lx200_esp32go.cpp

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/*
    LX200 esp32go
    based on LX200 generic with some bits from LX200_onStep driver 
 
    Copyright (C) 2003 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
 
*/
 
#include "lx200_esp32go.h"
#include "lx200driver.h"
 
#include <cstring>
#include <mutex>
#include <unistd.h>
 
#define FIRMWARE_TAB "Firmware data"
extern std::mutex lx200CommsLock;
 
LX200_esp32go::LX200_esp32go() : LX200Generic()
{
    setVersion(1, 0);
    trackingMode   = TRACK_SIDEREAL;
    
    setLX200Capability(LX200_HAS_PULSE_GUIDING);
 
    SetTelescopeCapability(TELESCOPE_CAN_PARK | TELESCOPE_CAN_SYNC | TELESCOPE_CAN_GOTO | TELESCOPE_CAN_ABORT |
                           TELESCOPE_HAS_TIME | TELESCOPE_HAS_LOCATION | TELESCOPE_HAS_PIER_SIDE |
                           TELESCOPE_HAS_TRACK_MODE | TELESCOPE_CAN_CONTROL_TRACK | TELESCOPE_CAN_HOME_GO |
                           TELESCOPE_CAN_HOME_SET,
                           4);
 
    FI::SetCapability(FOCUSER_CAN_ABS_MOVE | FOCUSER_CAN_REL_MOVE | FOCUSER_CAN_ABORT);
}
 
const char *LX200_esp32go::getDefaultName()
{
    return "LX200 esp32go";
}
 
bool LX200_esp32go::initProperties()
{
    LX200Generic::initProperties();
 
    tcpConnection->setDefaultHost("192.168.4.1");
    tcpConnection->setDefaultPort(10001);
 
    if (strstr(getDeviceName(), "WiFi"))
        setActiveConnection(tcpConnection);
  
    GuideRateNP[0].fill("GUIDE_RATE_WE", "W/E Rate", "%g",  0, 2, 0.05, 0.5);
    GuideRateNP[1].fill("GUIDE_RATE_NS", "N/S Rate", "%g", 0, 2, 0.05, 0.5);
    GuideRateNP.fill(getDeviceName(), "GUIDE_RATE", "Guide Rate", MOTION_TAB, IP_RO, 0, IPS_IDLE);
 
    // ============== FIRMWARE_TAB
    VersionTP[0].fill("Date", "", "");
    VersionTP[1].fill("Time", "", "");
    VersionTP[2].fill("Number", "", "");
    VersionTP[3].fill("Name", "", "");
    VersionTP.fill(getDeviceName(), "Firmware Info", "", FIRMWARE_TAB, IP_RO, 0, IPS_IDLE);
 
    // Overwrite TRACK_CUSTOM label, with KING
    TrackModeSP[TRACK_CUSTOM].fill("TRACK_CUSTOM", "King", ISS_OFF);
 
    if(activeFocus)
    {
        //FocuserInterface
        FI::initProperties(FOCUS_TAB);
        //Initial, these will be updated later.
        FocusRelPosNP[0].setMin(0.);
        FocusRelPosNP[0].setMax(5000.);
        FocusRelPosNP[0].setValue(0);
        FocusRelPosNP[0].setStep(10);
        FocusAbsPosNP[0].setMin(0.);
        FocusAbsPosNP[0].setMax(100000.);
        FocusAbsPosNP[0].setValue(0);
        FocusAbsPosNP[0].setStep(10);
 
        setDriverInterface(getDriverInterface() | FOCUSER_INTERFACE);
 
        FI::updateProperties();
    }
    return true;
}
 
void LX200_esp32go::ISGetProperties(const char *dev)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) != 0)
        return;
 
    // process parent first
    LX200Generic::ISGetProperties(dev);
 
