lx200_OnStep.h

Go to the documentation of this file.

/*
    LX200 OnStep
    based on LX200 Classic azwing ([email protected])
    Contributors:
    James Lancaster https://github.com/james-lan
    Ray Wells https://github.com/blueshawk
    Jamie Flinn https://github.com/jamiecflinn
 
    Copyright (C) 2003-2026 Jasem Mutlaq ([email protected])-2021 (Contributors, above)
 
    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
 
    ===========================================
 
    Version 1.26: Fix issues due to migration to new INDI properties.
    Version 1.25: Refactor driver to use INDI new properties.
    Version 1.24: During manual slew, only send back RA & DE.
    Version not yet updated/No INDI release:
    Version 1.22
    - fixed #:AW#" and ":MP#" commands by using getCommandSingleCharResponse instead of sendOnStepCommandBlind
    Version 1.21
    - fixed Onstep returning '9:9' when 9 star alignment is achieved thanks to Howard Dutton
    Version 1.20
    - fixed wrong messages due to different return with OnStepX
    - fixed Focuser Temperature not shown on Ekos
    - fixed Weather settings (P/T/Hr) when no sensor present
    - minor typos
    Version 1.19
    - fixed typo on debug information saying error instead of nbchar causing confusion
    - fixed Autoflip Off update
    - fixed Elevation Limits update (was not read from OnStep) and format set to integer and gage for setup
    - fixed minutes passed meridian not showing actual values
    - fixed missing slewrates defineProperty and deleteProperty causing redefinitions of overrides
    - todo focuser stops working after some time ??? could not yet reproduce
    - fixed poll and update slew rates
    - todo poll and update maximum slew speed SmartWebServer=>Settings
    Version 1.18
    - implemented Focuser T° compensation in FOCUSER TAB
    - Minor fixes
    Version 1.17
    - fixed setMaxElevationLimit / setMinElevationLimit
    Version 1.16
    - fixed uninitialized UTC structure thanks to Norikyu
    Version 1.15
    - Fixed setUTCOffset after change in lx200driver to comply with OnStep format :SG[sHH]#
    Version 1.14
    - Modified range for Minutes Pas Meridian East and West to -180 .. +180
    - Modified debug messages Minutes Pas Meridian (Was B"acklash ...)
 
    Version 1.13
    - Timeouts and misc errors due to new behavior of SWS (SmartWebServer)
    - - Timeouts still at 100ms for USB connections, if on a TCP/network connection timeout reverts to 2 sec.
    - Improvements to Focuser and Rotator polling
    - Focuser doesn't show up if not detected (Regression fixed)
 
    Past Versions:
 
    Version 1.12: (INDI 1.9.3)
    - New timeout functions in INDI which significantly reduce startup times waiting for detection to fail. (Min time before was 1 second, current timeout for those is now set to 100 ms (100000 us which works well even with an Arduino Mega (Ramps) setup)
    - Cleanup and completely control TrackState. (Should eliminate various issues.)
    - Behind the scenes: More consistent command declarations (Should eliminate a type of error that's happened in the past when changing commands.)
    - Don't report capability for PierSide and PEC unless supported (This will cause a call to updateProperties so a bunch of messages will be repeated.)
    - From the last, move where the SlewRate values are defined to updateProperties, vs initProperties so that the extra calls to updateProperties don't mangle it.
    - TMC driver reports are now human readable.
    - Detects OnStep or OnStepX version (doesn't do much with it.)
 
 
    Version 1.11: (INDI 1.9.2)
    - Fixed one issue with tracking (Jamie Flinn/jamiecflinn)
    Version 1.10: (finalized: INDI 1.9.1)
    - Weather support for setting temperature/humidity/pressure, values will be overridden in OnStep by any sensor values.
    - Ability to swap primary focuser.
    - High precision on location, and not overriding GPS even when marked for Mount > KStars.
    - Added Rotator & De-Rotator Support
    - TMC_SPI status reported (RAW) on the Status Tab. (ST = Standstill, Ox = open load A/B, Gx = grounded A/B, OT = Overtemp Shutdown, PW = Overtemp Prewarning)
    - Manage OnStep Auxiliary Feature Names in Output Tab
 
    Version 1.9:
    - Weather support for Reading temperature/humidity/pressure (Values are Read-Only)
    - Bugfix: Slew speed
 
    Version 1.8:
    - Bugfixes for FORK mounted scopes
 
    Version 1.7:
    - Added support for Reporting Guide rate (to PHD2 among others)
    - Updated Error codes to match up with Android/SHC (Unknown reserved for unknown, so Unspecified = Unknown on other platforms)
    - Added descriptions to SlewRate to match, slider kept which matches OnStep values
    - Support for up to 9 stars for alignment
    - Changed align so the last step isn't the (Optional) Write to EEPROM
    - Added support for polar adjustments, without having to redo the entire model. (:MP# command)
    - Support for Full Compensation/Refraction only, and 1/2 Axis tracking
    - Cleanups
 
