alluna_tcs2.cpp

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/*
  Alluna TCS2 Focus, Dust Cover, Climate, Rotator, and Settings
  (Dust Cover and Rotator are not implemented)
 
  Copyright(c) 2022 Peter Englmaier. All rights reserved.
 
  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
*/
 
#include "alluna_tcs2.h"
 
#include "indicom.h"
 
#include <cstring>
#include <termios.h>
#include <memory>
#include <thread>
#include <chrono>
 
// create an instance of this driver
static std::unique_ptr<AllunaTCS2> allunaTCS2(new AllunaTCS2 ());
 
AllunaTCS2::AllunaTCS2() : DustCapInterface(this)
{
    LOG_DEBUG("Init AllunaTCS2");
    // Let's specify the driver version
    setVersion(1, 0);
 
    // we know only about serial (USB) connections
    setSupportedConnections(CONNECTION_SERIAL);
    // Connection parameters should be 19200 @ 8-N-1
    // FIXME: add some code to warn if settings are not ok
 
    // What capabilities do we support?
    FI::SetCapability(FOCUSER_CAN_ABORT |
                      FOCUSER_CAN_ABS_MOVE |
                      FOCUSER_CAN_REL_MOVE ); //FIXME: maybe remove CAN_REL_MOVE
}
 
 
bool AllunaTCS2::initProperties()
{
    INDI::Focuser::initProperties();
    DI::initProperties(DUSTCOVER_TAB);
 
 
    // Focuser temperature / ambient temperature, ekos uses first number of "FOCUS_TEMPERATURE" property
    TemperatureNP[0].fill("TEMPERATURE", "Focuser Temp [C]", "%6.2f", -100, 100, 0, 0);
    TemperatureNP[1].fill("TEMPERATURE_PRIMARY", "Primary Temp [C]", "%6.2f", -100, 100, 0, 0);
    TemperatureNP[2].fill("TEMPERATURE_SECONDARY", "Secondary Temp [C]", "%6.2f", -100, 100, 0, 0);
    TemperatureNP[3].fill("HUMIDITY", "Humidity [%]", "%6.2f", 0, 100, 0, 0);
    TemperatureNP.fill(getDeviceName(), "FOCUS_TEMPERATURE", "Climate", CLIMATE_TAB, IP_RO, 0, IPS_IDLE);
 
    // Climate control
    ClimateControlSP[AUTO].fill("CLIMATE_AUTO",  "On", ISS_OFF);
    ClimateControlSP[MANUAL].fill("CLIMATE_MANUAL", "Off", ISS_ON);
    ClimateControlSP.fill(getDeviceName(), "CLIMATE_CONTROL", "Climate Control", CLIMATE_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
 
    PrimaryDewHeaterSP[ON].fill("PRIMARY_HEATER_ON",  "On", ISS_OFF);
    PrimaryDewHeaterSP[OFF].fill("PRIMARY_HEATER_OFF", "Off", ISS_ON);
    PrimaryDewHeaterSP.fill(getDeviceName(), "PRIMARY_HEATER", "Heat primary", CLIMATE_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
 
    SecondaryDewHeaterSP[ON].fill("SECONDARY_HEATER_ON",  "On", ISS_OFF);
    SecondaryDewHeaterSP[OFF].fill("SECONDARY_HEATER_OFF", "Off", ISS_ON);
    SecondaryDewHeaterSP.fill(getDeviceName(), "SECONDARY_HEATER", "Heat secondary", CLIMATE_TAB, IP_RW, ISR_1OFMANY, 60,
                              IPS_IDLE);
 
    FanPowerNP[0].fill("FANPOWER", "Fan power [130..255]", "%3.0f", 130, 255, 1, 255);
    FanPowerNP.fill(getDeviceName(), "FANPOWER", "Fan Power", CLIMATE_TAB, IP_RW, 60, IPS_IDLE);
 
    // Stepping Modes "SpeedStep" and "MicroStep"
    SteppingModeSP[SPEED].fill("STEPPING_SPEED", "SpeedStep", ISS_ON);
    SteppingModeSP[MICRO].fill("STEPPING_MICRO", "MicroStep", ISS_OFF);
    SteppingModeSP.fill(getDeviceName(), "STEPPING_MODE", "Mode", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
 
 
    // Set limits as per documentation
    FocusAbsPosNP[0].setMin(0);
    FocusAbsPosNP[0].setMax((steppingMode == MICRO) ? 22400 : 1400); // 22400 in microstep mode, 1400 in speedstep mode
    FocusAbsPosNP[0].setStep(1);
 
    FocusRelPosNP[0].setMin(0);
    FocusRelPosNP[0].setMax(1000);
    FocusRelPosNP[0].setStep(1);
 