}
 
bool LX200_esp32go::updateProperties()
{
    LX200Generic::updateProperties();
 
    if(activeFocus)
        FI::updateProperties();
 
    if (isConnected())
    {
        if(!picgotoMode)
        {
            defineProperty(GuideRateNP);
            defineProperty(VersionTP);
        }
    }
    else
    {
        deleteProperty(GuideRateNP);
        deleteProperty(VersionTP);
    }
 
    return true;
}
 
bool LX200_esp32go::ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n)
{
    return LX200Generic::ISNewNumber(dev, name, values, names, n);
}
 
bool LX200_esp32go::UnPark()
{
    SetParked(false);
    SetTrackEnabled(true);
 
    return true;
}
 
bool LX200_esp32go::Park()
{
    if(picgotoMode)
    {
        LOG_WARN("Parking is not implemented in PicGoto mode. Consider upgrading to ESP32go.");
        return true;
    }
    return LX200Generic::Park();
}
 
bool LX200_esp32go::ReadScopeStatus()
{
    if (!isConnected())
        return false;
 
    if (isSimulation())
    {
        mountSim();
        return true;
    }
    
    bool longPoll = false;
    bool _checkTracking = false;
    longPollCounter++;
    if(longPollCounter > longPollCycle)
    {
        longPollCounter = 0;
        longPoll = true;
    }
 
    flushIO(PortFD);
 
    if (HomeSP.getState() == IPS_BUSY && isSlewComplete())
    {
        HomeSP.reset();
        HomeSP.setState(IPS_OK);
        LOG_INFO("Arrived at home.");
        HomeSP.apply();
        TrackState = SCOPE_IDLE;
    }
    else if (TrackState == SCOPE_SLEWING)
    {
        if (!picgotoMode && isSlewComplete())
        {
            SlewRateSP.reset();
            SlewRateSP[SLEW_CENTERING].setState(ISS_ON);
            SlewRateSP.apply();
 
            TrackState = SCOPE_TRACKING;
            LOG_INFO("Slew is complete. Tracking...");
        }
        if(picgotoMode)
        {
            //LOG_INFO("Blind slew. Will track when complete...");
        }
    }
    else if (TrackState == SCOPE_PARKING)
    {
        if (!picgotoMode || isSlewComplete())
        {
            SetParked(true);
        }
    }
    else
    {
        _checkTracking = true;
    }
 
    if (getLX200RA(PortFD, &currentRA) < 0 || getLX200DEC(PortFD, &currentDEC) < 0)
    {
        EqNP.setState(IPS_ALERT);
        LOG_ERROR("Error reading RA/DEC.");
        EqNP.apply();
        return false;
    }
    NewRaDec(currentRA, currentDEC);
 
 
    if(canGetStatus) // :GU# supported
    {
        char statusData[RBB_MAX_LEN] = {0};
        int error_or_fail = getCommandSingleCharErrorOrLongResponse(PortFD, statusData, ":GU#",false);
        //char read_buffer[1024];
        //snprintf(read_buffer,sizeof(read_buffer),"read: %d",error_or_fail);
        //LOG_ERROR(read_buffer);
        if (error_or_fail > 1)
        {
            //LOG_INFO(statusData);
            if (strstr(statusData, "S")) //slewing (S/s)
            {
                if(TrackState != SCOPE_SLEWING && TrackState != SCOPE_PARKING)
                    TrackState = SCOPE_SLEWING;
                _checkTracking = false;
            }
 
            if (strstr(statusData, "P")) //parked (P/p)
            {
                if(TrackState != SCOPE_PARKED && !strstr(statusData, "S"))
                    SetParked(true);
            }
            else
            {
                if(TrackState == SCOPE_PARKED)
                {
                    UnPark();
                    _checkTracking = false;
                }
            }
 
            if (strstr(statusData, "W")) //pierSide (E/W)
                setPierSide(PIER_WEST);
            else
                setPierSide(PIER_EAST);
            // 1-4 tracking rates (0=track off)
            TelescopeTrackMode _TrackingMode = TRACK_SIDEREAL;
            TelescopeTrackMode _PreviousTrackingMode = TRACK_SIDEREAL;
            if(TrackModeSP[TRACK_LUNAR].getState() == ISS_ON)
                _PreviousTrackingMode = TRACK_LUNAR;
            else if(TrackModeSP[TRACK_SOLAR].getState() == ISS_ON)
                _PreviousTrackingMode = TRACK_SOLAR;
            else if(TrackModeSP[TRACK_CUSTOM].getState() == ISS_ON)
                _PreviousTrackingMode = TRACK_CUSTOM;
 
