askar_waf.h

Go to the documentation of this file.

/*
    Askar-WAF Focuser
    Copyright (C) 2026 Jiaxing Ruixing Optical Instrument Co., Ltd.
 
    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
 
*/
 
#pragma once
 
#include "indifocuser.h"
 
class AskarWAF : public INDI::Focuser {
public:
  AskarWAF();
  virtual ~AskarWAF() override = default;
 
  const char *getDefaultName() override;
  virtual bool initProperties() override;
  virtual bool updateProperties() override;
 
protected:
  virtual bool Handshake() override;
 
  virtual IPState MoveAbsFocuser(uint32_t targetTicks) override;
  virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
  virtual bool AbortFocuser() override;
  virtual bool SyncFocuser(uint32_t ticks) override;
  virtual bool ReverseFocuser(bool enabled) override;
  virtual bool SetFocuserBacklash(int32_t steps) override;
  virtual bool SetFocuserBacklashEnabled(bool enabled) override;
  virtual bool SetFocuserMaxPosition(uint32_t ticks) override;
  virtual void TimerHit() override;
 
private:
  bool sendCommand(const char *cmd, char *res = nullptr, bool silent = false);
 
  bool readPosition();
  bool readMaxPosition();
  bool readBacklash();
  bool readReverse();
  bool isMoving(bool *ok = nullptr);
 
  uint32_t lastPosition{0};
  uint8_t m_MotionQueryFailures{0};
 
  // Firmware version & model name, read once at connection time
  INDI::PropertyText FirmwareVersionTP{2};
  enum { VERSION, MODEL };
 
  // Askar-WAF response buffer size (includes room for trailing '\0')
  static const uint8_t WAF_RES{32};
  // Askar-WAF frame delimiter
  static const char WAF_DEL{'#'};
  // Askar-WAF read timeout in seconds
  static const uint8_t WAF_TIMEOUT{3};
  // Consecutive FQ# failures before aborting a busy move as IPS_ALERT
  static const uint8_t WAF_MOTION_QUERY_MAX_FAILURES{5};
};