pegasus_ppba.cpp

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/*******************************************************************************
  Copyright(c) 2019 Jasem Mutlaq. All rights reserved.
 
  Pegasus Pocket Power Box Advance Driver.
 
  This program is free software; you can redistribute it and/or modify it
  under the terms of the GNU General Public License as published by the Free
  Software Foundation; either version 2 of the License, or (at your option)
  any later version.
 
  This program 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 General Public License for
  more details.
 
  You should have received a copy of the GNU Library General Public License
  along with this library; see the file COPYING.LIB.  If not, write to
  the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
  Boston, MA 02110-1301, USA.
 
  The full GNU General Public License is included in this distribution in the
  file called LICENSE.
*******************************************************************************/
 
#include "pegasus_ppba.h"
#include "indicom.h"
#include "connectionplugins/connectionserial.h"
 
#include <regex>
#include <termios.h>
#include <chrono>
#include <iomanip>
 
// We declare an auto pointer to PegasusPPBA.
static std::unique_ptr<PegasusPPBA> ppba(new PegasusPPBA());
 
PegasusPPBA::PegasusPPBA() : INDI::DefaultDevice(), FI(this), WI(this), PI(this)
{
    setVersion(1, 4);
    lastSensorData.reserve(PA_N);
    lastConsumptionData.reserve(PS_N);
    lastMetricsData.reserve(PC_N);
}
 
bool PegasusPPBA::initProperties()
{
    INDI::DefaultDevice::initProperties();
 
    setDriverInterface(AUX_INTERFACE | WEATHER_INTERFACE | POWER_INTERFACE);
 
    FI::SetCapability(FOCUSER_CAN_ABS_MOVE |
                      FOCUSER_CAN_REL_MOVE |
                      FOCUSER_CAN_REVERSE  |
                      FOCUSER_CAN_SYNC     |
                      FOCUSER_CAN_ABORT    |
                      FOCUSER_HAS_BACKLASH);
 
    FI::initProperties(FOCUS_TAB);
    WI::initProperties(ENVIRONMENT_TAB, ENVIRONMENT_TAB);
 
    addAuxControls();
 
    // Reboot
    RebootSP[0].fill("REBOOT", "Reboot Device", ISS_OFF);
    RebootSP.fill(getDeviceName(), "REBOOT_DEVICE", "Device", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1,
                  60, IPS_IDLE);
 
    PI::SetCapability(POWER_HAS_DC_OUT | POWER_HAS_DEW_OUT | POWER_HAS_VARIABLE_OUT |
                      POWER_HAS_VOLTAGE_SENSOR | POWER_HAS_OVERALL_CURRENT | POWER_HAS_PER_PORT_CURRENT |
                      POWER_HAS_LED_TOGGLE | POWER_HAS_AUTO_DEW);
    // Power Interface properties
    // 1 DC output, 2 DEW outputs, 0 Variable output (individually implemented), 1 Auto Dew ports (Global), 0 USB ports
    PI::initProperties(POWER_TAB, 1, 2, 0, 1, 0);
 
    // overwrite labels to device labelling defaults
    DewChannelsSP.setLabel("Dew Heater");
    for (size_t i = 0; i < DewChannelsSP.size(); i++)
    {
        std::string name (1, static_cast<char>('A' + i));
        DewChannelLabelsTP[i].setLabel("Dew " + name);
        DewChannelLabelsTP[i].setText("Dew " + name);
    }
    if (PowerChannelLabelsTP.size() > 0 && PowerChannelCurrentNP.size() > 0)
    {
        PowerChannelLabelsTP[0].setLabel("Quad Output");
        PowerChannelLabelsTP[0].setText("Enable 12V ports");
        PowerChannelCurrentNP[0].setLabel("12 V current (A)");
    }
 
    // set the labels to the configured values
    DewChannelLabelsTP.load();
    for (size_t i = 0; i < DewChannelsSP.size(); i++)
    {
        char dewChannelLabel[MAXINDILABEL];
        char dewDutyCycleLabel[MAXINDILABEL];
        char dewChannelCurrentLabel[MAXINDILABEL];
        snprintf(dewChannelLabel, MAXINDILABEL, "%s", DewChannelLabelsTP[i].getText());
        snprintf(dewDutyCycleLabel, MAXINDILABEL, "%s (%%)", DewChannelLabelsTP[i].getText());
        snprintf(dewChannelCurrentLabel, MAXINDILABEL, "%s (A)", DewChannelLabelsTP[i].getText());
        DewChannelsSP[i].setLabel(dewChannelLabel);
        DewChannelDutyCycleNP[i].setLabel(dewDutyCycleLabel);
        DewChannelCurrentNP[i].setLabel(dewChannelCurrentLabel);
    }
    PowerChannelLabelsTP.load();
    if (PowerChannelLabelsTP.size() > 0 && PowerChannelsSP.size() > 0)
    {
        char powerChannelLabel[MAXINDILABEL];
        snprintf(powerChannelLabel, MAXINDILABEL, "%s", PowerChannelLabelsTP[0].getText());
        PowerChannelsSP[0].setLabel(powerChannelLabel);
    }
 
    AutoDewSP.setLabel("Dew Control");
    AutoDewSP[0].setLabel("Auto Dew Control");
    PowerChannelsSP.setLabel("Quad Output");
 
