Instrument Neutral Distributed Interface INDI  1.6.0
Public Member Functions | Protected Member Functions | List of all members
DomeSim Class Reference

The DomeSim class provides an absolute position dome that supports parking, unparking, and slaving. More...

#include <dome_simulator.h>

Inheritance diagram for DomeSim:
INDI::Dome INDI::DefaultDevice INDI::BaseDevice

Public Member Functions

 DomeSim ()
 
virtual ~DomeSim ()=default
 
virtual bool initProperties ()
 Initilize properties initial state and value. The child class must implement this function. More...
 
const char * getDefaultName ()
 
bool updateProperties ()
 updateProperties is called whenever there is a change in the CONNECTION status of the driver. This will enable the driver to react to changes of switching ON/OFF a device. For example, a driver may only define a set of properties after a device is connected, but not before. More...
 
- Public Member Functions inherited from INDI::Dome
 Dome ()
 
virtual ~Dome ()
 
virtual void ISGetProperties (const char *dev)
 define the driver's properties to the client. Usually, only a minimum set of properties are defined to the client in this function if the device is in disconnected state. Those properties should be enough to enable the client to establish a connection to the device. In addition to CONNECT/DISCONNECT, such properties may include port name, IP address, etc. You should check if the device is already connected, and if this is true, then you must define the remainder of the the properties to the client in this function. Otherwise, the remainder of the driver's properties are defined to the client in updateProperties() function which is called when a client connects/disconnects from a device. More...
 
virtual bool ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
 Process the client newNumber command. More...
 
virtual bool ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
 Process the client newSwitch command. More...
 
virtual bool ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
 Process the client newSwitch command. More...
 
virtual bool ISSnoopDevice (XMLEle *root)
 Process a snoop event from INDI server. This function is called when a snooped property is updated in a snooped driver. More...
 
void setDomeConnection (const uint8_t &value)
 setDomeConnection Set Dome connection mode. Child class should call this in the constructor before Dome registers any connection interfaces More...
 
uint8_t getDomeConnection () const
 
uint32_t GetDomeCapability () const
 GetDomeCapability returns the capability of the dome. More...
 
void SetDomeCapability (uint32_t cap)
 SetDomeCapability set the dome capabilities. All capabilities must be initialized. More...
 
bool CanAbort ()
 
bool CanAbsMove ()
 
bool CanRelMove ()
 
bool CanPark ()
 
bool HasShutter ()
 
bool HasVariableSpeed ()
 
bool isLocked ()
 isLocked, is the dome currently locked? More...
 
DomeState getDomeState () const
 
void setDomeState (const DomeState &value)
 
IPState getWeatherState () const
 
IPState getMountState () const
 
- Public Member Functions inherited from INDI::DefaultDevice
 DefaultDevice ()
 
virtual ~DefaultDevice ()
 
void addAuxControls ()
 Add Debug, Simulation, and Configuration options to the driver. More...
 
void addDebugControl ()
 Add Debug control to the driver. More...
 
void addSimulationControl ()
 Add Simulation control to the driver. More...
 
void addConfigurationControl ()
 Add Configuration control to the driver. More...
 
void resetProperties ()
 Set all properties to IDLE state. More...
 
void defineNumber (INumberVectorProperty *nvp)
 Define number vector to client & register it. Alternatively, IDDefNumber can be used but the property will not get registered and the driver will not be able to save configuration files. More...
 
void defineText (ITextVectorProperty *tvp)
 Define text vector to client & register it. Alternatively, IDDefText can be used but the property will not get registered and the driver will not be able to save configuration files. More...
 
void defineSwitch (ISwitchVectorProperty *svp)
 Define switch vector to client & register it. Alternatively, IDDefswitch can be used but the property will not get registered and the driver will not be able to save configuration files. More...
 
void defineLight (ILightVectorProperty *lvp)
 Define light vector to client & register it. Alternatively, IDDeflight can be used but the property will not get registered and the driver will not be able to save configuration files. More...
 
