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Add sendCommandOK to ensure we get the proper response back and to pr…
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…event any character remaining on buffer that do not get cleared for some reason by the IO flush. This might help fix issues reported in #1681
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@knro
knro committed Jul 24, 2022
1 parent 0668feb commit f3b9ca5
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Showing 2 changed files with 70 additions and 43 deletions.
112 changes: 69 additions & 43 deletions drivers/telescope/ioptronv3driver.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,16 @@ const uint16_t Driver::IOP_SLEW_RATES[] = {1, 2, 8, 16, 64, 128, 256, 512, 1024}

Driver::Driver(const char *deviceName): m_DeviceName(deviceName) {}

bool Driver::sendCommandOk(const char *command)
{
char res[IOP_BUFFER] = {0};

if (sendCommand(command, 1, res))
return res[0] == '1';

return false;
}

bool Driver::sendCommand(const char *command, int count, char *response, uint8_t timeout, uint8_t debugLog)
{
int errCode = 0;
Expand Down Expand Up @@ -112,10 +122,7 @@ bool Driver::sendCommand(const char *command, int count, char *response, uint8_t
if (response)
strncpy(response, res, IOP_BUFFER);

if (count == -1 || (count == 1 && res[0] == '1') || count == nbytes_read)
return true;

return false;
return true;
}

bool Driver::checkConnection(int fd)
Expand Down Expand Up @@ -240,6 +247,12 @@ bool Driver::getStatus(IOPInfo *info)
return false;


if (strlen(res) != 23)
{
DEBUGFDEVICE(m_DeviceName, INDI::Logger::DBG_ERROR, "%s: Expected 23 bytes but received %d.", __PRETTY_FUNCTION__, strlen(res));
return false;
}

char longPart[16] = {0}, latPart[16] = {0};
strncpy(longPart, res, 9);
strncpy(latPart, res + 9, 8);
Expand Down Expand Up @@ -352,40 +365,40 @@ bool Driver::stopMotion(IOP_DIRECTION dir)
{
case IOP_N:
case IOP_S:
return sendCommand(":qD#");
return sendCommandOk(":qD#");

case IOP_W:
case IOP_E:
return sendCommand(":qR#");
return sendCommandOk(":qR#");
}

return false;
}

bool Driver::findHome()
{
return sendCommand(":MSH#");
return sendCommandOk(":MSH#");
}

bool Driver::gotoHome()
{
return sendCommand(":MH#");
return sendCommandOk(":MH#");
}

bool Driver::setCurrentHome()
{
return sendCommand(":SZP#");
return sendCommandOk(":SZP#");
}

/* v3.0 Added in control for PEC , Train and Data Integrity */
bool Driver::setPECEnabled(bool enabled)
{
return sendCommand(enabled ? ":SPP1#" : ":SPP0#");
return sendCommandOk(enabled ? ":SPP1#" : ":SPP0#");
}

bool Driver::setPETEnabled(bool enabled)
{
return sendCommand(enabled ? ":SPR1#" : ":SPR0#");
return sendCommandOk(enabled ? ":SPR1#" : ":SPR0#");
}

bool Driver::getPETEnabled(bool enabled)
Expand Down Expand Up @@ -424,7 +437,7 @@ bool Driver::setSlewRate(IOP_SLEW_RATE rate)

simData.simInfo.slewRate = rate;

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setTrackMode(IOP_TRACK_RATE rate)
Expand All @@ -434,15 +447,15 @@ bool Driver::setTrackMode(IOP_TRACK_RATE rate)
switch (rate)
{
case TR_SIDEREAL:
return sendCommand(":RT0#");
return sendCommandOk(":RT0#");
case TR_LUNAR:
return sendCommand(":RT1#");
return sendCommandOk(":RT1#");
case TR_SOLAR:
return sendCommand(":RT2#");
return sendCommandOk(":RT2#");
case TR_KING:
return sendCommand(":RT3#");
return sendCommandOk(":RT3#");
case TR_CUSTOM:
return sendCommand(":RT4#");
return sendCommandOk(":RT4#");
}

return false;
Expand All @@ -456,7 +469,7 @@ bool Driver::setCustomRATrackRate(double rate)
char cmd[IOP_BUFFER] = {0};
snprintf(cmd, IOP_BUFFER, ":RR%05u#", static_cast<uint32_t>(rate * 10000));

