOGF_DEBUG("RES (%s)", response);
 
        tcflush(PortFD, TCIFLUSH);
 
        if (response[0] == '0')
            return true;
        else
            return false;
    }
 
    LOGF_ERROR("Only received #%d bytes, expected 1.", nbytes_read);
    return false;
}
 
void LX200GotoNova::getBasicData()
{
    int guideRate = -1;
    int rc = getGotoNovaGuideRate(&guideRate);
    if (rc == TTY_OK)
    {
        IUResetSwitch(&GuideRateSP);
        GuideRateS[guideRate].s = ISS_ON;
        GuideRateSP.s = IPS_OK;
        IDSetSwitch(&GuideRateSP, nullptr);
    }
}
 
bool LX200GotoNova::Goto(double r, double d)
{
    const struct 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);
 
    // 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();
 
        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, true) < 0 || (setObjectDEC(PortFD, targetDEC, true)) < 0)
        {
            EqNP.setState(IPS_ALERT);
            LOG_ERROR("Error setting RA/DEC");
            EqNP.apply();
            return false;
        }
 
        if (slewGotoNova() == 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;
    EqNP.setState(IPS_BUSY);
 
    LOGF_INFO("Slewing to RA: %s - DEC: %s", RAStr, DecStr);
    return true;
}
 
bool LX200GotoNova::Sync(double ra, double dec)
{
    char syncString[256];
 
    int syncType = IUFindOnSwitchIndex(&SyncCMRSP);
 
    if (!isSimulation())
    {
        if (setObjectRA(PortFD, ra, true) < 0 || setObjectDEC(PortFD, dec, true) < 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 (GotonovaSyncCMR(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.");
 
    EqNP.setState(IPS_OK);
 
    NewRaDec(currentRA, currentDEC);
 
    return true;
}
 
int LX200GotoNova::GotonovaSyncCMR(char *matchedObject)
{
    const struct 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 LX200GotoNova::slewGotoNova()
{
    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 LX200GotoNova::SetSlewRate(int index)
{
    if (isSimulation())
        return true;
 
    char cmd[8];
    int errcode = 0;
    char errmsg[MAXRBUF];
    int nbytes_written = 0;
 
    snprintf(cmd, 8, ":RC%d#", index);
 
    LOGF_DEBUG("CMD (%s)", cmd);
 
    if ((errcode = tty_write(PortFD, cmd, strlen(cmd), &nbytes_written)) != TTY_OK)
    {
        tty_error_msg(errcode, errmsg, MAXRBUF);
        LOGF_ERROR("%s", errmsg);
        return false;
    }
 
    return true;
}
 
bool LX200GotoNova::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 %f", (float)JD);
 
    // Set Local Time
    if (setLocalTime(PortFD, ltm.hours, ltm.minutes, ltm.seconds, true) < 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 (setGotoNovaUTCOffset(utc_offset) < 0)
    {
        LOG_ERROR("Error setting UTC Offset.");
        return false;
    }
 
    return true;
}
 
int LX200GotoNova::setCalenderDate(int fd, int dd, int mm, int yy)
{
    const struct timespec timeout = {0, 10000000L};
    char read_buffer[16];
    char response[67];
    char good_result[] = GOTONOVA_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);
 
    if ((error_type = tty_write_string(fd, read_buffer, &nbytes_write)) != TTY_OK)
        return error_type;
 
    error_type = tty_read(fd, response, sizeof(response), GOTONOVA_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;
    }
 
    /* Sleep 10ms before flushing. This solves some issues with LX200 compatible devices. */
    nanosleep(&timeout, nullptr);
    tcflush(fd, TCIFLUSH);
 
    LOGF_DEBUG("Set date failed! Response: <%s>", response);
 
    return -1;
}
 
bool LX200GotoNova::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() && setGotoNovaLongitude(final_longitude) < 0)
    {
        LOG_ERROR("Error setting site longitude coordinates");
        return false;
    }
 
    if (!isSimulation() && setGotoNovaLatitude(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);
 
