Add the iOptron HAE16 mount class.

src/panoptes/pocs/mount/ioptron/__init__.py

@@ -3,6 +3,7 @@
 
 class MountInfo(IntEnum):
     """The return type given by the MountInfo command to identify the mount."""
+    HAE16 = 12
     CEM25 = 25
     CEM26 = 26
     CEM26EC = 27

src/panoptes/pocs/mount/ioptron/hae16.py

@@ -0,0 +1,47 @@
+import time
+
+from panoptes.pocs.mount.ioptron.base import Mount as BaseMount
+
+
+class Mount(BaseMount):
+
+    def __init__(self, location, mount_version='0012', *args, **kwargs):
+        self._mount_version = mount_version
+        super(Mount, self).__init__(location, *args, **kwargs)
+        self.logger.success('iOptron HAE16 mount created')
+
+    def search_for_home(self):
+        """Search for the home position.
+
+        This method uses the internal homing pin on the HAE16 mount to return the
+        mount to the home (or zero) position.
+        """
+        self.logger.info('Searching for the home position.')
+        self.query('search_for_home')
+        while self.is_home is False:
+            time.sleep(1)
+            self.update_status()
+
+    def set_target_coordinates(self, *args, **kwargs):
+        """After setting target coordinates, check number of positions.
+
+        The HAE16 can determine if there are 0, 1, or 2 possible positions
+        for the given RA/Dec, with the latter being the case for the meridian
+        flip.
+        """
+        target_set = super().set_target_coordinates(*args, **kwargs)
+        self.logger.debug(f'Checking number of possible positions for {self._target_coordinates}')
+        num_possible_positions = self.query('query_positions')
+        self.logger.debug(f'Number of possible positions: {num_possible_positions}')
+
+        if num_possible_positions == 0:
+            self.logger.warning(f'No possible positions for {self._target_coordinates}')
+            return False
+
+        # TODO check if this is true with the HAE16.
+        # There is currently a bug with with the HAE16 where it will reset the
+        # target coordinates after querying the number of possible positions so
+        # we need to set them again.
+        target_set = super().set_target_coordinates(*args, **kwargs)
+
+        return target_set