loop_alert( char * txt )
{
	monitor_alert(txt);
}



void waitTillLoopFree(void)
{

	while( ( prog.loopbusy ) || ( prog.event != EVT_NOTHING ) ){
		;
	}

}


void doLoopEvent( unsigned char event )
{

	prog.event = event;
	while( prog.loopbusy || ( prog.event != EVT_NOTHING ) ){
		;
	}

}


int loop ( void )
{
	unsigned char event;
	AZALT azalt;
	RADEC radec;
	char *p;
		
	if( prog.looprun ) {
		return(0);
	}


	if( if_StartConnection() == 0){
		if_StopConnection();
		return(0);
	}

	prog.looprun       = 1;

	if(prog.debug){
		guide.updatecounter = 0;
		guide.updateseconds = 0;
	}
	
	strcpy(prog.eventstr,"none");

	


	while( prog.looprun && prog.connection ) {

	
		event = EVT_NOTHING;
		prog.loopbusy = 0;
		
		
		if( prog.keypad ) {
			event = read_keypad( prog.keypad );

			if( ( event != EVT_NOTHING ) && ( xephem.keypadspecial) ) {
				if( (prog.motorrun) && ( event != IFEVT_STOPMOTORS ) ){

					event = PREVT_SENDAZALTKOORSTOXEPHEM;				
				}
				if( (! prog.motorrun ) && ( event == IFEVT_STOPMOTORS ) ){

					event = PREVT_SENDAZALTKOORSTOXEPHEM;
				}
			}

		}

		if( event == EVT_NOTHING ) {
			event = prog.event;
			if(event != EVT_NOTHING){
				/* don't change this order */
				prog.loopbusy = 1;
				prog.event    = EVT_NOTHING;			
			}
		}


		if( event == EVT_NOTHING  ) {

			if(if_Guide() == 0){
				break;
			}


			if( prog.motorrun ) {

				if( ( p = if_GetCurrentAzKoor()) == NULL ) {
					prog.looprun = 0;
					break;
				}
				strcpy( prog.azstr,p );

				if( ( p = if_GetCurrentAltKoor()) == NULL ) {
					prog.looprun = 0;
					break;
				}
				strcpy( prog.altstr,p );

			}



			if(prog.debug && prog.guiderunning ){
				guide.updatecounter++;
			}
			
			continue;
		}

		prog.loopbusy = 1;

		if(event < IFEVT_ENDVALUES ) {
			
			
			switch( event ) {
			
				case IFEVT_ENDALL:
						strcpy(prog.eventstr,"endall");
			 		 	prog.looprun = 0;
					 break;

				case IFEVT_STOPMOTORS:
						strcpy(prog.eventstr,"stop motors");				
						if( if_StopMotors() == 0 ) {
							prog.looprun = 0;
						}
						if( prog.debug && (guide.updateseconds > 0) ){
							guide.updateseconds = time(NULL) - guide.updateseconds;
						}
					 break;

				case IFEVT_GETKOORS:
						strcpy(prog.eventstr,"get koodinates from telescope");
						if( ( p = if_GetCurrentAzKoor()) == NULL ) {
							prog.looprun = 0;
							break;
						}
						strcpy( prog.azstr,p );
						if( ( p = if_GetCurrentAltKoor()) == NULL ) {
							prog.looprun = 0;
							break;
						}
						strcpy( prog.altstr,p );						
					 break;


				case IFEVT_STARTGUIDE:
						if(prog.debug){
							guide.updatecounter = 0;
							guide.updateseconds = time(NULL);
						}
						strcpy(prog.eventstr,"start guiding");				
						if( if_GuideInitialisation() == 0){
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();
					 break;


				case IFEVT_SLOWLEFT:
						strcpy(prog.eventstr,"correction left");				
						if( if_GoLeft_Slow() == 0 ) {
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();						
					 break;

				case IFEVT_SLOWRIGHT:
						strcpy(prog.eventstr,"correction right");
						if( if_GoRight_Slow( ) == 0 ) {
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();						
					 break;

				case IFEVT_SLOWDOWN:
						strcpy(prog.eventstr,"correction down");
						if( if_GoDown_Slow() == 0 ) {
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();						
					 break;

				case IFEVT_SLOWUP:
						strcpy(prog.eventstr,"correction up");	
						if( if_GoUp_Slow() == 0 ) {
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();						
					break;

				case IFEVT_FASTLEFT:
						strcpy(prog.eventstr,"move left fast");
						if( if_GoLeft_Fast() == 0 ) {
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();						
					 break;