    // Power Sensors
    PowerStatisticsNP[STATS_AVG_AMPS].fill("STATS_AVG_AMPS", "Average Current (A)", "%4.2f", 0, 999, 100, 0);
    PowerStatisticsNP[STATS_AMP_HOURS].fill("STATS_AMP_HOURS", "Amp hours (Ah)", "%4.2f", 0, 999, 100, 0);
    PowerStatisticsNP[STATS_WATT_HOURS].fill("STATS_WATT_HOURS", "Watt hours (Wh)", "%4.2f", 0, 999, 100, 0);
    PowerStatisticsNP[STATS_TOTAL_CURRENT].fill("STATS_TOTAL_CURRENT", "Total current (A)", "%4.2f", 0, 999, 100, 0);
    PowerStatisticsNP.fill(getDeviceName(), "POWER_STATISTICS", "Power Statistics", POWER_TAB, IP_RO, 60, IPS_IDLE);
 
    // Adjustable Voltage
    AdjOutVoltSP[ADJOUT_OFF].fill("ADJOUT_OFF", "Off", ISS_ON);
    AdjOutVoltSP[ADJOUT_3V].fill("ADJOUT_3V", "3V", ISS_OFF);
    AdjOutVoltSP[ADJOUT_5V].fill("ADJOUT_5V", "5V", ISS_OFF);
    AdjOutVoltSP[ADJOUT_8V].fill("ADJOUT_8V", "8V", ISS_OFF);
    AdjOutVoltSP[ADJOUT_9V].fill("ADJOUT_9V", "9V", ISS_OFF);
    AdjOutVoltSP[ADJOUT_12V].fill("ADJOUT_12V", "12V", ISS_OFF);
    AdjOutVoltSP.fill(getDeviceName(), "ADJOUT_VOLTAGE", "Adj voltage", POWER_TAB, IP_RW,
                      ISR_1OFMANY, 60, IPS_IDLE);
 
    // Power on Boot
    PowerOnBootSP[POWER_PORT_1].fill("POWER_PORT_1", "Quad Out", ISS_ON);
    PowerOnBootSP[POWER_PORT_2].fill("POWER_PORT_2", "Adj Out", ISS_ON);
    PowerOnBootSP[POWER_PORT_3].fill("POWER_PORT_3", "Dew A", ISS_ON);
    PowerOnBootSP[POWER_PORT_4].fill("POWER_PORT_4", "Dew B", ISS_ON);
    PowerOnBootSP.fill(getDeviceName(), "POWER_ON_BOOT", "Power On Boot", MAIN_CONTROL_TAB,
                       IP_RW, ISR_NOFMANY, 60, IPS_IDLE);
 
    // Automatic Dew Settings
    AutoDewSettingsNP[AUTO_DEW_AGGRESSION].fill("AGGRESSION", "Aggresiveness (%)", "%.2f", 0, 100, 10, 0);
    AutoDewSettingsNP.fill(getDeviceName(), "AUTO_DEW_SETTINGS", "Auto Dew Settings", DEW_TAB, IP_RW, 60, IPS_IDLE);
 
    FirmwareTP[FIRMWARE_VERSION].fill("VERSION", "Version", "NA");
    FirmwareTP[FIRMWARE_UPTIME].fill("UPTIME", "Uptime (h)", "NA");
    FirmwareTP.fill(getDeviceName(), "FIRMWARE_INFO", "Firmware", FIRMWARE_TAB, IP_RO, 60,
                    IPS_IDLE);
 
    addParameter("WEATHER_TEMPERATURE", "Temperature (C)", -15, 35, 15);
    addParameter("WEATHER_HUMIDITY", "Humidity %", 0, 100, 15);
    addParameter("WEATHER_DEWPOINT", "Dew Point (C)", 0, 100, 15);
    setCriticalParameter("WEATHER_TEMPERATURE");
 
 
    // Max Speed
    FocuserSettingsNP[SETTING_MAX_SPEED].fill("SETTING_MAX_SPEED", "Max Speed (%)", "%.f", 0, 900, 100, 400);
    FocuserSettingsNP.fill(getDeviceName(), "FOCUSER_SETTINGS", "Settings", FOCUS_TAB,
                           IP_RW, 60, IPS_IDLE);
 
    // Stepping
    FocuserDriveSP[STEP_FULL].fill("STEP_FULL", "Full", ISS_OFF);
    FocuserDriveSP[STEP_HALF].fill("STEP_HALF", "Half", ISS_ON);
    FocuserDriveSP[STEP_FORTH].fill("STEP_FORTH", "1/4", ISS_OFF);
    FocuserDriveSP[STEP_EIGHTH].fill("STEP_EIGHTH", "1/8", ISS_OFF);
    FocuserDriveSP.fill(getDeviceName(), "FOCUSER_DRIVE", "Microstepping", FOCUS_TAB,
                        IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
 
    serialConnection = new Connection::Serial(this);
    serialConnection->registerHandshake([&]()
    {
        return Handshake();
    });
    registerConnection(serialConnection);
 
    return true;
}
 
bool PegasusPPBA::updateProperties()
{
    INDI::DefaultDevice::updateProperties();
 
    if (isConnected())
    {
        m_HasExternalMotor = findExternalMotorController();
 
        if (m_HasExternalMotor)
        {
            getXMCStartupData();
            setDriverInterface(getDriverInterface() | FOCUSER_INTERFACE);
            syncDriverInfo();
        }
 
