I kind of cheated and just added in a basic system call to mplayer like this:
int LX200ZEQ25::audio_alert(const char * path)
{
system(path);
return 0;
}
and call it with:
audio_alert("mplayer '/home/goto_in_progress.wav'");
in various places like the GoTo function...
I fixed the motion control by editing as follows:
bool LX200ZEQ25::SetSlewRate(int index)
{
// Convert index to Meade format
//index = 3 - index;
if (isSimulation() == false && setZEQ25SlewMode(PortFD, index) < 0)
{
SlewRateSP.s = IPS_ALERT;
IDSetSwitch(&SlewRateSP, "Error setting slew mode.");
return false;
}
SlewRateSP.s = IPS_OK;
IDSetSwitch(&SlewRateSP, NULL);
return true;
}
int LX200ZEQ25::ZEQ25MoveTo(int fd, int direction)
{
DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
int nbytes_write=0;
switch (direction)
{
case LX200_NORTH:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":mn#");
tty_write_string(fd, ":mn#", &nbytes_write);
break;
case LX200_WEST:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":mw#");
tty_write_string(fd, ":mw#", &nbytes_write);
break;
case LX200_EAST:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":me#");
tty_write_string(fd, ":me#", &nbytes_write);
break;
case LX200_SOUTH:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":ms#");
tty_write_string(fd, ":ms#", &nbytes_write);
break;
default:
break;
}
tcflush(fd, TCIFLUSH);
return 0;
}
int LX200ZEQ25::setZEQ25SlewMode(int fd, int slewMode)
{
DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
int error_type;
int nbytes_write=0;
switch (slewMode)
{
case SLEW_MAX:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":SR9#");
if ( (error_type = tty_write_string(fd, ":SR9#", &nbytes_write)) != TTY_OK)
return error_type;
break;
case SLEW_FIND:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":SR6#");
if ( (error_type = tty_write_string(fd, ":SR6#", &nbytes_write)) != TTY_OK)
return error_type;
break;
case SLEW_CENTERING:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":SR4#");
if ( (error_type = tty_write_string(fd, ":SR4#", &nbytes_write)) != TTY_OK)
return error_type;
break;
case SLEW_GUIDE:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":SR1#");
if ( (error_type = tty_write_string(fd, ":SR1#", &nbytes_write)) != TTY_OK)
return error_type;
break;
default:
break;
}
tcflush(fd, TCIFLUSH);
return 0;
}
bool LX200ZEQ25::MoveWE(INDI_DIR_WE dir, TelescopeMotionCommand command)
{
int current_move = (dir == DIRECTION_WEST) ? LX200_WEST : LX200_EAST;
switch (command)
{
case MOTION_START:
if (isSimulation() == false && ZEQ25MoveTo(PortFD, current_move) < 0)
{
DEBUG(INDI::Logger::DBG_ERROR, "Error setting W/E motion direction.");
return false;
}
else
DEBUGF(INDI::Logger::DBG_SESSION,"Moving to the %s.", (current_move == LX200_WEST) ? "West" : "East");
break;
case MOTION_STOP:
if (isSimulation() == false && ZEQ25HaltMovement(PortFD, current_move) < 0)
{
DEBUG(INDI::Logger::DBG_ERROR, "Error stopping W/E motion.");
return false;
}
else
DEBUGF(INDI::Logger::DBG_SESSION, "Movement to the %s halted.", (current_move == LX200_WEST) ? "West" : "East");
break;
}
return true;
}
bool LX200ZEQ25::MoveNS(INDI_DIR_NS dir, TelescopeMotionCommand command)
{
int current_move = (dir == DIRECTION_NORTH) ? LX200_NORTH : LX200_SOUTH;
switch (command)
{
case MOTION_START:
if (isSimulation() == false && ZEQ25MoveTo(PortFD, current_move) < 0)
{
DEBUG(INDI::Logger::DBG_ERROR, "Error setting N/S motion direction.");
return false;
}
else
DEBUGF(INDI::Logger::DBG_SESSION,"Moving to the %s.", (current_move == LX200_NORTH) ? "North" : "South");
break;
case MOTION_STOP:
if (isSimulation() == false && ZEQ25HaltMovement(PortFD, current_move) < 0)