				case IFEVT_FASTRIGHT:
						strcpy(prog.eventstr,"move right fast");				
						if( if_GoRight_Fast() == 0 ) {
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();						
					 break;

				case IFEVT_FASTDOWN:
						strcpy(prog.eventstr,"move down fast");
						if( if_GoDown_Fast() == 0 ) {
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();						
					 break;

				case IFEVT_FASTUP:
						strcpy(prog.eventstr,"move up fast");
						if( if_GoUp_Fast() == 0 ) {
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();						
					 break;


				case IFEVT_GOTORADECKOORS:
						if(! prog.objmark){
							break;
						}

						strcpy(prog.eventstr,"telescope - goto converted ra-dec koors");
						
						StrRADecToStrAZAlt( prog.rastr, prog.decstr, scope.utcadjust, scope.latitude, scope.longitude, &azalt );
		
						p = DoubleToStrDegrees( azalt.az * 3600.0, 0 );  
						if( p == NULL){
							prog.looprun = 0;
							break;
						}
						strcpy( prog.azstr, p );

						p = DoubleToStrDegrees( azalt.alt * 3600.0, 0 );
						if( p == NULL){
							prog.looprun = 0;
							break;
						}
						strcpy( prog.altstr, p );

						if( if_AltAzGoto( prog.azstr, prog.altstr ) == 0){
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();
												
					 break;


				case IFEVT_ORIGINRADECKOORS:
						if(!prog.objmark){
							break;
						}
						
						strcpy(prog.eventstr,"teleskope - init with converted ra-dec koors");
						StrRADecToStrAZAlt( prog.rastr, prog.decstr, scope.utcadjust, scope.latitude, scope.longitude, &azalt );
		
						p = DoubleToStrDegrees( azalt.az * 3600.0, 0 );  
						if( p == NULL){
							prog.looprun = 0;
							break;
						}
						strcpy( prog.azstr, p );

						p = DoubleToStrDegrees( azalt.alt * 3600.0, 0 );
						if( p == NULL){
							prog.looprun = 0;
							break;
						}
						strcpy( prog.altstr, p );
						
						if( if_AltAzOrigin( prog.azstr, prog.altstr ) == 0){
							prog.looprun = 0;
						}
						
					 break;


		
				default: break;
			}
			
			
			continue;
		}



		if(event >= PREVT_STARTVALUES ) {
			
			
			switch( event ) {

				case PREVT_MARKRADECKOORS:
						prog.objmark = 1;
						break;

				case PREVT_ORIGINAZALTKOORS:
						strcpy(prog.eventstr,"teleskope - init with az-alt koors");				
						if( if_AltAzOrigin( prog.azstr, prog.altstr ) == 0){
							prog.looprun = 0;
						}
					 break;



				case PREVT_GOTOAZALTKOORS:
						strcpy(prog.eventstr,"telescope - goto az-alt koors");
						if( if_AltAzGoto( prog.azstr, prog.altstr ) == 0){
							prog.looprun = 0;
							break;
						}
						xephemfifooutloopstart();
					 break;



				case PREVT_SENDAZALTKOORSTOXEPHEM:
					 strcpy(prog.eventstr,"sending current AZ/ALT koordinates to xephem");

					 if( ( p = if_GetCurrentAzKoor()) == NULL ) {
					  	prog.looprun = 0;
						break;
					 }
					 strcpy( prog.azstr,p );
					 if( ( p = if_GetCurrentAltKoor()) == NULL ) {
					 	prog.looprun = 0;
					 	break;
					 }
					 strcpy( prog.altstr,p );						

    				 StrAZAltToStrRADec( prog.azstr, prog.altstr, scope.utcadjust, scope.latitude, scope.longitude, &radec );

					 p = DoubleToStrDegrees( radec.ra * 3600.0 * 15.0, 1 );  
					 if( p == NULL){
					  	 prog.looprun = 0;
						 break;
					 }
					 strcpy( prog.rastr, p );

					 p = DoubleToStrDegrees( radec.dec * 3600.0, 0 );
					 if( p == NULL){
					 	 prog.looprun = 0;
						 break;
					 }
					 strcpy( prog.decstr, p );

					 sendCurrentKoorsToXephem();
					 break;


				case PREVT_SENDRADECKOORSTOXEPHEM:
					 strcpy(prog.eventstr,"sending current RA/DEC koordinates to xephem");
				
					 sendCurrentKoorsToXephem();				
					 break;

				case  PREVT_SWITCHOFFVALIDCALCREFRACTION:
					 strcpy(prog.eventstr,"Switch off calculation of refraction");				
					 scope.calcrefraction = 0;				
					 break;

