sestosenso3.cpp

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/*
    SestoSenso 3 Focuser
    Copyright (C) 2026 Jasem Mutlaq
 
    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 "sestosenso3.h"
 
#include "indicom.h"
 
#include <cmath>
#include <cstring>
#include <memory>
#include <algorithm>
 
#include <assert.h>
#include <termios.h>
#include <unistd.h>
#include <connectionplugins/connectionserial.h>
#include <sys/ioctl.h>
 
static std::unique_ptr<SestoSenso3> sesto3(new SestoSenso3());
 
static const char *MOTOR_TAB  = "Motor";
static const char *ENVIRONMENT_TAB  = "Environment";
const char *MOTOR_PRESET_NAMES[] = { "light", "medium", "slow" };
 
SestoSenso3::SestoSenso3()
{
    setVersion(1, 0);
 
    FI::SetCapability(FOCUSER_CAN_ABS_MOVE | FOCUSER_HAS_BACKLASH | FOCUSER_CAN_REL_MOVE | FOCUSER_CAN_ABORT);
 
    m_MotionProgressTimer.callOnTimeout(std::bind(&SestoSenso3::checkMotionProgressCallback, this));
    m_MotionProgressTimer.setSingleShot(true);
}
 
bool SestoSenso3::initProperties()
{
    INDI::Focuser::initProperties();
 
    FocusBacklashNP[0].setMin(0);
    FocusBacklashNP[0].setMax(10000);
    FocusBacklashNP[0].setStep(1);
    FocusBacklashNP[0].setValue(0);
 
    setConnectionParams();
 
    // Firmware information
    FirmwareTP[FIRMWARE_SN].fill("SERIALNUMBER", "Serial Number", "");
    FirmwareTP[FIRMWARE_VERSION].fill("VERSION", "Version", "");
    FirmwareTP.fill(getDeviceName(), "FOCUS_FIRMWARE", "Firmware", CONNECTION_TAB, IP_RO, 0, IPS_IDLE);
 
    // Voltage Information
    VoltageInNP[0].fill("VOLTAGEIN", "Volts", "%.2f", 0, 100, 0., 0.);
    VoltageInNP.fill(getDeviceName(), "VOLTAGE_IN", "Voltage in", ENVIRONMENT_TAB, IP_RO, 0, IPS_IDLE);
 
    // Focuser temperature
    TemperatureNP[TEMPERATURE_MOTOR].fill("TEMPERATURE", "Motor (c)", "%.2f", -50, 70., 0., 0.);
    TemperatureNP[TEMPERATURE_EXTERNAL].fill("TEMPERATURE_ETX", "External (c)", "%.2f", -50, 70., 0., 0.);
    TemperatureNP.fill(getDeviceName(), "FOCUS_TEMPERATURE", "Temperature", ENVIRONMENT_TAB, IP_RO, 0, IPS_IDLE);
 
    // Calibration message
    CalibrationMessageTP[0].fill("CALIBRATION", "Calibration stage", "Press START to begin the Calibration.");
    CalibrationMessageTP.fill(getDeviceName(), "CALIBRATION_MESSAGE", "Calibration", MAIN_CONTROL_TAB, IP_RO, 0, IPS_IDLE);
 
    // Calibration switches (SC only has START, others have START + NEXT)
    CalibrationSP[CALIBRATION_START].fill("CALIBRATION_START", "Start", ISS_OFF);
    CalibrationSP[CALIBRATION_NEXT].fill("CALIBRATION_NEXT", "Next", ISS_OFF);
    CalibrationSP.fill(getDeviceName(), "FOCUS_CALIBRATION", "Calibration", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
 
    // Recovery delay
    RecoveryDelayNP[RECOVERY_DELAY_VALUE].fill("RECOVERY_DELAY", "Recovery Delay (s)", "%.0f", -1, 120, 1, 0);
    RecoveryDelayNP.fill(getDeviceName(), "RECOVERY_DELAY_PROP", "Recovery Delay", MAIN_CONTROL_TAB, IP_RW, 0, IPS_IDLE);
 
    // Fast move switches
    FastMoveSP[FASTMOVE_IN].fill("FASTMOVE_IN", "Move In", ISS_OFF);
    FastMoveSP[FASTMOVE_OUT].fill("FASTMOVE_OUT", "Move out", ISS_OFF);
    FastMoveSP[FASTMOVE_STOP].fill("FASTMOVE_STOP", "Stop", ISS_OFF);
    FastMoveSP.fill(getDeviceName(), "FAST_MOVE", "Calibration Move", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 0, IPS_IDLE);
 
