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Set absolute position to stepper position while in motion. Fixes #2028
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@knro
knro committed Mar 17, 2024
1 parent 60b21bb commit 76d18e2
Showing 1 changed file with 44 additions and 34 deletions.
78 changes: 44 additions & 34 deletions indi-fli/fli_pdf.cpp
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Original file line number Diff line number Diff line change
@@ -1,21 +1,25 @@
#if 0
FLI PDF
INDI Interface for Finger Lakes Instrument Focusers
Copyright (C) 2003-2012 Jasem Mutlaq ([email protected])

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
FLI PDF
INDI Interface for Finger Lakes Instrument Focusers
Copyright (C) 2003 - 2012 Jasem Mutlaq ([email protected])

This library is free software;
you can redistribute it and / or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation;
either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;
without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library;
if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110 - 1301 USA

#endif

Expand Down Expand Up @@ -157,7 +161,7 @@ bool FLIPDF::Connect()

if ((err = FLIOpen(&fli_dev, FLIFocus.name, FLIDEVICE_FOCUSER | FLIFocus.domain)))
{
LOGF_ERROR("Error: FLIOpen() failed. %s.", strerror((int)-err));
LOGF_ERROR("Error: FLIOpen() failed. %s.", strerror((int) - err));
return false;
}

Expand All @@ -175,7 +179,7 @@ bool FLIPDF::Disconnect()

if ((err = FLIClose(fli_dev)))
{
LOGF_ERROR("Error: FLIClose() failed. %s.", strerror((int)-err));
LOGF_ERROR("Error: FLIClose() failed. %s.", strerror((int) - err));

return false;
}
Expand All @@ -195,7 +199,7 @@ bool FLIPDF::setupParams()
//////////////////////
if (!sim && (err = FLIGetModel(fli_dev, FLIFocus.model, 200))) //ToDo: lazy
{
LOGF_ERROR("FLIGetModel() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIGetModel() failed. %s.", strerror((int) - err));
return false;
}

Expand All @@ -211,10 +215,10 @@ bool FLIPDF::setupParams()
FLIFocus.HWRevision = 1;
else if ((err = FLIGetHWRevision(fli_dev, &FLIFocus.HWRevision)))
{
LOGF_ERROR("FLIGetHWRevision() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIGetHWRevision() failed. %s.", strerror((int) - err));

if (isDebug())
IDLog("FLIGetHWRevision() failed. %s.\n", strerror((int)-err));
IDLog("FLIGetHWRevision() failed. %s.\n", strerror((int) - err));

return false;
}
Expand All @@ -229,7 +233,7 @@ bool FLIPDF::setupParams()
FLIFocus.FWRevision = 1;
else if ((err = FLIGetFWRevision(fli_dev, &FLIFocus.FWRevision)))
{
LOGF_ERROR("FLIGetFWRevision() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIGetFWRevision() failed. %s.", strerror((int) - err));
return false;
}

Expand All @@ -244,7 +248,7 @@ bool FLIPDF::setupParams()
FLIFocus.current_pos = 3500;
else if ((err = FLIGetStepperPosition(fli_dev, &FLIFocus.current_pos)))
{
LOGF_ERROR("FLIGetStepperPosition() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIGetStepperPosition() failed. %s.", strerror((int) - err));
return false;
}

Expand All @@ -255,7 +259,7 @@ bool FLIPDF::setupParams()
FLIFocus.max_pos = 50000;
else if ((err = FLIGetFocuserExtent(fli_dev, &FLIFocus.max_pos)))
{
LOGF_ERROR("FLIGetFocuserExtent() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIGetFocuserExtent() failed. %s.", strerror((int) - err));
return false;
}

Expand Down Expand Up @@ -288,7 +292,7 @@ void FLIPDF::goHomePosition()

if (!sim && (err = FLIHomeFocuser(fli_dev)))
{
LOGF_ERROR("FLIHomeFocuser() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIHomeFocuser() failed. %s.", strerror((int) - err));
return;
}

Expand Down Expand Up @@ -325,7 +329,7 @@ void FLIPDF::TimerHit()
// while moving, display the remaing steps
else if ((err = FLIGetStepsRemaining(fli_dev, &FLIFocus.steps_remaing)))
{
LOGF_ERROR("FLIGetStepsRemaining() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIGetStepsRemaining() failed. %s.", strerror((int) - err));
SetTimer(getCurrentPollingPeriod());
return;
}
Expand All @@ -340,14 +344,20 @@ void FLIPDF::TimerHit()
}
}

FocusAbsPosN[0].value = FLIFocus.steps_remaing;
if ((err = FLIGetStepperPosition(fli_dev, &FLIFocus.current_pos)))
{
LOGF_ERROR("FLIGetStepperPosition() failed. %s.", strerror((int) - err));
SetTimer(getCurrentPollingPeriod());
return;
}
FocusAbsPosN[0].value = FLIFocus.current_pos;
IDSetNumber(&FocusAbsPosNP, nullptr);
}
else // we need to display the current position after move finished
{
if ((err = FLIGetStepperPosition(fli_dev, &FLIFocus.current_pos)))
{
LOGF_ERROR("FLIGetStepperPosition() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIGetStepperPosition() failed. %s.", strerror((int) - err));
return;
}
FocusAbsPosN[0].value = FLIFocus.current_pos;
Expand All @@ -371,13 +381,13 @@ IPState FLIPDF::MoveAbsFocuser(uint32_t targetTicks)
long current;
if ((err = FLIGetStepperPosition(fli_dev, &current)))
{
LOGF_ERROR("FLIPDF::MoveAbsFocuser: FLIGetStepperPosition() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIPDF::MoveAbsFocuser: FLIGetStepperPosition() failed. %s.", strerror((int) - err));
return IPS_ALERT;
}
err = FLIStepMotorAsync(fli_dev, (targetTicks - current));
if (!sim && (err))
{
LOGF_ERROR("FLIStepMotor() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIStepMotor() failed. %s.", strerror((int) - err));
return IPS_ALERT;
}

Expand Down Expand Up @@ -412,7 +422,7 @@ bool FLIPDF::findFLIPDF(flidomain_t domain)

if ((err = FLIList(domain | FLIDEVICE_FOCUSER, &names)))
{
LOGF_ERROR("FLIList() failed. %s", strerror((int)-err));
LOGF_ERROR("FLIList() failed. %s", strerror((int) - err));
return false;
}

Expand Down Expand Up @@ -456,7 +466,7 @@ bool FLIPDF::findFLIPDF(flidomain_t domain)

if ((err = FLIFreeList(names)))
{
LOGF_ERROR("FLIFreeList() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIFreeList() failed. %s.", strerror((int) - err));
return false;
}

Expand All @@ -465,7 +475,7 @@ bool FLIPDF::findFLIPDF(flidomain_t domain)
{
if ((err = FLIFreeList(names)))
{
LOGF_ERROR("FLIFreeList() failed. %s.", strerror((int)-err));
LOGF_ERROR("FLIFreeList() failed. %s.", strerror((int) - err));
return false;
}

Expand Down

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