void defineBLOB (IBLOBVectorProperty *bvp)
 Define BLOB vector to client & register it. Alternatively, IDDefBLOB can be used but the property will not get registered and the driver will not be able to save configuration files. More...
 
virtual bool deleteProperty (const char *propertyName)
 Delete a property and unregister it. It will also be deleted from all clients. More...
 
virtual void setConnected (bool status, IPState state=IPS_OK, const char *msg=nullptr)
 Set connection switch status in the client. More...
 
int SetTimer (int ms)
 Set a timer to call the function TimerHit after ms milliseconds. More...
 
void RemoveTimer (int id)
 Remove timer added with SetTimer. More...
 
virtual const char * getDriverExec ()
 
virtual const char * getDriverName ()
 
void setVersion (uint16_t vMajor, uint16_t vMinor)
 Set driver version information to be defined in DRIVER_INFO property as vMajor.vMinor. More...
 
uint16_t getMajorVersion ()
 
uint16_t getMinorVersion ()
 
virtual bool ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n)
 Process the client newBLOB command. More...
 
virtual uint16_t getDriverInterface ()
 
void setDriverInterface (uint16_t value)
 setInterface Set driver interface. By default the driver interface is set to GENERAL_DEVICE. You may send an ORed list of DeviceInterface values. More...
 
- Public Member Functions inherited from INDI::BaseDevice
 BaseDevice ()
 
virtual ~BaseDevice ()
 
INumberVectorPropertygetNumber (const char *name)
 
ITextVectorPropertygetText (const char *name)
 
ISwitchVectorPropertygetSwitch (const char *name)
 
ILightVectorPropertygetLight (const char *name)
 
IBLOBVectorPropertygetBLOB (const char *name)
 
IPState getPropertyState (const char *name)
 
IPerm getPropertyPermission (const char *name)
 
void registerProperty (void *p, INDI_PROPERTY_TYPE type)
 
int removeProperty (const char *name, char *errmsg)
 Remove a property. More...
 
void * getRawProperty (const char *name, INDI_PROPERTY_TYPE type=INDI_UNKNOWN)
 Return a property and its type given its name. More...
 
INDI::PropertygetProperty (const char *name, INDI_PROPERTY_TYPE type=INDI_UNKNOWN)
 Return a property and its type given its name. More...
 
std::vector< INDI::Property * > * getProperties ()
 Return a list of all properties in the device. More...
 
bool buildSkeleton (const char *filename)
 Build driver properties from a skeleton file. More...
 
bool isConnected ()
 
void setDeviceName (const char *dev)
 Set the device name. More...
 
const char * getDeviceName ()
 
void addMessage (const std::string &msg)
 Add message to the driver's message queue. More...
 
void checkMessage (XMLEle *root)
 
void doMessage (XMLEle *msg)
 
std::string messageQueue (int index) const
 
std::string lastMessage ()
 
void setMediator (INDI::BaseMediator *med)
 Set the driver's mediator to receive notification of news devices and updated property values. More...
 
INDI::BaseMediatorgetMediator ()
 
const char * getDriverName ()
 
const char * getDriverExec ()
 
const char * getDriverVersion ()
 

Protected Member Functions

bool Connect ()
 Connect to the device. INDI::DefaultDevice implementation connects to appropriate connection interface (Serial or TCP) governed by connectionMode. If connection is successful, it proceed to call Handshake() function to ensure communication with device is successful. For other communication interface, override the method in the child class implementation. More...
 
bool Disconnect ()
 Disconnect from device. More...
 
void TimerHit ()
 Callback function to be called once SetTimer duration elapses. More...
 
virtual IPState Move (DomeDirection dir, DomeMotionCommand operation)
 Move the Dome in a particular direction. More...
 
virtual IPState MoveRel (double azDiff)
 Move the Dome to an relative position. More...
 