    Version 1.6: Additional Functions
    - James Lan fixed Meredian Flip and Home Pause buttons
    - Cleaned Comments from previon versions
    - Updated lastError Codes
    - azwing typo minutes ' > second ''for Alignment Error
 
    Version 1.5: Cleaning and Align Code Tuning
    - James Lan Align Code
    - Cleaning out debug messages
    - Fix some TrackState inconsistencies with Ekos
    - removing old Align Code
    - fixing reversed Alt/Azm coorection values
 
    Version 1.4: Tuning
    - James Lan implementation of High Precision Tracking
    - James lan Focuser Code
    - James lan PEC
    - James Lan Alignment
    - Azwing set all com variable length to RB_MAX_LEN otherwise crash due to overflow
    - Azwing set local variable size to RB_MAX_LEN otherwise erased by overflow preventing Align and other stuf to work
    - James Lan Align Tab implementation
    - Azwing Removed Alignment in main tab
    - Azwing minor typo fixes
    - Azwing reworked TrackState especially for parking/unparking
 
    Version 1.3: Complete rework of interface and functionalities
    - Telescope Status using :GU#
    - Parking Management
    - Star Alignment
    - Tracking Frequency
    - Focuser rework
 
    Version 1.2: Initial issue
 
*/
 
#pragma once
 
#include "lx200generic.h"
#include "lx200driver.h"
#include "indicom.h"
#include "indifocuserinterface.h"
#include "indiweatherinterface.h"
#include "indirotatorinterface.h"
#include "connectionplugins/connectiontcp.h"
#include "indipropertytext.h"
#include "indipropertyswitch.h"
#include "indipropertynumber.h"
 
#include <cstring>
#include <unistd.h>
#include <termios.h>
#include <stdlib.h>
 
#define RB_MAX_LEN 64
#define CMD_MAX_LEN 32
 
#define PORTS_COUNT 10
#define STARTING_PORT 0
 
enum ResponseErrors {RES_ERR_FORMAT = -1001};
 
enum Errors {ERR_NONE, ERR_MOTOR_FAULT, ERR_ALT_MIN, ERR_LIMIT_SENSE, ERR_DEC, ERR_AZM, ERR_UNDER_POLE, ERR_MERIDIAN, ERR_SYNC, ERR_PARK, ERR_GOTO_SYNC, ERR_UNSPECIFIED, ERR_ALT_MAX, ERR_GOTO_ERR_NONE, ERR_GOTO_ERR_BELOW_HORIZON, ERR_GOTO_ERR_ABOVE_OVERHEAD, ERR_GOTO_ERR_STANDBY, ERR_GOTO_ERR_PARK, ERR_GOTO_ERR_GOTO, ERR_GOTO_ERR_OUTSIDE_LIMITS, ERR_GOTO_ERR_HARDWARE_FAULT, ERR_GOTO_ERR_IN_MOTION, ERR_GOTO_ERR_UNSPECIFIED};
enum RateCompensation {RC_NONE, RC_REFR_RA, RC_REFR_BOTH, RC_FULL_RA, RC_FULL_BOTH}; //To allow for using one variable instead of two in the future
 
enum MountType {MOUNTTYPE_GEM, MOUNTTYPE_FORK, MOUNTTYPE_FORK_ALT, MOUNTTYPE_ALTAZ};
 
enum OnStepVersion {OSV_UNKNOWN, OSV_OnStepV1or2, OSV_OnStepV3, OSV_OnStepV4, OSV_OnStepV5, OSV_OnStepX};
 
class LX200_OnStep : public LX200Generic, public INDI::WeatherInterface, public INDI::RotatorInterface
{
    public:
        LX200_OnStep();
        ~LX200_OnStep() {}
 
        virtual const char *getDefaultName() override;
        virtual bool initProperties() override;
        virtual void ISGetProperties(const char *dev) 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;
        virtual bool Handshake() override;
 
    protected:
        virtual void getBasicData() override;
        virtual bool Park() override;
        virtual bool UnPark() override;
        virtual bool SetCurrentPark() override;
        virtual bool SetDefaultPark() override;
        virtual bool SetTrackEnabled(bool enabled) override;
        virtual bool updateLocation(double latitude, double longitude, double elevation) override;
        virtual bool setLocalDate(uint8_t days, uint8_t months, uint16_t years) override;
        virtual bool ReadScopeStatus() override;
        virtual int setSiteLongitude(int fd, double Long);
        virtual int setSiteLatitude(int fd, double Long);
        virtual bool SetTrackRate(double raRate, double deRate) override;
        virtual void slewError(int slewCode) override;
        virtual bool Sync(double ra, double dec) override;
 
        virtual bool MoveNS(INDI_DIR_NS dir, TelescopeMotionCommand command) override;
        virtual bool MoveWE(INDI_DIR_WE dir, TelescopeMotionCommand command) override;
 
        virtual bool saveConfigItems(FILE *fp) override;
        virtual void Init_Outputs();
 
        //Mount information
        MountType OSMountType = MOUNTTYPE_GEM; //default to GEM
        /*  0 = EQ mount  (Presumed default for most things.)
        *  1 = Fork
        *  2 = Fork Alt
        *  3 = Alt Azm
        */
 
        virtual bool sendScopeTime() override;
        virtual bool sendScopeLocation() override;
        virtual bool setUTCOffset(double offset) override; //azwing fix after change in lx200driver.cpp
 
        // Goto
        virtual bool Goto(double ra, double dec) override;
 
        //FocuserInterface
 
        IPState MoveFocuser(FocusDirection dir, int speed, uint16_t duration) override;
        IPState MoveAbsFocuser (uint32_t targetTicks) override;
        IPState MoveRelFocuser (FocusDirection dir, uint32_t ticks) override;
        bool AbortFocuser () override;
 
        //End FocuserInterface
 
        //RotatorInterface
 
        IPState MoveRotator(double angle) override;
        IPState HomeRotator() override;
        bool AbortRotator() override;
        bool SetRotatorBacklash (int32_t steps) override;
        bool SetRotatorBacklashEnabled(bool enabled) override;
 
        // Homing
        virtual IPState ExecuteHomeAction(TelescopeHomeAction action) override;
 
        //End RotatorInterface
 
        //PECInterface
        //axis 0=RA, 1=DEC, others?
        IPState StopPECPlayback (int axis);
        IPState StartPECPlayback (int axis);
        IPState ClearPECBuffer (int axis);
        IPState StartPECRecord (int axis);
        IPState SavePECBuffer (int axis);
        IPState PECStatus (int axis);
        IPState ReadPECBuffer (int axis);
        IPState WritePECBuffer (int axis);
        bool ISPECRecorded (int axis);
        bool OSPECEnabled = false;
        bool OSPECviaGU = false; //Older versions use :QZ# for PEC status, new can use the standard :GU#/:Gu#
        //End PECInterface
 
 
        //NewGeometricAlignment
        IPState AlignStartGeometric(int stars);
 
        IPState AlignAddStar();
        IPState AlignDone();
        IPState AlignWrite();
        virtual bool UpdateAlignStatus();
        virtual bool UpdateAlignErr();
        //End NewGeometricAlignment
        bool OSAlignCompleted = false;
 
        //Outputs
        IPState OSEnableOutput(int output);
        IPState OSDisableOutput(int output);
        bool OSGetOutputState(int output);
 
        // Reset slew rate labels
        void initSlewRates();
 
        bool sendOnStepCommand(const char *cmd);
        bool sendOnStepCommandBlind(const char *cmd);
        int flushIO(int fd);
        int getCommandSingleCharResponse(int fd, char *data, const char *cmd); //Reimplemented from getCommandString
        int getCommandSingleCharErrorOrLongResponse(int fd, char *data, const char *cmd); //Reimplemented from getCommandString
        int getCommandDoubleResponse(int fd, double *value, char *data,
                                     const char *cmd); //Reimplemented from getCommandString Will return a double, and raw value.
        int getCommandIntResponse(int fd, int *value, char *data, const char *cmd);
        int  setMinElevationLimit(int fd, int min);
        int OSUpdateFocuser(); //Return = 0 good, -1 = Communication error
        int OSUpdateRotator(); //Return = 0 good, -1 = Communication error
 
        INDI::PropertyText ObjectInfoTP {1};
 
        INDI::PropertySwitch StarCatalogSP {3};
        INDI::PropertySwitch DeepSkyCatalogSP {7};
        INDI::PropertySwitch SolarSP {10};
 
        INDI::PropertyNumber ObjectNoNP {1};
        INDI::PropertyNumber MaxSlewRateNP {1};
        INDI::PropertyNumber BacklashNP {2};
        INDI::PropertyNumber ElevationLimitNP {2};
 
        INDI::PropertyText VersionTP {4};
 
        OnStepVersion OnStepMountVersion = OSV_UNKNOWN;
 
        long int OSTimeoutSeconds = 0;
        long int OSTimeoutMicroSeconds = 100000;
 
        // OnStep Status controls
        INDI::PropertyText OnstepStatTP {11};
 
        bool TMCDrivers = true; //Set to false if it doesn't detect TMC_SPI reporting. (Small delay on connection/first update)
        bool OSHighPrecision = false;
 