    // Maximum Position
    FocusMaxPosNP[0].setValue(FocusAbsPosNP[0].getMax());
    FocusMaxPosNP.setPermission(IP_RO);
 
    setDriverInterface(FOCUSER_INTERFACE | DUSTCAP_INTERFACE);
    //addAuxControls();
    addDebugControl();
    addConfigurationControl();
    addPollPeriodControl();
 
 
    return true;
}
 
const char *AllunaTCS2::getDefaultName()
{
    return "Alluna TCS2";
}
 
bool AllunaTCS2::updateProperties()
{
    INDI::Focuser::updateProperties();
 
    if (isConnected())
    {
        // turn on green Connected-LED
        if (sendCommand("Connect 1\n"))
        {
            LOG_DEBUG("Turned on Connected-LED¨");
        }
        else
        {
            LOG_ERROR("Cannot turn on Connected-LED");
        }
 
        // Read these values before defining focuser interface properties
        // Only ask for values in sync, because TimerHit is not running, yet.
        getPosition();
        getStepping();
        getDustCover();
        getTemperature();
        getClimateControl();
        getFanPower();
 
        // Focuser
        defineProperty(SteppingModeSP);
        defineProperty(FocusMaxPosNP);
        defineProperty(FocusAbsPosNP);
 
        // Climate
        defineProperty(TemperatureNP);
        defineProperty(ClimateControlSP);
        defineProperty(PrimaryDewHeaterSP);
        defineProperty(SecondaryDewHeaterSP);
        defineProperty(FanPowerNP);
 
        // Cover
        DI::updateProperties();
 
        LOG_INFO("AllunaTCS2 is ready.");
    }
    else
    {
        deleteProperty(SteppingModeSP);
        deleteProperty(FocusMaxPosNP);
        deleteProperty(FocusAbsPosNP);
 
        deleteProperty(TemperatureNP);
        deleteProperty(ClimateControlSP);
        deleteProperty(PrimaryDewHeaterSP);
        deleteProperty(SecondaryDewHeaterSP);
        deleteProperty(FanPowerNP);
 
        DI::updateProperties();
    }
 
    return true;
}
 
bool AllunaTCS2::Handshake()
{
    char cmd[DRIVER_LEN] = "HandShake\n", res[DRIVER_LEN] = {0};
 
    tcs.unlock();
    bool rc = sendCommand(cmd, res, 0, 2);
 
    if (rc == false)
        return false;
 
    return res[0] == '\r' && res[1] == '\n';
}
 
bool AllunaTCS2::sendCommand(const char * cmd, char * res, int cmd_len, int res_len)
{
 
    if (tcs.try_lock() )
    {
        bool result;
        result = sendCommandNoLock(cmd, res, cmd_len, res_len);
        tcs.unlock();
        return result;
    }
    else
    {
        LOG_INFO("sendCommand: lock failed, abort");
        return false;
    }
 
}
 
bool AllunaTCS2::sendCommandNoLock(const char * cmd, char * res, int cmd_len, int res_len)
{
    int nbytes_written = 0, nbytes_read = 0, rc = -1;
 
    LOG_DEBUG("sendCommand: Send Command");
    tcflush(PortFD, TCIOFLUSH);
 
    if (cmd_len > 0)
    {
        char hex_cmd[DRIVER_LEN * 3] = {0};
        hexDump(hex_cmd, cmd, cmd_len);
        LOGF_DEBUG("Byte string '%s'", hex_cmd);
        rc = tty_write(PortFD, cmd, cmd_len, &nbytes_written);
    }
    else
    {
        LOGF_DEBUG("Char string '%s'", cmd);
        rc = tty_write_string(PortFD, cmd, &nbytes_written);
    }
 
    if (rc != TTY_OK)
    {
        char errstr[MAXRBUF] = {0};
        tty_error_msg(rc, errstr, MAXRBUF);
        LOGF_ERROR("Serial write error: %s.", errstr);
        return false;
    }
 
    if (res == nullptr)
        return true;
 
    if (res_len > 0)
    {
        LOG_DEBUG("sendCommand: Read Answer Bytes");
        rc = tty_read(PortFD, res, res_len, DRIVER_TIMEOUT, &nbytes_read);
    }
    else
    {
        LOG_DEBUG("sendCommand: Read Answer String");
        rc = tty_nread_section(PortFD, res, DRIVER_LEN, DRIVER_STOP_CHAR, DRIVER_TIMEOUT, &nbytes_read);
    }
 
    if (rc != TTY_OK)
    {
        char errstr[MAXRBUF] = {0};
        tty_error_msg(rc, errstr, MAXRBUF);
        LOGF_ERROR("203 Serial read error: %s.", errstr);
        return false;
    }
 