virtual IPState MoveAbs (double az)
 Move the Dome to an absolute azimuth. More...
 
virtual IPState Park ()
 Goto Park Position. The park position is an absolute azimuth value. More...
 
virtual IPState UnPark ()
 UnPark dome. The action of the Unpark command is dome specific, but it may include opening the shutter and moving to home position. When UnPark() is successful The observatory should be in a ready state to utilize the mount to perform observations. More...
 
virtual IPState ControlShutter (ShutterOperation operation)
 Open or Close shutter. More...
 
virtual bool Abort ()
 Abort all dome motion. More...
 
virtual bool SetCurrentPark ()
 SetCurrentPark Set current coordinates/encoders value as the desired parking position. More...
 
virtual bool SetDefaultPark ()
 SetDefaultPark Set default coordinates/encoders value as the desired parking position. More...
 
- Protected Member Functions inherited from INDI::Dome
virtual bool SetSpeed (double rpm)
 SetSpeed Set Dome speed. This does not initiate motion, it sets the speed for the next motion command. If motion is in progress, then change speed accordingly. More...
 
const char * GetShutterStatusString (ShutterStatus status)
 getShutterStatusString More...
 
void SetParkDataType (DomeParkData type)
 setParkDataType Sets the type of parking data stored in the park data file and presented to the user. More...
 
bool InitPark ()
 InitPark Loads parking data (stored in ~/.indi/ParkData.xml) that contains parking status and parking position. InitPark() should be called after successful connection to the dome on startup. More...
 
bool isParked ()
 isParked is dome currently parked? More...
 
void SetParked (bool isparked)
 SetParked Change the mount parking status. The data park file (stored in ~/.indi/ParkData.xml) is updated in the process. More...
 
double GetAxis1Park ()
 
double GetAxis1ParkDefault ()
 
void SetAxis1Park (double value)
 SetRAPark Set current AZ parking position. The data park file (stored in ~/.indi/ParkData.xml) is updated in the process. More...
 
void SetAxis1ParkDefault (double steps)
 SetAxis1Park Set default AZ parking position. More...
 
char * LoadParkData ()
 
bool WriteParkData ()
 
bool GetTargetAz (double &Az, double &Alt, double &minAz, double &maxAz)
 GetTargetAz. More...
 
bool Intersection (point3D p1, point3D p2, double r, double &mu1, double &mu2)
 Intersection Calculate the intersection of a ray and a sphere. The line segment is defined from p1 to p2. The sphere is of radius r and centered at (0,0,0). From http://local.wasp.uwa.edu.au/~pbourke/geometry/sphereline/ There are potentially two points of intersection given by p := p1 + mu1 (p2 - p1) p := p1 + mu2 (p2 - p1) More...
 
bool OpticalCenter (point3D MountCenter, double dOpticalAxis, double Lat, double Ah, point3D &OP)
 OpticalCenter This function calculates the distance from the optical axis to the Dome center. More...
 
bool OpticalVector (double Az, double Alt, point3D &OV)
 OpticalVector This function calculates a second point for determining the optical axis. More...
 
bool CheckHorizon (double HA, double dec, double lat)
 CheckHorizon Returns true if telescope points above horizon. More...
 
virtual bool saveConfigItems (FILE *fp)
 saveConfigItems Saves the Device Port and Dome Presets in the configuration file More...
 
void UpdateMountCoords ()
 updateCoords updates the horizontal coordinates (Az & Alt) of the mount from the snooped RA, DEC and observer's location. More...
 
virtual void UpdateAutoSync ()
 UpdateAutoSync This function calculates the target dome azimuth from the mount's target coordinates given the dome parameters. If the difference between the dome's and mount's azimuth angles exceeds the AutoSync threshold, the dome will be commanded to sync to the mount azimuth position. More...
 
virtual bool Handshake ()
 perform handshake with device to check communication More...
 
double Csc (double x)
 
double Sec (double x)
 
