mlastro_rpa.h

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/*******************************************************************************
  MLAstro Robotic Polar Alignment (RPA)
 
  Copyright (C) 2026 Jasem Mutlaq ([email protected])
 
  ESP32-based serial protocol (MLAstroRPA custom protocol).
 
  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 "defaultdevice.h"
#include "indipacinterface.h"
#include "connectionplugins/connectionserial.h"
 
class MLAstroRPA : public INDI::DefaultDevice, public INDI::PACInterface
{
    public:
        MLAstroRPA();
        virtual ~MLAstroRPA() override = default;
 
        const char *getDefaultName() override;
 
        bool ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n) override;
        bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override;
        bool ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n) override;
 
    protected:
        bool initProperties() override;
        bool updateProperties() override;
        bool saveConfigItems(FILE *fp) override;
 
        bool Handshake();
        void TimerHit() override;
 
        IPState MoveAZ(double degrees) override;
        IPState MoveALT(double degrees) override;
        IPState MoveBoth(double azDegrees, double altDegrees) override;
 
        double applyCorrectionAZ(double azDegrees) const;
        double applyCorrectionALT(double altDegrees) const;
 
        bool AbortMotion() override;
        bool SetPACSpeed(uint16_t speed) override;
        bool ReverseAZ(bool enabled) override;
        bool ReverseALT(bool enabled) override;
 
        bool    SetHome() override;
        IPState GoHome() override;
        bool    ResetHome() override;
 
        bool SyncAZ(double degrees) override;
        bool SyncALT(double degrees) override;
 
        bool SetBacklashEnabled(bool enabled) override;
        bool SetBacklashAZ(int32_t steps) override;
        bool SetBacklashALT(int32_t steps) override;
 
    private:
 
        bool sendCommand(const char *cmd, char *res = nullptr);
 
        bool parseTelemetry(const char *response);
 
        static void degreesToDMS(double degrees, int &d, int &m, int &s, bool &positive);
 
        IPState sendRelativeMove(double degrees, const char *cmdPos, const char *cmdNeg);
 
        void hexDump(char *buf, const char *data, int size);
 
 
        void checkMotionComplete();
 
 
        // ── Main Control tab ──────────────────────────────────────────────
        INDI::PropertyText StatusTP {1};
 
        INDI::PropertyLight WiFiLP {1};
 
        INDI::PropertyLight HomedLP {1};
 
        // ── Options tab ───────────────────────────────────────────────────
        INDI::PropertyNumber AzSoftLimitsNP {2};
        enum { AZ_LIMIT_MIN, AZ_LIMIT_MAX };
 
        INDI::PropertyNumber AltSoftLimitsNP {2};
        enum { ALT_LIMIT_MIN, ALT_LIMIT_MAX };
 
        INDI::PropertySwitch AltOvershootSP {2};
        enum { ALT_OVERSHOOT_ENABLED, ALT_OVERSHOOT_DISABLED };
 
        INDI::PropertySwitch AltOvershootDirSP {2};
        enum { ALT_OVERSHOOT_UP, ALT_OVERSHOOT_DOWN };
 
        INDI::PropertyNumber AltOvershootAmountNP {1};
 
        // ── Correction tab ────────────────────────────────────────────────
        // Driver-side (client) correction shaping, mirroring MLAstro's N.I.N.A.
        // implementation: the requested AZ/ALT correction is scaled by a safety
        // factor, and optionally the altitude axis applies 100% of the error and
        // then travels an overshoot distance past the target so it always settles
        // from the same direction.
 
        INDI::PropertyNumber CorrectionPercentNP {1};
 
        INDI::PropertySwitch CorrectionOvershootSP {2};
        enum { CORR_OVERSHOOT_ENABLED, CORR_OVERSHOOT_DISABLED };
 
        INDI::PropertySwitch CorrectionOvershootDirSP {2};
        enum { CORR_OVERSHOOT_UP, CORR_OVERSHOOT_DOWN };
 
        INDI::PropertyNumber CorrectionOvershootAmountNP {1};
 
        // ── Motor Config tab ──────────────────────────────────────────────
        INDI::PropertyNumber AzMotorNP {9};
        enum
        {
            AZ_RUN_CURRENT,   
            AZ_HOLD_CURRENT,  
            AZ_MICROSTEPS,    
            AZ_ACCEL,         
            AZ_DECEL,         
            AZ_STEPS_PER_DEG, 
            AZ_START_BOOST,   
            AZ_COOL_STEP,     
            AZ_RUN_MODE,      
        };
 
        INDI::PropertyNumber AltMotorNP {9};
        enum
        {
            ALT_RUN_CURRENT,
            ALT_HOLD_CURRENT,
            ALT_MICROSTEPS,
            ALT_ACCEL,
            ALT_DECEL,
            ALT_STEPS_PER_DEG,
            ALT_START_BOOST,
            ALT_COOL_STEP,
            ALT_RUN_MODE,
        };
 
        INDI::PropertySwitch SaveRebootSP {1};
 
        // ── Network tab ──────────────────────────────────────────────────
        INDI::PropertyText StationSSIDTP {1};
 
        INDI::PropertyText StationPasswordTP {1};
 
        INDI::PropertyText APConfigTP {2};
        enum { AP_SSID, AP_IP };
 
        INDI::PropertyText APPasswordTP {1};
 
        // ── Info tab ──────────────────────────────────────────────────────
        INDI::PropertyText FirmwareInfoTP {2};
        enum { FIRMWARE_VERSION, FIRMWARE_SERIAL };
 
        INDI::PropertyText WiFiInfoTP {6};
        enum { WIFI_INFO_AP_SSID, WIFI_INFO_AP_IP, WIFI_INFO_AP_MAC,
               WIFI_INFO_STA_SSID, WIFI_INFO_STA_IP, WIFI_INFO_STA_MAC };
 
        bool m_IsMoving        {false};   
        bool m_IsHoming        {false};   
        bool m_IsHomed         {false};   
 
        bool m_BacklashLogged  {false};
 
        double m_OvshD {0}, m_OvshM {0}, m_OvshS {0};
 
        int  PortFD            {-1};
        Connection::Serial *serialConnection {nullptr};
 
        static constexpr uint8_t  DRIVER_TIMEOUT   {5};     
        static constexpr uint16_t DRIVER_LEN        {2048};  
        static constexpr char     DRIVER_STOP_CHAR  {'\n'};  
        static constexpr const char *MOTOR_CONFIG_TAB {"Motor Config"};
        static constexpr const char *NETWORK_TAB      {"Network"};
        static constexpr const char *INFO_TAB         {"Info"};
        static constexpr const char *CORRECTION_TAB   {"Correction"};
};