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setGuideRate(double RARate, double DERate)
Expand All @@ -467,7 +480,7 @@ bool Driver::setGuideRate(double RARate, double DERate)
char cmd[IOP_BUFFER] = {0};
snprintf(cmd, IOP_BUFFER, ":RG%02u%02u#", static_cast<uint32_t>(RARate * 100), static_cast<uint32_t>(DERate * 100));

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::getGuideRate(double *RARate, double *DERate)
Expand Down Expand Up @@ -495,44 +508,45 @@ bool Driver::startGuide(IOP_DIRECTION dir, uint32_t ms)
char cmd[IOP_BUFFER] = {0};
char dir_c = 0;

// Sophie Taylor 2022-03-01
// TODO: This command set is deprecated, to be replaced with RA+/- and Dec+/- commands
// See https://www.ioptron.com/v/ASCOM/RS-232_Command_Language2014V310.pdf
switch (dir)
{
// Dec+
case IOP_N:
dir_c = 'n';
dir_c = 'E';
break;

// Dec-
case IOP_S:
dir_c = 's';
dir_c = 'C';
break;

// RA-
case IOP_W:
dir_c = 'w';
dir_c = 'Q';
break;

// RA+
case IOP_E:
dir_c = 'e';
dir_c = 'S';
break;
}

snprintf(cmd, IOP_BUFFER, ":M%c%05u#", dir_c, ms);
snprintf(cmd, IOP_BUFFER, ":Z%c%05u#", dir_c, ms);

return sendCommand(cmd, 0);
}

bool Driver::park()
{
return sendCommand(":MP1#");
return sendCommandOk(":MP1#");
}

bool Driver::unpark()
{
//NB: This command only available in CEM120 series, CEM60 series, iEQ45 Pro, iEQ45 Pro
//AA and iEQ30 Pro.
setSimSytemStatus(ST_STOPPED);
return sendCommand(":MP0#");
return sendCommandOk(":MP0#");
}

bool Driver::setParkAz(double az)
Expand All @@ -544,7 +558,7 @@ bool Driver::setParkAz(double az)

snprintf(cmd, IOP_BUFFER, ":SPA%09d#", ieqValue);

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setParkAlt(double alt)
Expand All @@ -556,36 +570,36 @@ bool Driver::setParkAlt(double alt)
// Send as 0.01 arcsec resolution
int ieqValue = static_cast<int>(alt * 60 * 60 * 100);
snprintf(cmd, IOP_BUFFER, ":SPH%08d#", ieqValue);
return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::abort()
{
if (simData.simInfo.systemStatus == ST_SLEWING)
simData.simInfo.systemStatus = simData.simInfo.rememberSystemStatus;

return sendCommand(":Q#");
return sendCommandOk(":Q#");
}

bool Driver::slewNormal()
{
simData.simInfo.rememberSystemStatus = simData.simInfo.systemStatus;
simData.simInfo.systemStatus = ST_SLEWING;

return sendCommand(":MS1#");
return sendCommandOk(":MS1#");
}

bool Driver::slewCWUp()
{
simData.simInfo.rememberSystemStatus = simData.simInfo.systemStatus;
simData.simInfo.systemStatus = ST_SLEWING;

return sendCommand(":MS2#");
return sendCommandOk(":MS2#");
}

bool Driver::sync()
{
return sendCommand(":CM#");
return sendCommand(":CM#", 1);
}

bool Driver::setTrackEnabled(bool enabled)
Expand All @@ -608,7 +622,7 @@ bool Driver::setRA(double ra)
char cmd[IOP_BUFFER] = {0};
snprintf(cmd, IOP_BUFFER, ":SRA%09u#", casRA);