    // Semi-automatic calibration move switches
    MoveInOut100SP[MOVE_IN_100].fill("MOVE_IN_100", "Move In 100", ISS_OFF);
    MoveInOut100SP[MOVE_OUT_100].fill("MOVE_OUT_100", "Move Out 100", ISS_OFF);
    MoveInOut100SP.fill(getDeviceName(), "SEMI_AUTO_MOVE_100", "Move 100 Steps", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 0,
                        IPS_IDLE);
 
    MoveInOut500SP[MOVE_IN_500].fill("MOVE_IN_500", "Move In 500", ISS_OFF);
    MoveInOut500SP[MOVE_OUT_500].fill("MOVE_OUT_500", "Move Out 500", ISS_OFF);
    MoveInOut500SP.fill(getDeviceName(), "SEMI_AUTO_MOVE_500", "Move 500 Steps", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 0,
                        IPS_IDLE);
 
    MoveInOut1000SP[MOVE_IN_1000].fill("MOVE_IN_1000", "Move In 1000", ISS_OFF);
    MoveInOut1000SP[MOVE_OUT_1000].fill("MOVE_OUT_1000", "Move Out 1000", ISS_OFF);
    MoveInOut1000SP.fill(getDeviceName(), "SEMI_AUTO_MOVE_1000", "Move 1000 Steps", MAIN_CONTROL_TAB, IP_RW, ISR_ATMOST1, 0,
                         IPS_IDLE);
 
    // Motor hold
    MotorHoldSP[MOTOR_HOLD_ON].fill("HOLD_ON", "Hold On", ISS_OFF);
    MotorHoldSP[MOTOR_HOLD_OFF].fill("HOLD_OFF", "Hold Off", ISS_OFF);
    MotorHoldSP.fill(getDeviceName(), "MOTOR_HOLD", "Motor Hold", MAIN_CONTROL_TAB, IP_RW, ISR_1OFMANY, 0, IPS_IDLE);
 
    // Max position (read-only)
    FocusMaxPosNP.fill(getDeviceName(), "FOCUS_MAX", "Max. Position", MAIN_CONTROL_TAB, IP_RO, 0, IPS_IDLE);
 
    // Motor rate
    MotorRateNP[MOTOR_RATE_ACC].fill("ACC", "Acceleration", "%.f", 1, 10, 1, 1);
    MotorRateNP[MOTOR_RATE_RUN].fill("RUN", "Run Speed", "%.f", 1, 10, 1, 2);
    MotorRateNP[MOTOR_RATE_DEC].fill("DEC", "Deceleration", "%.f", 1, 10, 1, 1);
    MotorRateNP.fill(getDeviceName(), "MOTOR_RATE", "Motor Rate", MOTOR_TAB, IP_RW, 0, IPS_IDLE);
 
    // Motor current
    MotorCurrentNP[MOTOR_CURR_ACC].fill("CURR_ACC", "Acceleration", "%.f", 1, 10, 1, 7);
    MotorCurrentNP[MOTOR_CURR_RUN].fill("CURR_RUN", "Run", "%.f", 1, 10, 1, 7);
    MotorCurrentNP[MOTOR_CURR_DEC].fill("CURR_DEC", "Deceleration", "%.f", 1, 10, 1, 7);
    MotorCurrentNP[MOTOR_CURR_HOLD].fill("CURR_HOLD", "Hold", "%.f", 0, 5, 1, 3);
    MotorCurrentNP.fill(getDeviceName(), "MOTOR_CURRENT", "Current", MOTOR_TAB, IP_RW, 0, IPS_IDLE);
 
    // Motor presets
    MotorApplyPresetSP[MOTOR_APPLY_LIGHT].fill("MOTOR_APPLY_LIGHT", "Light", ISS_OFF);
    MotorApplyPresetSP[MOTOR_APPLY_MEDIUM].fill("MOTOR_APPLY_MEDIUM", "Medium", ISS_OFF);
    MotorApplyPresetSP[MOTOR_APPLY_HEAVY].fill("MOTOR_APPLY_HEAVY", "Heavy", ISS_OFF);
    MotorApplyPresetSP.fill(getDeviceName(), "MOTOR_APPLY_PRESET", "Apply Preset", MOTOR_TAB, IP_RW, ISR_ATMOST1, 0, IPS_IDLE);
 