    if (res_len > 0)
    {
        char hex_res[DRIVER_LEN * 3] = {0};
        hexDump(hex_res, res, res_len);
        LOGF_DEBUG("Bytes '%s'", hex_res);
    }
    else
    {
        LOGF_DEBUG("String '%s'", res);
    }
 
    tcflush(PortFD, TCIOFLUSH);
    LOG_DEBUG("sendCommand: Ende");
    return true;
}
 
bool AllunaTCS2::sendCommandOnly(const char * cmd, int cmd_len)
{
    int nbytes_written = 0, rc = -1;
 
    if (! tcs.try_lock() )
    {
        LOGF_INFO("sendCommandOnly: %s: lock failed, abort", cmd);
        return false;
    }
    LOG_DEBUG("sendCommandOnly: Anfang");
    tcflush(PortFD, TCIOFLUSH);
 
    if (cmd_len > 0)
    {
        char hex_cmd[DRIVER_LEN * 3] = {0};
        hexDump(hex_cmd, cmd, cmd_len);
        LOGF_DEBUG("Bytes '%s'", hex_cmd);
        rc = tty_write(PortFD, cmd, cmd_len, &nbytes_written);
    }
    else
    {
        LOGF_DEBUG("String '%s'", cmd);
        rc = tty_write_string(PortFD, cmd, &nbytes_written);
    }
 
    if (rc != TTY_OK)
    {
        char errstr[MAXRBUF] = {0};
        tty_error_msg(rc, errstr, MAXRBUF);
        LOGF_ERROR("Serial write error: %s.", errstr);
        tcs.unlock();
        return false;
    }
 
    LOG_DEBUG("sendCommandOnly: Ende");
    return true;
}
 
bool AllunaTCS2::receiveNext(char * res, int res_len)
{
    int nbytes_read = 0, rc = -1;
    LOG_DEBUG("receiveNext: Anfang");
 
    if (res_len > 0)
        rc = tty_read(PortFD, res, res_len, DRIVER_TIMEOUT, &nbytes_read);
    else
        rc = tty_nread_section(PortFD, res, DRIVER_LEN, DRIVER_STOP_CHAR, DRIVER_TIMEOUT, &nbytes_read);
 
    if (rc != TTY_OK)
    {
        char errstr[MAXRBUF] = {0};
        tty_error_msg(rc, errstr, MAXRBUF);
        LOGF_ERROR("285 Serial read error: %s.", errstr);
        tcs.unlock();
        return false;
    }
 
    if (res_len > 0)
    {
        char hex_res[DRIVER_LEN * 3] = {0};
        hexDump(hex_res, res, res_len);
        LOGF_DEBUG("Bytes '%s'", hex_res);
    }
    else
    {
        LOGF_DEBUG("String '%s'", res);
    }
    LOG_DEBUG("receiveNext: Ende");
 
    return true;
}
 
void AllunaTCS2::receiveDone()
{
    LOG_DEBUG("receiveDone");
    tcflush(PortFD, TCIOFLUSH);
    tcs.unlock();
}
 
void AllunaTCS2::hexDump(char * buf, const char * data, int size)
{
    for (int i = 0; i < size; i++)
        sprintf(buf + 3 * i, "%02X ", static_cast<uint8_t>(data[i]));
 
    if (size > 0)
        buf[3 * size - 1] = '\0';
}
 
// client wants to change switch value (i.e. click on switch in GUI)
bool AllunaTCS2::ISNewSwitch(const char * dev, const char * name, ISState * states, char * names[], int n)
{
    if (DI::processSwitch(dev, name, states, names, n))
        return true;
 
    if (dev != nullptr && !strcmp(dev, getDeviceName()) )
    {
        if (!strcmp(name, "CONNECTION") && !strcmp(names[0], "DISCONNECT") && states[0] == ISS_ON)
        {
            // turn off green Connected-LED
            if (sendCommand("Connect 0\n"))
                LOG_DEBUG("Turned off Connected-LED");
            else
                LOG_ERROR("Cannot turn off Connected-LED");
        }
        // Stepping Mode?
        if (SteppingModeSP.isNameMatch(name))
        {
            SteppingModeSP.update(states, names, n);
            SteppingModeSP.setState(IPS_OK);
            SteppingModeSP.apply();
 
