indipacinterface.h

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/*
    PAC Interface (Polar Alignment Correction)
    Copyright (C) 2026 Joaquin Rodriguez ([email protected])
    Copyright (C) 2026 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 "indibase.h"
#include "indidriver.h"
#include "indipropertyswitch.h"
#include "indipropertynumber.h"
#include <cstdint>
 
namespace INDI
{
 
class PACInterface
{
    public:
        enum
        {
            MANUAL_AZ,   
            MANUAL_ALT   
        };
 
        enum
        {
            POSITION_AZ,   
            POSITION_ALT   
        };
 
        enum
        {
            PAC_HAS_SPEED    = 1 << 0,  
            PAC_CAN_REVERSE  = 1 << 1,  
            PAC_HAS_POSITION = 1 << 2,  
            PAC_CAN_HOME     = 1 << 3,  
            PAC_HAS_BACKLASH = 1 << 4,  
            PAC_CAN_SYNC     = 1 << 5,  
        } PACCapability;
 
        uint32_t GetCapability() const
        {
            return m_Capability;
        }
 
        void SetCapability(uint32_t cap)
        {
            m_Capability = cap;
        }
 
        bool HasSpeed()
        {
            return m_Capability & PAC_HAS_SPEED;
        }
 
        bool CanReverse()
        {
            return m_Capability & PAC_CAN_REVERSE;
        }
 
        bool HasPosition()
        {
            return m_Capability & PAC_HAS_POSITION;
        }
 
        bool CanHome()
        {
            return m_Capability & PAC_CAN_HOME;
        }
 
        bool HasBacklash()
        {
            return m_Capability & PAC_HAS_BACKLASH;
        }
 
        bool CanSync()
        {
            return m_Capability & PAC_CAN_SYNC;
        }
 
    protected:
        explicit PACInterface(DefaultDevice *device);
        virtual ~PACInterface() = default;
 
        virtual IPState MoveAZ(double degrees);
 
        virtual IPState MoveALT(double degrees);
 
        virtual IPState MoveBoth(double azDegrees, double altDegrees);
 
        virtual bool AbortMotion();
 
        virtual bool SetPACSpeed(uint16_t speed);
 
        virtual bool ReverseAZ(bool enabled);
 
        virtual bool ReverseALT(bool enabled);
 
        // ──────────────────────────────────────────────────────────────────
        // PAC_CAN_HOME
        // ──────────────────────────────────────────────────────────────────
 
        virtual bool SetHome();
 
        virtual IPState GoHome();
 
        virtual bool ResetHome();
 
        // ──────────────────────────────────────────────────────────────────
        // PAC_CAN_SYNC
        // ──────────────────────────────────────────────────────────────────
 
        virtual bool SyncAZ(double degrees);
 
        virtual bool SyncALT(double degrees);
 
        // ──────────────────────────────────────────────────────────────────
        // PAC_HAS_BACKLASH
        // ──────────────────────────────────────────────────────────────────
 
        virtual bool SetBacklashEnabled(bool enabled);
 
        virtual bool SetBacklashAZ(int32_t steps);
 
        virtual bool SetBacklashALT(int32_t steps);
 
        void initProperties(const char *group);
 
        bool updateProperties();
 
        bool processSwitch(const char *dev, const char *name, ISState *states, char *names[], int n);
 
        bool processNumber(const char *dev, const char *name, double values[], char *names[], int n);
 
        bool saveConfigItems(FILE *fp);
 
        INDI::PropertyNumber ManualAdjustmentNP {2};
 
        INDI::PropertySwitch AbortSP {1};
 
        INDI::PropertyNumber PositionNP {2};
 
        INDI::PropertyNumber SpeedNP {1};
 
        INDI::PropertySwitch AZReverseSP {2};
 
        INDI::PropertySwitch ALTReverseSP {2};
 
        INDI::PropertySwitch HomeSP {3};
        enum { HOME_SET, HOME_GO, HOME_RESET };
 
        INDI::PropertyNumber SyncNP {2};
        enum { SYNC_AZ, SYNC_ALT };
 
        INDI::PropertySwitch BacklashSP {2};
 
        INDI::PropertyNumber BacklashNP {2};
        enum { BACKLASH_AZ, BACKLASH_ALT };
 
    private:
        DefaultDevice *m_DefaultDevice {nullptr};
        uint32_t m_Capability {0};
};
 
}
 
using PACI = INDI::PACInterface;