telescope_simulator.h

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/*******************************************************************************
 Copyright(c) 2015 Jasem Mutlaq. All rights reserved.
 
 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Library General Public
 License version 2 as published by the Free Software Foundation.
 .
 This library is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 Library General Public License for more details.
 .
 You should have received a copy of the GNU Library General Public License
 along with this library; see the file COPYING.LIB.  If not, write to
 the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
 Boston, MA 02110-1301, USA.
*******************************************************************************/
 
#pragma once
 
#include "indiguiderinterface.h"
#include "inditelescope.h"
#include "scopesim_helper.h"
#include "alignment/AlignmentSubsystemForDrivers.h"
 
#define USE_SIM_TAB
 
class ScopeSim : public INDI::Telescope, public INDI::GuiderInterface,
                 public INDI::AlignmentSubsystem::AlignmentSubsystemForDrivers
{
    public:
        ScopeSim();
        virtual ~ScopeSim() = default;
 
        virtual const char *getDefaultName() override;
        virtual bool Connect() override;
        virtual bool Disconnect() override;
        virtual bool ReadScopeStatus() override;
        virtual bool initProperties() override;
        virtual void ISGetProperties(const char *dev) override;
        virtual bool updateProperties() override;
 
        virtual bool ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n) override;
        virtual bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override;
        virtual bool ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n) override;
        virtual bool ISSnoopDevice(XMLEle *root) override;
 
    protected:
        // Slew Rate
        virtual bool MoveNS(INDI_DIR_NS dir, TelescopeMotionCommand command) override;
        virtual bool MoveWE(INDI_DIR_WE dir, TelescopeMotionCommand command) override;
        virtual bool Abort() override;
 
        virtual IPState GuideNorth(uint32_t ms) override;
        virtual IPState GuideSouth(uint32_t ms) override;
        virtual IPState GuideEast(uint32_t ms) override;
        virtual IPState GuideWest(uint32_t ms) override;
 
        virtual bool SetTrackMode(uint8_t mode) override;
        virtual bool SetTrackEnabled(bool enabled) override;
        virtual bool SetTrackRate(double raRate, double deRate) override;
 
        virtual bool Goto(double, double) override;
        virtual bool Park() override;
        virtual bool UnPark() override;
        virtual bool Sync(double ra, double dec) override;
 
        // Parking
        virtual bool SetCurrentPark() override;
        virtual bool SetDefaultPark() override;
        virtual bool updateLocation(double latitude, double longitude, double elevation) override;
 
        // Home
        virtual IPState ExecuteHomeAction(TelescopeHomeAction action) override;
 
        virtual bool saveConfigItems(FILE *fp) override;
 
    private:
        double m_currentRA { 0 };
        double m_currentDEC { 90 };
        double m_currentAz { 180 };  // INDI Az convention: 0=North, increasing eastward
        double m_currentAlt { 0 };
        double m_targetRA { 0 };
        double m_targetDEC { 0 };
        void StartSlew(double ra, double dec, TelescopeStatus status);
 
        void guideAltAzDecomposed(double dNS, double dEW, uint32_t ms);
 
        void updateCurrentCoordsFromAxes();
 
        void setTargetFromAxisPosition(Angle primary, Angle secondary);
 
        unsigned int DBG_SCOPE { 0 };
 
        int mcRate = 0;
 
        //    double guiderEWTarget[2];
        //    double guiderNSTarget[2];
 
        bool guidingNS = false;
        bool guidingEW = false;
 
        uint32_t applyDecBacklash(double rate, uint32_t ms);
        uint32_t backlashComputation(uint32_t ms);
 
        // In milliseconds. Doesn't depend on guide rate.
        uint32_t m_DecGuideBacklashMs { 30 };
        // True if last dec guide pulse was north. Actually a little more complicated
        // than that because of pier side...
        bool m_GuideDecLastNorth = false;
        // Will be between 0 and decGuideBacklash. When guide pulses change directions,
        // a pulse may not completely clear the backlash. This is how much is left
        // after that pulse.
        uint32_t m_DecGuideRemainingBacklash { 0 };
 
        INDI::PropertyNumber GuideRateNP {2};
        enum
        {
            GUIDE_RATE_WE,
            GUIDE_RATE_NS
        };
 
        double m_Home[2] = {0, 0};
 
        Axis axisPrimary { "Primary Axis" };    // entails angle of mount for primary axis
        Axis axisSecondary { "Secondary Axis" }; // entails angle of mount for secondary axis ("mechanical DEC")
 
        int m_PierSide {-1};
        int m_MountType {-1};
 
        Alignment alignment;
 
        // Parabolic Alt-Az tracking window: three sky positions bracketing the current time,
        // used to fit a 2nd-order polynomial for axis rate prediction.
        INDI::IHorizontalCoordinates m_TrackingWindowCoords[3] {};
        bool   m_IsPipelinePrimed { false };
        double m_LastTrackingRA  { 0 };
        double m_LastTrackingDec { 0 };
 
        bool updateMountAndPierSide();
 
#ifdef USE_SIM_TAB
        // Simulator Tab properties
        // Scope type and alignment
        INDI::PropertySwitch mountTypeSP {3};
        enum
        {
            ALTAZ,
            EQ_FORK,
            EQ_GEM
        };
 
        INDI::PropertySwitch simPierSideSP {2};
        enum
        {
            PS_OFF,
            PS_ON
        };
 
        INDI::PropertyNumber mountModelNP {6};
        enum
        {
            MM_IH,
            MM_ID,
            MM_CH,
            MM_NP,
            MM_MA,
            MM_ME
        };
 
        INDI::PropertyNumber mountAxisNP {2};
        enum
        {
            PRIMARY,
            SECONDARY
        };
 
        INDI::PropertyNumber flipHourAngleNP {1};
        INDI::PropertyNumber decBacklashNP {1};
 
        INDI::PropertyText PACDeviceTP {1};
        double m_snoopedAzError { 0 };
        double m_snoopedAltError { 0 };
 
#endif
 
        // True pointing position (Wallace errors applied) published as EQUATORIAL_PE so the
        // CCD simulator can generate star fields at the physically-correct sky position while
        // EQUATORIAL_EOD_COORD carries the raw encoder position for the INDI alignment module.
        INDI::PropertyNumber EqPENP {2};
        enum { PE_RA = 0, PE_DEC = 1 };
 
};