396 lines
13 KiB
C#
396 lines
13 KiB
C#
using System;
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using System.IO.Ports;
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using System.Linq;
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using System.Threading;
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using ASCOM.DeviceInterface;
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namespace ASCOM.MeadeAutostar497.Controller
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{
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//todo stop this being a singleton, and instead use a server to make only a single instance.
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public sealed class TelescopeController : ITelescopeController
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{
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private static readonly Lazy<TelescopeController> lazy = new Lazy<TelescopeController>();
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public static TelescopeController Instance => lazy.Value;
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//todo remove this as it can cause problems in production
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private ISerialProcessor _serialPort;
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public ISerialProcessor SerialPort
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{
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get => _serialPort ?? (_serialPort = new SerialProcessor());
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set
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{
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if (_serialPort == value)
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return;
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if (_serialPort != null)
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{
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if (_serialPort.IsOpen)
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throw new InvalidOperationException("Please disconnect before changing the serial engine.");
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}
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_serialPort = value;
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}
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}
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private string _port = "COM1";
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public string Port
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{
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get => _port;
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set
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{
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if (_port == value) return;
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if (Connected)
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throw new InvalidOperationException("Please disconnect from the scope before changing port.");
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if (!ValidPort(value))
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throw new InvalidOperationException($"Unable to select port {value} as it does not exist.");
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_port = value;
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}
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}
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private bool ValidPort(string value)
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{
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return SerialPort.GetPortNames().Contains(value);
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}
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public bool Connected
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{
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get => SerialPort.IsOpen;
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set
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{
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if (value == Connected)
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return;
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if (value)
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{
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//Connecting
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try
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{
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_parked = false;
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SerialPort.DtrEnable = false;
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SerialPort.RtsEnable = false;
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SerialPort.BaudRate = 9600;
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SerialPort.DataBits = 8;
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SerialPort.StopBits = StopBits.One;
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SerialPort.Parity = Parity.None;
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SerialPort.PortName = Port;
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SerialPort.Open();
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TestConnectionActive();
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}
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catch (Exception)
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{
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if (SerialPort.IsOpen)
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SerialPort.Close();
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throw;
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}
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}
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else
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{
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//Disconnecting
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SerialPort.Close();
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_parked = false;
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}
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}
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}
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private void TestConnectionActive()
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{
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var firmwareVersionNumber = SerialPort.CommandTerminated(":GVN#", "#");
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if (string.IsNullOrEmpty(firmwareVersionNumber))
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{
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throw new InvalidOperationException("Failed to communicate with telescope.");
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}
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}
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public bool Slewing
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{
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get
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{
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if (!Connected) return false;
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var result = SerialPort.CommandTerminated(":D#", "#");
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return result != string.Empty;
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}
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}
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public DateTime utcDate
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{
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get
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{
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string telescopeDate = SerialPort.CommandTerminated(":GC#", "#");
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string telescopeTime = SerialPort.CommandTerminated(":GL#", "#");
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int month = telescopeDate.Substring(0, 2).ToInteger();
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int day = telescopeDate.Substring(3, 2).ToInteger();
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int year = telescopeDate.Substring(6, 2).ToInteger();
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if (year < 2000) //todo fix this hack that will create a Y2K100 bug
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{
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year = year + 2000;
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}
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int hour = telescopeTime.Substring(0, 2).ToInteger();
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int minute = telescopeTime.Substring(3, 2).ToInteger();
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int second = telescopeTime.Substring(6, 2).ToInteger();
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var utcCorrection = GetUtcCorrection();
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//Todo is this telescope local time, or real utc?
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var newDate = new DateTime(year, month, day, hour, minute, second, DateTimeKind.Utc) + utcCorrection;
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return newDate;
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}
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set
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{
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var utcCorrection = GetUtcCorrection();
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var localDateTime = value - utcCorrection;
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//Todo is this telescope local time, or real utc?
