rainbow.cpp

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/*
    LX200 Rainbow Driver
    Copyright (C) 2020 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 "rainbow.h"
#include "lx200driver.h"
 
#include <connectionplugins/connectionserial.h>
#include <indicom.h>
 
#include <cstring>
#include <cmath>
#include <termios.h>
#include <regex>
 
static std::unique_ptr<Rainbow> scope(new Rainbow());
 
Rainbow::Rainbow() : INDI::Telescope (), GI(this)
{
    setVersion(1, 3);
 
    SetTelescopeCapability(TELESCOPE_CAN_GOTO |
                           TELESCOPE_CAN_SYNC |
                           TELESCOPE_CAN_PARK |
                           TELESCOPE_CAN_ABORT |
                           TELESCOPE_CAN_CONTROL_TRACK |
                           TELESCOPE_HAS_TIME |
                           TELESCOPE_HAS_LOCATION |
                           TELESCOPE_HAS_PIER_SIDE |
                           TELESCOPE_HAS_TRACK_MODE |
                           TELESCOPE_CAN_HOME_GO,
                           4
                          );
}
 
const char *Rainbow::getDefaultName()
{
    return "Rainbow";
}
 
bool Rainbow::initProperties()
{
    INDI::Telescope::initProperties();
 
    serialConnection->setDefaultBaudRate(Connection::Serial::B_115200);
 
    SetParkDataType(PARK_AZ_ALT);
 
    // Homing
    // IUFillSwitch(&HomeS[0], "GO", "Go", ISS_OFF);
    // IUFillSwitchVector(&HomeSP, HomeS, 1, getDeviceName(), "TELESCOPE_HOME", "Home", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 60,
    //                    IPS_IDLE);
 
    // Star Alignment on Sync
    IUFillSwitch(&SaveAlignBeforeSyncS[STAR_ALIGNMENT_ENABLED], "STAR_ALIGNMENT_ENABLED", "Enabled", ISS_OFF);
    IUFillSwitch(&SaveAlignBeforeSyncS[STAR_ALIGNMENT_DISABLED], "STAR_ALIGNMENT_DISABLED", "Disabled", ISS_ON);
    IUFillSwitchVector(&SaveAlignBeforeSyncSP, SaveAlignBeforeSyncS, 2, getDeviceName(),
                       "STAR_ALIGNMENT", "Star Alignment", ALIGNMENT_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
 
    // Mount's versions
    IUFillText(&RSTVersionsT[FIRMWARE], "FIRMWARE", "Firmware Version", "");
    IUFillText(&RSTVersionsT[SERIALNUMBER], "SERIALNUMBER", "Serial Number", "");
    IUFillTextVector(&RSTVersionsTP, RSTVersionsT, 2, getDeviceName(), "RST_VERSIONS", "Versions", GENERAL_INFO_TAB, IP_RO, 0,
                     IPS_IDLE);
 
    // Pull Voltage & Temperatures (possible to disable to reduce load on Serial bus)
    IUFillSwitch(&PullVoltTempS[PULL_VOLTTEMP_ENABLED], "PULL_VOLTTEMP_ENABLED", "Enabled", ISS_OFF);
    IUFillSwitch(&PullVoltTempS[PULL_VOLTTEMP_DISABLED], "PULL_VOLTTEMP_DISABLED", "Disabled", ISS_ON);
    IUFillSwitchVector(&PullVoltTempSP, PullVoltTempS, 2, getDeviceName(),
                       "PULL_VOLTTEMP", "Pull V. & T.", GENERAL_INFO_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
 
    // Voltage & Temperatures
    IUFillNumber(&RSTVoltTempN[VOLTAGE], "VOLTAGE", "Input Voltage (V)", "%2.1f", 0, 20., 0., 0.);
    IUFillNumber(&RSTVoltTempN[BOARD_TEMPERATURE], "BOARD_TEMPERATURE", "Board Temp. (°C)", "%2.1f", -50, 70., 0., 0.);
    IUFillNumber(&RSTVoltTempN[RA_M_TEMPERATURE], "RA_M_TEMPERATURE", "RA-Motor Temp. (°C)", "%2.1f", -50, 70., 0., 0.);
    IUFillNumber(&RSTVoltTempN[DE_M_TEMPERATURE], "DE_M_TEMPERATURE", "DEC-Motor Temp. (°C)", "%2.1f", -50, 70., 0., 0.);
    IUFillNumberVector(&RSTVoltTempNP, RSTVoltTempN, 4, getDeviceName(), "RST_VOLT_TEMP", "Volt. & Temp.", GENERAL_INFO_TAB,
                       IP_RO, 0,
                       IPS_IDLE);
 
    // Motor powers
    IUFillNumber(&RSTMotorPowN[RA_M_POWER], "RA_M_POWER", "RA-Motor (%)", "%3.1f", 0, 100., 0., 0.);
    IUFillNumber(&RSTMotorPowN[DE_M_POWER], "DE_M_POWER", "DE-Motor (%)", "%3.1f", 0, 100., 0., 0.);
    IUFillNumberVector(&RSTMotorPowNP, RSTMotorPowN, 2, getDeviceName(), "RST_MOTOR_POW", "Motor Power", GENERAL_INFO_TAB,
                       IP_RO, 0,
                       IPS_IDLE);
 
    // Horizontal Coords
    IUFillNumber(&HorizontalCoordsN[AXIS_AZ], "AZ", "Az D:M:S", "%10.6m", 0.0, 360.0, 0.0, 0);
    IUFillNumber(&HorizontalCoordsN[AXIS_ALT], "ALT", "Alt  D:M:S", "%10.6m", -90., 90.0, 0.0, 0);
    IUFillNumberVector(&HorizontalCoordsNP, HorizontalCoordsN, 2, getDeviceName(), "HORIZONTAL_COORD",
                       "Horizontal Coord", MAIN_CONTROL_TAB, IP_RW, 0, IPS_IDLE);
 
    AddTrackMode("TRACK_SIDEREAL", "Sidereal", true);
    AddTrackMode("TRACK_SOLAR", "Solar");
    AddTrackMode("TRACK_LUNAR", "Lunar");
    AddTrackMode("TRACK_CUSTOM", "Guide");
 
    IUFillNumber(&GuideRateN[0], "GUIDE_RATE", "x Sidereal", "%g", 0.1, 1.0, 0.1, 0.5);
    IUFillNumberVector(&GuideRateNP, GuideRateN, 1, getDeviceName(), "GUIDE_RATE", "Guiding Rate", MOTION_TAB, IP_RW, 0,
                       IPS_IDLE);
 