				case PREVT_SWITCHONVALIDCALCREFRACTION:
					 if(cRfValues != NULL ){
					 	scope.calcrefraction = 1;
						 strcpy(prog.eventstr,"Switch on calculation of refraction");					 	
					 }
					 else {
						 strcpy(prog.eventstr,"Cannot use refraction, because no startuplist");					 
					 }			
					 break;


				case PREVT_JOYSTICKKEYPADASPECIALON:
					 if( !prog.keypad ){
						strcpy(prog.eventstr,"Cannot init keypadspecial, because keypad not init");
					 	break;
					 }
					 if( xephem.start && xephem.fifooutloop){
					 	 xephem.fifooutloopbusy = 0;
					 	 xephem.fifooutloop     = 0;
						 strcpy(prog.eventstr,"Switch off fifooutloop, and init keypadspecial");
					 }
					 else {
						 strcpy(prog.eventstr,"Switch on keypadspecial");
					 }
					 xephem.keypadspecial = 1;
					 break;


				case PREVT_JOYSTICKKEYPADASPECIALOFF:
					 if( !prog.keypad ){
						strcpy(prog.eventstr,"Keypad is not init");
					 	break;
					 }
					 strcpy(prog.eventstr,"Switch off keypadspecial");
					 xephem.keypadspecial = 0;
					 break;


				case PREVT_XEPHEMOUTLOOPON:
					 if( (! xephem.start) || (! xephem.fifooutloopsave ) ){
						strcpy(prog.eventstr,"xephemfifo, outloop is not init at startup");
					 	break;
					 }
					 if( xephem.fifooutloopbusy ){
						strcpy(prog.eventstr,"xephemfifo-outloop is active");
						break;
					 }
					 
					 if( xephem.keypadspecial ){
						strcpy(prog.eventstr,"Switch off keypadspecial, and init xe-fifoout");
					    xephem.keypadspecial = 0;
					    xephem.fifooutloop = xephem.fifooutloopsave;
					 }
					 else {
						strcpy(prog.eventstr,"xephemfifo-outloop is init");
					 	xephem.fifooutloop = xephem.fifooutloopsave;
					 }
					 break;


				case PREVT_XEPHEMOUTLOOPOFF:
					 if( (! xephem.start) || (! xephem.fifooutloopsave ) ){
						strcpy(prog.eventstr,"xephemfifo, outloop is not init at startup");
					 	break;
					 }
					 strcpy(prog.eventstr,"switch off xephem-fifooutloop");
					 xephem.fifooutloopbusy = 0;
					 xephem.fifooutloop     = 0;					
					 break;


				case PREVT_INITFIELDROTATOR:					 
					 strcpy(prog.eventstr,"Init fieldrotator for guiding");
					 scope.fruse = 1;				 
					 break;

				case PREVT_STOPFIELDROTATOR:					 
					 strcpy(prog.eventstr,"Switch off fieldrotator");
					 scope.fruse = 0;				 
					 break;


				case PREVT_GETFRKOOR:					 
					 strcpy(prog.eventstr,"Getting fr-koordinate");
						if( ( p = if_GetCurrentFrKoor()) == NULL ) {
							prog.looprun = 0;
							break;
						}
					 strcpy( prog.frstr,p );
					 break;						


				case PREVT_FRTURNLEFT:
						strcpy(prog.eventstr,"fr turn left");	
						if( if_FrTurnLeft() == 0 ) {
							prog.looprun = 0;
						}
					 break;

				case PREVT_FRTURNRIGHT:
						strcpy(prog.eventstr,"fr turn right");
						if( if_FrTurnRight() == 0 ) {
							prog.looprun = 0;
						}
					 break;

				case PREVT_TOGGLEEXFIFOFOLLOW:
						if(exfifo.fiforun){
							if(exfifo.follow){
								strcpy(prog.eventstr,"exfifo-follow off");
								exfifo.follow = 0;
							}
							else {
								strcpy(prog.eventstr,"exfifo-follow on");
								exfifo.follow = 1;							
							}
						}
					 break;

				case PREVT_TOGGLEENCODERS:
						if(encoder.type != NOENCODER){
							if( encoder.active){
								strcpy(prog.eventstr,"encoder off");
								encoder.active = 0;
							}
							else {
								strcpy(prog.eventstr,"encoder on");
								encoder.active = 1;							
							}
						}
					 break;


					
				default: break;
			}
			
	
		}

		
	}


	if_StopConnection();

	return( prog.looprun );
}