        // Main Control
        defineProperty(RebootSP);
        defineProperty(PowerWarnLP); // This is a custom property, not part of INDI::PowerInterface
        defineProperty(PowerOnBootSP); // Re-add PowerOnBootSP
 
        defineProperty(AutoDewSettingsNP);
        getAutoDewAggression();
 
        // Power Interface properties
        PI::updateProperties();
        defineProperty(AdjOutVoltSP);
        defineProperty(PowerStatisticsNP);
 
        // Focuser
        if (m_HasExternalMotor)
        {
            FI::updateProperties();
            defineProperty(FocuserSettingsNP);
            defineProperty(FocuserDriveSP);
        }
 
        WI::updateProperties();
 
        // Firmware
        defineProperty(FirmwareTP);
        sendFirmware();
 
        setupComplete = true;
    }
    else
    {
        // Main Control
        deleteProperty(RebootSP);
        deleteProperty(PowerWarnLP);
        deleteProperty(PowerOnBootSP);
 
        deleteProperty(AutoDewSettingsNP);
 
        // Power Interface properties
        PI::updateProperties();
        deleteProperty(AdjOutVoltSP);
        deleteProperty(PowerStatisticsNP);
 
        if (m_HasExternalMotor)
        {
            FI::updateProperties();
            deleteProperty(FocuserSettingsNP);
            deleteProperty(FocuserDriveSP);
        }
 
        WI::updateProperties();
 
        deleteProperty(FirmwareTP);
 
        setupComplete = false;
    }
 
    return true;
}
 
const char * PegasusPPBA::getDefaultName()
{
    return "Pegasus PPBA";
}
 
bool PegasusPPBA::Handshake()
{
    int tty_rc = 0, nbytes_written = 0, nbytes_read = 0;
    char command[PEGASUS_LEN] = {0}, response[PEGASUS_LEN] = {0};
 
    PortFD = serialConnection->getPortFD();
 
    LOG_DEBUG("CMD <P#>");
 
    tcflush(PortFD, TCIOFLUSH);
    strncpy(command, "P#\n", PEGASUS_LEN);
    if ( (tty_rc = tty_write_string(PortFD, command, &nbytes_written)) != TTY_OK)
    {
        char errorMessage[MAXRBUF];
        tty_error_msg(tty_rc, errorMessage, MAXRBUF);
        LOGF_ERROR("Serial write error: %s", errorMessage);
        return false;
    }
 
    // Try first with stopChar as the stop character
    if ( (tty_rc = tty_nread_section(PortFD, response, PEGASUS_LEN, stopChar, 1, &nbytes_read)) != TTY_OK)
    {
        // Try 0xA as the stop character
        if (tty_rc == TTY_OVERFLOW || tty_rc == TTY_TIME_OUT)
        {
            tcflush(PortFD, TCIOFLUSH);
            tty_write_string(PortFD, command, &nbytes_written);
            tty_rc = tty_nread_section(PortFD, response, PEGASUS_LEN, 0xA, 1, &nbytes_read);
        }
 
        if (tty_rc != TTY_OK)
        {
            char errorMessage[MAXRBUF];
            tty_error_msg(tty_rc, errorMessage, MAXRBUF);
            LOGF_ERROR("Serial read error: %s", errorMessage);
            return false;
        }
    }
 
    tcflush(PortFD, TCIOFLUSH);
    response[nbytes_read - 1] = '\0';
    LOGF_DEBUG("RES <%s>", response);
 
    setupComplete = false;
 
    return (!strcmp(response, "PPBA_OK") || !strcmp(response, "PPBM_OK"));
}
 
bool PegasusPPBA::ISNewSwitch(const char * dev, const char * name, ISState * states, char * names[], int n)
{
    if (dev && !strcmp(dev, getDeviceName()))
    {
        // Process power-related switches via PowerInterface
        if (PI::processSwitch(dev, name, states, names, n))
            return true;
 
        // Adjustable Voltage
        if (AdjOutVoltSP.isNameMatch(name))
        {
            int previous_index = AdjOutVoltSP.findOnSwitchIndex();
            AdjOutVoltSP.update(states, names, n);
            int target_index = AdjOutVoltSP.findOnSwitchIndex();
            int adjv = 0;
            switch(target_index)
            {
                case ADJOUT_OFF:
                    adjv = 0;
                    break;
                case ADJOUT_3V:
                    adjv = 3;
                    break;
                case ADJOUT_5V:
                    adjv = 5;
                    break;
                case ADJOUT_8V:
                    adjv = 8;
                    break;
                case ADJOUT_9V:
                    adjv = 9;
                    break;
                case ADJOUT_12V:
                    adjv = 12;
                    break;
                default:
                    AdjOutVoltSP.setState(IPS_ALERT);
                    AdjOutVoltSP.apply();
                    LOGF_ERROR("Unexpected voltage level: %d", target_index);
                    return true;
            }
 
            AdjOutVoltSP.setState(IPS_ALERT);
            char cmd[PEGASUS_LEN] = {0}, res[PEGASUS_LEN] = {0};
            // On the PPBA, port 2's adjustable output tracks a voltage setpoint and an enable
            // flag *independently*:
            //   - "P2:<v>" (v = 3/5/8/9/12) sets the voltage but does NOT enable the output
            //   - "P2:1" enables the output, "P2:0" disables it; neither changes the setpoint
            // So to switch a voltage ON we set the voltage first, then enable (setting the
            // voltage first avoids briefly emitting the previously stored voltage). To switch
            // OFF we just disable with "P2:0". Enabling unconditionally (not only when coming
            // from OFF) keeps the driver in sync even if the output was disabled behind our
            // back. Verified against PPBADV_Gen2C firmware. See indilib/indi#2471.
            bool ok = true;
            if (target_index == ADJOUT_OFF)
            {
                ok = sendCommand("P2:0", res);
            }
            else
            {
                snprintf(cmd, PEGASUS_LEN, "P2:%d", adjv);
                ok = sendCommand(cmd, res);
                if (ok)
                    ok = sendCommand("P2:1", res);
            }
 
            if (ok)
            {
                AdjOutVoltSP.reset();
                AdjOutVoltSP[target_index].setState(ISS_ON);
                AdjOutVoltSP.setState(IPS_OK);
                saveConfig(AdjOutVoltSP);
            }
            else
            {
                AdjOutVoltSP.reset();
                AdjOutVoltSP[previous_index].setState(ISS_ON);
                AdjOutVoltSP.setState(IPS_ALERT);
            }
 
            AdjOutVoltSP.apply();
            LOGF_INFO("New adj. voltage: %dV", adjv);
            return true;
        }
 
        // Reboot
        if (RebootSP.isNameMatch(name))
        {
            RebootSP.setState(reboot() ? IPS_OK : IPS_ALERT);
            RebootSP.apply();
            LOG_INFO("Rebooting device...");
            return true;
        }
 
        // Power on boot
        if (PowerOnBootSP.isNameMatch(name))
        {
            PowerOnBootSP.update(states, names, n);
            PowerOnBootSP.setState(setPowerOnBoot() ? IPS_OK : IPS_ALERT);
            PowerOnBootSP.apply();
            saveConfig(PowerOnBootSP);
            return true;
        }
 
        // Microstepping
        if (FocuserDriveSP.isNameMatch(name))
        {
            int prevIndex = FocuserDriveSP.findOnSwitchIndex();
            FocuserDriveSP.update(states, names, n);
            if (setFocuserMicrosteps(FocuserDriveSP.findOnSwitchIndex() + 1))
            {
                FocuserDriveSP.setState(IPS_OK);
            }
            else
            {
                FocuserDriveSP.reset();
                FocuserDriveSP[prevIndex].setState(ISS_ON);
                FocuserDriveSP.setState(IPS_ALERT);
            }
 
            FocuserDriveSP.apply();
            return true;
        }
 
        if (strstr(name, "FOCUS"))
            return FI::processSwitch(dev, name, states, names, n);
    }
 
    return DefaultDevice::ISNewSwitch(dev, name, states, names, n);
}
 
bool PegasusPPBA::ISNewNumber(const char * dev, const char * name, double values[], char * names[], int n)
{
    if (dev && !strcmp(dev, getDeviceName()))
    {
        // Process power-related numbers via PowerInterface
        if (PI::processNumber(dev, name, values, names, n))
            return true;
 
        // Auto Dew Aggressiveness
        if (AutoDewSettingsNP.isNameMatch(name))
        {
            // Convert percentage (0-100) to device range (0-255)
            uint8_t aggression = static_cast<uint8_t>(values[0] / 100.0 * 255.0);
            if (setAutoDewAggression(aggression))
            {
                AutoDewSettingsNP.update(values, names, n);
                AutoDewSettingsNP.setState(IPS_OK);
            }
            else
            {
                AutoDewSettingsNP.setState(IPS_ALERT);
            }
            AutoDewSettingsNP.apply();
            return true;
        }
 
        // Focuser Settings
        if (FocuserSettingsNP.isNameMatch(name))
        {
            if (setFocuserMaxSpeed(values[0]))
            {
                FocuserSettingsNP[SETTING_MAX_SPEED].setValue(values[0]);
                FocuserSettingsNP.setState(IPS_OK);
            }
            else
            {
                FocuserSettingsNP.setState(IPS_ALERT);
            }
 
            FocuserSettingsNP.apply();
            return true;
        }
 
        if (strstr(name, "FOCUS_"))
            return FI::processNumber(dev, name, values, names, n);
 
        if (strstr(name, "WEATHER_"))
            return WI::processNumber(dev, name, values, names, n);
    }
    return INDI::DefaultDevice::ISNewNumber(dev, name, values, names, n);
}
 
bool PegasusPPBA::ISNewText(const char * dev, const char * name, char * texts[], char * names[], int n)
{
    if (dev && !strcmp(dev, getDeviceName()))
    {
        // Process power-related text via PowerInterface
        if (PI::processText(dev, name, texts, names, n))
            return true;
    }
 
    return INDI::DefaultDevice::ISNewText(dev, name, texts, names, n);
}
 
bool PegasusPPBA::sendCommand(const char * cmd, char * res)
{
    int nbytes_read = 0, nbytes_written = 0, tty_rc = 0;
    char command[PEGASUS_LEN] = {0};
    LOGF_DEBUG("CMD <%s>", cmd);
 
    for (int i = 0; i < 2; i++)
    {
        tcflush(PortFD, TCIOFLUSH);
        snprintf(command, PEGASUS_LEN, "%s\n", cmd);
        if ( (tty_rc = tty_write_string(PortFD, command, &nbytes_written)) != TTY_OK)
            continue;
 
        if (!res)
        {
            tcflush(PortFD, TCIOFLUSH);
            return true;
        }
 
        if ( (tty_rc = tty_nread_section(PortFD, res, PEGASUS_LEN, stopChar, PEGASUS_TIMEOUT, &nbytes_read)) != TTY_OK
                || nbytes_read == 1)
            continue;
 
        tcflush(PortFD, TCIOFLUSH);
        res[nbytes_read - 1] = '\0';
        LOGF_DEBUG("RES <%s>", res);
        return true;
    }
 
    if (tty_rc != TTY_OK)
    {
        char errorMessage[MAXRBUF];
        tty_error_msg(tty_rc, errorMessage, MAXRBUF);
        LOGF_ERROR("Serial error: %s", errorMessage);
    }
 
    return false;
}
 
bool PegasusPPBA::findExternalMotorController()
{
    char res[PEGASUS_LEN] = {0};
    if (!sendCommand("XS", res))
        return false;
 
    // 200 XMC present
    return strstr(res, "200");
}
 
bool PegasusPPBA::setAutoDewEnabled(bool enabled)
{
    char cmd[PEGASUS_LEN] = {0}, res[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "PD:%d", enabled ? 1 : 0);
    if (sendCommand(cmd, res))
    {
        return (!strcmp(res, cmd));
    }
 
    return false;
}
 
bool PegasusPPBA::setAutoDewAggression(uint8_t value)
{
    char cmd[PEGASUS_LEN] = {0}, res[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "PD:%d", value);
    if (sendCommand(cmd, res))
    {
        return (!strcmp(res, cmd));
    }
 
    return false;
}
 
bool PegasusPPBA::setPowerEnabled(uint8_t port, bool enabled)
{
    char cmd[PEGASUS_LEN] = {0}, res[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "P%d:%d", port, enabled ? 1 : 0);
    if (sendCommand(cmd, res))
    {
        return (!strcmp(res, cmd));
    }
 
    return false;
}
 
bool PegasusPPBA::setLedIndicator(bool enabled)
{
    char cmd[PEGASUS_LEN] = {0}, res[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "PL:%d", enabled ? 1 : 0);
    if (sendCommand(cmd, res))
    {
        return (!strcmp(res, cmd));
    }
 
    return false;
}
 
bool PegasusPPBA::setPowerOnBoot()
{
    char cmd[PEGASUS_LEN] = {0}, res[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "PE:%d%d%d%d", PowerOnBootSP[POWER_PORT_1].getState() == ISS_ON ? 1 : 0,
             PowerOnBootSP[POWER_PORT_2].getState() == ISS_ON ? 1 : 0,
             PowerOnBootSP[POWER_PORT_3].getState() == ISS_ON ? 1 : 0,
             PowerOnBootSP[POWER_PORT_4].getState() == ISS_ON ? 1 : 0);
    if (sendCommand(cmd, res))
    {
        return (!strcmp(res, "PE:1"));
    }
 
    return false;
}
 
bool PegasusPPBA::setDewPWM(uint8_t id, uint8_t value)
{
    char cmd[PEGASUS_LEN] = {0}, res[PEGASUS_LEN] = {0}, expected[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "P%d:%03d", id, value);
    snprintf(expected, PEGASUS_LEN, "P%d:%d", id, value);
    if (sendCommand(cmd, res))
    {
        return (!strcmp(res, expected));
    }
 
    return false;
}
 
bool PegasusPPBA::saveConfigItems(FILE * fp)
{
    INDI::DefaultDevice::saveConfigItems(fp);
 
    AdjOutVoltSP.save(fp);
    PowerOnBootSP.save(fp);
    AutoDewSettingsNP.save(fp);
 
    if (m_HasExternalMotor)
    {
        FI::saveConfigItems(fp);
        FocuserSettingsNP.save(fp);
        FocuserDriveSP.save(fp);
    }
 
    WI::saveConfigItems(fp);
    PI::saveConfigItems(fp);
 
    return true;
}
 
void PegasusPPBA::TimerHit()
{
    if (!isConnected() || setupComplete == false)
    {
        SetTimer(getCurrentPollingPeriod());
        return;
    }
 
    getSensorData();
    getConsumptionData();
    getMetricsData();
 
    if (m_HasExternalMotor)
        queryXMC();
 
    SetTimer(getCurrentPollingPeriod());
}
 
bool PegasusPPBA::sendFirmware()
{
    char res[PEGASUS_LEN] = {0};
    if (sendCommand("PV", res))
    {
        LOGF_INFO("Detected firmware %s", res);
        FirmwareTP[FIRMWARE_VERSION].setText(res);
        FirmwareTP.apply();
        return true;
    }
 
    return false;
}
 
bool PegasusPPBA::getSensorData()
{
    char res[PEGASUS_LEN] = {0};
    if (sendCommand("PA", res))
    {
        std::vector<std::string> result = split(res, ":");
        if (result.size() < PA_N)
        {
            LOG_WARN("Received wrong number of detailed sensor data. Retrying...");
            return false;
        }
 
        if (result == lastSensorData)
            return true;
 
        // Power Sensors
        PI::PowerSensorsNP[PI::SENSOR_VOLTAGE].setValue(std::stod(result[PA_VOLTAGE]));
        PI::PowerSensorsNP[PI::SENSOR_CURRENT].setValue(std::stod(result[PA_CURRENT]) / 65.0);
        // PPBA does not report total power directly, so we calculate it
        PI::PowerSensorsNP[PI::SENSOR_POWER].setValue(PI::PowerSensorsNP[PI::SENSOR_VOLTAGE].getValue() *
                PI::PowerSensorsNP[PI::SENSOR_CURRENT].getValue());
        PI::PowerSensorsNP.setState(IPS_OK);
        if (lastSensorData.size() < PA_N ||
                lastSensorData[PA_VOLTAGE] != result[PA_VOLTAGE] || lastSensorData[PA_CURRENT] != result[PA_CURRENT])
            PI::PowerSensorsNP.apply();
 
        // Environment Sensors
        setParameterValue("WEATHER_TEMPERATURE", std::stod(result[PA_TEMPERATURE]));
        setParameterValue("WEATHER_HUMIDITY", std::stod(result[PA_HUMIDITY]));
        setParameterValue("WEATHER_DEWPOINT", std::stod(result[PA_DEW_POINT]));
        if (lastSensorData.size() < PA_N ||
                lastSensorData[PA_TEMPERATURE] != result[PA_TEMPERATURE] ||
                lastSensorData[PA_HUMIDITY] != result[PA_HUMIDITY] ||
                lastSensorData[PA_DEW_POINT] != result[PA_DEW_POINT])
        {
            if (WI::syncCriticalParameters())
                critialParametersLP.apply();
            ParametersNP.setState(IPS_OK);
            ParametersNP.apply();
        }
 
        // Power Status (DC Output)
        if (PI::PowerChannelsSP.size() > 0)
        {
            PI::PowerChannelsSP[0].setState((std::stoi(result[PA_PORT_STATUS]) == 1) ? ISS_ON : ISS_OFF);
            if (lastSensorData.size() < PA_N || lastSensorData[PA_PORT_STATUS] != result[PA_PORT_STATUS])
                PI::PowerChannelsSP.apply();
        }
        // Adjustable Power Status
        // Use the enable flag (PA_ADJ_STATUS) to decide on/off, not the voltage setpoint
        // (PA_PWRADJ): the two can diverge (output disabled while a non-zero setpoint is
        // still remembered), which otherwise makes the selector display a voltage while the
        // output is physically off (see indilib/indi#2471).
        AdjOutVoltSP.reset();
        if (std::stoi(result[PA_ADJ_STATUS]) == 0)
            AdjOutVoltSP[ADJOUT_OFF].setState(ISS_ON);
        else
        {
            AdjOutVoltSP[ADJOUT_3V].setState((std::stoi(result[PA_PWRADJ]) == 3) ? ISS_ON : ISS_OFF);
            AdjOutVoltSP[ADJOUT_5V].setState((std::stoi(result[PA_PWRADJ]) == 5) ? ISS_ON : ISS_OFF);
            AdjOutVoltSP[ADJOUT_8V].setState((std::stoi(result[PA_PWRADJ]) == 8) ? ISS_ON : ISS_OFF);
            AdjOutVoltSP[ADJOUT_9V].setState((std::stoi(result[PA_PWRADJ]) == 9) ? ISS_ON : ISS_OFF);
            AdjOutVoltSP[ADJOUT_12V].setState((std::stoi(result[PA_PWRADJ]) == 12) ? ISS_ON : ISS_OFF);
        }
        if (lastSensorData.size() < PA_N ||
                lastSensorData[PA_PWRADJ] != result[PA_PWRADJ] || lastSensorData[PA_ADJ_STATUS] != result[PA_ADJ_STATUS])
            AdjOutVoltSP.apply();
 
        // Power Warn (This is a custom property, not part of INDI::PowerInterface)
        PowerWarnLP[0].setState((std::stoi(result[PA_PWR_WARN]) == 1) ? IPS_ALERT : IPS_OK);
        PowerWarnLP.setState((std::stoi(result[PA_PWR_WARN]) == 1) ? IPS_ALERT : IPS_OK);
        if (lastSensorData.size() < PA_N ||
                lastSensorData[PA_PWR_WARN] != result[PA_PWR_WARN])
            PowerWarnLP.apply();
 
        // Dew PWM (Dew Outputs)
        if (PI::DewChannelDutyCycleNP.size() > 0)
            PI::DewChannelDutyCycleNP[0].setValue(std::stod(result[PA_DEW_1]) / 255.0 * 100.0);
        if (PI::DewChannelDutyCycleNP.size() > 1)
            PI::DewChannelDutyCycleNP[1].setValue(std::stod(result[PA_DEW_2]) / 255.0 * 100.0);
        if (lastSensorData.size() < PA_N ||
                lastSensorData[PA_DEW_1] != result[PA_DEW_1] || lastSensorData[PA_DEW_2] != result[PA_DEW_2])
            PI::DewChannelDutyCycleNP.apply();
 
        // Auto Dew
        if (PI::AutoDewSP.size() > 0)
        {
            bool autodew = std::stoi(result[PA_AUTO_DEW]);
            PI::AutoDewSP[0].setState(autodew ? ISS_ON : ISS_OFF);
            if (lastSensorData.size() < PA_N || lastSensorData[PA_AUTO_DEW] != result[PA_AUTO_DEW])
                PI::AutoDewSP.apply();
 
            // ensure that dew heater channels are on, since the PPBA auto dew control handles both ports automatically
            if (autodew)
            {
                bool changed = false;
                for (size_t i = 0; i < DewChannelsSP.size(); i++)
                {
                    if (DewChannelsSP[i].getState() == ISS_OFF)
                    {
                        DewChannelsSP[i].setState(ISS_ON);
                        LOGF_INFO("Auto dew on, enabling channel %s", (i == 0 ? "A" : "B"));
                        changed = true;
                    }
                }
                if (changed)
                    DewChannelsSP.apply();
            }
        }
 
        lastSensorData = result;
 
        return true;
    }
 
    return false;
}
 
bool PegasusPPBA::getConsumptionData()
{
    char res[PEGASUS_LEN] = {0};
    if (sendCommand("PS", res))
    {
        std::vector<std::string> result = split(res, ":");
        if (result.size() < PS_N)
        {
            LOG_WARN("Received wrong number of detailed consumption data. Retrying...");
            return false;
        }
 
        if (result == lastConsumptionData)
            return true;
 
        // Power Statistics
        PowerStatisticsNP[STATS_AVG_AMPS].setValue(std::stod(result[PS_AVG_AMPS]));
        PowerStatisticsNP[STATS_AMP_HOURS].setValue(std::stod(result[PS_AMP_HOURS]));
        PowerStatisticsNP[STATS_WATT_HOURS].setValue(std::stod(result[PS_WATT_HOURS]));
        PowerStatisticsNP.setState(IPS_OK);
        if (lastConsumptionData.size() < PS_N ||
                lastConsumptionData[PS_AVG_AMPS] != result[PS_AVG_AMPS] ||
                lastConsumptionData[PS_AMP_HOURS] != result[PS_AMP_HOURS] ||
                lastConsumptionData[PS_WATT_HOURS] != result[PS_WATT_HOURS])
            PowerStatisticsNP.apply();
 
        lastConsumptionData = result;
 
        return true;
    }
 
    return false;
}
 
bool PegasusPPBA::getAutoDewAggression()
{
    char res[PEGASUS_LEN] = {0};
    if (sendCommand("DA", res))
    {
 
        uint32_t value = 0;
        sscanf(res, "%*[^:]:%d", &value);
        AutoDewSettingsNP[AUTO_DEW_AGGRESSION].setValue(100 * value / 255);
    }
    else
        AutoDewSettingsNP.setState(IPS_ALERT);
 
    AutoDewSettingsNP.apply();
    return AutoDewSettingsNP.getState() != IPS_ALERT;
}
 
bool PegasusPPBA::getMetricsData()
{
    char res[PEGASUS_LEN] = {0};
    if (sendCommand("PC", res))
    {
        std::vector<std::string> result = split(res, ":");
        if (result.size() < PC_N)
        {
            LOG_WARN("Received wrong number of detailed metrics data. Retrying...");
            return false;
        }
 
        if (result == lastMetricsData)
            return true;
 
        // Power Sensors
        PowerStatisticsNP[STATS_TOTAL_CURRENT].setValue(std::stod(result[PC_TOTAL_CURRENT]));
        // Power Sensors (Per-port current monitoring)
        if (PI::PowerChannelCurrentNP.size() > 0)
        {
            PI::PowerChannelCurrentNP[0].setValue(std::stod(result[PC_12V_CURRENT]));
            if (lastMetricsData.size() < PC_N || lastMetricsData[PC_12V_CURRENT] != result[PC_12V_CURRENT])
            {
                PI::PowerChannelCurrentNP.setState(IPS_OK);
                PI::PowerChannelCurrentNP.apply();
            }
        }
        // Update PI::DewChannelCurrentNP for Dew ports
        if (PI::DewChannelCurrentNP.size() > 0)
            PI::DewChannelCurrentNP[0].setValue(std::stod(result[PC_DEWA_CURRENT]));
        if (PI::DewChannelCurrentNP.size() > 1)
            PI::DewChannelCurrentNP[1].setValue(std::stod(result[PC_DEWB_CURRENT]));
        if (lastMetricsData.size() < PC_N ||
                lastMetricsData[PC_TOTAL_CURRENT] != result[PC_TOTAL_CURRENT] ||
                lastMetricsData[PC_DEWA_CURRENT] != result[PC_DEWA_CURRENT] ||
                lastMetricsData[PC_DEWB_CURRENT] != result[PC_DEWB_CURRENT])
        {
            PI::PowerChannelCurrentNP.apply();
            PI::DewChannelCurrentNP.apply();
            PowerStatisticsNP.apply();
        }
 
        std::chrono::milliseconds uptime(std::stol(result[PC_UPTIME]));
        using dhours = std::chrono::duration<double, std::ratio<3600 >>;
        std::stringstream ss;
        ss << std::fixed << std::setprecision(3) << dhours(uptime).count();
        FirmwareTP[FIRMWARE_UPTIME].setText(ss.str().c_str());
        FirmwareTP.apply();
 
        lastMetricsData = result;
 
        return true;
    }
 
    return false;
}
// Device Control
bool PegasusPPBA::reboot()
{
    return sendCommand("PF", nullptr);
}
 