    LOGF_INFO("Site location updated to Lat %.32s - Long %.32s", l, L);
 
    return true;
}
 
int LX200GotoNova::setGotoNovaLongitude(double Long)
{
    int d, m, s;
    char sign;
    char temp_string[32];
 
    if (Long > 0)
        sign = '+';
    else
        sign = '-';
 
    getSexComponents(Long, &d, &m, &s);
 
    snprintf(temp_string, sizeof(temp_string), ":Sg %c%03d*%02d:%02d#", sign, abs(d), m, s);
 
    return (setGotoNovaStandardProcedure(PortFD, temp_string));
}
 
int LX200GotoNova::setGotoNovaLatitude(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 (setGotoNovaStandardProcedure(PortFD, temp_string));
}
 
int LX200GotoNova::setGotoNovaUTCOffset(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 (setGotoNovaStandardProcedure(PortFD, temp_string));
}
 
int LX200GotoNova::setGotoNovaStandardProcedure(int fd, const char *data)
{
    const struct timespec timeout = {0, 10000000L};
    char bool_return[2];
    int error_type;
    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 on GotoNova
    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 LX200GotoNova::SetTrackMode(uint8_t mode)
{
    return (setGotoNovaTrackMode(mode) == 0);
}
 
int LX200GotoNova::setGotoNovaTrackMode(int mode)
{
    DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
 
    char cmd[8];
    snprintf(cmd, 8, ":STR%d#", mode);
 
    return setGotoNovaStandardProcedure(PortFD, cmd);
}
 
bool LX200GotoNova::Park()
{
    DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
    int error_type;
    int nbytes_write = 0;
 
    if ((error_type = tty_write_string(PortFD, ":PK#", &nbytes_write)) != TTY_OK)
        return error_type;
 
    tcflush(PortFD, TCIFLUSH);
 
    EqNP.setState( IPS_BUSY);
    TrackState = SCOPE_PARKING;
    LOG_INFO("Parking is in progress...");
 
    return true;
}
 
bool LX200GotoNova::UnPark()
{
    SetParked(false);
    return true;
}
 
bool LX200GotoNova::ReadScopeStatus()
{
    if (!isConnected())
        return false;
 
    if (isSimulation())
    {
        mountSim();
        return true;
    }
 
    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)
    {
        if (isSlewComplete())
        {
            SetParked(true);
        }
    }
 
    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);
 
    syncSideOfPier();
 
    return true;
}
 
void LX200GotoNova::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 LX200GotoNova::getGotoNovaGuideRate(int *rate)
{
    char cmd[]  = ":GGS#";
    int errcode = 0;
    char errmsg[MAXRBUF];
    char response[8];
    int nbytes_read    = 0;
    int nbytes_written = 0;
 
    LOGF_DEBUG("CMD (%s)", cmd);
 
    if (isSimulation())
    {
        snprintf(response, 8, "%d#", IUFindOnSwitchIndex(&GuideRateSP));
        nbytes_read = strlen(response);
    }
    else
    {
        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;
        }
 
        if ((errcode = tty_read(PortFD, response, 1, 3, &nbytes_read)))
        {
            tty_error_msg(errcode, errmsg, MAXRBUF);
            LOGF_ERROR("%s", errmsg);
            return errcode;
        }
    }
 
    if (nbytes_read > 0)
    {
        response[nbytes_read] = '\0';
        LOGF_DEBUG("RES (%s)", response);
 
        *rate = atoi(response);
 
        return 0;
    }
 
    LOGF_ERROR("Only received #%d bytes, expected 1.", nbytes_read);
    return -1;
}
 
int LX200GotoNova::setGotoNovaGuideRate(int rate)
{
    char cmd[16];
    int errcode = 0;
    char errmsg[MAXRBUF];
    int nbytes_written = 0;
 
    snprintf(cmd, 16, ":SGS%0d#", rate);
 
    LOGF_DEBUG("CMD (%s)", cmd);
 
    if (isSimulation())
    {
        return 0;
    }
 
    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;
}
 
int LX200GotoNova::setGotoNovaParkPosition(int position)
{
    char temp_string[16];
 
    snprintf(temp_string, sizeof(temp_string), ":STPKP%d#", position);
 
    return (setGotoNovaStandardProcedure(PortFD, temp_string));
}
 
void LX200GotoNova::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 LX200GotoNova::saveConfigItems(FILE *fp)
{
    LX200Generic::saveConfigItems(fp);
 
    IUSaveConfigSwitch(fp, &SyncCMRSP);
    IUSaveConfigSwitch(fp, &ParkPositionSP);
 
    return true;
}