            // write new stepping mode to tcs2
            setStepping((SteppingModeSP[SPEED].s == ISS_ON) ? SPEED : MICRO);
            // update maximum stepping position
            FocusAbsPosNP[0].setMax((steppingMode == MICRO) ? 22400 : 1400); // 22400 in microstep mode, 1400 in speedstep mode
            // update max position value
            FocusMaxPosNP[0].setValue(FocusAbsPosNP[0].getMax());
            // update maximum stepping postion for presets
            SetFocuserMaxPosition( FocusAbsPosNP[0].getMax() ); // 22400 in microstep mode, 1400 in speedstep mode
            // Update clients
            FocusAbsPosNP.apply(); // not sure if this is necessary, because not shown in driver panel
            FocusMaxPosNP.apply();
            LOGF_INFO("Setting new max position to %d", (steppingMode == MICRO) ? 22400 : 1400 );
 
            defineProperty(FocusMaxPosNP);
            defineProperty(FocusAbsPosNP);
            // read focuser position (depends on stepping mode)
            getPosition();
            LOGF_INFO("Processed %s", name);
            return true;
        }
 
        // Climate Control Switch?
        if (ClimateControlSP.isNameMatch(name))
        {
            // Find out which state is requested by the client
            const char *actionName = IUFindOnSwitchName(states, names, n);
            // Do nothing, if state is already what it should be
            int currentClimateControlIndex = ClimateControlSP.findOnSwitchIndex();
            if (ClimateControlSP[currentClimateControlIndex].isNameMatch(actionName))
            {
                DEBUGF(INDI::Logger::DBG_SESSION, "Climate Control is already %s", ClimateControlSP[currentClimateControlIndex].label);
                ClimateControlSP.setState(IPS_IDLE);
                ClimateControlSP.apply();
                return true;
            }
 
            // Otherwise, let us update the switch state
            ClimateControlSP.update(states, names, n);
            currentClimateControlIndex = ClimateControlSP.findOnSwitchIndex();
            if ( setClimateControl((currentClimateControlIndex == AUTO) ? MANUAL : AUTO) )
            {
                DEBUGF(INDI::Logger::DBG_SESSION, "ClimateControl is now %s", ClimateControlSP[currentClimateControlIndex].label);
                ClimateControlSP.setState(IPS_OK);
                ClimateControlSP.apply();
                return true;
            }
            else
            {
                DEBUG(INDI::Logger::DBG_SESSION, "Cannot get lock, try again");
                ClimateControlSP.setState(IPS_ALERT);
                ClimateControlSP.apply();
            }
        }
 
        // PrimaryDewHeater Switch?
        if (PrimaryDewHeaterSP.isNameMatch(name))
        {
            // Find out which state is requested by the client
            const char *actionName = IUFindOnSwitchName(states, names, n);
            // Do nothing, if state is already what it should be
            int currentPrimaryDewHeaterIndex = PrimaryDewHeaterSP.findOnSwitchIndex();
            if (PrimaryDewHeaterSP[currentPrimaryDewHeaterIndex].isNameMatch(actionName))
            {
                DEBUGF(INDI::Logger::DBG_SESSION, "PrimaryDewHeater is already %s", PrimaryDewHeaterSP[currentPrimaryDewHeaterIndex].label);
                PrimaryDewHeaterSP.setState(IPS_IDLE);
                PrimaryDewHeaterSP.apply();
                return true;
            }
 
            // Otherwise, let us update the switch state
            PrimaryDewHeaterSP.update(states, names, n);
            currentPrimaryDewHeaterIndex = PrimaryDewHeaterSP.findOnSwitchIndex();
            if ( setPrimaryDewHeater((currentPrimaryDewHeaterIndex == OFF) ? ON : OFF) )
            {
                DEBUGF(INDI::Logger::DBG_SESSION, "PrimaryDewHeater is now %s", PrimaryDewHeaterSP[currentPrimaryDewHeaterIndex].label);
                PrimaryDewHeaterSP.setState(IPS_OK);
                PrimaryDewHeaterSP.apply();
                return true;
            }
            else
            {
                DEBUG(INDI::Logger::DBG_SESSION, "Cannot get lock, try again");
                PrimaryDewHeaterSP.setState(IPS_ALERT);
                PrimaryDewHeaterSP.apply();
            }
        }
 
        // SecondaryDewHeater Switch?
        if (SecondaryDewHeaterSP.isNameMatch(name))
        {
            // Find out which state is requested by the client
            const char *actionName = IUFindOnSwitchName(states, names, n);
            // Do nothing, if state is already what it should be
            int currentSecondaryDewHeaterIndex = SecondaryDewHeaterSP.findOnSwitchIndex();
            if (SecondaryDewHeaterSP[currentSecondaryDewHeaterIndex].isNameMatch(actionName))
            {
                DEBUGF(INDI::Logger::DBG_SESSION, "SecondaryDewHeater is already %s",
                       SecondaryDewHeaterSP[currentSecondaryDewHeaterIndex].label);
                SecondaryDewHeaterSP.setState(IPS_IDLE);
                SecondaryDewHeaterSP.apply();
                return true;
            }
 
