celestron.h

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/*
    Celestron Focuser for SCT and EDGEHD
 
    Copyright (C) 2019 Jasem Mutlaq ([email protected])
    Copyright (C) 2019 Chris Rowland
 
    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"
 
#include <chrono>
#include "celestronauxpacket.h"
 
class CelestronSCT : public INDI::Focuser
{
    public:
        CelestronSCT();
 
        const char * getDefaultName() override;
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        //virtual bool ISNewNumber(const char * dev, const char * name, double values[], char * names[], int n) override;
        virtual bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) 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 void TimerHit() override;
        virtual bool SetFocuserBacklash(int32_t steps) override;
 
    private:
        Aux::Communicator communicator;
 
        // Do we have a response from the focuser?
        bool Ack();
 
        // Get initial focuser parameters when we first connect
        bool getStartupParameters();
 
        // truePos vs absPos:
        // servo encoder values increase in CCW direction
        // CCW travel moves primary mirror toward corrector plate, shifting focal plane away from OTA (i.e. increasingly "inside focus")
        // max CCW travel corresponds to intrafocal limit
        
        // "absPos" is the position referenced to the INDI focus interface (0 = intrafocal limit, increasing values toward extrafocal limit)
        inline uint32_t absPos(uint32_t truePos) { return truePosMax - truePos;}
 
        // "truePos" is the position of the servo motor encoder reported over serial connection
        inline uint32_t truePos(uint32_t absPos) { return truePosMax - absPos;}        
        
 
        // Read and update Position
        bool readPosition();
        // Are we moving?
        bool isMoving();
        // read limits
        bool readLimits();
 
        bool startMove(uint32_t position);
 
        //        INumber BacklashN[1];
        //        INumberVectorProperty BacklashNP;
 
        // INumber FocusMinPosN[1];
        // INumberVectorProperty FocusMinPosNP;
 
        uint32_t truePosMax;
        uint32_t truePosMin;
 
        bool backlashMove;      // set if a final move is needed
        uint32_t finalPosition;
 
        INDI::PropertySwitch CalibrateSP {2};
        enum
        {
            START,
            STOP
        };
 
        INDI::PropertyText CalibrateStateTP {1};
 
        bool calibrateInProgress;
        int calibrateState;
        bool focuserIsCalibrated;
 
        //        // Celestron Buffer
        //        static const uint8_t CELESTRON_LEN { 32 };
        //        // Celestorn Delimiter
        //        static const char CELESTRON_DEL { '#' };
        //        // Celestron Timeout in seconds
        //        static const uint8_t CELESTRON_TIMEOUT { 3 };
};