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var timeResult = SerialPort.CommandChar($":SL{localDateTime:HH:mm:ss}#");
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if (timeResult != '1')
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{
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throw new InvalidOperationException("Failed to set local time");
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}
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SerialPort.Lock();
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try
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{
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var dateResult = SerialPort.CommandChar($":SC{localDateTime:MM/dd/yy}#");
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if (dateResult != '1')
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{
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throw new InvalidOperationException("Failed to set local date");
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}
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//throwing away these two strings which represent
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SerialPort.ReadTerminated("#"); //Updating Planetary Data#
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SerialPort.ReadTerminated("#"); // #
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}
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finally
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{
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SerialPort.Unlock();
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}
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}
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}
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private TimeSpan GetUtcCorrection()
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{
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string utcOffSet = SerialPort.CommandTerminated(":GG#", "#");
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double utcOffsetHours = double.Parse(utcOffSet);
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TimeSpan utcCorrection = TimeSpan.FromHours(utcOffsetHours);
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return utcCorrection;
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}
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public double SiteLatitude
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{
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get
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{
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var latitude = SerialPort.CommandTerminated( ":Gt#", "#");
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double lat = int.Parse(latitude.Substring(1, 2));
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lat = lat + double.Parse(latitude.Substring(4, 2)) / 60;
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if (latitude.Length == 9)
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lat = lat + double.Parse(latitude.Substring(7, 2)) / 60 / 60;
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if (latitude[0] == '-')
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lat = -lat;
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return lat;
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}
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set
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{
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if (value > 90)
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throw new ASCOM.InvalidValueException("Latitude cannot be greater than 90 degrees.");
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if (value < -90)
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throw new ASCOM.InvalidValueException("Latitude cannot be less than -90 degrees.");
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int d = Convert.ToInt32(Math.Floor(value));
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int m = Convert.ToInt32(60 * (value - d));
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var result = SerialPort.CommandChar($":Sts{d:00}*{m:00}#");
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if (result != '1')
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throw new InvalidOperationException("Failed to set site latitude.");
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}
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}
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private double DMSToDouble(string DMS)
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{
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double l = int.Parse(DMS.Substring(0, 3));
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l = l + double.Parse(DMS.Substring(4, 2)) / 60;
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if (DMS.Length == 9)
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l = l + double.Parse(DMS.Substring(7, 2)) / 60 / 60;
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return l;
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}
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public double SiteLongitude
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{
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get
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{
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var longitude = SerialPort.CommandTerminated(":Gg#", "#");
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double l = DMSToDouble(longitude);
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if (l > 180)
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l = l - 360;
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return l;
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}
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set
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{
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if (value > 180)
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throw new ASCOM.InvalidValueException("Longitude cannot be greater than 180 degrees.");
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if (value < -180)
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throw new ASCOM.InvalidValueException("Longitude cannot be lower than -180 degrees.");
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int d = Convert.ToInt32(Math.Floor(value));
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int m = Convert.ToInt32(60 * (value - d));
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var result = SerialPort.CommandChar($":Sg{d:000}*{m:00}#");
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if (result != '1')
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throw new InvalidOperationException("Failed to set site longitude.");
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}
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}
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public AlignmentModes AlignmentMode
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{
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get
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{
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const char ack = (char)6;
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//var alignmentString = SerialPort.CommandTerminated(":GW#", "#");
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var alignmentString = SerialPort.CommandChar(ack.ToString());
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//:GW# Get Scope Alignment Status
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//Returns: <mount><tracking><alignment>#
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// where:
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//mount: A - AzEl mounted, P - Equatorially mounted, G - german mounted equatorial
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//tracking: T - tracking, N - not tracking
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//alignment: 0 - needs alignment, 1 - one star aligned, 2 - two star aligned, 3 - three star aligned.
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switch (alignmentString)
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{
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case 'A': return AlignmentModes.algAltAz;
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case 'P': return AlignmentModes.algPolar;
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case 'G': return AlignmentModes.algGermanPolar;
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default:
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throw new ASCOM.InvalidValueException($"unknown alignment returned from telescope: {alignmentString}");
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}
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}
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set
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{
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switch (value)
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{
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case AlignmentModes.algAltAz:
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SerialPort.Command(":AA#");
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//:AA# Sets telescope the AltAz alignment mode
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//Returns: nothing
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break;
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case AlignmentModes.algPolar:
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case AlignmentModes.algGermanPolar:
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SerialPort.Command(":AP#");
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//:AP# Sets telescope to Polar alignment mode
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//Returns: nothing
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break;
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default:
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throw new ArgumentOutOfRangeException(nameof(value), value, null);
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}
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//:AL# Sets telescope to Land alignment mode
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//Returns: nothing
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}
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}
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private bool _parked = false;
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public bool AtPark => _parked;
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public double Azimuth
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{
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get
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{
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var result = SerialPort.CommandTerminated(":GZ#", "#");
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//:GZ# Get telescope azimuth
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//Returns: DDD*MM#T or DDD*MM’SS#
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//The current telescope Azimuth depending on the selected precision.
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double az = DMSToDouble(result);
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return az;
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}
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}
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public double Declination
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{
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get
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{
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var result = SerialPort.CommandTerminated(":GD#", "#");
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//:GD# Get Telescope Declination.
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//Returns: sDD* MM# or sDD*MM’SS#
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//Depending upon the current precision setting for the telescope.
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double az = DMSToDouble(result);
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return az;
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}
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}
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public void AbortSlew()
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{
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SerialPort.Command("#:Q#");
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}
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public void PulseGuide(GuideDirections direction, int duration)
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{
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string d = string.Empty;
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switch (direction)
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{
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case GuideDirections.guideEast:
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d = "e";
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break;
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case GuideDirections.guideNorth:
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d = "n";
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break;
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case GuideDirections.guideSouth:
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d = "s";
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break;
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case GuideDirections.guideWest:
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d = "w";
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break;
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}
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if (UserNewerPulseGuiding)
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{
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_serialPort.Command($":Mg{d}{duration:0000}#");
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Thread.Sleep(duration); //todo figure out if this is really needed
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}
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else
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{
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_serialPort.Command(":RG#"); //Make sure we are at guide rate
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_serialPort.Command($":M{d}#");
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Thread.Sleep(duration);
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_serialPort.Command($":Q{d}#");
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//classic only !!!, this is needed since once in a while one is not enough
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Thread.Sleep(200);
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_serialPort.Command($":Q{d}#");
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}
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}
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public void Park()
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{
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if (_parked)
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return;
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_parked = true;
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_serialPort.Command(":hP#");
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}
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public bool UserNewerPulseGuiding { get; set; } = true; //todo make this a device setting
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}
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}
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