avalon_upas.h

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/*******************************************************************************
  Avalon Instruments Universal Polar Alignment System (UPAS)
 
  Copyright (C) 2026 Jasem Mutlaq ([email protected])
 
  GRBL-based serial protocol.
 
  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 "defaultdevice.h"
#include "indipacinterface.h"
#include "connectionplugins/connectionserial.h"
 
class AvalonUPAS : public INDI::DefaultDevice, public INDI::PACInterface
{
    public:
        AvalonUPAS();
        virtual ~AvalonUPAS() override = default;
 
        const char *getDefaultName() override;
 
        bool ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n) override;
        bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override;
 
    protected:
        bool initProperties() override;
        bool updateProperties() override;
        bool saveConfigItems(FILE *fp) override;
 
        bool Handshake();
        void TimerHit() override;
 
        // PACInterface – axis movement
        IPState MoveAZ(double degrees) override;
        IPState MoveALT(double degrees) override;
        IPState MoveBoth(double azDegrees, double altDegrees) override;
 
        // PACInterface – abort, speed and reverse
        bool AbortMotion() override;
        bool SetPACSpeed(uint16_t speed) override;
        bool ReverseAZ(bool enabled) override;
        bool ReverseALT(bool enabled) override;
 
    private:
 
        bool sendCommand(const char *cmd, char *res = nullptr, int cmd_len = -1, int res_len = -1);
 
        bool parseStatus(const char *response);
 
        void hexDump(char *buf, const char *data, int size);
 
 
        // Gear ratio (mm per degree) for each axis; converts PAC interface degrees to GRBL mm.
        INDI::PropertyNumber GearRatioNP {2};
        enum
        {
            GEAR_AZ,
            GEAR_ALT
        };
 
        // Read-only firmware version string returned at connect.
        INDI::PropertyText FirmwareTP {1};
 
        bool    m_IsMoving      {false};    
        uint8_t m_ReverseFlags  {0};        
 
        int     PortFD          {-1};
        Connection::Serial *serialConnection {nullptr};
 
        static constexpr uint8_t     DRIVER_TIMEOUT   {3};   
        static constexpr uint8_t     DRIVER_LEN       {128}; 
        static constexpr char        DRIVER_STOP_CHAR {'\n'};
};