    // Relative and absolute movement
    FocusRelPosNP[0].setMin(0.);
    FocusRelPosNP[0].setMax(50000.);
    FocusRelPosNP[0].setValue(0);
    FocusRelPosNP[0].setStep(1000);
 
    FocusAbsPosNP[0].setMin(0.);
    FocusAbsPosNP[0].setMax(200000.);
    FocusAbsPosNP[0].setValue(0);
    FocusAbsPosNP[0].setStep(1000);
 
    FocusMaxPosNP[0].setValue(2097152);
    PresetNP[0].setMax(FocusMaxPosNP[0].getValue());
    PresetNP[1].setMax(FocusMaxPosNP[0].getValue());
    PresetNP[2].setMax(FocusMaxPosNP[0].getValue());
 
    addAuxControls();
    setDefaultPollingPeriod(500);
 
    return true;
}
 
bool SestoSenso3::updateProperties()
{
    if (isConnected() && updateMaxLimit() == false)
        LOGF_WARN("Check you have the latest %s firmware. Focuser requires calibration.", getDeviceName());
 
    INDI::Focuser::updateProperties();
 
    if (isConnected())
    {
        defineProperty(CalibrationMessageTP);
 
        // SC model only has START (automatic), others have START + NEXT
        if (m_SubModel == SESTOSENSO3_SC)
        {
            CalibrationSP.resize(1);
        }
        defineProperty(CalibrationSP);
 
        defineProperty(RecoveryDelayNP);
        int32_t delay = 0;
        if (m_SestoSenso3->getRecoveryDelay(delay))
        {
            RecoveryDelayNP[RECOVERY_DELAY_VALUE].setValue(delay);
            RecoveryDelayNP.setState(IPS_OK);
        }
        else
        {
            RecoveryDelayNP.setState(IPS_ALERT);
        }
        RecoveryDelayNP.apply();
 
        defineProperty(MotorRateNP);
        defineProperty(MotorCurrentNP);
        defineProperty(MotorHoldSP);
        defineProperty(MotorApplyPresetSP);
        defineProperty(FirmwareTP);
 
        if (updateTemperature())
            defineProperty(TemperatureNP);
 
        if (updateVoltageIn())
            defineProperty(VoltageInNP);
 
        if (getStartupValues())
            LOG_INFO("Parameters updated, focuser ready for use.");
        else
            LOG_WARN("Failed to inquire parameters. Check logs.");
    }
    else
    {
        if (TemperatureNP.getState() == IPS_OK)
            deleteProperty(TemperatureNP);
        deleteProperty(FirmwareTP);
        deleteProperty(VoltageInNP);
        deleteProperty(CalibrationMessageTP);
        deleteProperty(CalibrationSP);
        deleteProperty(RecoveryDelayNP);
        deleteProperty(MotorRateNP);
        deleteProperty(MotorCurrentNP);
        deleteProperty(MotorHoldSP);
        deleteProperty(MotorApplyPresetSP);
    }
 
    return true;
}
 
bool SestoSenso3::Handshake()
{
    if (Ack())
    {
        LOGF_INFO("%s is online. Getting focus parameters...", getDeviceName());
        return true;
    }
 
    LOG_INFO("Error retrieving data from device, please ensure focuser is powered and the port is correct.");
    return false;
}
 
bool SestoSenso3::SetFocuserBacklash(int32_t steps)
{
    return m_SestoSenso3->setBacklash(steps);
}
 
const char *SestoSenso3::getDefaultName()
{
    return "Sesto Senso 3";
}
 
bool SestoSenso3::updateTemperature()
{
    double temperature = 0;
 
    if (isSimulation())
        temperature = 23.5;
    else if (m_SestoSenso3->getMotorTemp(temperature) == false)
        return false;
 
    if (temperature > 90)
        return false;
 
    TemperatureNP[TEMPERATURE_MOTOR].setValue(temperature);
    TemperatureNP.setState(IPS_OK);
 
    if (m_SestoSenso3->getExternalTemp(temperature))
    {
        if (temperature < 90)
            TemperatureNP[TEMPERATURE_EXTERNAL].setValue(temperature);
        else
            TemperatureNP[TEMPERATURE_EXTERNAL].setValue(-273.15);
    }
 
    return true;
}
 
bool SestoSenso3::updateMaxLimit()
{
    uint32_t maxLimit = 0;
 
    if (isSimulation())
        return true;
 
    if (m_SestoSenso3->getMaxPosition(maxLimit) == false)
        return false;
 
