//
// Constructor - Internal prevents public creation
// of instances. Returned by Telescope.AxisRates.
//
internal AxisRates(TelescopeAxes axis)
{
this.axis = axis;
//
// This collection must hold zero or more Rate objects describing the
// rates of motion ranges for the Telescope.MoveAxis() method
// that are supported by your driver. It is OK to leave this
// array empty, indicating that MoveAxis() is not supported.
//
// Note that we are constructing a rate array for the axis passed
// to the constructor. Thus we switch() below, and each case should
// initialize the array for the rate for the selected axis.
//
switch (axis)
{
case TelescopeAxes.axisPrimary:
// TODO Initialize this array with any Primary axis rates that your driver may provide
// Example: m_Rates = new Rate[] { new Rate(10.5, 30.2), new Rate(54.0, 43.6) }
//var sid = Utils.Const.SiderealRateDegPerSec;
this.rates = new Rate[]
{
new Rate(0, Const.MaxAxisRate),
/*
new Rate(sid / 2, sid / 2), //Rate 1
new Rate(sid, sid), //Rate 2
new Rate(sid * 2, sid * 2), //Rate 3
new Rate(sid * 4, sid * 4), //Rate 4
new Rate(sid * 8, sid * 8), //Rate 5
new Rate(sid * 16, sid * 16), //Rate 6
new Rate(sid * 64, sid * 64), //Rate 6
new Rate(0.5, 0.5), //Rate 7
new Rate(2, 2), //Rate 8
new Rate(3, 3), //Rate 9
*/
};
break;
case TelescopeAxes.axisSecondary:
// TODO Initialize this array with any Secondary axis rates that your driver may provide
this.rates = new Rate[]
{
new Rate(0, Const.MaxAxisRate),
};
break;
case TelescopeAxes.axisTertiary:
// TODO Initialize this array with any Tertiary axis rates that your driver may provide
this.rates = new Rate[0];
break;
}
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
objSerial.Transmit("moveAxis#" + Axis + "#" + Rate + "#");
tl.LogMessage("MoveAxis", "Rotated " + Axis + " at " + Rate + " Steps/Second");
//throw new ASCOM.MethodNotImplementedException("MoveAxis");
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
this.isSlewing = true;
switch (Axis)
{
case TelescopeAxes.axisPrimary:
if (Rate > 0)
{
SerialConnection.Transmit(": E #");
}
else if (Rate < 0)
{
SerialConnection.Transmit(": W #");
}
break;
case TelescopeAxes.axisSecondary:
if (Rate > 0)
{
SerialConnection.Transmit(": N #");
}
else if (Rate < 0)
{
SerialConnection.Transmit(": S #");
}
break;
}
this.isSlewing = false;
}
public IAxisRates AxisRates(TelescopeAxes Axis)
{
tl.LogMessage("AxisRates", "Get - " + Axis.ToString());
AxisRates axisrates = new AxisRates(Axis);
return(axisrates);
}
public TimedMovementResult(TelescopeAxes axis)
{
encoder_angle = new Angle[3];
time = new DateTime[3];
cancelled = false;
this.axis = axis;
}
//
// Constructor - Internal prevents public creation
// of instances. Returned by Telescope.AxisRates.
//
internal AxisRates(TelescopeAxes axis)
{
this.axis = axis;
//
// This collection must hold zero or more Rate objects describing the
// rates of motion ranges for the Telescope.MoveAxis() method
// that are supported by your driver. It is OK to leave this
// array empty, indicating that MoveAxis() is not supported.
//
// Note that we are constructing a rate array for the axis passed
// to the constructor. Thus we switch() below, and each case should
// initialize the array for the rate for the selected axis.