            if (strstr(statusData, "4")) //KING/CUSTOM
                _TrackingMode = TRACK_CUSTOM;
            else if (strstr(statusData, "3")) //LUNAR
                _TrackingMode = TRACK_LUNAR;
            else if (strstr(statusData, "2")) //SOLAR
                _TrackingMode = TRACK_SOLAR;
 
            if(_TrackingMode != _PreviousTrackingMode)
            {
                TrackModeSP.reset();
                TrackModeSP[_TrackingMode].setState(ISS_ON);
                TrackModeSP.setState(IPS_OK);
                TrackModeSP.apply();
            }
            
            if(_checkTracking)
            {
                auto wasTracking = (TrackStateSP[INDI_ENABLED].getState() == ISS_ON);
                auto nowTracking = ISS_ON;
                if(strstr(statusData, "t"))
                    nowTracking = ISS_OFF;
                if (wasTracking != nowTracking)
                    TrackState = nowTracking ? SCOPE_TRACKING : SCOPE_IDLE;
            }
        }
        else
        {
            LOG_ERROR("Error reading mount status.");
            return false;
        }
 
    }
    else
    {
        // track mode
        if(trackmodeUpdate || TrackModeSP[0].getState() != ISS_ON)
        {
            trackmodeUpdate = false;
            trackingMode   = TRACK_SIDEREAL;
            TrackModeSP.reset();
            TrackModeSP[0].setState(ISS_ON);
            TrackModeSP.setState(IPS_OK);
            TrackModeSP.apply();
            LOG_WARN("SetTrackMode not supported in this mode. Please consider upgrading. Back to Sidereal");
        }
 
        // pier side
        if(!picgotoMode)
        {
            if(longPoll)
            {
                char resp[64];
                if(getCommandString(PortFD, resp, ":pS#") < 0)
                {
                    LOG_ERROR("Error reading Pier side.");
                    return false;
                }
                if(!strcmp(resp,"EAST"))
                    setPierSide(PIER_EAST);
                else if (!strcmp(resp,"WEST"))
                    setPierSide(PIER_WEST);
                else
                    setPierSide(PIER_UNKNOWN);
            }
        }
        else
        {
            setPierSide(PIER_UNKNOWN);
        }
 
    }
    // guide rate
    if(!picgotoMode && longPoll && guideUpdate)
    {
        double pulseguiderate = 0.0;
        if(getCommandSexa(PortFD, &pulseguiderate, ":cg#") < 0)
        {
            LOG_ERROR("Error reading GuideRate for RA.");
            return false;
        }
        GuideRateNP[0].setValue(pulseguiderate);
        if(getCommandSexa(PortFD, &pulseguiderate, ":cj#") < 0)
        {
            LOG_ERROR("Error reading GuideRate for DEC.");
            return false;
        }
        GuideRateNP[1].setValue(pulseguiderate);
        GuideRateNP.apply();
    }    
 
    // --- Focuser
    if(activeFocus)
    {
        if (UpdateFocuser() != 0)  // Update Focuser Position
        {
            LOG_WARN("Communication error on Focuser Update, this update aborted, will try again...");
            return true; //COMMUNICATION ERROR, BUT DON'T PUT TELESCOPE IN ERROR STATE
        }
    }
 
 
 
    
    return true;
}
 
 
// copied from LX200_OnStep driver
int LX200_esp32go::getCommandSingleCharErrorOrLongResponse(int fd, char *data, const char *cmd, bool shortTimeout)
{
    char *term;
    int error_type;
    int nbytes_write = 0, nbytes_read = 0;
 
    DEBUGF(DBG_SCOPE, "CMD <%s>", cmd);
 
    flushIO(fd);
    /* Add mutex */
    std::unique_lock<std::mutex> guard(lx200CommsLock);
    tcflush(fd, TCIFLUSH);
 
    if ((error_type = tty_write_string(fd, cmd, &nbytes_write)) != TTY_OK)
        return error_type;
 
    long int timeout = OSTimeoutMicroSeconds;
    if(shortTimeout)
        timeout = timeout / 4;
 
    error_type = tty_nread_section_expanded(fd, data, RBB_MAX_LEN, '#', OSTimeoutSeconds, timeout, &nbytes_read);
    tcflush(fd, TCIFLUSH);
 
    term = strchr(data, '#');
    if (term)
        *term = '\0';
    if (nbytes_read < RBB_MAX_LEN) //If within buffer, terminate string with \0 (in case it didn't find the #)
    {
        data[nbytes_read] = '\0'; //Indexed at 0, so this is the byte passed it
    }
    else
    {
        LOG_DEBUG("got RBB_MAX_LEN bytes back, last byte set to null and possible overflow");
        data[RBB_MAX_LEN - 1] = '\0';
    }
 
    DEBUGF(DBG_SCOPE, "RES <%s>", data);
 
    if (error_type != TTY_OK)
    {
        LOGF_DEBUG("Error %d", error_type);
        return error_type;
    }
    return nbytes_read;
 
}
 
// copied from LX200_OnStep driver
int LX200_esp32go::flushIO(int fd)
{
    tcflush(fd, TCIOFLUSH);
    int error_type = 0;
    int nbytes_read;
    std::unique_lock<std::mutex> guard(lx200CommsLock);
    tcflush(fd, TCIOFLUSH);
    do
    {
        char discard_data[RBB_MAX_LEN] = {0};
        error_type = tty_nread_section_expanded(fd, discard_data, sizeof(discard_data), '#', 0, 1000, &nbytes_read);
        if (error_type >= 0)
        {
            LOGF_DEBUG("flushIO: Information in buffer: Bytes: %u, string: %s", nbytes_read, discard_data);
        }
        //LOGF_DEBUG("flushIO: error_type = %i", error_type);
    }
    while (error_type > 0);
    return 0;
}
 
// copied from LX200_OnStep driver
int LX200_esp32go::getCommandSingleCharResponse(int fd, char *data, const char *cmd)
{
    char *term;
    int error_type;
    int nbytes_write = 0, nbytes_read = 0;
 
    DEBUGF(DBG_SCOPE, "CMD <%s>", cmd);
 
    flushIO(fd);
    /* Add mutex */
    std::unique_lock<std::mutex> guard(lx200CommsLock);
 
    if ((error_type = tty_write_string(fd, cmd, &nbytes_write)) != TTY_OK)
        return error_type;
 
    error_type = tty_read_expanded(fd, data, 1, OSTimeoutSeconds, OSTimeoutMicroSeconds, &nbytes_read);
    tcflush(fd, TCIFLUSH);
 
    if (error_type != TTY_OK)
        return error_type;
 
    term = strchr(data, '#');
    if (term)
        *term = '\0';
    if (nbytes_read < RBB_MAX_LEN) //given this function that should always be true, as should nbytes_read always be 1
    {
        data[nbytes_read] = '\0';
    }
    else
    {
        LOG_DEBUG("got RB_MAX_LEN bytes back (which should never happen), last byte set to null and possible overflow");
        data[RBB_MAX_LEN - 1] = '\0';
    }
 
    DEBUGF(DBG_SCOPE, "RES <%s>", data);
 
    return nbytes_read;
}
 
 
void LX200_esp32go::splitString(const char *str, char array[][100], int *count) {
    const char *start = str;
    const char *end;
    *count = 0;
 
    while ((end = strchr(start, '\n')) != NULL) {
        size_t length = end - start;
        strncpy(array[*count], start, length);
        array[*count][length] = '\0'; // Null-terminate the string
        (*count)++;
        start = end + 1; // Move past the newline
    }
    // Handle the last line if it doesn't end with a newline
    if (*start) {
        strcpy(array[*count], start);
        (*count)++;
    }
}
 
bool LX200_esp32go::SetTrackEnabled(bool enabled) //track On/Off events handled by inditelescope
{
    if (enabled)
    {
        sendCommandBlind(":Qw#");
        TrackState = SCOPE_TRACKING;
        LOG_INFO("Tracking enabled");
    }
    else
    {
        sendCommandBlind(":Mh#");
        TrackState = SCOPE_IDLE;
        LOG_INFO("Tracking disabled");
    }
    return true;
}
 
bool LX200_esp32go::SetTrackMode(uint8_t mode)
{
    if (isSimulation())
        return true;
    
    LOGF_DEBUG("SetTrackMode: %d", mode);
 
    char buffer[1024];
    //snprintf(buffer,sizeof(buffer),"SetTrackMode: %d",mode);
    //LOG_WARN(buffer);
 
    if(canGetStatus)
    {
        switch(mode)
        {    
            case TRACK_SIDEREAL:
                return sendCommandBlind(":TQ#");
                break;
            case TRACK_SOLAR:
                return sendCommandBlind(":TS#");
                break;
            case TRACK_LUNAR:
                return sendCommandBlind(":TL#");
                break;
            case TRACK_CUSTOM: // KING
                return sendCommandBlind(":TK#");
                break;
            default:
                snprintf(buffer,sizeof(buffer),"TrackMode: %d not supported",mode);
                LOG_WARN(buffer);
        }
    }
    return true;
}
 
 
bool LX200_esp32go::goHome()
{
    return sendCommandBlind(":hP#");
}
 
bool LX200_esp32go::setHome()
{
    return sendCommandBlind(":pH#");
}
 
IPState LX200_esp32go::ExecuteHomeAction(TelescopeHomeAction action)
{
    switch (action)
    {
        case HOME_GO:
            if(picgotoMode)
            {
                LOG_WARN("Going Home is not implemented in PicGoto mode. Consider upgrading to ESP32go.");
                return IPS_OK;
            }
            if (goHome())
                return IPS_BUSY;
            else
                return IPS_ALERT;
 
        case HOME_SET:
            if(picgotoMode)
            {
                LOG_WARN("Home reset is not implemented in PicGoto mode. Consider upgrading to ESP32go.");
                return IPS_OK;
            }
            LOG_INFO("Resetting current position to Home");
            if(setHome())
            {
                TrackState = SCOPE_IDLE;
                return IPS_OK;
            }
            else
            {
                return IPS_ALERT;
            }
 
        case HOME_FIND:
            LOG_WARN("Finding home position is not supported.");
            return IPS_ALERT;
 
        default:
            return IPS_ALERT;
    }
}
 
void LX200_esp32go::getBasicData()
{
    // process parent
    LX200Generic::getBasicData();
 
    bool _MountTypeSP_Apply = false;
    bool _TrackStateSP_Apply = false;
    bool _VersionTP_Apply = false;
    bool _GuideRateNP_Apply = false;
    bool _SetParked = false;
 
    guideUpdate = false; 
    trackmodeUpdate = false;
    picgotoMode = false;
    activeFocus = true; 
    canGetStatus = false;
 
    if (!isSimulation())
    {
 
        char configData[RBB_MAX_LEN];
        int error_or_fail = getCommandSingleCharErrorOrLongResponse(PortFD, configData, ":cA#",true);
        if (error_or_fail > 1)
        {
            LOG_INFO("ESP32go config read");
            //LOG_INFO(configData);
            char lines[26][100];
            int lineCount;
            splitString(configData, lines, &lineCount);
            // az guide rate index 2
            GuideRateNP[0].setValue(atof(lines[2]));
            // az guide rate index 6
            GuideRateNP[1].setValue(atof(lines[6]));
            _GuideRateNP_Apply=true;
 
            // mount mode index 18
            MountTypeSP.reset();
            if(*lines[18]=='1')
            {
                //LOG_INFO("Mount AltAz");
                MountTypeSP[MOUNT_ALTAZ].setState(ISS_ON);
            }
            else if(*lines[18]=='2')
            {
                //LOG_INFO("Mount FORK");
                MountTypeSP[MOUNT_EQ_FORK].setState(ISS_ON);
            }
            else // default GEM
            {
                //LOG_INFO("Mount DEFAULT/GEM");
                MountTypeSP[MOUNT_EQ_GEM].setState(ISS_ON);
            }
            _MountTypeSP_Apply=true;
        }
        else
        {
            LOG_WARN("Cannot check configuration. Activating limited PicGoto mode");
            picgotoMode = true;
            activeFocus = false;
            char MountAlign[2];
            *MountAlign = ACK(PortFD); // get mount type from ACK response
            MountTypeSP.reset();
            if(MountAlign[0] == 'A')
            {
                //LOG_INFO("Mount AltAz");
                MountTypeSP[MOUNT_ALTAZ].setState(ISS_ON);
            }
            else
            {
                //LOG_INFO("Mount Default/GEM");
                MountTypeSP[MOUNT_EQ_GEM].setState(ISS_ON); // Default GEM
            }
            _MountTypeSP_Apply=true;
        }
        double version = 0.0;
        if(picgotoMode || getCommandSexa(PortFD, &version, ":GVN#") < 0)
        {
            if(!picgotoMode)
                LOG_WARN("Cannot check FW version. Activating limited PicGoto mode");
 
            picgotoMode = true;
            activeFocus = false;
        }
        else
        {
            if(version > 5)
            {
                guideUpdate = true;
                //LOG_INFO("Updated version");
                // check :GU# support
                canGetStatus = false;
                char statusData[RBB_MAX_LEN] = {0};
                error_or_fail = getCommandSingleCharErrorOrLongResponse(PortFD, statusData, ":GU#",false);
                if (error_or_fail > 1)
                {
                    canGetStatus = true;
                    //LOG_INFO("Status and TrackMode supported.");
                    // initial tracking state
                    if (strstr(statusData, "T"))
                    {
                        TrackStateSP[TRACK_ON].setState(ISS_ON);
                        TrackStateSP[TRACK_OFF].setState(ISS_OFF);
                        TrackState = SCOPE_TRACKING;
                    }
                    else
                    {
                        TrackStateSP[TRACK_ON].setState(ISS_OFF);
                        TrackStateSP[TRACK_OFF].setState(ISS_ON);
                        TrackState = SCOPE_IDLE;
                    }
                    _TrackStateSP_Apply=true;
                    // initial parking status
                    if (strstr(statusData, "P")) //parked (P/p)
                    {
                        if(TrackState != SCOPE_PARKED && !strstr(statusData, "S"))
                        {
                            _SetParked = true;
                        }
                    }
                }
                else
                {
                    LOG_INFO("Status and TrackMode NOT supported. Consider updating FW.");
                }
            }
            else
            {
                //LOG_INFO("preDrv version");
                LOG_INFO("Pre v06.3 FW. Dectivating guidePulse periodic check");
            }
            char buffer[128] = {0};
            getVersionDate(PortFD, buffer);
            VersionTP[0].setText(buffer);
            getVersionTime(PortFD, buffer);
            VersionTP[1].setText(buffer);
            getVersionNumber(PortFD, buffer);
            VersionTP[2].setText(buffer);
            getProductName(PortFD, buffer);
            VersionTP[3].setText(buffer);
            _VersionTP_Apply=true;
        }
        if(!canGetStatus)
        {
            // initial tracking state
            char isTracking[4];
            if(!picgotoMode && getCommandSingleCharResponse(PortFD, isTracking, ":Gk#") < 0)
            {
                LOG_ERROR("Error reading tracking status.");
            }
            else
            {
                if (picgotoMode || strcmp(isTracking, "1")==0)
                {
                    TrackStateSP[TRACK_ON].setState(ISS_ON);
                    TrackStateSP[TRACK_OFF].setState(ISS_OFF);
                    TrackState = SCOPE_TRACKING;
                }
                else
                {
                    TrackStateSP[TRACK_ON].setState(ISS_OFF);
                    TrackStateSP[TRACK_OFF].setState(ISS_ON);
                    TrackState = SCOPE_IDLE;
                }
                _TrackStateSP_Apply=true;
                //LOG_INFO("TrackState read");
            }
        }
    }
    if(activeFocus)
        LOG_INFO("Focuser is active");
 
    if(_MountTypeSP_Apply)
        MountTypeSP.apply();
    if(_TrackStateSP_Apply)
        TrackStateSP.apply();
    if(_GuideRateNP_Apply)
        GuideRateNP.apply();
    if(_VersionTP_Apply)
        VersionTP.apply();
    if(_SetParked)
        SetParked(true);
 
}
 
 
bool LX200_esp32go::sendCommandBlind(const char *cmd)
{
    int error_type;
    int nbytes_write = 0;
 
    DEBUGF(DBG_SCOPE, "CMD <%s>", cmd);
 
    flushIO(PortFD);
    /* Add mutex */
    std::unique_lock<std::mutex> guard(lx200CommsLock);
    tcflush(PortFD, TCIFLUSH);
 
 
    if ((error_type = tty_write_string(PortFD, cmd, &nbytes_write)) != TTY_OK)
    {
        LOGF_ERROR("CHECK CONNECTION: Error sending command %s", cmd);
        return 0; //Fail if we can't write
        //return error_type;
    }
 
    return 1;
}
// -----------------
// FOCUSER INTERFACE
 
IPState LX200_esp32go::MoveAbsFocuser (uint32_t targetTicks)
{
    if(!activeFocus)
        return IPS_OK;
    //LOG_INFO("FOCUSER MoveAbsFocuser");
    if (FocusAbsPosNP[0].getMax() >= int(targetTicks) && FocusAbsPosNP[0].getMin() <= int(targetTicks))
    {
        char read_buffer[32];
        snprintf(read_buffer, sizeof(read_buffer), ":FA+%05d#", int(targetTicks));
        //LOG_INFO(read_buffer);
        sendCommandBlind(read_buffer);
        return IPS_BUSY; // Normal case, should be set to normal by update.
    }
    else
    {
        LOG_INFO("Unable to move focuser, out of range");
        return IPS_ALERT;
    }
}
 
IPState LX200_esp32go::MoveRelFocuser (FocusDirection dir, uint32_t ticks)
{
    if(!activeFocus)
        return IPS_OK;
    //LOG_INFO("FOCUSER MoveRelFocuser");
    char read_buffer[32];
    char s = (dir == FOCUS_INWARD ? '-':'+');
    snprintf(read_buffer, sizeof(read_buffer), ":FP%c%05d#", s, ticks);
    //LOG_INFO(read_buffer);
    sendCommandBlind(read_buffer);
    return IPS_BUSY; // Normal case, should be set to normal by update.
}
 
bool LX200_esp32go::AbortFocuser ()
{
    LOG_INFO("FOCUSER AbortFocuser");
    //  :FQ#   Stop the focuser
    //         Returns: Nothing
    char cmd[CMDB_MAX_LEN] = {0};
    strncpy(cmd, ":FQ#", sizeof(cmd));
    return sendCommandBlind(cmd);
}
 
int LX200_esp32go::UpdateFocuser()
{
    if(!activeFocus)
        return false;
 
    bool busy = false;
    //char value[RBB_MAX_LEN] = {0};
    int value_int;
    if(getCommandInt(PortFD, &value_int, ":FB#") < 0)
    {
        LOG_ERROR("Error reading focuser status.");
        return false;
    }
    if(value_int == 1) // moving
    {
        busy = true;
        FocusAbsPosNP.setState(IPS_BUSY);    
        FocusRelPosNP.setState(IPS_BUSY);
    }
    if(getCommandInt(PortFD, &value_int, ":Fp#") < 0)
    {
        FocusAbsPosNP.setState(IPS_ALERT);
        FocusAbsPosNP.apply();
        FocusRelPosNP.setState(IPS_ALERT);
        FocusRelPosNP.apply();
        LOG_ERROR("Error reading focuser position.");
        return false;
    }
    
    if(FocusAbsPosNP[0].getValue() == value_int) // no change, no need to update
        return 0;
 
    //LOG_INFO("FOCUSER STATUS UPDATED");
    FocusAbsPosNP[0].setValue(value_int);
    //double current = FocusAbsPosNP[0].getValue();
    if(!busy)
    {
        FocusAbsPosNP.setState(IPS_OK);
        FocusRelPosNP.setState(IPS_OK);
    }
    LOGF_DEBUG("Current focuser: %d, %f", value_int, FocusAbsPosNP[0].getValue());
 
    FocusAbsPosNP.apply();
    FocusRelPosNP.apply();
    //FI::updateProperties();
 
    return 0;
}