    FocusMaxPosNP[0].setMax(maxLimit);
    if (FocusMaxPosNP[0].getValue() > maxLimit)
        FocusMaxPosNP[0].setValue(maxLimit);
 
    FocusAbsPosNP[0].setMin(0);
    FocusAbsPosNP[0].setMax(maxLimit);
    FocusAbsPosNP[0].setValue(0);
    FocusAbsPosNP[0].setStep((FocusAbsPosNP[0].getMax() - FocusAbsPosNP[0].getMin()) / 50.0);
 
    FocusRelPosNP[0].setMin(0.);
    FocusRelPosNP[0].setMax(FocusAbsPosNP[0].getStep() * 10);
    FocusRelPosNP[0].setValue(0);
    FocusRelPosNP[0].setStep(FocusAbsPosNP[0].getStep());
 
    PresetNP[0].setMax(maxLimit);
    PresetNP[0].setStep((FocusAbsPosNP[0].getMax() - FocusAbsPosNP[0].getMin()) / 50.0);
    PresetNP[1].setMax(maxLimit);
    PresetNP[1].setStep((FocusAbsPosNP[0].getMax() - FocusAbsPosNP[0].getMin()) / 50.0);
    PresetNP[2].setMax(maxLimit);
    PresetNP[2].setStep((FocusAbsPosNP[0].getMax() - FocusAbsPosNP[0].getMin()) / 50.0);
 
    FocusMaxPosNP.setState(IPS_OK);
    return true;
}
 
bool SestoSenso3::updatePosition()
{
    uint32_t steps = 0;
    if (isSimulation())
        steps = static_cast<uint32_t>(FocusAbsPosNP[0].getValue());
    else if (m_SestoSenso3->getAbsolutePosition(steps) == false)
        return false;
 
    FocusAbsPosNP[0].setValue(steps);
    return true;
}
 
bool SestoSenso3::updateVoltageIn()
{
    double voltageIn = 0;
 
    if (isSimulation())
        voltageIn = 12.0;
    else if (m_SestoSenso3->getVoltage12v(voltageIn) == false)
        return false;
 
    if (voltageIn > 24)
        return false;
 
    VoltageInNP[0].setValue(voltageIn);
    VoltageInNP.setState((voltageIn >= 11.0) ? IPS_OK : IPS_ALERT);
 
    return true;
}
 
bool SestoSenso3::fetchMotorSettings()
{
    PrimalucaLabs::MotorRates ms;
    PrimalucaLabs::MotorCurrents mc;
    bool motorHoldActive = false;
 
    if (isSimulation())
    {
        ms.accRate = 1;
        ms.runSpeed = 2;
        ms.decRate = 1;
        mc.accCurrent = 3;
        mc.runCurrent = 4;
        mc.decCurrent = 3;
        mc.holdCurrent = 2;
    }
    else
    {
        if (!m_SestoSenso3->getMotorSettings(ms, mc, motorHoldActive))
        {
            MotorRateNP.setState(IPS_IDLE);
            MotorCurrentNP.setState(IPS_IDLE);
            MotorHoldSP.setState(IPS_IDLE);
            return false;
        }
    }
 
    MotorRateNP[MOTOR_RATE_ACC].setValue(ms.accRate);
    MotorRateNP[MOTOR_RATE_RUN].setValue(ms.runSpeed);
    MotorRateNP[MOTOR_RATE_DEC].setValue(ms.decRate);
    MotorRateNP.setState(IPS_OK);
    MotorRateNP.apply();
 
    MotorCurrentNP[MOTOR_CURR_ACC].setValue(mc.accCurrent);
    MotorCurrentNP[MOTOR_CURR_RUN].setValue(mc.runCurrent);
    MotorCurrentNP[MOTOR_CURR_DEC].setValue(mc.decCurrent);
    MotorCurrentNP[MOTOR_CURR_HOLD].setValue(mc.holdCurrent);
    MotorCurrentNP.setState(IPS_OK);
    MotorCurrentNP.apply();
 
    auto activeSwitchID = motorHoldActive ? "HOLD_ON" : "HOLD_OFF";
    auto sp = MotorHoldSP.findWidgetByName(activeSwitchID);
    assert(sp != nullptr && "Motor hold switch not found");
    if (sp)
    {
        MotorHoldSP.reset();
        sp->setState(ISS_ON);
        MotorHoldSP.setState(motorHoldActive ? IPS_OK : IPS_ALERT);
        MotorHoldSP.apply();
    }
 
    if (motorHoldActive && mc.holdCurrent == 0)
        LOG_WARN("Motor hold current set to 0, motor hold setting will have no effect");
 
    return true;
}
 
bool SestoSenso3::applyMotorRates()
{
    if (isSimulation())
        return true;
 
