#define  _CRT_SECURE_NO_WARNINGS
#define  _CRT_SECURE_NO_DEPRECATE
#pragma  warning(disable : 4115)

#include "stdafx.h"
#include "phidget21.h"
#include <math.h>
#include <stdio.h>
#include <conio.h>
#include <time.h>
#include <ctype.h>
#include <malloc.h>
#include <dos.h>
#include <sys/types.h>
#include <sys/timeb.h>
#include <string.h>
#include <io.h>
#include "def.h"
#include "temp.h"
#include "Dome.h"
#include "com_port.h"
#include "audine.h"
#include "ExternDef.h"

/*
   Dome coordinates are 0 at meridian and horizon.
   Telescope coordinates are 0 (hour angle) at meridian and equator.
   X, Y, Z coordinates are +West/East, +South/North, +Up/Down.
   ha = hour angle +West, ra = right ascension +East, dec = declination +N
*/

char  BarCodeRxData[BARCODE_RX_CHAR_SIZE], BarCodeComPort[] = COM_BARCODE;
char  PoluluRxData[POLULU_CHAR_SIZE], PoluluTxData[POLULU_CHAR_SIZE], PoluluComPort[] = COM_POLULU;
int   dome_west_req, dome_east_req, DomeStallCnt = 0, DomeMarkerFound = 0, DomeParkMarkerFound = 0,
      dome_mode = PARK, p_dome_mode = -1, DomePowerMsg = 0, dome_power = 0, DomeBattCharge = 0, IOComAip[4],
      BarCodeInitStatus, BarCodeRxStatus, BarCodeTxStatus, BarCodeHandle = -1, BarCodeRxByteRead,  SlitInMotion = 0, SlitInProx = 0,
      DomeEncoder, DomeParkMarkerSearch = 0, BarCodeStatusFail = COM_FAIL_MAX, SlitMotorOn = 0,
      PoluluInitStatus, PoluluRxStatus, PoluluTxStatus, PoluluHandle = -1, PoluluRxByteRead, PoluluTxByteWritten,
      PoluluStatusFail = COM_FAIL_MAX;
t_PoluluError PoluluError = {0};
float slit_win = MIN_SLIT, dome_enable_tim = 0.f, DomeStalledTimer = 0.f, dome_pos = DOME_PARK, p_dome_pos = DOME_PARK, dome_vel = 0.f, dome_err, 
      dome_pos_req = DOME_PARK, dome_park_dir, azimuth = DOME_PARK, altitude, MotionMsgTime = 0.f, DomeMotorCur12, DomeMotorCur34, 
      test_posn = DOME_PARK, test_posn_ = DOME_PARK, test_vel = 4.f/60.f, DomeBattVolt = 12.0f, DomeBattCurr = 0.0f, DomeBattCurr_ = 0.0f, 
      DomeBattCurrOff = 0.f, DomeBattCurrExcTm = 0.f, SlitSpeed = 0.f, DomeMotionBarCodeTimer = 0.f, DomeVelocityTimer = 0.f, DomeMotionTimer = 0.f,
      DomeBattVolt__ = 12.0f, DomeBattCurr__ = 0.f, DomeBarCodePrevious = DOME_PARK;

extern int slit_state, slit_state_req, slit_power, TempIRCloud, UtilPower;
extern float vtime, dtime, dmtime, itime, jtime, AscomDomeAzimuth, Ha, Dec, TempIRSky, TempIRSky_f, DomeTemp;
extern double dt[];

void DomeControl()
{


.....



  // Polulu motor controller
  if (PoluluHandle >= 0) 
  {
    static int   TxStep = 0, RxStep = 0, Var = 0, LastCmdStatus = 0, ErrorStatus = 0, Direction = POLULU_MOTOR_STOP, StatusMsg = 0;
    static float ReqSpeed, Vin = 0.f, Temp = 0.f, SlowPollingTimer = POLULU_POLLING_TIMER, slit_win = MIN_SLIT;
    float TargetSpeed;
    
    TargetSpeed = limitc((dome_err * 0.1f), -1.0f, 1.0f) * (POLULU_MAX_MOTOR_CMD - POLULU_MIN_MOTOR_CMD);
    ReqSpeed   += limita((TargetSpeed - ReqSpeed), POLULU_ACCELERATION);
    if      (dome_err >  slit_win) { dome_power = 1;                        Direction = POLULU_MOTOR_FORWARD; slit_win = MIN_SLIT * 0.1f; SlowPollingTimer = POLULU_POLLING_TIMER; }
    else if (dome_err < -slit_win) { dome_power = 1;                        Direction = POLULU_MOTOR_REVERSE; slit_win = MIN_SLIT * 0.1f; SlowPollingTimer = POLULU_POLLING_TIMER; }
    else                           { dome_power = (SlowPollingTimer > 0.f); Direction = POLULU_MOTOR_STOP;    slit_win = MIN_SLIT * 1.0f; if (SlowPollingTimer > 0.f) SlowPollingTimer -= (float)dt[0]; StatusMsg = 0; }
    