- Protected Member Functions inherited from INDI::DefaultDevice
void setDynamicPropertiesBehavior (bool defineEnabled, bool deleteEnabled)
 setDynamicPropertiesBehavior controls handling of dynamic properties. Dyanmic properties are those generated from an external skeleton XML file. By default all properties, including dynamic properties, are defined to the client in ISGetProperties(). Furthermore, when ┼▒deleteProperty(properyName) is called, the dynamic property is deleted by default, and can only be restored by calling buildSkeleton(filename) again. However, it is sometimes desirable to skip the definition of the dynamic properties on startup and delegate this task to the child class. To control this behavior, set enabled to false. More...
 
virtual bool loadConfig (bool silent=false, const char *property=nullptr)
 Load the last saved configuration file. More...
 
virtual bool saveConfig (bool silent=false, const char *property=nullptr)
 Save the current properties in a configuration file. More...
 
virtual bool saveAllConfigItems (FILE *fp)
 saveAllConfigItems Save all the drivers' properties in the configuration file More...
 
virtual bool loadDefaultConfig ()
 Load the default configuration file. More...
 
void setDebug (bool enable)
 Toggle driver debug status A driver can be more verbose if Debug option is enabled by the client. More...
 
void setSimulation (bool enable)
 Toggle driver simulation status A driver can run in simulation mode if Simulation option is enabled by the client. More...
 
virtual void debugTriggered (bool enable)
 Inform driver that the debug option was triggered. This function is called after setDebug is triggered by the client. Reimplement this function if your driver needs to take specific action after debug is enabled/disabled. Otherwise, you can use isDebug() to check if simulation is enabled or disabled. More...
 
virtual void simulationTriggered (bool enable)
 Inform driver that the simulation option was triggered. This function is called after setSimulation is triggered by the client. Reimplement this function if your driver needs to take specific action after simulation is enabled/disabled. Otherwise, you can use isSimulation() to check if simulation is enabled or disabled. More...
 
bool isDebug ()
 
bool isSimulation ()
 
void registerConnection (Connection::Interface *newConnection)
 registerConnection Add new connection plugin to the existing connection pool. The connection type shall be defined to the client in ISGetProperties() More...
 
bool unRegisterConnection (Connection::Interface *existingConnection)
 unRegisterConnection Remove connection from existing pool More...
 
Connection::InterfacegetActiveConnection ()
 
- Protected Member Functions inherited from INDI::BaseDevice
int buildProp (XMLEle *root, char *errmsg)
 Build a property given the supplied XML element (defXXX) More...
 
int setValue (XMLEle *root, char *errmsg)
 handle SetXXX commands from client More...
 
int setBLOB (IBLOBVectorProperty *pp, XMLEle *root, char *errmsg)
 Parse and store BLOB in the respective vector. More...
 

Additional Inherited Members

- Public Types inherited from INDI::Dome
- Public Types inherited from INDI::BaseDevice
- Static Public Member Functions inherited from INDI::Dome
static void buttonHelper (const char *button_n, ISState state, void *context)
 
- Public Attributes inherited from INDI::Dome
enum INDI::Dome:: { ... }  DomeConnection
 
- Protected Attributes inherited from INDI::Dome
INumberVectorProperty DomeSpeedNP
 
INumber DomeSpeedN [1]
 
ISwitchVectorProperty DomeMotionSP
 
ISwitch DomeMotionS [2]
 
INumberVectorProperty DomeAbsPosNP
 
INumber DomeAbsPosN [1]
 
INumberVectorProperty DomeRelPosNP
 
INumber DomeRelPosN [1]
 
ISwitchVectorProperty AbortSP
 
ISwitch AbortS [1]
 
INumberVectorProperty DomeParamNP
 
INumber DomeParamN [1]
 
ISwitchVectorProperty DomeShutterSP
 
ISwitch DomeShutterS [2]
 
ISwitchVectorProperty ParkSP
 
ISwitch ParkS [2]
 