    IUFillNumber(&SlewSpeedsN[SLEW_SPEED_MAX], "SLEW_SPEED_MAX", "Max (x Siderial)", "%g", 0, 2000, 0, 0);
    IUFillNumber(&SlewSpeedsN[SLEW_SPEED_FIND], "SLEW_SPEED_FIND", "Find (x Siderial)", "%g", 0, 2000, 0, 0);
    IUFillNumber(&SlewSpeedsN[SLEW_SPEED_CENTERING], "SLEW_SPEED_CENTERING", "Centering (x Siderial)", "%g", 0, 2000, 0, 0);
    IUFillNumberVector(&SlewSpeedsNP, SlewSpeedsN, 3, getDeviceName(), "SLEW_SPEED", "Slew speed", MOTION_TAB, IP_RW, 0,
                       IPS_IDLE);
 
    setDriverInterface(getDriverInterface() | GUIDER_INTERFACE);
 
    GI::initProperties(MOTION_TAB);
 
    addDebugControl();
 
    return true;
}
 
bool Rainbow::updateProperties()
{
    INDI::Telescope::updateProperties();
 
    if (isConnected())
    {
        defineProperty(&HorizontalCoordsNP);
        //defineProperty(&HomeSP);
 
        defineProperty(&GuideRateNP);
        defineProperty(&SlewSpeedsNP);
 
        defineProperty(&SaveAlignBeforeSyncSP);
        defineProperty(&RSTVersionsTP);
        defineProperty(&PullVoltTempSP);
        defineProperty(&RSTVoltTempNP);
        defineProperty(&RSTMotorPowNP);
 
        getStartupStatus();
    }
    else
    {
        deleteProperty(HorizontalCoordsNP.name);
        //deleteProperty(HomeSP.name);
 
        deleteProperty(GuideRateNP.name);
        deleteProperty(SlewSpeedsNP.name);
 
        deleteProperty(SaveAlignBeforeSyncSP.name);
        deleteProperty(RSTVersionsTP.name);
        deleteProperty(PullVoltTempSP.name);
        deleteProperty(RSTVoltTempNP.name);
        deleteProperty(RSTMotorPowNP.name);
    }
 
    GI::updateProperties();
 
    return true;
}
 
bool Rainbow::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)
    {
        // Horizontal Coordinates
        if (!strcmp(name, HorizontalCoordsNP.name))
        {
            int i = 0, nset = 0;
            double newAlt = -1, newAz = -1;
            INumber *horp = nullptr;
 
            for (nset = i = 0; i < n; i++)
            {
                if (horp == &HorizontalCoordsN[AXIS_ALT])
                {
                    newAlt = values[i];
                    nset += newAlt >= -90. && newAlt <= 90.0;
                }
                else if (horp == &HorizontalCoordsN[AXIS_AZ])
                {
                    newAz = values[i];
                    nset += newAz >= 0. && newAz <= 360.0;
                }
            }
 
            if (nset == 2)
            {
                if (slewToHorizontalCoords(newAz, newAlt))
                {
                    TrackState = SCOPE_SLEWING;
                    HorizontalCoordsNP.s = IPS_BUSY;
                    IDSetNumber(&HorizontalCoordsNP, nullptr);
                    return true;
                }
                else
                {
                    HorizontalCoordsNP.s = IPS_ALERT;
                    IDSetNumber(&HorizontalCoordsNP, nullptr);
                    LOG_ERROR("Failed to slew to target coordinates.");
                    return true;
                }
            }
            else
            {
                HorizontalCoordsNP.s = IPS_ALERT;
                IDSetNumber(&HorizontalCoordsNP, "Altitude or Azimuth missing or invalid");
                return true;
            }
        }
        // Guide Rate
        else if (!strcmp(name, GuideRateNP.name))
        {
            if (setGuideRate(values[0]))
            {
                IUUpdateNumber(&GuideRateNP, values, names, n);
                GuideRateNP.s = IPS_OK;
                LOGF_INFO("Guide rate updated to %.2fX sidereal rate.", values[0]);
            }
            else
                GuideRateNP.s = IPS_ALERT;
 
            IDSetNumber(&GuideRateNP, nullptr);
            return true;
        }
        // Slew speeds
        else if (!strcmp(name, SlewSpeedsNP.name))
        {
 
            if (setSlewSpeedVal(SLEW_SPEED_MAX, values[SLEW_SPEED_MAX])
                    && setSlewSpeedVal(SLEW_SPEED_FIND, values[SLEW_SPEED_FIND])
                    && setSlewSpeedVal(SLEW_SPEED_CENTERING, values[SLEW_SPEED_CENTERING])
               )
            {
                IUUpdateNumber(&SlewSpeedsNP, values, names, n);
                SlewSpeedsNP.s = IPS_OK;
                LOG_INFO("Slew speeds updated.");
            }
            else
                SlewSpeedsNP.s = IPS_ALERT;
            IDSetNumber(&SlewSpeedsNP, nullptr);
            return true;
        }
    }
 
 
    return INDI::Telescope::ISNewNumber(dev, name, values, names, n);
}
 
bool Rainbow::ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        // Homing
        // Star Align
        if (!strcmp(SaveAlignBeforeSyncSP.name, name))
        {
 
            IUUpdateSwitch(&SaveAlignBeforeSyncSP, states, names, n);
            SaveAlignBeforeSyncSP.s = IPS_OK;
            saveConfig(true, SaveAlignBeforeSyncSP.name);
            IDSetSwitch(&SaveAlignBeforeSyncSP, nullptr);
            return true;
        }
        // Pull RST's Voltage and Temperatures
        else if (!strcmp(PullVoltTempSP.name, name))
        {
            IUUpdateSwitch(&PullVoltTempSP, states, names, n);
            if (PullVoltTempS[PULL_VOLTTEMP_DISABLED].s == ISS_ON)
            {
                RSTVoltTempN[VOLTAGE].value = 0.;
                RSTVoltTempN[BOARD_TEMPERATURE].value = 0.;
                RSTVoltTempN[RA_M_TEMPERATURE].value = 0.;
                RSTVoltTempN[DE_M_TEMPERATURE].value = 0.;
                RSTMotorPowN[RA_M_POWER].value = 0.;
                RSTMotorPowN[DE_M_POWER].value = 0.;
                RSTVoltTempNP.s = IPS_IDLE;
                IDSetNumber(&RSTVoltTempNP, nullptr);
                RSTMotorPowNP.s = IPS_IDLE;
                IDSetNumber(&RSTMotorPowNP, nullptr);
                PullVoltTempSP.s = IPS_IDLE;
                LOG_INFO("Pulling RST's Voltage and Temperatures set to: off");
            }
            else
            {
                PullVoltTempSP.s = IPS_OK;
                LOG_INFO("Pulling RST's Voltage and Temperatures set to: on");
            }
            IDSetSwitch(&PullVoltTempSP, nullptr);
            return true;
        }
 