    PoluluTxStatus = Win32GetComTxStatus(PoluluHandle, &PoluluTxByteWritten);
    if (PoluluTxStatus == COM_SUCCESS)
    {
      static int SlowPollingCounter = 0;
      
      switch (TxStep)
      {
        case 0: sprintf(PoluluTxData, "GO\r"); break;
        case 1: case 2:
        case 4: case 5:
        case 7: case 8:
                if      (Direction != POLULU_MOTOR_STOP) sprintf(PoluluTxData, "%c%d\r", Direction, (int)(absf(ReqSpeed) + POLULU_MIN_MOTOR_CMD));
                else                                     sprintf(PoluluTxData, "%c\r", POLULU_MOTOR_STOP);
                break;
        case 3: sprintf(PoluluTxData, "D0\r" ); Var = POLULU_VARIABLE_STAT; break;
        case 6: sprintf(PoluluTxData, "D23\r"); Var = POLULU_VARIABLE_VIN;  break;
        case 9: sprintf(PoluluTxData, "D24\r"); Var = POLULU_VARIABLE_TEMP; break;
        default: PoluluTxData[0] = 0;
                 if (SlowPollingTimer <= 0.f) 
                 {
                   if (SlowPollingCounter++ < 1000) break;
                   SlowPollingCounter = 0;
                   TxStep = -1;
                 }
                 else
                   TxStep = -1;
                 break;
      }
      TxStep++;
      PoluluStatusFail = 0;
      PoluluTxStatus = Win32ComTx(PoluluHandle, PoluluTxData, strlen(PoluluTxData), &PoluluTxByteWritten);
    }

    PoluluRxStatus = Win32ComRx(PoluluHandle, PoluluRxData, POLULU_CHAR_SIZE, &PoluluRxByteRead);
    if ((PoluluRxStatus == COM_SUCCESS) && PoluluRxByteRead) 
    {
      int ch, n = 0, ReplyComplete;
      static int Value = 0, ReplyValue = 0;
      
      while (PoluluRxByteRead--)
      {
        ch = PoluluRxData[n++];
        ReplyComplete = 0;
        switch (ch)
        {
          case POLULU_OK:           LastCmdStatus = ch; break;
          case POLULU_LAST_CMD_ERR: LastCmdStatus = ch; break;
          case POLULU_LAST_CMD_INV: LastCmdStatus = ch; break;
          case CR: break;
          case LF:                  ReplyComplete = 1; break; 
          case '0': case '1': case '2': case '3': case '4': case '5': case '6': case '7': case '8': case '9':
                                    Value = Value * 10 + (ch - '0'); 
                                    ReplyValue++; break;
          default: break;
        }
        
        if (ReplyComplete)
        {
          if (ReplyValue)
          {
            switch (Var)
            {
              case POLULU_VARIABLE_STAT: ErrorStatus = Value; if (ErrorStatus && !StatusMsg && dome_power) { StatusMsg = 1; sprintf(strRT, "Dome drive fault - status %d", ErrorStatus); Log(strRT, LOG); } break;
              case POLULU_VARIABLE_VIN:  Vin    = (float)Value * 0.001f; break;
              case POLULU_VARIABLE_TEMP: Temp   = (float)Value * 0.1f; break;
            }
            Value = ReplyValue = 0;
          }
        } 
      }
      PoluluStatusFail = 0;
      DomeDriveVoltage = Vin;
      DomeDriveTemp    = Temp;
    }
    else if (PoluluRxStatus < 0)
      PoluluStatusFail++;
    else
      PoluluStatusFail = 0;

  }

....

void DomeInit(int Connect)
{
  // Barcode reader serial port setup
  ComPortHandler(&BarCodeHandle, BarCodeComPort, "BarCode", &BarCodeInitStatus, &BarCodeStatusFail, Connect, COM_BUFFERING, 9600);
  ComPortHandler(&PoluluHandle,  PoluluComPort,  "Polulu",  &PoluluInitStatus,  &PoluluStatusFail,  Connect, COM_BUFFERING, 9600);
  DomeFlatVoltMsg = 0;
}
...