INumber ParkPositionN [1]
 
INumberVectorProperty ParkPositionNP
 
ISwitch ParkOptionS [3]
 
ISwitchVectorProperty ParkOptionSP
 
ISwitch AutoParkS [2]
 
ISwitchVectorProperty AutoParkSP
 
uint32_t capability
 
ShutterStatus shutterState
 
DomeParkData parkDataType
 
ITextVectorProperty ActiveDeviceTP
 
IText ActiveDeviceT [2]
 
ISwitchVectorProperty TelescopeClosedLockTP
 
ISwitch TelescopeClosedLockT [2]
 
INumber PresetN [3]
 
INumberVectorProperty PresetNP
 
ISwitch PresetGotoS [3]
 
ISwitchVectorProperty PresetGotoSP
 
INumber DomeMeasurementsN [6]
 
INumberVectorProperty DomeMeasurementsNP
 
ISwitchVectorProperty OTASideSP
 
ISwitch OTASideS [2]
 
ISwitchVectorProperty DomeAutoSyncSP
 
ISwitch DomeAutoSyncS [2]
 
double prev_az
 
double prev_alt
 
double prev_ra
 
double prev_dec
 
int PortFD = -1
 
Connection::SerialserialConnection = NULL
 
Connection::TCPtcpConnection = NULL
 
DomeState domeState
 
IPState mountState
 
IPState weatherState
 
struct ln_lnlat_posn observer
 
bool HaveLatLong = false
 
struct ln_hrz_posn mountHoriztonalCoords
 
struct ln_equ_posn mountEquatorialCoords
 
bool HaveRaDec = false
 
- Protected Attributes inherited from INDI::DefaultDevice
uint32_t updatePeriodMS = 1000
 Period in milliseconds to call TimerHit(). Default 1000 ms. More...
 

Detailed Description

The DomeSim class provides an absolute position dome that supports parking, unparking, and slaving.

The driver can support custom parking positions and includes shutter control. It can be used to simulate dome slaving.

The dome parameters must be set before slaving is enabled. Furthermore, the dome listens to changes in the TARGET_EOD_COORS of the mount driver in order to make the decision to move to a new target location.

All the mathematical models are taken care of in the base INDI::Dome class.

Definition at line 33 of file dome_simulator.h.

Constructor & Destructor Documentation

DomeSim::DomeSim ( )

Definition at line 73 of file dome_simulator.cpp.

virtual DomeSim::~DomeSim ( )
virtualdefault

Member Function Documentation

bool DomeSim::Abort ( )
protectedvirtual

Abort all dome motion.

Returns
True if abort is successful, false otherwise.

Reimplemented from INDI::Dome.

Definition at line 290 of file dome_simulator.cpp.

bool DomeSim::Connect ( )
protectedvirtual

Connect to the device. INDI::DefaultDevice implementation connects to appropriate connection interface (Serial or TCP) governed by connectionMode. If connection is successful, it proceed to call Handshake() function to ensure communication with device is successful. For other communication interface, override the method in the child class implementation.

Returns
True if connection is successful, false otherwise

Reimplemented from INDI::DefaultDevice.

Definition at line 142 of file dome_simulator.cpp.

IPState DomeSim::ControlShutter ( ShutterOperation  operation)
protectedvirtual

Open or Close shutter.

Parameters
operationEither open or close the shutter.
Returns
Return IPS_OK if shutter operation is complete. Return IPS_BUSY if shutter operation is in progress. Return IPS_ALERT if there is an error.

Reimplemented from INDI::Dome.

Definition at line 283 of file dome_simulator.cpp.

bool DomeSim::Disconnect ( )
protectedvirtual

Disconnect from device.

Returns
True if successful, false otherwise

Reimplemented from INDI::DefaultDevice.

Definition at line 148 of file dome_simulator.cpp.

const char * DomeSim::getDefaultName ( )
virtual
Returns
Default name of the device.