//
switch (axis)
{
case TelescopeAxes.axisPrimary:
// TODO Initialize this array with any Primary axis rates that your driver may provide
// Example: m_Rates = new Rate[] { new Rate(10.5, 30.2), new Rate(54.0, 43.6) }
this.rates = new Rate[0];
break;
case TelescopeAxes.axisSecondary:
// TODO Initialize this array with any Secondary axis rates that your driver may provide
this.rates = new Rate[0];
break;
case TelescopeAxes.axisTertiary:
// TODO Initialize this array with any Tertiary axis rates that your driver may provide
this.rates = new Rate[0];
break;
}
}
public bool AxisCanMoveAtRate(TelescopeAxes axis, double rate)
{
bool ret = false;
Slewers.Type otherSlewer = (axis == TelescopeAxes.axisPrimary) ? Slewers.Type.Dec : Slewers.Type.Ra;
if (!WiseTele.Instance.slewers.Active(otherSlewer))
{
return(true); // the other axis has finished its slew, this axis can use any rate
}
if (rate == Const.rateSlew)
{
ret = (Interlocked.Read(ref primaryReadyForSlew) == Interlocked.Read(ref secondaryReadyForSlew));
}
else if (rate == Const.rateSet)
{
ret = (Interlocked.Read(ref primaryReadyForSet) == Interlocked.Read(ref secondaryReadyForSet));
}
else if (rate == Const.rateGuide)
{
ret = (Interlocked.Read(ref primaryReadyForGuide) == Interlocked.Read(ref secondaryReadyForGuide));
}
#region debug
//debugger.WriteLine(Debugger.DebugLevel.DebugAxes, "AxisCanMoveAtRate: {0} at {1} => {2}",
// axis, WiseTele.RateName(rate), ret);
#endregion
return(ret);
}
public bool CanMoveAxis(TelescopeAxes axis)
{
bool retval = false;
Exception xcp = null;
ActivityMessageTypes messageType = ActivityMessageTypes.Capabilities;
string axisName = GetNameFromAxis(axis);
string msg = String.Format("Calling CanMoveAxis( {0} )", axisName);
try
{
CheckDevice();
retval = Service.CanMoveAxis(axis);
msg += retval.ToString();
}
catch (Exception ex)
{
xcp = ex;
msg += Failed;
throw;
}
finally
{
LogActivityLine(messageType, msg);
if (xcp != null)
{
LogActivityLine(messageType, "CanMoveAxis( {0} ) Exception: {1}", axisName, xcp.Message);
}
}
return(retval);
}
internal AxisRates(TelescopeAxes Axis)
{
_axis = Axis;
// This collection must hold zero or more Rate objects describing the
// rates of motion ranges for the Telescope.MoveAxis() method
// that are supported by your driver. It is OK to leave this
// array empty, indicating that MoveAxis() is not supported.
switch (_axis)
{
case TelescopeAxes.axisPrimary:
_rates = PrimaryAxisRates;
break;
case TelescopeAxes.axisSecondary:
_rates = SecondaryAxisRates;
break;
case TelescopeAxes.axisTertiary:
_rates = TertiaryAxisRates;
break;
}
_pos = -1;
}
private IRate[] GetAxisRateArrayFromService(TelescopeAxes axis)
{
AxisRates rates;
if (axis == TelescopeAxes.axisPrimary)
{
rates = (AxisRates)_svc.MockPrimaryAxisRates;
}
else if (axis == TelescopeAxes.axisSecondary)
{
rates = (AxisRates)_svc.MockSecondaryAxisRates;
}
else
{
rates = (AxisRates)_svc.MockTertiaryAxisRates;
}
IRate[] rateArr = new IRate[rates.Count];
int i = 0;
foreach (IRate rate in rates)
{
rateArr[i++] = rate;
}
return(rateArr);
}
//TODO: Update this to error when at park
/// <summary>
/// Move the telescope in one axis at the given rate.
/// </summary>
/// <param name="axis">The physical axis about which movement is desired</param>
/// <param name="rate">The rate of motion (deg/sec) about the specified axis</param>
public void MoveAxis(TelescopeAxes axis, double rate)
{
tl.LogMessage("MoveAxis", "TelescopeAxis - " + axis.ToString() + "Rate - " + rate.ToString());
//Some checks on given values for API conformity
if (axis == TelescopeAxes.axisTertiary)
{
throw new ASCOM.InvalidValueException("TelescopeAxes", axis.ToString(), "No ternary axis on ST-4");
}
IRate axisRate = this.AxisRates(axis)[1];
if (Math.Abs(rate) > axisRate.Maximum || Math.Abs(rate) < axisRate.Minimum)
{
throw new ASCOM.InvalidValueException("AxisRate", rate.ToString(), axisRate.Minimum + ".." + axisRate.Maximum);
}
var orientation = rate < 0 ? Orientation.Minus : Orientation.Plus;
var axisController = axis == TelescopeAxes.axisPrimary ? raAxisController : decAxisController;
if (rate == 0)
{
axisController.StopSlew();
}
else
{
axisController.StartSlew(orientation);
}
}
//
// Constructor - Internal prevents public creation
// of instances. Returned by Telescope.AxisRates.
//
internal AxisRates(TelescopeAxes Axis)
{
m_Axis = Axis;
//
// This collection must hold zero or more Rate objects describing the
// rates of motion ranges for the Telescope.MoveAxis() method
// that are supported by your driver. It is OK to leave this
// array empty, indicating that MoveAxis() is not supported.
//
// Note that we are constructing a rate array for the axis passed
// to the constructor. Thus we switch() below, and each case should
// initialize the array for the rate for the selected axis.
//
switch (Axis)
{
case TelescopeAxes.axisPrimary:
// TODO Initialize this array with any Primary axis rates that your driver may provide
// Example: m_Rates = new Rate[] { new Rate(10.5, 30.2), new Rate(54.0, 43.6) }
m_Rates = new Rate[0];
break;
case TelescopeAxes.axisSecondary:
// TODO Initialize this array with any Secondary axis rates that your driver may provide
m_Rates = new Rate[0];
break;
case TelescopeAxes.axisTertiary:
// TODO Initialize this array with any Tertiary axis rates that your driver may provide
m_Rates = new Rate[0];
break;
}
}
public void MoveAxis(TelescopeAxes axis, double rate)
{
if (TelescopeInfo.Connected)
{
Telescope.MoveAxis(axis, rate);
}
}
//
// Constructor - Internal prevents public creation
// of instances. Returned by Telescope.AxisRates.