        // Focuser controls
        // Focuser 1
        bool OSFocuser1 = false;
        INDI::PropertySwitch OSFocus1InitializeSP {2};
 
        // Focus T° Compensation
        INDI::PropertyNumber FocusTemperatureNP {2};
        INDI::PropertySwitch TFCCompensationSP {2};
        INDI::PropertyNumber TFCCoefficientNP {1};
        INDI::PropertyNumber TFCDeadbandNP {1};
        // End Focus T° Compensation
 
        int OSNumFocusers = 0;
        INDI::PropertySwitch OSFocusSelectSP {10};
 
        // Focuser 2
        //ISwitchVectorProperty OSFocus2SelSP;
        //ISwitch OSFocus2SelS[2];
        bool OSFocuser2 = false;
        INDI::PropertySwitch OSFocus2RateSP {4};
        INDI::PropertySwitch OSFocus2MotionSP {3};
        INDI::PropertyNumber OSFocus2TargNP {1};
 
        //Rotator - Some handled by RotatorInterface, but that's mostly for rotation only, absolute, and... very limited.
        bool OSRotator1 = false; //Change to false after detection code
        INDI::PropertySwitch OSRotatorRateSP {4};
 
        INDI::PropertySwitch OSRotatorDerotateSP {2};
 
        int IsTracking = 0;
        uint32_t m_RememberPollingPeriod {1000};
 
        // Reticle +/- Buttons
        INDI::PropertySwitch ReticSP {2};
 
        // Align Buttons
        INDI::PropertySwitch TrackCompSP {3};
        INDI::PropertySwitch TrackAxisSP {3};
        INDI::PropertySwitch FrequencyAdjustSP {3};
        INDI::PropertySwitch AutoFlipSP {2};
        INDI::PropertySwitch HomePauseSP {3};
 
        // ISwitchVectorProperty SetHomeSP;
        // ISwitch SetHomeS[2];
 
        INDI::PropertySwitch PreferredPierSideSP {3};
        INDI::PropertyNumber minutesPastMeridianNP {2};
 
        INDI::PropertySwitch OSPECStatusSP {5};
        INDI::PropertySwitch OSPECIndexSP {2};
        INDI::PropertySwitch OSPECRecordSP {3};
        INDI::PropertySwitch OSPECReadSP {2};
        INDI::PropertyNumber OSPECCurrentIndexNP {2};
        INDI::PropertyNumber OSPECUserIndexNP {2};
        INDI::PropertyNumber OSPECRWValuesNP {2}; //Current Index  and User Index
 
        INDI::PropertySwitch OSNAlignStarsSP {9};
        INDI::PropertySwitch OSNAlignSP {2};
        INDI::PropertySwitch OSNAlignWriteSP {1};
        INDI::PropertySwitch OSNAlignPolarRealignSP {2};
        INDI::PropertyText OSNAlignTP {8};
        INDI::PropertyText OSNAlignErrTP {2};
        char OSNAlignStat[RB_MAX_LEN];
 
        // Note: OSOutput1SP and OSOutput2SP are deprecated in favor of OutputPorts_NP
 
        INDI::PropertyNumber OutputPorts_NP {PORTS_COUNT};
        bool OSHasOutputs = true;
 
        INDI::PropertyNumber GuideRateNP {2};
 
        char OSStat[RB_MAX_LEN];
        char OldOSStat[RB_MAX_LEN];
 
 
        char OSPier[RB_MAX_LEN];
        char OldOSPier[RB_MAX_LEN];
 
        bool OSSeparate_Pulse_Guide_Rate = false;
        bool OSSupports_bitfield_Gu = false;
        uint8_t PECStatusGU = 0;
        uint8_t ParkStatusGU = 0;
 
        // Weather support
        // NOTE: Much is handled by WeatherInterface, these controls are mainly for setting values which are not detected
        // As of right now, if there is a sensor the values will be overwritten on the next update
        bool OSCpuTemp_good =
            true; //This can fail on some processors and take the timeout before an update, so if it fails, don't check again.
 
        INDI::PropertyNumber OSSetTemperatureNP {1};
        INDI::PropertyNumber OSSetHumidityNP {1};
        INDI::PropertyNumber OSSetPressureNP {1};
        //Not sure why this would be used, but will feed to it from site settings
        INDI::PropertyNumber OSSetAltitudeNP {1};
 
        //This is updated via other commands, as such I'm going to ignore it like some others do.
        virtual IPState updateWeather() override
        {
            return IPS_OK;
        }
 
        virtual void SyncParkStatus(bool isparked) override;
 
        virtual void SetParked(bool isparked) override;
 
        // #define DEBUG_TRACKSTATE
        void PrintTrackState();
 
    private:
        int currentCatalog;
        int currentSubCatalog;
};