            // Otherwise, let us update the switch state
            SecondaryDewHeaterSP.update(states, names, n);
            currentSecondaryDewHeaterIndex = SecondaryDewHeaterSP.findOnSwitchIndex();
            if ( setSecondaryDewHeater((currentSecondaryDewHeaterIndex == OFF) ? ON : OFF) )
            {
                DEBUGF(INDI::Logger::DBG_SESSION, "SecondaryDewHeater is now %s",
                       SecondaryDewHeaterSP[currentSecondaryDewHeaterIndex].label);
                SecondaryDewHeaterSP.setState(IPS_OK);
                SecondaryDewHeaterSP.apply();
                return true;
            }
            else
            {
                DEBUG(INDI::Logger::DBG_SESSION, "Cannot get lock, try again");
                SecondaryDewHeaterSP.setState(IPS_ALERT);
                SecondaryDewHeaterSP.apply();
            }
        }
 
 
 
    }
    return INDI::Focuser::ISNewSwitch(dev, name, states, names, n);
}
 
// client wants to change number value
bool AllunaTCS2::ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        // Fan Power
        if (FanPowerNP.isNameMatch(name))
        {
            // Try to update settings
            int power = values[0];
            if (power > 255) power = 255;
            if (power < 0) power = 0;
            if (setFanPower(power))
            {
                FanPowerNP.update(values, names, n);
                FanPowerNP.setState(IPS_OK);
            }
            else
            {
                FanPowerNP.setState(IPS_ALERT);
            }
            FanPowerNP.apply();
            return true;
        }
 
    }
 
    return INDI::Focuser::ISNewNumber(dev, name, values, names, n);
}
 
IPState AllunaTCS2::MoveAbsFocuser(uint32_t targetTicks)
{
    char cmd[DRIVER_LEN];
    snprintf(cmd, DRIVER_LEN, "FocuserGoTo %d\r\n", targetTicks);
    bool rc = sendCommandOnly(cmd);
    if (rc == false)
    {
        LOGF_ERROR("MoveAbsFocuser %d failed", targetTicks);
        return IPS_ALERT;
    }
    isFocuserMoving = true;
 
    return IPS_BUSY;
}
 
IPState AllunaTCS2::MoveRelFocuser(FocusDirection dir, uint32_t ticks)
{
    m_TargetDiff = ticks * ((dir == FOCUS_INWARD) ? -1 : 1);
    return MoveAbsFocuser(FocusAbsPosNP[0].getValue() + m_TargetDiff);
}
 
bool AllunaTCS2::AbortFocuser()
{
    return sendCommand("FocuserStop\n");
}
 
void AllunaTCS2::TimerHit()
{
    if (!isConnected())
        return;
 
    // try to read temperature, if it works no lock was present
    if (getTemperature() && getFanPower())
    {
        SetTimer(getCurrentPollingPeriod());
        return;
    }
    // if we could not read temperature, a lock is set and we need to check if there is input to be processed.
 
    bool actionInProgress = isFocuserMoving || isCoverMoving;
    // expect and process device output while present
    char res[DRIVER_LEN] = {0};
 
    // read a line, if available
    while (actionInProgress && receiveNext(res))
    {
        int32_t pos;
 