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setDE(double de)
Expand All @@ -622,7 +636,7 @@ bool Driver::setDE(double de)
char cmd[IOP_BUFFER] = {0};
snprintf(cmd, IOP_BUFFER, ":Sd%c%08u#", de >= 0 ? '+' : '-', casDE);

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setLongitude(double longitude)
Expand All @@ -634,7 +648,7 @@ bool Driver::setLongitude(double longitude)
char cmd[IOP_BUFFER] = {0};
snprintf(cmd, IOP_BUFFER, ":SLO%c%08u#", longitude >= 0 ? '+' : '-', casLongitude);

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setLatitude(double latitude)
Expand All @@ -646,7 +660,7 @@ bool Driver::setLatitude(double latitude)
char cmd[IOP_BUFFER] = {0};
snprintf(cmd, IOP_BUFFER, ":SLA%c%08u#", latitude >= 0 ? '+' : '-', casLatitude);

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setUTCDateTime(double JD)
Expand All @@ -658,7 +672,7 @@ bool Driver::setUTCDateTime(double JD)

simData.JD = JD;

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setUTCOffset(int offsetMinutes)
Expand All @@ -668,7 +682,7 @@ bool Driver::setUTCOffset(int offsetMinutes)

simData.utc_offset_minutes = offsetMinutes;

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::setDaylightSaving(bool enabled)
Expand All @@ -678,7 +692,7 @@ bool Driver::setDaylightSaving(bool enabled)

simData.day_light_saving = enabled;

return sendCommand(cmd);
return sendCommandOk(cmd);
}

bool Driver::getCoords(double *ra, double *de, IOP_PIER_STATE *pierState, IOP_CW_STATE *cwState)
Expand All @@ -693,6 +707,12 @@ bool Driver::getCoords(double *ra, double *de, IOP_PIER_STATE *pierState, IOP_CW
else if (sendCommand(":GEP#", -1, res, IOP_TIMEOUT, INDI::Logger::DBG_EXTRA_1) == false)
return false;

if (strlen(res) != 20)
{
DEBUGFDEVICE(m_DeviceName, INDI::Logger::DBG_ERROR, "%s: Expected 20 bytes but received %d.", __PRETTY_FUNCTION__, strlen(res));
return false;
}

char deStr[16] = {0}, raStr[16] = {0};

strncpy(deStr, res, 9);
Expand Down Expand Up @@ -727,6 +747,12 @@ bool Driver::getUTCDateTime(double *JD, int *utcOffsetMinutes, bool *dayLightSav
else if (sendCommand(":GUT#", -1, res) == false)
return false;

if (strlen(res) != 18)
{
DEBUGFDEVICE(m_DeviceName, INDI::Logger::DBG_ERROR, "%s: Expected 18 bytes but received %d.", __PRETTY_FUNCTION__, strlen(res));
return false;
}

char offsetStr[16] = {0}, JDStr[16] = {0};

strncpy(offsetStr, res, 4);
Expand Down Expand Up @@ -784,7 +810,7 @@ bool Driver::setMeridianBehavior(IOP_MB_STATE action, uint8_t degrees)
{
char cmd[IOP_BUFFER] = {0};
snprintf(cmd, IOP_BUFFER, ":SMT%d%02d#", action, degrees);
return sendCommand(cmd);
return sendCommandOk(cmd);
}
}

Expand Down
1 change: 1 addition & 0 deletions drivers/telescope/ioptronv3driver.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -96,6 +96,7 @@ class Driver
**************************************************************************/
bool sendCommand(const char *command, int count = 1, char *response = nullptr, uint8_t timeout = IOP_TIMEOUT,
uint8_t debugLog = INDI::Logger::DBG_DEBUG);
bool sendCommandOk(const char *command);
bool checkConnection(int fd);

/**************************************************************************
Expand Down

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