    }
 
    return INDI::Telescope::ISNewSwitch(dev, name, states, names, n);
}
 
void Rainbow::getStartupStatus()
{
    getFirmwareVersion();
    LOGF_INFO("Detected firmware %s", m_Version.c_str());
 
    if (getTrackingState())
        TrackStateSP.apply();
    if (getGuideRate())
        IDSetNumber(&GuideRateNP, nullptr);
    if (getSlewSpeedVal(SLEW_SPEED_MAX) && (getSlewSpeedVal(SLEW_SPEED_FIND) && getSlewSpeedVal(SLEW_SPEED_CENTERING)))
        IDSetNumber(&SlewSpeedsNP, nullptr);
 
    double longitude = 0, latitude = 90;
    // Get value from config file if it exists.
    IUGetConfigNumber(getDeviceName(), "GEOGRAPHIC_COORD", "LONG", &longitude);
    IUGetConfigNumber(getDeviceName(), "GEOGRAPHIC_COORD", "LAT", &latitude);
 
    if (InitPark())
    {
        // If loading parking data is successful, we just set the default parking values.
        SetAxis1ParkDefault(latitude >= 0 ? 0 : 180);
        SetAxis2ParkDefault(latitude);
    }
    else
    {
        // Otherwise, we set all parking data to default in case no parking data is found.
        SetAxis1Park(latitude >= 0 ? 0 : 180);
        SetAxis2Park(latitude);
        SetAxis1ParkDefault(latitude >= 0 ? 0 : 180);
        SetAxis2ParkDefault(latitude);
    }
 
    sendScopeLocation();
    sendScopeTime();
}
 
bool Rainbow::updateLocation(double latitude, double longitude, double elevation)
{
    INDI_UNUSED(elevation);
 
    char cmd[DRIVER_LEN] = {0};
    int degrees, minutes, seconds;
 
    // Convert from INDI standard to regular east/west -180 to 180
    if (longitude > 180)
        longitude -= 360;
 
    // Rainbow defines EAST as - and WEST as +
    // which is opposite of the standard
    longitude *= -1;
 
    getSexComponents(longitude, &degrees, &minutes, &seconds);
 
    snprintf(cmd, DRIVER_LEN, ":Sg%c%03d*%02d'%02d#", longitude >= 0 ? '+' : '-', std::abs(degrees), minutes, seconds);
 
    if (!sendCommand(cmd))
        return false;
 
    getSexComponents(latitude, &degrees, &minutes, &seconds);
 
    snprintf(cmd, DRIVER_LEN, ":St%c%02d*%02d'%02d#", latitude >= 0 ? '+' : '-', std::abs(degrees), minutes, seconds);
 
    return sendCommand(cmd);
}
 
//bool Rainbow::updateTime(ln_date *utc, double utc_offset)
//{
 
//}
 
bool Rainbow::Handshake()
{
    return getFirmwareVersion();
}
 
bool Rainbow::getFirmwareVersion()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand(":AV#", res) == false)
        return false;
 
    // :AV190905 --> 190905
    m_Version = std::string(res + 3);
 
    // Write Firmware and Serial Number to INDI Control Panel
    if (isConnected()) // executed onlyafter properties are updated
    {
        char fw[16] = {0}, sn[16] = {0};
        sscanf(res + 3, "%6s", fw);
        memset(res, 0, sizeof res);
        IUSaveText(&RSTVersionsT[FIRMWARE], fw);
 
        if (sendCommand(":AS#", res) == false)
            return false;
        sscanf(res + 3, "%6s", sn);
        IUSaveText(&RSTVersionsT[SERIALNUMBER], sn);
 
        RSTVersionsTP.s = IPS_OK;
        IDSetText(&RSTVersionsTP, nullptr);
    }
    return true;
}
 
bool Rainbow::SetTrackEnabled(bool enabled)
{
    char cmd[DRIVER_LEN] = {0};
    snprintf(cmd, DRIVER_LEN, ":Ct%c#", enabled ? 'A' : 'L');
    return sendCommand(cmd);
}
 
bool Rainbow::getTrackingState()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand(":AT#", res) == false)
        return false;
 
    TrackStateSP[TRACK_ON].setState((res[3] == '1') ? ISS_ON : ISS_OFF);
    TrackStateSP[TRACK_OFF].setState((res[3] == '0') ? ISS_ON : ISS_OFF);
    TrackStateSP.setState((TrackStateSP[TRACK_ON].getState() == ISS_ON) ? IPS_BUSY : IPS_IDLE);
 
    return true;
}
 
bool Rainbow::findHome()
{
    bool ret = false;
    ret = sendCommand(":Ch#");
    if (ret)
        TrackState = SCOPE_SLEWING;
    return ret;
}
 
bool Rainbow::setGuideRate(double rate)
{
    char cmd[DRIVER_LEN] = {0};
    snprintf(cmd, DRIVER_LEN, ":Cu0=%3.1f#", rate);
    return sendCommand(cmd);
}
 
bool Rainbow::getGuideRate()
{
    char res[DRIVER_LEN] = {0};
    char rate[4] = {0};
 
    if (!sendCommand(":CU0#", res))
        return false;
 
    memcpy(rate, res + 5, 3);
 