        if ( res[1] == '#')
        {
            switch (res[0])
            {
                case 'A': // aux1 on (primary mirror heating)
                    LOG_INFO("Primary heater switched ON");
                    break;
                case 'B': // aux1 off (primary mirror heating)
                    LOG_INFO("Primary heater switched OFF");
                    break;
                case 'C': // aux2 on (secondary mirror heating)
                    LOG_INFO("Secondary heater switched ON");
                    break;
                case 'D': // aux2 off (secondary mirror heating)
                    LOG_INFO("Secondary heater switched OFF");
                    break;
                case 'E': // climate control ON
                    LOG_INFO("Climate Control switched ON");
                    break;
                case 'F': // climate control OFF
                    LOG_INFO("Climate Control switched OFF");
                    break;
                case 'G': // fan slider return value
                    break;
                case 'Q': // focuser home run start
                    break;
                case 'U': // back focus minimum for optic "None"
                    break;
                case 'V': // back focus maximum for optic "None"
                    break;
                case 'W': // back focus minimum for optic "Corrector"
                    break;
                case 'X': // back focus maximum for optic "Corrector"
                    break;
                case 'Y': // back focus minimum for optic "Reducer"
                    break;
                case 'Z': // back focus maximum for optic "Reducer"
                    break;
                case 'a': // ambient temperature correction value
                    break;
                case 'b': // primary temperature correction value
                    break;
                case 'c': // secondary temperature correction value
                    break;
                case 'K': // new focuser position
                    pos = 1e6;
                    sscanf(res, "K#%d", &pos);
                    //LOGF_INFO("TimerHit: new pos (%d)",pos);
                    if (pos != 1e6)
                    {
                        FocusAbsPosNP[0].setValue(pos);
                    }
                    FocusAbsPosNP.setState(IPS_BUSY);
                    FocusRelPosNP.setState(IPS_BUSY);
                    FocusAbsPosNP.apply();
                    break;
                case 'I': // starting to focus
                    LOG_DEBUG("TimerHit: starting to focus");
                    break;
                case 'J': // end of focusing
                    LOG_DEBUG("TimetHit: end of focusing");
                    isFocuserMoving = false;
                    FocusAbsPosNP.setState(IPS_OK);
                    FocusAbsPosNP.apply();
                    receiveDone();
                    break;
                case 'O': // cover started moving
                    ParkCapSP.setState(IPS_BUSY);
                    ParkCapSP.apply();
                    break;
                case 'H': // cover stopped moving
                    isCoverMoving = false;
                    receiveDone();
                    ParkCapSP.setState(IPS_OK);
                    ParkCapSP.apply();
                    getDustCover();
                    break;
                default: // unexpected output
                    LOGF_DEBUG("TimerHit: unexpected response (%s)", res);
            }
        }
        else
        {
            LOGF_DEBUG("TimerHit: unexpected response (%s)", res);
        }
        actionInProgress = isFocuserMoving || isCoverMoving;
    }
 
    // What is the last read position?
    double currentPosition = FocusAbsPosNP[0].getValue();
 
    // Check if we have a pending motion
    // if isMoving() is false, then we stopped, so we need to set the Focus Absolute
    // and relative properties to OK
    if ( (FocusAbsPosNP.getState() == IPS_BUSY || FocusRelPosNP.getState() == IPS_BUSY) )
    {
        FocusAbsPosNP.setState(IPS_OK);
        FocusRelPosNP.setState(IPS_OK);
        FocusAbsPosNP.apply();
        FocusRelPosNP.apply();
    }
    // If there was a different between last and current positions, let's update all clients
    else if (currentPosition != FocusAbsPosNP[0].getValue())
    {
        FocusAbsPosNP.apply();
    }
 
    SetTimer(getCurrentPollingPeriod());
}
 
bool AllunaTCS2::isMoving()
{
    return isFocuserMoving;
}
 
bool AllunaTCS2::getTemperature()
{
    // timestamp, when we updated temperatur
    static std::chrono::system_clock::time_point last_temp_update = std::chrono::system_clock::now();
    static bool first_run = true;
 
    // the command GetTemperatures will respond with 4 lines:
    // R#{ambient_temperature}<CR><LF>
    // S#{primary_mirror_tempertature}<CR><LF>
    // T#{secondary_mirror_temperature}<CR><LF>
    // d#{ambient-humidity}<CR><LF>
 
    std::chrono::duration<double> seconds = std::chrono::system_clock::now() - last_temp_update;
    if ( !first_run && seconds.count() < 10 ) // update every 10 seconds
    {
        if (tcs.try_lock())
        {
            tcs.unlock(); // we need to get lock, to make TimerHit behave the same when we block reading temperature
            return true; // return true, if we could get the lock
        }
        else
        {
            return false; // return false, if we could not get the lock
        }
    }
    else if ( sendCommandOnly("GetTemperatures\n")  )
    {
        TemperatureNP.setState(IPS_BUSY);
        isGetTemperature = true;
 
        // expect and process device output while present
        char res[DRIVER_LEN] = {0};
        float value;
 
        // read a line, if available
        while (isGetTemperature && receiveNext(res))
        {
            switch (res[0])
            {
                case 'R': // ambient temperature value
                    sscanf(res, "R#%f", &value);
                    TemperatureNP[0].value = value;
                    break;
                case 'S': // primary mirror temperature value
                    sscanf(res, "S#%f", &value);
                    TemperatureNP[1].value = value;
                    break;
                case 'T': // secondary mirror temperature value
                    sscanf(res, "T#%f", &value);
                    TemperatureNP[2].value = value;
                    break;
                case 'd': // ambient humidity value
                    sscanf(res, "d#%f", &value);
                    TemperatureNP[3].value = value;
                    receiveDone();
                    isGetTemperature = false;
                    TemperatureNP.setState(IPS_OK);
                    TemperatureNP.apply(); // update clients
                    break;
                default: // unexpected output
                    LOGF_ERROR("GetTemperatures: unexpected response (%s)", res);
            }
        }
        first_run = false;
        last_temp_update = std::chrono::system_clock::now();
        return true;
    }
    return false;
}
 
bool AllunaTCS2::getPosition()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("GetFocuserPosition\n", res, 0) == false)
        return false;
 
    int32_t pos = 1e6;
    sscanf(res, "%d", &pos);
 
    if (pos == 1e6)
        return false;
 
    FocusAbsPosNP[0].setValue(pos);
 
    FocusAbsPosNP.setState(IPS_OK);
    FocusAbsPosNP.apply(); // display in user interface
 
    return true;
}
 
bool AllunaTCS2::getDustCover()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("GetDustCover\n", res, 0) == false)
        return false;
 
    int32_t value = -1;
    sscanf(res, "%d", &value);
 
    if (value == -1)
        return false;
 
    LOGF_DEBUG("Cover status read to be %s (%d)", (value == 1) ? "open" : "closed", value);
    ParkCapSP[CAP_UNPARK].setState((value == 1) ? ISS_ON : ISS_OFF);
    ParkCapSP[CAP_PARK  ].setState((value != 1) ? ISS_ON : ISS_OFF);
    ParkCapSP.setState(IPS_OK);
    ParkCapSP.apply();
 
    return true;
}
 
IPState AllunaTCS2::ParkCap()
{
    if (ParkCapSP[CAP_PARK].getState() == ISS_ON)
    {
        LOG_DEBUG("Toggle");
        if (setDustCover())   // toggle state of dust cover
        {
            isCoverMoving = true;
            return IPS_BUSY;
        }
        else
            return IPS_ALERT;
    }
    getDustCover();
 
    // Cover already parked, nothing to do
    return IPS_OK;
}
 
IPState AllunaTCS2::UnParkCap()
{
    LOGF_DEBUG("UnParkCap called, state is %d %d", ParkCapSP[CAP_PARK].getState(), ParkCapSP[CAP_UNPARK].getState());
    if (ParkCapSP[CAP_UNPARK].getState() == ISS_ON)
    {
        LOG_DEBUG("Toggle");
        if (setDustCover())   // toggle state of dust cover
        {
            isCoverMoving = true;
            return IPS_BUSY;
        }
        else
            return IPS_ALERT;
    }
    getDustCover();
 
    // Cover already unparked, nothing to do
    return IPS_OK;
}
 
 
bool AllunaTCS2::getStepping()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("GetFocuserMode\n", res) == false)
        return false;
 
    int32_t mode = 1e6;
    sscanf(res, "%d", &mode);
 
    if (mode == 1e6)
        return false;
 
    // mode=1: Microstep, mode=0: Speedstep
    steppingMode = (mode == 0) ? SPEED : MICRO;
    SteppingModeSP[SPEED].setState((mode == 0) ? ISS_ON : ISS_OFF);
    SteppingModeSP[MICRO].setState((mode == 0) ? ISS_OFF : ISS_ON);
    SteppingModeSP.setState(IPS_OK);
 
    // Set limits as per documentation
    FocusAbsPosNP[0].setMax((steppingMode == MICRO) ? 22400 : 1400); // 22400 in microstep mode, 1400 in speedstep mode
    LOGF_DEBUG("readStepping: set max position to %d", (int)FocusAbsPosNP[0].getMax());
    return true;
}
 
bool AllunaTCS2::setStepping(SteppingMode mode)
{
    int value;
    char cmd[DRIVER_LEN] = {0};
    steppingMode = mode;
    value = (mode == SPEED) ? 0 : 1;
    LOGF_DEBUG("Setting stepping mode to: %s", (mode == SPEED) ? "SPEED" : "micro");
    LOGF_DEBUG("Setting stepping mode to: %d", value);
    snprintf(cmd, DRIVER_LEN, "SetFocuserMode %d\n", value);
    return sendCommand(cmd);
}
 
bool AllunaTCS2::setDustCover()
{
    char cmd[DRIVER_LEN] = {0};
    snprintf(cmd, DRIVER_LEN, "SetDustCover\n"); // opens/closes dust cover (state toggle)
    return sendCommandOnly(cmd); // response is processed in TimerHit
}
 
bool AllunaTCS2::getClimateControl()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("GetClimateControl\n", res, 0) == false)
        return false;
 
    int32_t value = -1;
    sscanf(res, "%d", &value);
 
    if (value == -1)
        return false;
 
