indirotatorinterface.h

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/*
    Rotator Interface
    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 "indibase.h"
#include "indipropertynumber.h"
#include "indipropertyswitch.h"
#include <stdint.h>
 
using RI = INDI::RotatorInterface;
 
namespace INDI
{
 
class RotatorInterface
{
    public:
 
        enum
        {
            ROTATOR_CAN_ABORT          = 1 << 0, 
            ROTATOR_CAN_HOME           = 1 << 1, 
            ROTATOR_CAN_SYNC           = 1 << 2, 
            ROTATOR_CAN_REVERSE        = 1 << 3, 
            ROTATOR_HAS_BACKLASH       = 1 << 4  
        } RotatorCapability;
 
        uint32_t GetCapability() const
        {
            return rotatorCapability;
        }
 
        void SetCapability(uint32_t cap)
        {
            rotatorCapability = cap;
        }
 
        bool CanAbort()
        {
            return rotatorCapability & ROTATOR_CAN_ABORT;
        }
 
        bool CanHome()
        {
            return rotatorCapability & ROTATOR_CAN_HOME;
        }
 
        bool CanSync()
        {
            return rotatorCapability & ROTATOR_CAN_SYNC;
        }
 
        bool CanReverse()
        {
            return rotatorCapability & ROTATOR_CAN_REVERSE;
        }
 
        bool HasBacklash()
        {
            return rotatorCapability & ROTATOR_HAS_BACKLASH;
        }
 
    protected:
 
        explicit RotatorInterface(DefaultDevice *defaultDevice);
 
        void initProperties(const char *groupName);
 
        bool updateProperties();
 
        bool processNumber(const char *dev, const char *name, double values[], char *names[], int n);
 
        bool processSwitch(const char *dev, const char *name, ISState *states, char *names[], int n);
 
        virtual IPState MoveRotator(double angle) = 0;
 
        virtual bool SyncRotator(double angle);
 
        virtual IPState HomeRotator();
 
        virtual bool ReverseRotator(bool enabled);
 
        virtual bool AbortRotator();
 
        virtual bool SetRotatorBacklash(int32_t steps);
 
        virtual bool SetRotatorBacklashEnabled(bool enabled);
 
        bool saveConfigItems(FILE * fp);
 
 
        // Goto rotator angle
        INDI::PropertyNumber GotoRotatorNP {1};
 
        // Sync rotator angle
        INDI::PropertyNumber SyncRotatorNP {1};
 
        // Abort rotator motion
        INDI::PropertySwitch AbortRotatorSP {1};
 
        // Home rotator
        INDI::PropertySwitch HomeRotatorSP {1};
 
        // Reverse rotator direction
        INDI::PropertySwitch ReverseRotatorSP {2};
 
        // Backlash toggle
        INDI::PropertySwitch RotatorBacklashSP {2};
 
        // Backlash steps
        INDI::PropertyNumber RotatorBacklashNP {1};
 
        // Rotator Limits
        INDI::PropertyNumber RotatorLimitsNP {1};
        // Fixed reference angle (set at connect time and updated on sync).
        // The limit check prevents the rotator from moving more than ±(limit/2)°
        // away from this point, protecting against cable wrap.
        double m_RotatorOffset {-1};  // -1 means "not yet initialized"
 
        uint32_t rotatorCapability = 0;
        DefaultDevice *m_defaultDevice { nullptr };
};
 
}