    GuideRateN[0].value = std::stod(rate);
    GuideRateNP.s = IPS_OK;
    return true;
}
 
bool Rainbow::setSlewSpeedVal(int speedtype, double rate)
{
    char cmd[DRIVER_LEN] = {0};
    snprintf(cmd, DRIVER_LEN, ":Cu%d=%g#", speedtype == SLEW_SPEED_MAX ? 3 : (speedtype == SLEW_SPEED_FIND ? 2 : 1), rate);
    LOGF_INFO("slew speed set to enum %d and value %g", speedtype, rate);
    return sendCommand(cmd);
}
 
bool Rainbow::getSlewSpeedVal(int speedtype)
{
    char res[DRIVER_LEN] = {0};
    char rate[4] = {0};
    char cmd[DRIVER_LEN] = {0};
    snprintf(cmd, DRIVER_LEN, ":CU%d#", speedtype == SLEW_SPEED_MAX ? 3 : (speedtype == SLEW_SPEED_FIND ? 2 : 1));
    if (sendCommand(cmd, res))
    {
        memcpy(rate, res + 5, 4);
        SlewSpeedsN[speedtype].value = std::stod(rate);
        SlewSpeedsNP.s = IPS_OK;
    }
    else
    {
        SlewSpeedsNP.s = IPS_ALERT;
        return false;
    }
    return true;
}
 
bool Rainbow::SetCurrentPark()
{
    SetAxis1Park(m_CurrentAZ);
    SetAxis2Park(m_CurrentAL);
    return true;
}
 
bool Rainbow::SetDefaultPark()
{
    SetAxis1Park(0);
    SetAxis2Park(0);
    return true;
}
 
bool Rainbow::Park()
{
    double parkAZ  = GetAxis1Park();
    double parkAlt = GetAxis2Park();
 
    if (slewToHorizontalCoords(parkAZ, parkAlt))
    {
        TrackState = SCOPE_PARKING;
        HorizontalCoordsNP.s = IPS_BUSY;
        IDSetNumber(&HorizontalCoordsNP, nullptr);
        LOG_INFO("Parking is in progress...");
        return true;
    }
 
    return false;
 
}
 
bool Rainbow::UnPark()
{
    if (SetTrackEnabled(true))
    {
        TrackStateSP[TRACK_ON].setState(ISS_ON);
        TrackStateSP[TRACK_OFF].setState(ISS_OFF);
        TrackStateSP.setState(IPS_BUSY);
        TrackStateSP.apply();
 
        SetParked(false);
        return true;
    }
 
    return false;
}
 
bool Rainbow::isSlewComplete()
{
    char res[DRIVER_LEN] = {0};
    int nbytes_read = 0;
    if (tty_nread_section(PortFD, res, DRIVER_LEN, DRIVER_STOP_CHAR, 1, &nbytes_read) == TTY_OK)
    {
        LOGF_DEBUG("SlewCheck <%s>", res);
        if (!strcmp(res, ":MM0#") || !strcmp(res, ":CHO#"))
        {
            m_SlewErrorCode = 0;
            return true;
        }
        else if (!strcmp(res, ":MML#"))
        {
            m_SlewErrorCode = 1;
        }
        else if (!strcmp(res, ":MMU#"))
        {
            m_SlewErrorCode = 2;
        }
        else if (!strcmp(res, ":MME#"))
        {
            m_SlewErrorCode = 3;
        }
        else if (!strcmp(res, ":CH0#"))
        {
            m_SlewErrorCode = 4;
        }
        else if (!strcmp(res, ":CH<#"))
        {
            m_SlewErrorCode = 5;
        }
    }
 
 
    return false;
}
 
bool Rainbow::ReadScopeStatus()
{
    if (!isConnected())
        return false;
 
    if (TrackState == SCOPE_SLEWING)
    {
        // Check if Slewing is complete
        if (isSlewComplete())
        {
            HorizontalCoordsNP.s = IPS_OK;
            IDSetNumber(&HorizontalCoordsNP, nullptr);
 
            if (HomeSP.getState() == IPS_BUSY)
            {
                LOG_INFO("Homing completed successfully.");
                HomeSP.reset();
                HomeSP.setState(IPS_OK);
                HomeSP.apply();
                TrackState = SCOPE_IDLE;
            }
            else
            {
                TrackState = SCOPE_TRACKING;
                // For Horizontal Goto, we must explicitly set tracking ON again.
                if (m_GotoType == Horizontal)
                    SetTrackEnabled(true);
                LOG_INFO("Slew is complete. Tracking...");
            }
        }
        else if (m_SlewErrorCode > 0)
        {
            HorizontalCoordsNP.s = IPS_ALERT;
            IDSetNumber(&HorizontalCoordsNP, nullptr);
 
            EqNP.setState(IPS_ALERT);
 
            if (HomeSP.getState() == IPS_BUSY)
            {
                TrackState = SCOPE_IDLE;
                HomeSP.reset();
                HomeSP.setState(IPS_ALERT);
                HomeSP.apply();
                LOGF_ERROR("Homing error: %s", getSlewErrorString(m_SlewErrorCode).c_str());
            }
            else
            {
                // JM TODO CHECK: Does the mount RESUME tracking after slew failure or it completely stops idle?
                TrackState = m_GotoType == Horizontal ? SCOPE_IDLE : SCOPE_TRACKING;
                LOGF_ERROR("Slewing error: %s", getSlewErrorString(m_SlewErrorCode).c_str());
            }
        }
    }
    else if (TrackState == SCOPE_PARKING)
    {
        if (isSlewComplete())
        {
            SetParked(true);
            HorizontalCoordsNP.s = IPS_OK;
            IDSetNumber(&HorizontalCoordsNP, nullptr);
        }
        else if (m_SlewErrorCode > 0)
        {
            HorizontalCoordsNP.s = IPS_ALERT;
            EqNP.setState(IPS_ALERT);
            // JM TODO CHECK: Does the mount RESUME tracking after slew failure or it completely stops idle?
            TrackState = m_GotoType == Horizontal ? SCOPE_IDLE : SCOPE_TRACKING;
            LOGF_ERROR("Parking error: %s", getSlewErrorString(m_SlewErrorCode).c_str());
            IDSetNumber(&HorizontalCoordsNP, nullptr);
        }
    }
 
    // Equatorial Coords
    if (!getRA() || !getDE())
    {
        EqNP.setState(IPS_ALERT);
        LOG_ERROR("Error reading RA/DEC.");
        EqNP.apply();
        return false;
    }
 
    // Horizontal Coords
    if (!getAZ() || !getAL())
    {
        HorizontalCoordsNP.s = IPS_ALERT;
    }
    else
    {
        HorizontalCoordsN[AXIS_AZ].value = m_CurrentAZ;
        HorizontalCoordsN[AXIS_ALT].value = m_CurrentAL;
    }
    IDSetNumber(&HorizontalCoordsNP, nullptr);
 
    setPierSide(getSideOfPier());
 
    NewRaDec(m_CurrentRA, m_CurrentDE);
 
    if (PullVoltTempS[PULL_VOLTTEMP_ENABLED].s == ISS_ON)
    {
        // Get Voltage and Temperatures
        char res[DRIVER_LEN] = {0};
        float v, bT, rT, dT;
        if (sendCommand(":Cv#", res) == false)
            return false;
        sscanf(res + 3, "%f", &v);
        memset(res, 0, sizeof res);
        RSTVoltTempN[VOLTAGE].value = v;
        if (sendCommand(":CT#", res) == false)
            return false;
        sscanf(res + 3, "%f|%f|%f", &bT, &rT, &dT);
        memset(res, 0, sizeof res);
        RSTVoltTempN[BOARD_TEMPERATURE].value = bT;
        RSTVoltTempN[RA_M_TEMPERATURE].value = rT;
        RSTVoltTempN[DE_M_TEMPERATURE].value = dT;
        RSTVoltTempNP.s = IPS_OK;
        IDSetNumber(&RSTVoltTempNP, nullptr);
 
        // Get Motor Powers
        float rP, dP;
        if (sendCommand(":CP#", res) == false)
            return false;
        sscanf(res + 3, "%f|%f", &dP, &rP);
        memset(res, 0, sizeof res);
        RSTMotorPowN[RA_M_POWER].value = rP;
        RSTMotorPowN[DE_M_POWER].value = dP;
        RSTMotorPowNP.s = IPS_OK;
        IDSetNumber(&RSTMotorPowNP, nullptr);
    }
    return true;
}
 
bool Rainbow::Goto(double ra, double dec)
{
    const struct timespec timeout = {0, 100000000L};
 
    char RAStr[64] = {0}, DecStr[64] = {0};
    fs_sexa(RAStr, ra, 2, 36000);
    fs_sexa(DecStr, dec, 2, 36000);
 
    // If moving, let's stop it first.
    if (EqNP.getState() == IPS_BUSY)
    {
        if (!isSimulation() && Abort() == false)
        {
            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 (slewToEquatorialCoords(ra, dec) == false)
    {
        LOGF_ERROR("Error Slewing to JNow RA %s - DEC %s", RAStr, DecStr);
        return false;
    }
 
    TrackState = SCOPE_SLEWING;
    LOGF_INFO("Slewing to RA: %s - DE: %s", RAStr, DecStr);
 
    // Also set Horizontal Coors to BUSY
    HorizontalCoordsNP.s = IPS_BUSY;
    IDSetNumber(&HorizontalCoordsNP, nullptr);
 
    return true;
}
 
bool Rainbow::getRA()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand(":GR#", res) == false)
        return false;
 
    // Skip :GR and read value
    return (f_scansexa(res + 3, &m_CurrentRA) == 0);
}
 
bool Rainbow::getDE()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand(":GD#", res) == false)
        return false;
 
    // Skip :GD and read value
    return (f_scansexa(res + 3, &m_CurrentDE) == 0);
}
 
 
bool Rainbow::setRA(double ra)
{
    char cmd[DRIVER_LEN] = {0};
    char res[DRIVER_LEN] = {0};
    int degrees, minutes;
    double seconds;
 
    getSexComponentsIID(ra, &degrees, &minutes, &seconds);
 
    snprintf(cmd, DRIVER_LEN, ":Sr%02d:%02d:%04.1f#", degrees, minutes, seconds);
 
    if (!sendCommand(cmd, res, -1, 1))
        return false;
 
    return res[0] == '1';
}
 
bool Rainbow::setDE(double de)
{
    char cmd[DRIVER_LEN] = {0};
    char res[DRIVER_LEN] = {0};
    int degrees, minutes;
    double seconds;
 
    getSexComponentsIID(de, &degrees, &minutes, &seconds);
 
    snprintf(cmd, DRIVER_LEN, ":Sd%c%02d*%02d:%04.1f#", de >= 0 ? '+' : '-', std::abs(degrees), minutes, seconds);
 
    if (!sendCommand(cmd, res, -1, 1))
        return false;
 
    return res[0] == '1';
}
 
bool Rainbow::slewToEquatorialCoords(double ra, double de)
{
    if (!setRA(ra) || !setDE(de))
        return false;
 
    if (sendCommand(":MS#"))
    {
        char RAStr[16], DEStr[16];
        fs_sexa(RAStr, ra, 2, 36000);
        fs_sexa(DEStr, de, 2, 36000);
        LOGF_DEBUG("Slewing to RA (%s) DE (%s)...", RAStr, DEStr);
        m_GotoType = Equatorial;
        return true;
    }
 
    return false;
}
 
bool Rainbow::getAZ()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand(":GZ#", res) == false)
        return false;
 
    // Skip :GZ and read value
    return (f_scansexa(res + 3, &m_CurrentAZ) == 0);
}
 
bool Rainbow::getAL()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand(":GA#", res) == false)
        return false;
 
    // Skip :GA and read value
    return (f_scansexa(res + 3, &m_CurrentAL) == 0);
}
 
bool Rainbow::setAZ(double azimuth)
{
    char cmd[DRIVER_LEN] = {0};
    int degrees, minutes;
    double seconds;
 
    getSexComponentsIID(azimuth, &degrees, &minutes, &seconds);
 
    snprintf(cmd, DRIVER_LEN, ":Sz%03d*%02d:%04.1f#", degrees, minutes, seconds);
 
    return sendCommand(cmd);
}
 
bool Rainbow::setAL(double altitude)
{
    char cmd[DRIVER_LEN] = {0};
    int degrees, minutes;
    double seconds;
 
    getSexComponentsIID(altitude, &degrees, &minutes, &seconds);
 
    snprintf(cmd, DRIVER_LEN, ":Sa%c%02d*%02d:%04.1f#", degrees >= 0 ? '+' : '-', std::abs(degrees), minutes, seconds);
 
    return sendCommand(cmd);
}
 
bool Rainbow::slewToHorizontalCoords(double azimuth, double altitude)
{
    if (!setAZ(azimuth) || !setAL(altitude))
        return false;
 
    if (sendCommand(":MA#"))
    {
        char AzStr[16], AltStr[16];
        fs_sexa(AzStr, azimuth, 2, 36000);
        fs_sexa(AltStr, altitude, 2, 36000);
        LOGF_DEBUG("Slewing to Az (%s) Alt (%s)...", AzStr, AltStr);
        m_GotoType = Horizontal;
        return true;
    }
 