    DEBUGF(INDI::Logger::DBG_SESSION, "Climate Control status read to be %s (%d)", (value == 1) ? "automatic" : "manual",
           value);
    ClimateControlSP[AUTO  ].setState((value == 1) ? ISS_ON : ISS_OFF);
    ClimateControlSP[MANUAL].setState((value != 1) ? ISS_ON : ISS_OFF);
    ClimateControlSP.setState(IPS_OK);
 
    return true;
}
 
bool AllunaTCS2::setClimateControl(ClimateControlMode mode)
{
    char cmd[DRIVER_LEN] = {0};
    int value;
    value = (mode == AUTO) ? 1 : 0;
    snprintf(cmd, DRIVER_LEN, "SetClimateControl %d\n", value); // enable/disable climate control
    return sendCommand(cmd);
}
 
bool AllunaTCS2::getPrimaryDewHeater()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("GetAux1\n", res, 0) == false)
        return false;
 
    int32_t value = -1;
    sscanf(res, "%d", &value);
 
    if (value == -1)
        return false;
 
    DEBUGF(INDI::Logger::DBG_SESSION, "PrimaryDewHeater status read to be %s (%d)", (value == 1) ? "ON" : "OFF", value);
    PrimaryDewHeaterSP[ON ].setState((value == 1) ? ISS_ON : ISS_OFF);
    PrimaryDewHeaterSP[OFF].setState((value != 1) ? ISS_ON : ISS_OFF);
    PrimaryDewHeaterSP.setState(IPS_OK);
 
    return true;
}
 
bool AllunaTCS2::setPrimaryDewHeater(DewHeaterMode mode)
{
    char cmd[DRIVER_LEN] = {0};
    int value;
    value = (mode == ON) ? 1 : 0;
    snprintf(cmd, DRIVER_LEN, "SetAux1 %d\n", value); // enable/disable heating
    return sendCommand(cmd);
}
 
bool AllunaTCS2::getSecondaryDewHeater()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("GetAux2\n", res, 0) == false)
        return false;
 
    int32_t value = -1;
    sscanf(res, "%d", &value);
 
    if (value == -1)
        return false;
 
    DEBUGF(INDI::Logger::DBG_SESSION, "SecondaryDewHeater status read to be %s (%d)", (value == 1) ? "ON" : "OFF", value);
    SecondaryDewHeaterSP[ON ].setState((value == 1) ? ISS_ON : ISS_OFF);
    SecondaryDewHeaterSP[OFF].setState((value != 1) ? ISS_ON : ISS_OFF);
    SecondaryDewHeaterSP.setState(IPS_OK);
 
    return true;
}
 
bool AllunaTCS2::setSecondaryDewHeater(DewHeaterMode mode)
{
    char cmd[DRIVER_LEN] = {0};
    int value;
    value = (mode == ON) ? 1 : 0;
    snprintf(cmd, DRIVER_LEN, "SetAux2 %d\n", value); // enable/disable heating
    return sendCommand(cmd);
}
 
bool AllunaTCS2::getFanPower()
{
    // timestamp, when we updated temperatur
    static std::chrono::system_clock::time_point last_temp_update = std::chrono::system_clock::now();
    static bool first_run = true;
 
    char res[DRIVER_LEN] = {0};
 
    std::chrono::duration<double> seconds = std::chrono::system_clock::now() - last_temp_update;
    if ( !first_run && seconds.count() < 30 ) // update every 30 seconds
    {
        if (tcs.try_lock())
        {
            tcs.unlock(); // we need to get lock, to make TimerHit behave the same when we block reading temperature
            return true; // return true, if we could get the lock
        }
        else
        {
            return false; // return false, if we could not get the lock
        }
    }
    if (sendCommand("GetFanPower\n", res, 0) == false)
        return false;
 
    int32_t value = -1;
    sscanf(res, "%d", &value);
 
    if (value == -1)
        return false;
 
    if (value != (int)FanPowerNP[0].value)
    {
        LOGF_DEBUG("FanPower read to be %d", value);
        FanPowerNP[0].value = (double)value;
        FanPowerNP.setState(IPS_OK);
        FanPowerNP.apply();
    }
    return true;
}
 
bool AllunaTCS2::setFanPower(int value)
{
    char cmd[DRIVER_LEN] = {0};
    snprintf(cmd, DRIVER_LEN, "SetFanPower %d\n", value); // enable/disable heating
    return sendCommand(cmd);
}
 
 
bool AllunaTCS2::saveConfigItems(FILE *fp)
{
    INDI::Focuser::saveConfigItems(fp);
 
    // We need to reserve and save stepping mode
    // so that the next time the driver is loaded, it is remembered and applied.
    //IUSaveConfigSwitch(fp, &SteppingModeSP);  -- not needed, because tcs2 stores state internally
 
    return true;
}