//
internal AxisRates(TelescopeAxes axis)
{
this.axis = axis;
//
// This collection must hold zero or more Rate objects describing the
// rates of motion ranges for the Telescope.MoveAxis() method
// that are supported by your driver. It is OK to leave this
// array empty, indicating that MoveAxis() is not supported.
//
// Note that we are constructing a rate array for the axis passed
// to the constructor. Thus we switch() below, and each case should
// initialize the array for the rate for the selected axis.
//
switch (axis)
{
case TelescopeAxes.axisPrimary:
// Example: m_Rates = new Rate[] { new Rate(10.5, 30.2), new Rate(54.0, 43.6) }
this.rates = new Rate[]{new Rate(0, Constants.DEGREES_PER_SECOND * Constants.MAX_RATE_MULTIPLYER)};
break;
case TelescopeAxes.axisSecondary:
this.rates = new Rate[] { new Rate(0, Constants.DEGREES_PER_SECOND * Constants.MAX_RATE_MULTIPLYER) };
break;
case TelescopeAxes.axisTertiary:
this.rates = new Rate[0];
break;
}
}
//
// Constructor - Internal prevents public creation
// of instances. Returned by SkyServer.AxisRates.
//
public AxisRates(TelescopeAxes axis)
{
//
// This collection must hold zero or more Rate objects describing the
// rates of motion ranges for the SkyServer.MoveAxis() method
// that are supported by your driver. It is OK to leave this
// array empty, indicating that MoveAxis() is not supported.
//
// Note that we are constructing a rate array for the axis passed
// to the constructor. Thus we switch() below, and each case should
// initialize the array for the rate for the selected axis.
//
switch (axis)
{
case TelescopeAxes.axisPrimary:
// Example: m_Rates = new Rate[] { new Rate(10.5, 30.2), new Rate(54.0, 43.6) }
_mRates = new[] { new Rate(0.0, SkyServer.SlewSpeedEight) };
break;
case TelescopeAxes.axisSecondary:
_mRates = new[] { new Rate(0.0, SkyServer.SlewSpeedEight) };
break;
case TelescopeAxes.axisTertiary:
_mRates = new[] { new Rate(0.0, SkyServer.SlewSpeedEight) }; //Conversions.Sec2ArcSec(SkyServer.SlewSpeedEight)) };
break;
default:
throw new ArgumentOutOfRangeException(nameof(axis), axis, null);
}
_pos = -1;
}
public void MoveAxis(TelescopeAxes telescopeAxis, double rate)
{
traceLogger.LogMessage("MoveAxis", "TelescopeAxis - " + telescopeAxis.ToString() + "Rate - " + rate.ToString());
//Some checks on given values for API conformity
if (telescopeAxis == TelescopeAxes.axisTertiary)
{
throw new ASCOM.InvalidValueException("TelescopeAxes", telescopeAxis.ToString(), "No ternary axis on ST-4");
}
IRate axisRate = this.AxisRates(telescopeAxis)[1];
if (Math.Abs(rate) > axisRate.Maximum || Math.Abs(rate) < axisRate.Minimum)
{
throw new ASCOM.InvalidValueException("AxisRate", rate.ToString(), axisRate.Minimum + ".." + axisRate.Maximum);
}
Orientation orientation = rate > 0 ? Orientation.PLUS : Orientation.MINUS;
Axis axis = telescopeAxis == TelescopeAxes.axisPrimary ? Axis.RA : Axis.DEC;
AxisController axisPositionController = axisControllers[(int)axis];
if (rate == 0)
{
axisPositionController.Stop();
}
else
{
axisPositionController.Move(orientation);
}
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
//Не влияет на стрелки
//CommandBlind("--->", false);
tl.LogMessage("MoveAxis", "Not implemented");
throw new ASCOM.MethodNotImplementedException("MoveAxis");
}
public SlewPlotter(TelescopeAxes axis, double start, double target)
{
Angle.Type angleType = axis == TelescopeAxes.axisPrimary ? Angle.Type.RA : Angle.Type.Dec;
DateTime utcNow = DateTime.UtcNow;
string folder = Wise40.Common.Debugger.LogDirectory() +
string.Format("/slew-started-at-{0:D2}h{1:D2}m{2:D2}s_UTC", utcNow.Hour, utcNow.Minute, utcNow.Second);
Directory.CreateDirectory(folder);
string filename = folder + string.Format("/{0}.dat",
axis == TelescopeAxes.axisPrimary ? "RA" : "DEC"
);
try
{
_sw = new StreamWriter(filename);
_sw.AutoFlush = true;
_sw.WriteLine("#");
_sw.WriteLine("# Started at: {0}", utcNow.ToShortDateString());
_sw.WriteLine("# Start position: {0}", start.ToString());
_sw.WriteLine("# Target position: {0}", target.ToString());
_sw.WriteLine("# Axis: {0}", axis.ToString());
_sw.WriteLine("#");
_sw.WriteLine("# milliseconds position log10(abs(error))");
_sw.WriteLine("#");
} catch
{
_sw = null;
}
_start = start;
_target = target;
_stopWatch.Start();
}
private const double SiderealRateDPS = 0.004178; // degrees / second;
//
// Constructor - Internal prevents public creation
// of instances. Returned by Telescope.AxisRates.