    return false;
}
 
bool Rainbow::MoveNS(INDI_DIR_NS dir, TelescopeMotionCommand command)
{
    switch (command)
    {
        case MOTION_START:
            if (!sendCommand(dir == DIRECTION_NORTH ? ":Mn#" : ":Ms#"))
            {
                LOG_ERROR("Error setting N/S motion direction.");
                return false;
            }
            else
                LOGF_DEBUG("Moving toward %s.", (dir == DIRECTION_NORTH) ? "North" : "South");
            break;
 
        case MOTION_STOP:
            if (!sendCommand(":Q#"))
            {
                LOG_ERROR("Error stopping N/S motion.");
                return false;
            }
            else
                LOGF_DEBUG("Movement toward %s halted.", (dir == DIRECTION_NORTH) ? "North" : "South");
            break;
    }
 
    return true;
}
 
bool Rainbow::MoveWE(INDI_DIR_WE dir, TelescopeMotionCommand command)
{
    switch (command)
    {
        case MOTION_START:
            if (!sendCommand(dir == DIRECTION_WEST ? ":Mw#" : ":Me#"))
            {
                LOG_ERROR("Error setting W/E motion direction.");
                return false;
            }
            else
                LOGF_DEBUG("Moving toward %s.", (dir == DIRECTION_WEST) ? "West" : "East");
            break;
 
        case MOTION_STOP:
            if (!sendCommand(":Q#"))
            {
                LOG_ERROR("Error stopping W/E motion.");
                return false;
            }
            else
                LOGF_DEBUG("Movement toward %s halted.", (dir == DIRECTION_WEST) ? "West" : "East");
            break;
    }
 
    return true;
}
 
bool Rainbow::Abort()
{
    if (GuideNSNP.getState() == IPS_BUSY || GuideWENP.getState() == IPS_BUSY)
    {
        GuideNSNP.setState(IPS_IDLE);
        GuideWENP.setState(IPS_IDLE);
        GuideNSNP[0].setValue(0);
        GuideNSNP[1].setValue(0);
        GuideWENP[0].setValue(0);
        GuideWENP[1].setValue(0);
 
        if (m_GuideNSTID)
        {
            IERmTimer(m_GuideNSTID);
            m_GuideNSTID = 0;
        }
 
        if (m_GuideWETID)
        {
            IERmTimer(m_GuideWETID);
            m_GuideWETID = 0;
        }
 
        LOG_INFO("Guide aborted.");
        GuideNSNP.apply();
        GuideWENP.apply();
 
        return true;
    }
 
    return sendCommand(":Q#");
}
 
bool Rainbow::Sync(double ra, double dec)
{
 
    char cmd[DRIVER_LEN] = {0};
    if (SaveAlignBeforeSyncS[STAR_ALIGNMENT_ENABLED].s == ISS_ON)
    {
        snprintf(cmd, DRIVER_LEN, ":CN%07.3f%c%06.3f#", ra * 15.0, dec >= 0 ? '+' : '-', std::fabs(dec));
    }
    else
    {
        snprintf(cmd, DRIVER_LEN, ":Ck%07.3f%c%06.3f#", ra * 15.0, dec >= 0 ? '+' : '-', std::fabs(dec));
    }
 
    if (sendCommand(cmd))
    {
        char RAStr[64] = {0}, DecStr[64] = {0};
        fs_sexa(RAStr, ra, 2, 36000);
        fs_sexa(DecStr, dec, 2, 36000);
        LOGF_INFO("Synced to RA %s DE %s%s", RAStr, DecStr,
                  SaveAlignBeforeSyncS[STAR_ALIGNMENT_ENABLED].s == ISS_ON ? ", and saved as alignment point." : "");
        return true;
    }
    return false;
}
 
bool Rainbow::SetTrackMode(uint8_t mode)
{
    switch (mode)
    {
        case TRACK_SIDEREAL:
            return sendCommand(":CtR#");
        case TRACK_SOLAR:
            return sendCommand(":CtS#");
        case TRACK_LUNAR:
            return sendCommand(":CtL#");
        case TRACK_CUSTOM:
            return sendCommand(":CtU#");
 
    }
 
    return false;
}
 
bool Rainbow::SetSlewRate(int index)
{
    switch(index)
    {
        case SLEW_MAX:
            return sendCommand(":RS#");
        case SLEW_FIND:
            return sendCommand(":RM#");
        case SLEW_CENTERING:
            return sendCommand(":RC#");
        case SLEW_GUIDE:
            return sendCommand(":RG#");
    }
 
    return false;
}
const std::string Rainbow::getSlewErrorString(uint8_t code)
{
    switch (code)
    {
        case 1:
            return "The altitude of the target is lower than lower limit.";
        case 2:
            return "The altitude of the target is higher than upper limit.";
        case 3:
            return "Slewing was canceled by user";
        case 4:
            return "RA Axis homing failed.";
        case 5:
            return "DE Axis homing failed.";
    }
 
    return "Unknown error";
}
 
IPState Rainbow::GuideNorth(uint32_t ms)
{
    return guide(Direction::North, ms);
}
 
IPState Rainbow::GuideSouth(uint32_t ms)
{
    return guide(Direction::South, ms);
}
 
IPState Rainbow::GuideEast(uint32_t ms)
{
    return guide(Direction::East, ms);
}
 
IPState Rainbow::GuideWest(uint32_t ms)
{
    return guide(Direction::West, ms);
}
 
IPState Rainbow::guide(Direction direction, uint32_t ms)
{
    // set up direction properties
    char dc = 'x';
    char cmd[DRIVER_LEN] = {0};
    // ISwitchVectorProperty *moveSP = &MovementNSSP;
    // ISwitch moveS = MovementNSSP[0];
    // int* guideTID = &m_GuideNSTID;
    int* guideTID = &m_GuideNSTID;
    int index = 0;
 
 
    // set up pointers to the various things needed
    switch (direction)
    {
        case North:
            dc = 'N';
            guideTID = &m_GuideNSTID;
            break;
        case South:
            dc = 'S';
            guideTID = &m_GuideNSTID;
            index = 1;
            break;
        case East:
            dc = 'E';
            guideTID = &m_GuideWETID;
            break;
        case West:
            dc = 'W';
            guideTID = &m_GuideWETID;
            index = 1;
            break;
    }
 
    if (MovementNSSP.getState() == IPS_BUSY || MovementWESP.getState() == IPS_BUSY)
    {
        LOG_ERROR("Cannot guide while moving.");
        return IPS_ALERT;
    }
 
    auto directionProperty = direction > North ? MovementWESP : MovementNSSP;
 
