StarGO 1.8 | Configurable delay between mount commands (#12)

* Make mount command delay configurable

* Wait configurable delay after each mount command

debian/indi-avalon/changelog

@@ -1,3 +1,9 @@
+indi-avalon (1.8) buster; urgency=medium
+
+  * Make mount command delay configurable
+
+ -- Wolfgang Reissenberger <[email protected]>  Sat, 19 Oct 2019 22:16:11 +0200
+
 indi-avalon (1.7) stretch; urgency=medium
 
   * Retrying once reading the motor state to capture timeouts

indi-avalon/CMakeLists.txt

@@ -16,7 +16,7 @@ include_directories(${NOVA_INCLUDE_DIR})
 include(CMakeCommon)
 
 set(AVALON_VERSION_MAJOR 1)
-set(AVALON_VERSION_MINOR 7)
+set(AVALON_VERSION_MINOR 8)
 
 set(INDI_DATA_DIR "${CMAKE_INSTALL_PREFIX}/share/indi")
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.cmake ${CMAKE_CURRENT_BINARY_DIR}/config.h )

indi-avalon/lx200stargo.cpp

@@ -339,8 +339,8 @@ bool LX200StarGo::ISNewNumber(const char *dev, const char *name, double values[]
         // sync home position
         if (!strcmp(name, GuidingSpeedNP.name))
         {
-            int raSpeed  = round(values[0] * 100);
-            int decSpeed = round(values[1] * 100);
+            int raSpeed  = static_cast<int>(round(values[0] * 100.0));
+            int decSpeed = static_cast<int>(round(values[1] * 100.0));
             bool result  = setGuidingSpeeds(raSpeed, decSpeed);
 
             if(result)
@@ -355,6 +355,16 @@ bool LX200StarGo::ISNewNumber(const char *dev, const char *name, double values[]
             }
             IDSetNumber(&GuidingSpeedNP, nullptr);
             return result;
+        } else if (!strcmp(name, MountRequestDelayNP.name))
+        {
+            int secs   = static_cast<int>(floor(values[0] / 1000.0));
+            long nsecs = static_cast<long>(round((values[0] - 1000.0 * secs) * 1000000.0));
+            setMountRequestDelay(secs, nsecs);
+
+            MountRequestDelayN[0].value = secs*1000 + nsecs/1000000;
+            MountRequestDelayNP.s = IPS_OK;
+            IDSetNumber(&MountRequestDelayNP, nullptr);
+            return true;
         }
     }
 
@@ -417,6 +427,10 @@ bool LX200StarGo::initProperties()
     IUFillSwitch(&MeridianFlipModeS[2], "MERIDIAN_FLIP_FORCED", "forced", ISS_OFF);
     IUFillSwitchVector(&MeridianFlipModeSP, MeridianFlipModeS, 3, getDeviceName(), "MERIDIAN_FLIP_MODE", "Meridian Flip", RA_DEC_TAB, IP_RW, ISR_ATMOST1, 60, IPS_IDLE);
 
+    // mount command delay
+    IUFillNumber(&MountRequestDelayN[0], "MOUNT_REQUEST_DELAY", "Request Delay (ms)", "%.0f", 0.0, 1000, 1.0, 50.0);
+    IUFillNumberVector(&MountRequestDelayNP, MountRequestDelayN, 1, getDeviceName(), "REQUEST_DELAY", "StarGO", RA_DEC_TAB, IP_RW, 60, IPS_OK);
+
     // focuser on AUX1 port
     focuserAux1->initProperties("AUX1 Focuser");
 
@@ -440,6 +454,7 @@ bool LX200StarGo::updateProperties()
         defineSwitch(&KeypadStatusSP);
         defineSwitch(&SystemSpeedSlewSP);
         defineSwitch(&MeridianFlipModeSP);
+        defineNumber(&MountRequestDelayNP);
         defineText(&MountFirmwareInfoTP);
     }
     else
@@ -453,6 +468,7 @@ bool LX200StarGo::updateProperties()
         deleteProperty(KeypadStatusSP.name);
         deleteProperty(SystemSpeedSlewSP.name);
         deleteProperty(MeridianFlipModeSP.name);
+        deleteProperty(MountRequestDelayNP.name);
         deleteProperty(MountFirmwareInfoTP.name);
     }
 
@@ -1064,6 +1080,7 @@ bool LX200StarGo::saveConfigItems(FILE *fp)
     LOG_DEBUG(__FUNCTION__);
     IUSaveConfigText(fp, &SiteNameTP);
     IUSaveConfigSwitch(fp, &Aux1FocuserSP);
+    IUSaveConfigNumber(fp, &MountRequestDelayNP);
 
     focuserAux1->saveConfigItems(fp);
 
@@ -1098,6 +1115,8 @@ bool LX200StarGo::sendQuery(const char* cmd, char* response, char end, int wait)
     if(!transmit(cmd))
     {
         LOGF_ERROR("Command <%s> failed.", cmd);
+        // sleep for 50 mseconds to avoid flooding the mount with commands
+        nanosleep(&mount_request_delay, nullptr);
         return false;
     }
     lresponse[0] = '\0';
@@ -1117,6 +1136,10 @@ bool LX200StarGo::sendQuery(const char* cmd, char* response, char end, int wait)
         }
     }
     flush();
+
+    // sleep for 50 mseconds to avoid flooding the mount with commands
+    nanosleep(&mount_request_delay, nullptr);
+
     return true;
 }
 
@@ -1761,6 +1784,7 @@ bool LX200StarGo::transmit(const char* buffer)
     int bytesWritten = 0;
     flush();
     int returnCode = tty_write_string(PortFD, buffer, &bytesWritten);
+
     if (returnCode != TTY_OK)
     {
         char errorString[MAXRBUF];
@@ -2226,10 +2250,6 @@ int LX200StarGo::SendPulseCmd(int8_t direction, uint32_t duration_msec)
     }
     bool success = !sendQuery(cmd, response, 0); // no response expected
 
-    const struct timespec timeout = {0, 50000000L};
-    // sleep for 50 mseconds to avoid flooding the mount with commands
-    nanosleep(&timeout, nullptr);
-
     return success;
 }
 

indi-avalon/lx200stargo.h

@@ -148,6 +148,10 @@ class LX200StarGo : public LX200Telescope
         ISwitchVectorProperty MeridianFlipForcedSP;
         ISwitch MeridianFlipForcedS[2];
 
+        // configurable delay between two commands to avoid flooding StarGO
+        INumberVectorProperty MountRequestDelayNP;
+        INumber MountRequestDelayN[1];
+
         int controller_format { LX200_LONG_FORMAT };
 
         // override LX200Generic
@@ -170,6 +174,9 @@ class LX200StarGo : public LX200Telescope
         bool getSystemSlewSpeedMode (int *index);
         bool setSystemSlewSpeedMode(int index);
 
+        struct timespec mount_request_delay = {0, 50000000L};
+        void setMountRequestDelay(int secs, long nanosecs) {mount_request_delay.tv_sec = secs; mount_request_delay.tv_nsec = nanosecs; };
+
         // autoguiding
         virtual bool setGuidingSpeeds(int raSpeed, int decSpeed);