//
internal AxisRates(TelescopeAxes axis)
{
this.axis = axis;
//
// This collection must hold zero or more Rate objects describing the
// rates of motion ranges for the Telescope.MoveAxis() method
// that are supported by your driver. It is OK to leave this
// array empty, indicating that MoveAxis() is not supported.
//
// Note that we are constructing a rate array for the axis passed
// to the constructor. Thus we switch() below, and each case should
// initialize the array for the rate for the selected axis.
//
switch (axis)
{
case TelescopeAxes.axisPrimary:
// TODO Initialize this array with any Primary axis rates that your driver may provide
// Example: m_Rates = new Rate[] { new Rate(10.5, 30.2), new Rate(54.0, 43.6) }
// this.rates = new Rate[0];
this.rates = new Rate[9]
{
//new Rate(SiderealRateDPS * 0, SiderealRateDPS * 0), //Rate 0
new Rate(SiderealRateDPS * 1, SiderealRateDPS * 1), //Rate 1
new Rate(SiderealRateDPS * 2, SiderealRateDPS * 2), //Rate 2
new Rate(SiderealRateDPS * 8, SiderealRateDPS * 8), //Rate 3
new Rate(SiderealRateDPS * 16, SiderealRateDPS * 16), //Rate 4
new Rate(SiderealRateDPS * 64, SiderealRateDPS * 64), //Rate 5
new Rate(SiderealRateDPS * 128, SiderealRateDPS * 128), //Rate 6
new Rate(SiderealRateDPS * 256, SiderealRateDPS * 256), //Rate 7
new Rate(SiderealRateDPS * 512, SiderealRateDPS * 512), //Rate 8
new Rate(SiderealRateDPS * 1024, SiderealRateDPS * 1024) //Rate 9
};
break;
case TelescopeAxes.axisSecondary:
// TODO Initialize this array with any Secondary axis rates that your driver may provide
// this.rates = new Rate[0];
// Secondary axis rates that ZEQ25 driver may provide
this.rates = new Rate[9]
{
//new Rate(SiderealRateDPS * 0, SiderealRateDPS * 0), //Rate 0
new Rate(SiderealRateDPS * 1, SiderealRateDPS * 1), //Rate 1
new Rate(SiderealRateDPS * 2, SiderealRateDPS * 2), //Rate 2
new Rate(SiderealRateDPS * 8, SiderealRateDPS * 8), //Rate 3
new Rate(SiderealRateDPS * 16, SiderealRateDPS * 16), //Rate 4
new Rate(SiderealRateDPS * 64, SiderealRateDPS * 64), //Rate 5
new Rate(SiderealRateDPS * 128, SiderealRateDPS * 128), //Rate 6
new Rate(SiderealRateDPS * 256, SiderealRateDPS * 256), //Rate 7
new Rate(SiderealRateDPS * 512, SiderealRateDPS * 512), //Rate 8
new Rate(SiderealRateDPS * 1024, SiderealRateDPS * 1024) //Rate 9
};
break;
case TelescopeAxes.axisTertiary:
// TODO Initialize this array with any Tertiary axis rates that your driver may provide
this.rates = new Rate[0];
break;
}
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
sysLog.LogMessage("MoveAxis", "Move at " + Rate);
if ((int)Axis > m_Axes.Length - 1)
{
throw new DriverException("Axis not supported", ErrorCode(DriverErrors.AxisNotSupported));
}
m_Axes[(int)Axis].Rotate(Rate);
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
CheckConnected();
if (Platform.IsTracking)
{
throw new InvalidOperationException("cannot MoveAxis when platform is tracking");
}
m_mount.MoveAxis(Axis, Rate);
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
/**
* tl.LogMessage("MoveAxis", "Not implemented");
* throw new ASCOM.MethodNotImplementedException("MoveAxis");
**/
tl.LogMessage("MoveAxis", "Implemented");
//throw new ASCOM.MethodNotImplementedException("MoveAxis");
}
public IAxisRates AxisRates(TelescopeAxes Axis)
{
DynamicClientDriver.SetClientTimeout(client, standardDeviceResponseTimeout);
Dictionary <string, string> Parameters = new Dictionary <string, string>
{
{ SharedConstants.AXIS_PARAMETER_NAME, ((int)Axis).ToString(CultureInfo.InvariantCulture) }
};
return(DynamicClientDriver.SendToRemoteDevice <IAxisRates>(clientNumber, client, URIBase, TL, "AxisRates", Parameters, Method.GET));
}
public void MoveAxis(TelescopeAxes axis, double rate)
{
string name = GetNameFromAxis(axis);
LogActivityStart(ActivityMessageTypes.Commands, "MoveAxis {0} at {1} deg/sec: ", name, rate);
CheckDevice();
Service.MoveAxis(axis, rate);
Status.Slewing = rate != 0.0;
LogActivityEnd(ActivityMessageTypes.Commands, Done);
}
public bool CanMoveAxis(TelescopeAxes Axis)
{
RemoteClientDriver.SetClientTimeout(client, standardServerResponseTimeout);
Dictionary <string, string> Parameters = new Dictionary <string, string>
{
{ SharedConstants.AXIS_PARAMETER_NAME, ((int)Axis).ToString(CultureInfo.InvariantCulture) }
};
return(RemoteClientDriver.SendToRemoteDriver <bool>(clientNumber, client, URIBase, TL, "CanMoveAxis", Parameters, Method.GET));
}
public IAxisRates AxisRates(TelescopeAxes Axis)
{
RemoteClientDriver.SetClientTimeout(client, standardServerResponseTimeout);
Dictionary <string, string> Parameters = new Dictionary <string, string>
{
{ SharedConstants.AXIS_PARAMETER_NAME, ((int)Axis).ToString() }
};
return(RemoteClientDriver.SendToRemoteDriver <IAxisRates>(clientNumber, client, URIBase, TL, "AxisRates", Parameters, Method.GET));
}
public bool CanMoveAxis(TelescopeAxes Axis)
{
if (Axis == TelescopeAxes.axisTertiary)
{
return(false);
}
else
{
return(true);
}
}
public MotionStudy(TelescopeAxes axis, double rate, int intervalMillis = 500)
{
this.axis = axis;
this.rate = rate;
samplingIntervalMillis = intervalMillis;
start = DateTime.Now;
dataPoints = new List <DataPoint>();
TimerCallback TimerCallback = new TimerCallback(sampleMotion);
timer = new Timer(TimerCallback, null, 0, samplingIntervalMillis);
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
RemoteClientDriver.SetClientTimeout(client, longServerResponseTimeout);
Dictionary <string, string> Parameters = new Dictionary <string, string>
{
{ SharedConstants.AXIS_PARAMETER_NAME, ((int)Axis).ToString(CultureInfo.InvariantCulture) },
{ SharedConstants.RATE_PARAMETER_NAME, Rate.ToString(CultureInfo.InvariantCulture) }
};
RemoteClientDriver.SendToRemoteDriver <NoReturnValue>(clientNumber, client, URIBase, TL, "MoveAxis", Parameters, Method.PUT);
}
private void MakeSteps(TelescopeAxes axis, double rate, int millis, int nsteps)
{
scopeBackgroundMover = new BackgroundWorker();
scopeBackgroundMover.WorkerSupportsCancellation = true;
scopeBackgroundMover.RunWorkerCompleted += new RunWorkerCompletedEventHandler(scopeBackgroundMover_RunWorkerCompleted);
scopeBackgroundMover.DoWork += new DoWorkEventHandler(scopeBackgroundMover_DoWork);
scopeBackgroundMover.RunWorkerAsync(new TimedMovementArg()
{
axis = axis, rate = rate, millis = millis, nsteps = nsteps
});
}
public bool CanMoveAxis(TelescopeAxes Axis)
{
switch (Axis)
{
case TelescopeAxes.axisPrimary: return(canMove);
case TelescopeAxes.axisSecondary: return(canMove);
case TelescopeAxes.axisTertiary: return(false);
default: throw new InvalidValueException("CanMoveAxis", Axis.ToString(), "0 to 2");
}
}
public object AxisRates(TelescopeAxes Axis)
{
try
{
return(objTypeScope.InvokeMember("AxisRates",
BindingFlags.Default | BindingFlags.InvokeMethod,
null, objScopeLateBound, new object[] { (int)Axis }));
}
catch
{
return(null);
}
}
public bool CanMoveAxis(TelescopeAxes axis)
{
traceLogger.LogMessage("CanMoveAxis", "Get - " + axis.ToString());
switch (axis)
{
case TelescopeAxes.axisPrimary: return(true);
case TelescopeAxes.axisSecondary: return(true);
case TelescopeAxes.axisTertiary: return(false);
default: throw new InvalidValueException("CanMoveAxis", axis.ToString(), "0 to 2");
}
}
//
// Constructor - Internal prevents public creation
// of instances. Returned by Telescope.AxisRates.
//
internal AxisRates(TelescopeAxes axis)
{
switch (axis)
{
case TelescopeAxes.axisPrimary:
this.rates = new Rate[] { new Rate(0, Constants.DEGREES_PER_SECOND * 8) };//8X Sideral Rate
break;
case TelescopeAxes.axisSecondary:
this.rates = new Rate[] { new Rate(0, Constants.DEGREES_PER_SECOND * 8) };//8X Sideral Rate
break;
case TelescopeAxes.axisTertiary:
this.rates = new Rate[] { new Rate(0, Constants.DEGREES_PER_SECOND * 8) };//8X Sideral Rate
break;
}
}
public bool CanMoveAxis(TelescopeAxes Axis)
{
if (Axis == TelescopeAxes.axisTertiary)
{
return false;
}
else
{
return true;
}
}
public IAxisRates AxisRates(TelescopeAxes Axis)
{
switch (Axis)
{
case TelescopeAxes.axisPrimary:
return m_AxisRates[0];
case TelescopeAxes.axisSecondary:
return m_AxisRates[1];
default:
return null;
}
}
//TODO: Update this to error when at park
/// <summary>
/// Move the telescope in one axis at the given rate.
/// </summary>
/// <param name="axis">The physical axis about which movement is desired</param>
/// <param name="rate">The rate of motion (deg/sec) about the specified axis</param>
public void MoveAxis(TelescopeAxes axis, double rate)
{
tl.LogMessage("MoveAxis", "TelescopeAxis - " + axis.ToString() + "Rate - " + rate.ToString());
//Some checks on given values for API conformity
if (axis == TelescopeAxes.axisTertiary)
{
throw new ASCOM.InvalidValueException("TelescopeAxes", axis.ToString(), "No ternary axis on ST-4");
}
IRate axisRate = this.AxisRates(axis)[1];
if (Math.Abs(rate) > axisRate.Maximum || Math.Abs(rate) < axisRate.Minimum)
{
throw new ASCOM.InvalidValueException("AxisRate", rate.ToString(), axisRate.Minimum + ".." + axisRate.Maximum);
}
var orientation = rate < 0 ? Orientation.Minus : Orientation.Plus;
var axisController = axis == TelescopeAxes.axisPrimary ? raAxisController : decAxisController;
if (rate == 0)
{
axisController.StopSlew();
}
else
{
axisController.StartSlew(orientation);
}
}
//
// Constructor - Internal prevents public creation
// of instances. Returned by Telescope.AxisRates.
//
internal AxisRates(TelescopeAxes Axis)
{
m_Axis = Axis;
//
// This collection must hold zero or more Rate objects describing the
// rates of motion ranges for the Telescope.MoveAxis() method
// that are supported by your driver. It is OK to leave this
// array empty, indicating that MoveAxis() is not supported.
//
// Note that we are constructing a rate array for the axis passed
// to the constructor. Thus we switch() below, and each case should
// initialize the array for the rate for the selected axis.
//
if (Axis == TelescopeAxes.axisTertiary)
{
m_Rates = new Rate[0];
return;
}
// goto slew, centering, and guiding speeds from the mount
string[] get_rates = { "<140:", "<170:", "<150:" };
string[] result = null;
GeminiHardware.Instance.DoCommandResult(get_rates, 3000, false, out result);
// if didn't get a result or one of the results timed out, throw an error:
if (result == null) throw new TimeoutException("AxisRates");
foreach (string s in result)
if (s == null) throw new TimeoutException("AxisRates");
switch (Axis)
{
case TelescopeAxes.axisPrimary:
case TelescopeAxes.axisSecondary:
m_Rates = new Rate[result.Length];
for (int idx = 0; idx < result.Length; ++idx)
{
double rate = 0;
if (!GeminiHardware.Instance.m_Util.StringToDouble(result[idx], out rate))
throw new TimeoutException("AxisRates");
rate = rate * SharedResources.EARTH_ANG_ROT_DEG_MIN / 60.0; // convert to rate in deg/sec
m_Rates[idx] = new Rate(rate, rate);
}
break;
}
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
/**
tl.LogMessage("MoveAxis", "Not implemented");
throw new ASCOM.MethodNotImplementedException("MoveAxis");
**/
tl.LogMessage("MoveAxis", "Implemented");
//throw new ASCOM.MethodNotImplementedException("MoveAxis");
}
public bool CanMoveAxis(TelescopeAxes Axis)
{
throw new NotImplementedException();
}
public IAxisRates AxisRates(TelescopeAxes Axis)
{
throw new NotImplementedException();
}
public IAxisRates AxisRates(TelescopeAxes axis)
{
traceLogger.LogMessage("AxisRates", "Get - " + axis.ToString());
return new AxisRates(axis);
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
this.isSlewing = true;
switch (Axis)
{
case TelescopeAxes.axisPrimary:
if (Rate > 0)
{
SerialConnection.Transmit(": E #");
}
else if (Rate < 0)
{
SerialConnection.Transmit(": W #");
}
break;
case TelescopeAxes.axisSecondary:
if (Rate > 0)
{
SerialConnection.Transmit(": N #");
}
else if (Rate < 0)
{
SerialConnection.Transmit(": S #");
}
break;
}
this.isSlewing = false;
}
public bool CanMoveAxis(TelescopeAxes Axis)
{
return true;
}
public void MoveAxis(TelescopeAxes telescopeAxis, double rate)
{
traceLogger.LogMessage("MoveAxis", "TelescopeAxis - " + telescopeAxis.ToString() + "Rate - " + rate.ToString());
//Some checks on given values for API conformity
if (telescopeAxis == TelescopeAxes.axisTertiary)
{
throw new ASCOM.InvalidValueException("TelescopeAxes", telescopeAxis.ToString(), "No ternary axis on ST-4");
}
IRate axisRate = this.AxisRates(telescopeAxis)[1];
if (Math.Abs(rate) > axisRate.Maximum || Math.Abs(rate) < axisRate.Minimum)
{
throw new ASCOM.InvalidValueException("AxisRate", rate.ToString(), axisRate.Minimum + ".." + axisRate.Maximum);
}
Orientation orientation = rate > 0 ? Orientation.PLUS : Orientation.MINUS;
Axis axis = telescopeAxis == TelescopeAxes.axisPrimary ? Axis.RA : Axis.DEC;
AxisController axisPositionController = axisControllers[(int)axis];
if (rate == 0)
{
axisPositionController.Stop();
}
else
{
axisPositionController.Move(orientation);
}
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
objTypeScope.InvokeMember("MoveAxis", BindingFlags.Default | BindingFlags.InvokeMethod,
null, objScopeLateBound, new object[] { Axis, Rate });
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
sysLog.LogMessage("MoveAxis", "Move at " + Rate);
if ((int)Axis > m_Axes.Length - 1)
{
throw new DriverException("Axis not supported", ErrorCode(DriverErrors.AxisNotSupported));
}
m_Axes[(int)Axis].Rotate(Rate);
}
public object AxisRates(TelescopeAxes Axis)
{
try
{
return objTypeScope.InvokeMember("AxisRates",
BindingFlags.Default | BindingFlags.InvokeMethod,
null, objScopeLateBound, new object[] { (int)Axis });
}
catch
{
return null;
}
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
throw new NotImplementedException();
}
private bool TrackingState = true; //set when MoveAxis is initiated, restored when it ended
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
GeminiHardware.Instance.Trace.Enter("IT:MoveAxis", Axis, Rate);
AssertConnect();
if (GeminiHardware.Instance.AtPark) throw new DriverException(SharedResources.MSG_INVALID_AT_PARK, (int)SharedResources.INVALID_AT_PARK);
string[] cmds = { null, null };
switch (Axis)
{
case TelescopeAxes.axisPrimary: //RA
if (Rate < 0) cmds[1] = ":Me";
else if (Rate > 0)
cmds[1] = ":Mw";
else
{
GeminiHardware.Instance.DoCommandResult(new string[] { ":Qe", ":Qw" }, GeminiHardware.Instance.MAX_TIMEOUT / 2, false); //stop motion in RA
GeminiHardware.Instance.WaitForVelocity("T", GeminiHardware.Instance.MAX_TIMEOUT);
if (!TrackingState)
{
GeminiHardware.Instance.DoCommandResult(":hN", GeminiHardware.Instance.MAX_TIMEOUT, false);
GeminiHardware.Instance.WaitForVelocity("N", GeminiHardware.Instance.MAX_TIMEOUT);
GeminiHardware.Instance.Tracking = false;
}
GeminiHardware.Instance.Trace.Exit("IT:MoveAxis", Axis, Rate);
return;
}
break;
case TelescopeAxes.axisSecondary: //DEC
if (Rate < 0) cmds[1] = ":Ms";
else if (Rate > 0)
cmds[1] = ":Mn";
else
{
GeminiHardware.Instance.DoCommandResult(new string[] { ":Qn", ":Qs" }, GeminiHardware.Instance.MAX_TIMEOUT / 2, false); //stop motion in DEC
GeminiHardware.Instance.WaitForVelocity("T", GeminiHardware.Instance.MAX_TIMEOUT);
GeminiHardware.Instance.Trace.Exit("IT:MoveAxis", Axis, Rate);
if (!TrackingState)
{
GeminiHardware.Instance.DoCommandResult(":hN", GeminiHardware.Instance.MAX_TIMEOUT, false);
GeminiHardware.Instance.WaitForVelocity("N", GeminiHardware.Instance.MAX_TIMEOUT);
GeminiHardware.Instance.Tracking = false;
}
return;
}
break;
default:
throw new ASCOM.InvalidValueException("MoveAxis", Axis.ToString(), "Primary,Secondary");
}
Rate = Math.Abs(Rate);
const double RateTolerance = 1e-5; // 1e-6 is 0.036 arcseconds/second
// find the rate in the list of rates. The position will determine if it's
// guiding, slewing, or centering rate:
int cnt = 0;
foreach (Rate r in AxisRates(Axis))
{
if (r.Minimum >= Rate - RateTolerance && r.Minimum <= Rate + RateTolerance) // use tolerance to ensure doubles compare properly
break;
cnt++;
}
switch (cnt)
{
case 0: // slew rate
cmds[0] = ":RS"; break;
case 1: // center rate
cmds[0] = ":RC"; break;
case 2: // guide rate
cmds[0] = ":RG"; break;
default:
throw new ASCOM.InvalidValueException("MoveAxis", Axis.ToString(), "guiding, centering, or slewing speeds");
}
TrackingState = GeminiHardware.Instance.Tracking;
GeminiHardware.Instance.DoCommandResult(cmds, GeminiHardware.Instance.MAX_TIMEOUT / 2, false);
GeminiHardware.Instance.WaitForVelocity("GCS", GeminiHardware.Instance.MAX_TIMEOUT);
GeminiHardware.Instance.Trace.Exit("IT:MoveAxis", Axis, Rate);
}
public bool CanMoveAxis(TelescopeAxes Axis)
{
return (bool)objTypeScope.InvokeMember("CanMoveAxis", BindingFlags.Default | BindingFlags.InvokeMethod,
null, objScopeLateBound, new object[] {(int)Axis });
}
/// <summary>
/// Determine the rates at which the telescope may be moved about the specified axis by the MoveAxis(TelescopeAxes, Double) method
/// </summary>
/// <param name="Axis">The axis about which rate information is desired (TelescopeAxes value)</param>
/// <returns>Collection of IRate rate objects</returns>
public IAxisRates AxisRates(TelescopeAxes Axis)
{
tl.LogMessage("AxisRates", "Get - " + Axis.ToString());
return new AxisRates(Axis);
}
public void MoveAxis(TelescopeAxes Axis, double Rate)
{
if (CanMoveAxis(Axis))
{
//String commString = Axis.ToString() + ", " + Rate.ToString();
tl.LogMessage("MoveAxis", "Not implemented");
throw new ASCOM.MethodNotImplementedException("MoveAxis");
//tl.LogMessage("MoveAxis", "Move - " + Axis.ToString() + ", " + Rate.ToString());
//
//CommandBlind(commString, false);
//CommandBlind(CommandFormatter(DCommandList.DMoveAxis), false);
}
else
{
tl.LogMessage("CanMoveAxis", "Not implemented");
throw new ASCOM.MethodNotImplementedException("CanMoveAxis");
}
}
/// <summary>
/// True if this telescope can move the requested axis
/// </summary>
/// <param name="Axis">Primary, Secondary or Tertiary axis</param>
/// <returns>Boolean indicating can or can not move the requested axis</returns>
public bool CanMoveAxis(TelescopeAxes Axis)
{
tl.LogMessage("CanMoveAxis", "Get - " + Axis.ToString());
switch (Axis)
{
case TelescopeAxes.axisPrimary: return true;
case TelescopeAxes.axisSecondary: return true;
case TelescopeAxes.axisTertiary: return false;
default: throw new InvalidValueException("CanMoveAxis", Axis.ToString(), "0 to 2");
}
}
public IAxisRates AxisRates(TelescopeAxes Axis)
{
AssertConnect();
GeminiHardware.Instance.Trace.Enter("IT:AxisRates");
if (m_AxisRates == null)
{
if (GeminiHardware.Instance.Connected)
{
m_AxisRates = new AxisRates[3];
m_AxisRates[0] = new AxisRates(TelescopeAxes.axisPrimary);
m_AxisRates[1] = new AxisRates(TelescopeAxes.axisSecondary);
m_AxisRates[2] = new AxisRates(TelescopeAxes.axisTertiary);
}
else
return null;
}
switch (Axis)
{
case TelescopeAxes.axisPrimary:
return m_AxisRates[0];
case TelescopeAxes.axisSecondary:
return m_AxisRates[1];
case TelescopeAxes.axisTertiary:
return m_AxisRates[2];
default:
return null;
}
}
public bool CanMoveAxis(TelescopeAxes Axis)
{
switch (Axis)
{
case TelescopeAxes.axisPrimary:
GeminiHardware.Instance.Trace.Enter("IT:CanMoveAxis.Get", Axis, true);
return true;
case TelescopeAxes.axisSecondary:
GeminiHardware.Instance.Trace.Enter("IT:CanMoveAxis.Get", Axis, true);
return true;
case TelescopeAxes.axisTertiary:
GeminiHardware.Instance.Trace.Enter("IT:CanMoveAxis.Get", Axis, false);
return false;
default:
GeminiHardware.Instance.Trace.Enter("IT:CanMoveAxis.Get", Axis, false);
return false;
}
}