IPState PegasusPPBA::MoveAbsFocuser(uint32_t targetTicks)
{
    char cmd[PEGASUS_LEN] = {0}, res[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "XS:3#%u", targetTicks);
    return (sendCommand(cmd, res) ? IPS_BUSY : IPS_ALERT);
}
 
IPState PegasusPPBA::MoveRelFocuser(FocusDirection dir, uint32_t ticks)
{
    return MoveAbsFocuser(dir == FOCUS_INWARD ? FocusAbsPosNP[0].getValue() - ticks : FocusAbsPosNP[0].getValue() + ticks);
}
 
bool PegasusPPBA::AbortFocuser()
{
    return sendCommand("XS:6", nullptr);
}
 
bool PegasusPPBA::ReverseFocuser(bool enabled)
{
    char cmd[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "XS:8#%d", enabled ? 1 : 0);
    return sendCommand(cmd, nullptr);
}
 
bool PegasusPPBA::SyncFocuser(uint32_t ticks)
{
    char cmd[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "XS:5#%u", ticks);
    return sendCommand(cmd, nullptr);
}
 
bool PegasusPPBA::SetFocuserBacklash(int32_t steps)
{
    char cmd[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "XS:10#%d", steps);
    return sendCommand(cmd, nullptr);
}
 
bool PegasusPPBA::setFocuserMaxSpeed(uint16_t maxSpeed)
{
    char cmd[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "XS:7#%d", maxSpeed);
    return sendCommand(cmd, nullptr);
}
 
bool PegasusPPBA::setFocuserMicrosteps(int value)
{
    char cmd[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "XS:9#%d", value);
    return sendCommand(cmd, nullptr);
}
 
bool PegasusPPBA::SetFocuserBacklashEnabled(bool enabled)
{
    char cmd[PEGASUS_LEN] = {0};
    snprintf(cmd, PEGASUS_LEN, "XS:8#%d", enabled ? 1 : 0);
    return sendCommand(cmd, nullptr);
}
 
bool PegasusPPBA::getXMCStartupData()
{
    char res[PEGASUS_LEN] = {0};
 
    // Position
    if (sendCommand("XS:2", res))
    {
        uint32_t position = 0;
        sscanf(res, "%*[^#]#%d", &position);
        FocusAbsPosNP[0].setValue(position);
    }
 
    // Max speed
    if (sendCommand("XS:7", res))
    {
        uint32_t speed = 0;
        sscanf(res, "%*[^#]#%d", &speed);
        FocuserSettingsNP[SETTING_MAX_SPEED].setValue(speed);
    }
 
    return true;
}
 
void PegasusPPBA::queryXMC()
{
    char res[PEGASUS_LEN] = {0};
    uint32_t position = 0;
    uint32_t motorRunning = 0;
 
    // Get Motor Status
    if (sendCommand("XS:1", res))
        sscanf(res, "%*[^#]#%d", &motorRunning);
    // Get Position
    if (sendCommand("XS:2", res))
        sscanf(res, "%*[^#]#%d", &position);
 
    uint32_t lastPosition = FocusAbsPosNP[0].getValue();
    FocusAbsPosNP[0].setValue(position);
 
    if (FocusAbsPosNP.getState() == IPS_BUSY && motorRunning == 0)
    {
        FocusAbsPosNP.setState(IPS_OK);
        FocusRelPosNP.setState(IPS_OK);
        FocusAbsPosNP.apply();
        FocusRelPosNP.apply();
    }
    else if (lastPosition != position)
        FocusAbsPosNP.apply();
 
}
std::vector<std::string> PegasusPPBA::split(const std::string &input, const std::string &regex)
{
    // passing -1 as the submatch index parameter performs splitting
    std::regex re(regex);
    std::sregex_token_iterator
    first{input.begin(), input.end(), re, -1},
          last;
    return {first, last};
}
 
bool PegasusPPBA::SetPowerPort(size_t port, bool enabled)
{
    // Port numbers in interface are 0-based, but device expects 1-based
    return setPowerEnabled(port + 1, enabled);
}
 
bool PegasusPPBA::SetDewPort(size_t port, bool enabled, double dutyCycle)
{
    // DEW ports are 3, 4 for Dew A, Dew B (device uses 1-based indexing)
    // Convert duty cycle percentage (0-100) to 0-255 range
    auto pwmValue = static_cast<uint8_t>(dutyCycle / 100.0 * 255.0);
    return setDewPWM(port + 3, enabled ? pwmValue : 0);
}
 
bool PegasusPPBA::SetLEDEnabled(bool enabled)
{
    return setLedIndicator(enabled);
}
 
bool PegasusPPBA::SetAutoDewEnabled(size_t port, bool enabled)
{
    INDI_UNUSED(port); // PPBA only has global auto dew control
    return setAutoDewEnabled(enabled);
}
 
bool PegasusPPBA::CyclePower()
{
    // PPBA does not have a specific power cycle command, reboot is the closest.
    // Or we can implement a software cycle by turning off and on all ports.
    // For now, let's just reboot.
    return reboot();
}
 
bool PegasusPPBA::SetUSBPort(size_t port, bool enabled)
{
    INDI_UNUSED(port);
    INDI_UNUSED(enabled);
    // PPBA does not have USB power control
    return false;
}