gemini.h

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/*
   Optec Gemini Focuser Rotator INDI driver
   Copyright (C) 2017 Jasem Mutlaq ([email protected])
 
    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 "indirotatorinterface.h"
 
#include <stdint.h>
#include <map>
 
class Gemini : public INDI::Focuser, public INDI::RotatorInterface
{
    public:
        Gemini();
        ~Gemini();
 
        enum
        {
            FOCUS_A_COEFF,
            FOCUS_B_COEFF,
            FOCUS_C_COEFF,
            FOCUS_D_COEFF,
            FOCUS_E_COEFF,
            FOCUS_F_COEFF
        };
        enum
        {
            STATUS_MOVING,
            STATUS_HOMING,
            STATUS_HOMED,
            STATUS_FFDETECT,
            STATUS_TMPPROBE,
            STATUS_REMOTEIO,
            STATUS_HNDCTRL,
            STATUS_REVERSE,
            STATUS_UNKNOWN
        };
        enum
        {
            GOTO_CENTER,
            GOTO_HOME
        };
        typedef enum
        {
            DEVICE_FOCUSER,
            DEVICE_ROTATOR
        } DeviceType;
 
        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;
        virtual bool ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n) override;
 
    protected:
 
        virtual bool Handshake() override;
        virtual const char *getDefaultName() override;
 
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual bool saveConfigItems(FILE *fp) override;
 
        // Focuser Functions
        virtual IPState MoveAbsFocuser(uint32_t targetPosition) override;
        virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
        virtual IPState MoveFocuser(FocusDirection dir, int speed, uint16_t duration) override;
        virtual bool AbortFocuser() override;
 
        virtual bool SetFocuserBacklash(int32_t steps) override;
        virtual bool SetFocuserBacklashEnabled(bool enabled) override;
 
        virtual void TimerHit() override;
 
        // Misc functions
        bool ack();
        bool isResponseOK();
 
    protected:
        // Move from private to public to validate
        bool focuserConfigurationComplete = false;
        bool rotatorConfigurationComplete = false;
 
        // Rotator Overrides
        virtual IPState HomeRotator() override;
        virtual IPState MoveRotator(double angle) override;
        virtual bool ReverseRotator(bool enabled) override;
        virtual bool SetRotatorBacklash(int32_t steps) override;
        virtual bool SetRotatorBacklashEnabled(bool enabled) override;
 
    private:
        uint32_t focuserSimPosition = 0;
        uint32_t rotatorSimPosition = 0;
        uint32_t rotatorSimPA = 0;
        uint32_t targetFocuserPosition = 0;
        uint32_t targetRotatorPosition = 0;
        uint32_t targetRotatorAngle = 0;
        uint32_t maxControllerTicks = 0;
 
        ISState focuserSimStatus[8];
        ISState rotatorSimStatus[8];
 
        bool simCompensationOn;
        char focusTarget[8];
 
        struct timeval focusMoveStart;
        float focusMoveRequest;
 
        // Focuser Functions
 
        // Get functions
        bool getFocusConfig();
        bool getFocusStatus();
 
        // Set functions
 
        // Position
        bool setFocusPosition(uint16_t position);
 
        // Temperature
        bool setTemperatureCompensation(bool enable);
        bool setTemperatureCompensationMode(char mode);
        bool setTemperatureCompensationCoeff(char mode, int16_t coeff);
        bool setTemperatureCompensationOnStart(bool enable);
 
        // Backlash
        bool setBacklashCompensation(DeviceType type, bool enable);
        bool setBacklashCompensationSteps(DeviceType type, uint16_t steps);
 
        // Motion functions
        bool home(DeviceType type);
        bool halt(DeviceType type);
        bool center(DeviceType type);
        bool homeOnStart(DeviceType type, bool enable);
 
        // Focuser Properties
 
        // Set/Get Temperature
        INDI::PropertyNumber TemperatureNP {1};
 
        // Enable/Disable temperature compnesation
        INDI::PropertySwitch TemperatureCompensateSP {2};
 
        // Enable/Disable temperature compnesation on start
        INDI::PropertySwitch TemperatureCompensateOnStartSP {2};
 
        // Temperature Coefficient
        INDI::PropertyNumber TemperatureCoeffNP{5};
        enum
        {
            A,
            B,
            C,
            D,
            E
        };
 
        // Temperature Coefficient Mode
        INDI::PropertySwitch TemperatureCompensateModeSP {5};
 
        // Enable/Disable backlash
        //    ISwitch FocuserBacklashCompensationS[2];
        //    ISwitchVectorProperty FocuserFocusBacklashSP;
 
        // Backlash Value
        //    INumber FocusBacklashN[1];
        //    INumberVectorProperty FocusBacklashNP;
 
        // Home On Start
        INDI::PropertySwitch FocuserHomeOnStartSP {2};
 
        // Go to home/center
        INDI::PropertySwitch FocuserGotoSP {2};
 
        // Status indicators
        INDI::PropertyLight FocuserStatusLP {8};
 
        bool isFocuserAbsolute;
        bool isFocuserHoming;
 
        // Rotator Functions
 
        // Get functions
        bool getRotatorConfig();
        bool getRotatorStatus();
 
        IPState MoveAbsRotatorTicks(uint32_t targetTicks);
        IPState MoveAbsRotatorAngle(double angle);
        bool reverseRotator(bool enable);
 
        // Rotator Properties
 
        // Status
        INDI::PropertyLight RotatorStatusLP {8};
 
        // Rotator Steps
        INDI::PropertyNumber RotatorAbsPosNP {1};
 
#if 0
        // Reverse Direction
        ISwitch RotatorReverseS[2];
        ISwitchVectorProperty RotatorReverseSP;
 
 
 
        // Rotator Degrees or PA (Position Angle)
        INumber RotatorAbsAngleN[1];
        INumberVectorProperty RotatorAbsAngleNP;
 
        // Abort
        ISwitch AbortRotatorS[1];
        ISwitchVectorProperty AbortRotatorSP;
 
        // Go to home/center
        ISwitch RotatorGotoS[2];
        ISwitchVectorProperty RotatorGotoSP;
#endif
 
        // Home On Start
        INDI::PropertySwitch RotatorHomeOnStartSP {2};
 
        bool isRotatorHoming;
 
        // Hub Functions
 
        // Led level
        bool setLedLevel(int level);
 
        // Device Nickname
        bool setNickname(DeviceType type, const char *nickname);
 
        // Misc functions
        bool resetFactory();
        float calcTimeLeft(timeval, float);
 
        // Hub Properties
 
        // Reset to Factory setting
        INDI::PropertySwitch ResetSP {1};
 
        // Focus and rotator name configure in the HUB
        INDI::PropertyText HFocusNameTP {2};
 
        // Led Intensity Value
        INDI::PropertyNumber LedNP {1};
 
        uint32_t DBG_FOCUS;
};