    // If already moving (no pulse command), then stop movement
    if (directionProperty.getState() == IPS_BUSY)
    {
        LOG_DEBUG("Already moving - stop");
        sendCommand(":Q#");
    }
 
    if (*guideTID)
    {
        LOGF_DEBUG("Stop timer %c", dc);
        IERmTimer(*guideTID);
        *guideTID = 0;
    }
 
    // Make sure TRACKING is set to Guide
    if (TrackModeSP.findOnSwitchIndex() != TRACK_CUSTOM)
    {
        SetTrackMode(TRACK_CUSTOM);
        TrackModeSP.reset();
        TrackModeSP[TRACK_CUSTOM].setState(ISS_ON);
        TrackModeSP.apply();
        LOG_INFO("Tracking mode switched to guide.");
    }
 
    // Make sure SLEWING SPEED is set to Guide
    if (SlewRateSP.findOnSwitchIndex() != SLEW_GUIDE)
    {
        // Set slew to guiding
        SetSlewRate(SLEW_GUIDE);
        SlewRateSP.reset();
        SlewRateSP[SLEW_GUIDE].setState(ISS_ON);
        SlewRateSP.apply();
    }
 
    directionProperty[index].setState(ISS_ON);
    snprintf(cmd, DRIVER_LEN, ":M%c#", std::tolower(dc));
 
    // start movement at HC button rate 1
    if (!sendCommand(cmd))
    {
        LOGF_ERROR("Start motion %c failed", dc);
        return IPS_ALERT;
    }
 
    // start the guide timeout timer
    addGuideTimer(direction, ms);
    return IPS_BUSY;
}
 
void Rainbow::guideTimeoutHelperN(void *p)
{
    static_cast<Rainbow *>(p)->guideTimeout(North);
}
 
void Rainbow::guideTimeoutHelperS(void *p)
{
    static_cast<Rainbow *>(p)->guideTimeout(South);
}
 
void Rainbow::guideTimeoutHelperW(void *p)
{
    static_cast<Rainbow *>(p)->guideTimeout(West);
}
 
void Rainbow::guideTimeoutHelperE(void *p)
{
    static_cast<Rainbow *>(p)->guideTimeout(East);
}
 
void Rainbow::guideTimeout(Direction direction)
{
    char cmd[DRIVER_LEN] = {0};
    switch(direction)
    {
        case North:
        case South:
            MovementNSSP.reset();
            MovementNSSP.apply();
            GuideNSNP[0].setValue(0);
            GuideNSNP[1].setValue(0);
            GuideNSNP.setState(IPS_IDLE);
            m_GuideNSTID            = 0;
            GuideNSNP.apply();
            snprintf(cmd, DRIVER_LEN, ":Q%c#", direction == North ? 'n' : 's');
            break;
        case East:
        case West:
            MovementWESP.reset();
            MovementWESP.apply();
            GuideWENP[0].setValue(0);
            GuideWENP[1].setValue(0);
            GuideWENP.setState(IPS_IDLE);
            m_GuideWETID            = 0;
            GuideWENP.apply();
            snprintf(cmd, DRIVER_LEN, ":Q%c#", direction == East ? 'e' : 'w');
            break;
    }
    sendCommand(cmd);
    LOGF_DEBUG("Guide %c finished", "NSWE"[direction]);
}
 
void Rainbow::addGuideTimer(Direction direction, uint32_t ms)
{
    switch(direction)
    {
        case North:
            m_GuideNSTID = IEAddTimer(ms, guideTimeoutHelperN, this);
            break;
        case South:
            m_GuideNSTID = IEAddTimer(ms, guideTimeoutHelperS, this);
            break;
        case East:
            m_GuideWETID = IEAddTimer(ms, guideTimeoutHelperE, this);
            break;
        case West:
            m_GuideWETID = IEAddTimer(ms, guideTimeoutHelperW, this);
            break;
    }
}
 
bool Rainbow::getLocalTime(char *timeString)
{
    if (isSimulation())
    {
        time_t now = time (nullptr);
        strftime(timeString, MAXINDINAME, "%T", localtime(&now));
    }
    else
    {
        int h, m, s;
        char response[DRIVER_LEN] = {0};
        if (!sendCommand(":GL#", response))
            return false;
 
        if (sscanf(response + 3, "%d:%d:%d", &h, &m, &s) != 3)
        {
            LOG_WARN("Failed to get time from device.");
            return false;
        }
        snprintf(timeString, MAXINDINAME, "%02d:%02d:%02d", h, m, s);
    }
 
    return true;
}
 
bool Rainbow::getLocalDate(char *dateString)
{
    if (isSimulation())
    {
        time_t now = time (nullptr);
        strftime(dateString, MAXINDINAME, "%F", localtime(&now));
    }
    else
    {
        int dd, mm, yy;
        char response[DRIVER_LEN] = {0};
        char mell_prefix[3] = {0};
        if (!sendCommand(":GC#", response))
            return false;
 
        if (sscanf(response + 3, "%d%*c%d%*c%d", &mm, &dd, &yy) != 3)
        {
            LOG_WARN("Failed to get date from device.");
            return false;
        }
        else
        {
            if (yy > 50)
                strncpy(mell_prefix, "19", 3);
            else
                strncpy(mell_prefix, "20", 3);
            /* We need to have it in YYYY-MM-DD ISO format */
            snprintf(dateString, 32, "%s%02d-%02d-%02d", mell_prefix, yy, mm, dd);
        }
    }
 
    return true;
}
 
bool Rainbow::getUTFOffset(double *offset)
{
    if (isSimulation())
    {
        *offset = 3;
        return true;
    }
 
    int rst135_utc_offset = 0;
 
    char response[DRIVER_LEN] = {0};
    if (!sendCommand(":GG#", response))
        return false;
 
    if (sscanf(response + 3, "%d", &rst135_utc_offset) != 1)
    {
        LOG_WARN("Failed to get UTC offset from device.");
        return false;
    }
 
    // 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 = rst135_utc_offset * -1;
    return true;
}
 
bool Rainbow::sendScopeTime()
{
    char cdate[MAXINDINAME] = {0};
    char ctime[MAXINDINAME] = {0};
    struct tm ltm;
    struct tm utm;
 
    memset(&ltm, 0, sizeof(ltm));
    memset(&utm, 0, sizeof(utm));
 
    time_t time_epoch;
 
    double offset = 0;
    if (getUTFOffset(&offset))
    {
        char utcStr[8] = {0};
        snprintf(utcStr, 8, "%.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;
}
 
bool Rainbow::sendScopeLocation()
{
    double longitude {0}, latitude {0};
    double dd = 0, mm = 0, ssf = 0;
    char response[DRIVER_LEN] = {0};
 
    if (isSimulation())
    {
        LocationNP[LOCATION_LATITUDE].setValue(29.5);
        LocationNP[LOCATION_LONGITUDE].setValue(48.0);
        LocationNP[LOCATION_ELEVATION].setValue(10);
        LocationNP.setState(IPS_OK);
        LocationNP.apply();
        return true;
    }
 
    // Latitude
    if (!sendCommand(":Gt#", response))
        return false;
 
    if (sscanf(response + 3, "%lf%*[^0-9]%lf%*[^0-9]%lf", &dd, &mm, &ssf) != 3)
    {
        LOG_WARN("Failed to get site latitude from device.");
        return false;
    }
    else
    {
        if (dd > 0)
            latitude = dd + mm / 60.0 + ssf / 3600.0;
        else
            latitude = dd - mm / 60.0 - ssf / 3600.0;
    }
 
    // Longitude
    if (!sendCommand(":Gg#", response))
        return false;
 
    if (sscanf(response + 3, "%lf%*[^0-9]%lf%*[^0-9]%lf", &dd, &mm, &ssf) != 3)
    {
        LOG_WARN("Failed to get site longitude from device.");
        return false;
    }
    else
    {
        if (dd > 0)
            longitude = 360.0 - (dd + mm / 60.0 + ssf / 3600.0);
        else
            longitude = (dd - mm / 60.0 - ssf / 3600.0) * -1.0;
 
    }
 
    // Only update if different from current values
    // and then immediately save to config.
    if (std::abs(LocationNP[LOCATION_LONGITUDE].getValue() - longitude) > 0.001 ||
            std::abs(LocationNP[LOCATION_LATITUDE].getValue() - latitude) > 0.001)
    {
        LocationNP[LOCATION_LATITUDE].setValue(latitude);
        LocationNP[LOCATION_LONGITUDE].setValue(longitude);
        LOGF_DEBUG("Mount Controller Latitude: %.3f Longitude: %.3f", LocationNP[LOCATION_LATITUDE].getValue(),
                   LocationNP[LOCATION_LONGITUDE].getValue());
        LocationNP.apply();
        saveConfig(true, LocationNP.getName());
    }
 
    return true;
}
 
Rainbow::TelescopePierSide Rainbow::getSideOfPier()
{
    float decAxisAlignmentOffset {0}, decAxis {0};
    char cyResponse[DRIVER_LEN] = {0}, cg3Response[DRIVER_LEN] = {0};
 
    if (!sendCommand(":CG3#", cg3Response))
        return PIER_UNKNOWN;
 
    sscanf(cg3Response + 4, "%f", &decAxisAlignmentOffset);
 
    if (!sendCommand(":CY#", cyResponse))
        return PIER_UNKNOWN;
 
    char rotationAngle[16] = {0};
 
    snprintf(rotationAngle, sizeof(rotationAngle), "%.7s", cyResponse + 3);
 
    sscanf(rotationAngle, "%f", &decAxis);
 
    auto offset = decAxis - decAxisAlignmentOffset;
 
    if (offset > 90)
        return PIER_WEST;
    else
        return PIER_EAST;
}
 
bool Rainbow::sendCommand(const char * cmd, char * res, int cmd_len, int res_len)
{
    int nbytes_written = 0, nbytes_read = 0, rc = -1;
 
    tcflush(PortFD, TCIOFLUSH);
 
    if (cmd_len > 0)
    {
        char hex_cmd[DRIVER_LEN * 3] = {0};
        hexDump(hex_cmd, cmd, cmd_len);
        LOGF_DEBUG("CMD <%s>", hex_cmd);
        rc = tty_write(PortFD, cmd, cmd_len, &nbytes_written);
    }
    else
    {
        LOGF_DEBUG("CMD <%s>", cmd);
 
        char formatted_command[DRIVER_LEN] = {0};
        snprintf(formatted_command, DRIVER_LEN, "%s\r", cmd);
        rc = tty_write_string(PortFD, formatted_command, &nbytes_written);
    }
 
    if (rc != TTY_OK)
    {
        char errstr[MAXRBUF] = {0};
        tty_error_msg(rc, errstr, MAXRBUF);
        LOGF_ERROR("Serial write error: %s.", errstr);
        return false;
    }
 
    if (res == nullptr)
        return true;
 
    if (res_len > 0)
        rc = tty_read(PortFD, res, res_len, DRIVER_TIMEOUT, &nbytes_read);
    else
        rc = tty_nread_section(PortFD, res, DRIVER_LEN, DRIVER_STOP_CHAR, DRIVER_TIMEOUT, &nbytes_read);
 
    if (rc != TTY_OK)
    {
        char errstr[MAXRBUF] = {0};
        tty_error_msg(rc, errstr, MAXRBUF);
        LOGF_ERROR("Serial read error: %s.", errstr);
        return false;
    }
 
    if (res_len > 0)
    {
        char hex_res[DRIVER_LEN * 3] = {0};
        hexDump(hex_res, res, res_len);
        LOGF_DEBUG("RES <%s>", hex_res);
    }
    else
    {
        // Remove extra \r
        res[nbytes_read - 1] = 0;
        LOGF_DEBUG("RES <%s>", res);
    }
 
    tcflush(PortFD, TCIOFLUSH);
 
    return true;
}
 
void Rainbow::hexDump(char * buf, const char * data, int size)
{
    for (int i = 0; i < size; i++)
        sprintf(buf + 3 * i, "%02X ", static_cast<uint8_t>(data[i]));
 
    if (size > 0)
        buf[3 * size - 1] = '\0';
}
 
std::vector<std::string> Rainbow::split(const std::string &input, const std::string &regex)
{
    // passing -1 as the submatch index parameter performs splitting
    std::regex re(regex);
    std::sregex_token_iterator
    first{input.begin(), input.end(), re, -1},
          last;
    return {first, last};
}
 
// Home
IPState Rainbow::ExecuteHomeAction(TelescopeHomeAction action)
{
 
    switch (action)
    {
        case HOME_GO:
            return findHome() ? IPS_BUSY : IPS_ALERT;
 
        default:
            return IPS_ALERT;
    }
}