focuser_driver.h

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/*
  Skeleton Focuser Driver
 
  Modify this driver when developing new absolute position
  based focusers. This driver uses serial communication by default
  but it can be changed to use networked TCP/UDP connection as well.
 
  Copyright(c) 2019 Jasem Mutlaq. All rights reserved.
 
  Thanks to Rigel Systems, especially Gene Nolan and Leon Palmer,
  for their support in writing this driver.
 
  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 FocuserDriver : public INDI::Focuser
{
    public:
        FocuserDriver();
 
        virtual bool Handshake() override;
        const char *getDefaultName() override;
 
        bool initProperties() override;
        bool updateProperties() override;
 
        bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override;
 
        // If you define any Number properties, then you need to override ISNewNumber to respond to number property requests.
        //bool ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n) override;
 
    protected:
        void TimerHit() override;
 
        IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
        IPState MoveAbsFocuser(uint32_t targetTicks) override;
        bool SyncFocuser(uint32_t ticks) override;
        bool AbortFocuser() override;
 
        bool saveConfigItems(FILE *fp) override;
 
    private:
 
 
        INumberVectorProperty TemperatureNP;
        INumber TemperatureN[1];
 
        ISwitchVectorProperty SteppingModeSP;
        ISwitch SteppingModeS[2];
        typedef enum
        {
            STEPPING_FULL,
            STEPPING_HALF,
        } SteppingMode;
 
        bool readTemperature();
        bool readPosition();
        bool readStepping();
 
        bool setStepping(SteppingMode mode);
 
 
        bool sendCommand(const char * cmd, char * res = nullptr, int cmd_len = -1, int res_len = -1);
 
        void hexDump(char * buf, const char * data, int size);
 
        bool getStartupValues();
 
        bool isMoving();
 
        int32_t m_TargetDiff { 0 };
        uint16_t m_TemperatureCounter { 0 };
 
        static constexpr const char * STEPPING_TAB = "Stepping";
        // '#' is the stop char
        static const char DRIVER_STOP_CHAR { 0x23 };
        // Update temperature every 10x POLLMS. For 500ms, we would
        // update the temperature one every 5 seconds.
        static constexpr const uint8_t DRIVER_TEMPERATURE_FREQ {10};
        // Wait up to a maximum of 3 seconds for serial input
        static constexpr const uint8_t DRIVER_TIMEOUT {3};
        // Maximum buffer for sending/receiving.
        static constexpr const uint8_t DRIVER_LEN {64};
};