Implements INDI::DefaultDevice.

Definition at line 125 of file dome_simulator.cpp.

bool DomeSim::initProperties ( )
virtual

Initilize properties initial state and value. The child class must implement this function.

Returns
True if initilization is successful, false otherwise.

Reimplemented from INDI::Dome.

Definition at line 87 of file dome_simulator.cpp.

IPState DomeSim::Move ( DomeDirection  dir,
DomeMotionCommand  operation 
)
protectedvirtual

Move the Dome in a particular direction.

Parameters
dirDirection of Dome, either DOME_CW or DOME_CCW.
Returns
Return IPS_OK if dome operation is complete. IPS_BUSY if operation is in progress. IPS_ALERT on error.

Reimplemented from INDI::Dome.

Definition at line 215 of file dome_simulator.cpp.

IPState DomeSim::MoveAbs ( double  az)
protectedvirtual

Move the Dome to an absolute azimuth.

Parameters
azThe new position of the Dome.
Returns
Return IPS_OK if motion is completed and Dome reached requested position. Return IPS_BUSY if Dome started motion to requested position and is in progress. Return IPS_ALERT if there is an error.

Reimplemented from INDI::Dome.

Definition at line 232 of file dome_simulator.cpp.

IPState DomeSim::MoveRel ( double  azDiff)
protectedvirtual

Move the Dome to an relative position.

Parameters
azDiffThe relative azimuth angle to move. Positive degree is clock-wise direction. Negative degrees is counter clock-wise direction.
Returns
Return IPS_OK if motion is completed and Dome reached requested position. Return IPS_BUSY if Dome started motion to requested position and is in progress. Return IPS_ALERT if there is an error.

Reimplemented from INDI::Dome.

Definition at line 244 of file dome_simulator.cpp.

IPState DomeSim::Park ( )
protectedvirtual

Goto Park Position. The park position is an absolute azimuth value.

Returns
Return IPS_OK if motion is completed and Dome reached park position. Return IPS_BUSY if Dome started motion to park requested position and is in progress. Return -IPS_ALERT if there is an error.

Reimplemented from INDI::Dome.

Definition at line 262 of file dome_simulator.cpp.

bool DomeSim::SetCurrentPark ( )
protectedvirtual

SetCurrentPark Set current coordinates/encoders value as the desired parking position.

Note
This function performs no action unless subclassed by the child class if required.

Reimplemented from INDI::Dome.

Definition at line 303 of file dome_simulator.cpp.

bool DomeSim::SetDefaultPark ( )
protectedvirtual

SetDefaultPark Set default coordinates/encoders value as the desired parking position.

Note
This function performs no action unless subclassed by the child class if required.

Reimplemented from INDI::Dome.

Definition at line 309 of file dome_simulator.cpp.

void DomeSim::TimerHit ( )
protectedvirtual

Callback function to be called once SetTimer duration elapses.

Reimplemented from INDI::DefaultDevice.

Definition at line 153 of file dome_simulator.cpp.

IPState DomeSim::UnPark ( )
protectedvirtual

UnPark dome. The action of the Unpark command is dome specific, but it may include opening the shutter and moving to home position. When UnPark() is successful The observatory should be in a ready state to utilize the mount to perform observations.

Returns
Return IPS_OK if motion is completed and Dome is unparked. Return IPS_BUSY if Dome unparking is in progress. Return -IPS_ALERT if there is an error.

Reimplemented from INDI::Dome.

Definition at line 278 of file dome_simulator.cpp.

bool DomeSim::updateProperties ( )
virtual

updateProperties is called whenever there is a change in the CONNECTION status of the driver. This will enable the driver to react to changes of switching ON/OFF a device. For example, a driver may only define a set of properties after a device is connected, but not before.

Returns
True if update is successful, false otherwise.

Reimplemented from INDI::Dome.

Definition at line 130 of file dome_simulator.cpp.


The documentation for this class was generated from the following files: