oapa.h

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/*******************************************************************************
  OAPA - Open Automatic Polar Alignment
 
  Copyright (C) 2026 Michele Bergo
 
  OAPA wire protocol (GRBL-style text lines, 115200 8N1).
 
  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 <chrono>
 
namespace Connection
{
class Serial;
class TCP;
}
 
class OAPA : public INDI::DefaultDevice, public INDI::PACInterface
{
    public:
        OAPA();
        virtual ~OAPA() 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;
 
    protected:
        bool initProperties() override;
        bool updateProperties() override;
        bool saveConfigItems(FILE *fp) override;
 
        bool Handshake();
        void TimerHit() override;
 
        // PACInterface - axis movement
        IPState MoveAZ(double degrees) override;
        IPState MoveALT(double degrees) override;
        IPState MoveBoth(double azDegrees, double altDegrees) override;
 
        // PACInterface - abort and reverse
        bool AbortMotion() override;
        bool ReverseAZ(bool enabled) override;
        bool ReverseALT(bool enabled) override;
 
    private:
        struct Status
        {
            bool moving {false};
            double x {0};           
            double y {0};           
            char version[16] {0};   
        };
 
        bool sendCommand(const char *cmd, char *res);
 
        void drainInput();
 
        bool queryStatus(Status &status);
 
        static bool parseStatus(const char *line, Status &status);
 
        bool sendDriverSetting(char type, int axis, double value);
 
        bool pushDriverConfig();
 
        IPState startMove(double azDegrees, double altDegrees);
 
        double degreesToSteps(double degrees, int axis);
 
        bool isReversed(int axis);
        void updatePosition(const Status &status);
        void checkMove(const Status &status);
        void finishMove(IPState state, const char *message);
 
        enum
        {
            AXIS_AZ,
            AXIS_ALT
        };
 
        // Jog speed per axis in steps/s, sent as the F feed of each jog.
        INDI::PropertyNumber AxisSpeedNP {2};
 
        // Motor steps per arcminute of polar-axis correction, per axis. 0 = not calibrated.
        INDI::PropertyNumber StepsPerArcminNP {2};
 
        // TMC driver run current (mA) and hold current (% of run), per axis.
        INDI::PropertyNumber MotorCurrentNP {2};
        INDI::PropertyNumber MotorHoldNP {2};
 
        // Read-only firmware version reported in the status frame.
        INDI::PropertyText FirmwareTP {1};
 
        using Clock = std::chrono::steady_clock;
 
        bool m_MoveActive {false};
        double m_TargetX {0}, m_TargetY {0};
        double m_LastX {0}, m_LastY {0};
        Clock::time_point m_LastProgress;
        Clock::time_point m_Deadline;
 
        int PortFD {-1};
        Connection::Serial *serialConnection {nullptr};
        Connection::TCP *tcpConnection {nullptr};
 
        static constexpr int    DRIVER_TIMEOUT       {2};      
        static constexpr int    DRIVER_LEN           {128};    
        static constexpr char   DRIVER_STOP_CHAR     {'\n'};
        static constexpr int    HANDSHAKE_ATTEMPTS   {6};      
        static constexpr int    DEFAULT_TCP_PORT     {2323};   
        static constexpr int    MIN_SPEED            {50};     
        static constexpr int    MAX_SPEED            {3000};   
        static constexpr int    DEFAULT_SPEED        {1000};   
        static constexpr int    MIN_RUN_CURRENT      {100};    
        static constexpr int    MAX_RUN_CURRENT      {2000};   
        static constexpr int    DEFAULT_RUN_CURRENT  {600};    
        static constexpr int    DEFAULT_HOLD_PERCENT {25};     
        static constexpr double ACCELERATION         {1000};   
        static constexpr double POSITION_TOLERANCE   {1.0};    
        static constexpr double STALL_SECONDS        {3.0};    
};