{
DEBUG(INDI::Logger::DBG_ERROR, "Error stopping N/S motion.");
return false;
}
else
DEBUGF(INDI::Logger::DBG_SESSION, "Movement to the %s halted.", (current_move == LX200_NORTH) ? "North" : "South");
break;
}
return true;
}
int LX200ZEQ25::ZEQ25HaltMovement(int fd, int direction)
{
DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
int error_type;
int nbytes_write=0;
switch (direction)
{
case LX200_NORTH:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":q#");
if ( (error_type = tty_write_string(fd, ":q#", &nbytes_write)) != TTY_OK)
return error_type;
break;
case LX200_WEST:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":q#");
if ( (error_type = tty_write_string(fd, ":q#", &nbytes_write)) != TTY_OK)
return error_type;
break;
case LX200_EAST:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":q#");
if ( (error_type = tty_write_string(fd, ":q#", &nbytes_write)) != TTY_OK)
return error_type;
break;
case LX200_SOUTH:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":q#");
if ( (error_type = tty_write_string(fd, ":q#", &nbytes_write)) != TTY_OK)
return error_type;
break;
case LX200_ALL:
DEBUGF(DBG_SCOPE, "CMD <%s>", ":q#");
if ( (error_type = tty_write_string(fd, ":q#", &nbytes_write)) != TTY_OK)
return error_type;
break;
default:
return -1;
break;
}
tcflush(fd, TCIFLUSH);
return 0;
}
and added in park and unpark functions:
bool LX200ZEQ25::Park()
{
DEBUGF(DBG_SCOPE, "<%s>", __FUNCTION__);
char slewNum[2];
int error_type;
int nbytes_write=0, nbytes_read=0;
DEBUGF(DBG_SCOPE, "CMD <%s>", ":MH#");
if ( (error_type = tty_write_string(PortFD, ":MH#", &nbytes_write)) != TTY_OK)
return false;
error_type = tty_read(PortFD, slewNum, 1, 3, &nbytes_read);
if (nbytes_read < 1)
{
DEBUGF(DBG_SCOPE, "RES ERROR <%d>", error_type);
return false;
}
/* We don't need to read the string message, just return corresponding error code */
tcflush(PortFD, TCIFLUSH);
DEBUGF(DBG_SCOPE, "RES <%c>", slewNum[0]);
ParkSP.s = IPS_BUSY;
TrackState = SCOPE_PARKING;
IDMessage(getDeviceName(), "Parking telescope in progress...");
audio_alert("mplayer '/home/mount_parking_in_progress.wav'");
return true;
}
bool LX200ZEQ25::UnPark()
{
if (ZEQ25_isHome())
{
SetParked(false);
TrackState = SCOPE_IDLE;
IDMessage(getDeviceName(), "Mount is unparked...");
return true;
}
IDMessage(getDeviceName(), "Error unparking Telescope");
return false;
}
I also created a function to test if the mount is in the home position:
bool LX200ZEQ25::ZEQ25_isHome()
{
char cmd[16];
int errcode = 0;
char errmsg[MAXRBUF];
char response[8];
int nbytes_read=0;
int nbytes_written=0;
strncpy(cmd, ":AH#", 16);
DEBUGF(INDI::Logger::DBG_DEBUG, "CMD (%s)", cmd);
if ( (errcode = tty_write(PortFD, cmd, 4, &nbytes_written)) != TTY_OK)
{
tty_error_msg(errcode, errmsg, MAXRBUF);
DEBUGF(INDI::Logger::DBG_ERROR, "%s", errmsg);
return false;
}
if ( (errcode = tty_read(PortFD, response, 1, 3, &nbytes_read)))
{
tty_error_msg(errcode, errmsg, MAXRBUF);
DEBUGF(INDI::Logger::DBG_ERROR, "%s", errmsg);
return false;
}
if (nbytes_read > 0)
{
response[nbytes_read] = '\0';
DEBUGF(INDI::Logger::DBG_DEBUG, "RES (%s)", response);
tcflush(PortFD, TCIFLUSH);
if (response[0] == '1')
{
return true;
}
else
return false;
}
DEBUGF(INDI::Logger::DBG_ERROR, "Only received #%d bytes, expected 1.", nbytes_read);
return false;
}
There are a few other changes too.....certainly not perfect but it works. I didn't offer up the code as it depends on mplayer and I know we aren't supposed to do that. For me, privately, it's a solution.
For the audio sound bites, there are a ton of free and paid online text to speech converters. I edited mine in Audacity.
--Jon
