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--- devel:how_to_write_a_telescope_driver [2008/08/27 12:03] – created pkubanek
+++ devel:how_to_write_a_telescope_driver [2008/12/29 21:24] (current) – removed pkubanek
@@ Line 1: / Line 1: @@
-====== Tasks in implementing driver ======
-To implement an RTS2 telescope driver, you need to create a child class inherited from [[Rts2DevTelescope]] abstract class. This class provides pure virtual methods, which you must overwrite. The method names should be self explanatory and are well documented.
-If you are using a serial port to communicate with your telescope, you can consider using [[Rts2ConnSerial]] class to handle for you communication over serial port. For example how to use this class refer to [[http://rts-2.svn.sf.net/viewvc/rts-2/trunk/rts-2/src/teld/gemini.cpp|src/teld/gemini.cpp]], which uses Rts2ConnSerial for serial port communication.
-This is a minimal example. Please refer to some real telescope driver for a more realistic example.
-<code c++>
-#include "telescope.h"
-class Rts2DevMyTelescope: public Rts2DevTelescope
-{
-  protected:
-    virtual int startMove ();
-    virtual int stopMove ();
-    virtual int startPark ();
-    virtual int stopPark ();
-  public:
-    Rts2DevMyTelescope (int argc, char ** argv);
-};
-int
-Rts2DevMyTelescope::startMove ()
-{
-  struct ln_equ_struct tar;
-  getTarget (&tar);
-  // do all what is needed to start move to tar.ra tar.dec
-  // ...
-  // return -1 in case of failure
-  return 0;
-}
-int
-Rts2DevMyTelescope::stopMove ()
-{
-  return 0; // success
-}
-int
-Rts2DevMyTelescope::startPark ()
-{
-  // do all what is needed to move telescope to park position
-  // return -1 in case of failure
-  return 0;
-}
-int
-Rts2DevMyTelescope::endPark ()
-{
-  return 0;
-}
-Rts2DevMyTelescope::Rts2DevMyTelescope (int argc, char ** argv): Rts2DevTelescope (argc, argv)
-{
-}
-</code>
-====== Main method ======
-After you implement your class, the main() method is trivial and effectively identical in all RTS2 devices (it basically allows you to pass in commandline arguments):
-<code c++>
-int
-main (int argc, char **argv)
-{
-  Rts2DevMyTelescope device = Rts2DevMyTelescope (argc, argv);
-  return device.run ();
-}
-</code>
-====== Adding code to automake ======
-After you are done with coding, you should add it to Makefile.am, so it will be generated. If your telescope driver needs some external routines, please see example provided in [[http://rts-2.svn.sf.net/viewvc/rts-2/trunk/rts-2/src/teld/Makefile.am|src/teld/Makefile.am]] for Paramount or OpenTPL telescope driver.
-In Makefile.am, please add the name of the new executable for your driver to bin_PROGRAMS. Also add the sourcefile name to rts2_teld_mytel_SOURCES (and edit LDFLAGS and CPPFLAGS, as needed). When you have made these changes, you need to run automake && ./config.status in rts2 directory to update the affected makefiles.
-====== Debuging a new code ======
-When you need to debug your code, you have two options:
-  - Attach with attach <pid> command to running code
-  - Start telescope daemon with -i option, so it will not detach from controlling terminal (set args -i in gdb)
-If you don't do this, rts2-teld-mytel will start the new daemon process and then exit - and gdb is tracking the parent, not the spawned process.