    PrimalucaLabs::MotorRates mr;
    mr.accRate = static_cast<uint32_t>(MotorRateNP[MOTOR_RATE_ACC].getValue());
    mr.runSpeed = static_cast<uint32_t>(MotorRateNP[MOTOR_RATE_RUN].getValue());
    mr.decRate = static_cast<uint32_t>(MotorRateNP[MOTOR_RATE_DEC].getValue());
 
    if (!m_SestoSenso3->setMotorRates(mr))
    {
        LOG_ERROR("Failed to apply motor rates");
        return false;
    }
 
    LOGF_INFO("Motor rates applied: Acc: %u Run: %u Dec: %u", mr.accRate, mr.runSpeed, mr.decRate);
    return true;
}
 
bool SestoSenso3::applyMotorCurrents()
{
    if (isSimulation())
        return true;
 
    PrimalucaLabs::MotorCurrents mc;
    mc.accCurrent = static_cast<uint32_t>(MotorCurrentNP[MOTOR_CURR_ACC].getValue());
    mc.runCurrent = static_cast<uint32_t>(MotorCurrentNP[MOTOR_CURR_RUN].getValue());
    mc.decCurrent = static_cast<uint32_t>(MotorCurrentNP[MOTOR_CURR_DEC].getValue());
    mc.holdCurrent = static_cast<uint32_t>(MotorCurrentNP[MOTOR_CURR_HOLD].getValue());
 
    if (!m_SestoSenso3->setMotorCurrents(mc))
    {
        LOG_ERROR("Failed to apply motor currents");
        return false;
    }
 
    LOGF_INFO("Motor currents applied: Acc: %u Run: %u Dec: %u Hold: %u", mc.accCurrent, mc.runCurrent, mc.decCurrent,
              mc.holdCurrent);
    return true;
}
 
bool SestoSenso3::isMotionComplete()
{
    if (isSimulation())
    {
        int32_t nextPos = FocusAbsPosNP[0].getValue();
        int32_t targPos = static_cast<int32_t>(targetPos);
 
        if (targPos > nextPos)
            nextPos += 250;
        else if (targPos < nextPos)
            nextPos -= 250;
 
        if (abs(nextPos - targPos) < 250)
            nextPos = targetPos;
        else if (nextPos < 0)
            nextPos = 0;
        else if (nextPos > FocusAbsPosNP[0].getMax())
            nextPos = FocusAbsPosNP[0].getMax();
 
        FocusAbsPosNP[0].setValue(nextPos);
        return (std::abs(nextPos - static_cast<int32_t>(targetPos)) == 0);
    }
 
    return !m_SestoSenso3->isBusy();
}
 
bool SestoSenso3::ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        // Calibration
        if (CalibrationSP.isNameMatch(name))
        {
            CalibrationSP.update(states, names, n);
            auto current_switch = CalibrationSP.findOnSwitchIndex();
            CalibrationSP[current_switch].setState(ISS_ON);
            CalibrationSP.apply();
 
            if (current_switch == CALIBRATION_START)
            {
                if (cStage == Idle || cStage == Complete)
                {
                    LOG_INFO("Start Calibration");
                    CalibrationSP.setState(IPS_BUSY);
                    CalibrationSP.apply();
 
                    if (m_SubModel == SESTOSENSO3_SC)
                    {
                        if (m_SestoSenso3->startAutoCalibration() == false)
                            return false;
                        CalibrationMessageTP[0].setText("Automatic Calibration Started. Please wait...");
                        CalibrationMessageTP.apply();
                        cStage = GoToMiddle;
                    }
                    else
                    {
                        // STANDARD and LS: Semi-Automatic Calibration
                        if (m_SestoSenso3->initCalibrationSemiAuto() == false)
                            return false;
                        CalibrationMessageTP[0].setText("Semi-Automatic Calibration: Move focuser to MIN position and then press NEXT.");
                        CalibrationMessageTP.apply();
                        fetchMotorSettings();
                        cStage = GoToMiddle;
 
                        defineProperty(MoveInOut100SP);
                        defineProperty(MoveInOut500SP);
                        defineProperty(MoveInOut1000SP);
                    }
                }
                else
                {
                    LOG_INFO("Already started calibration. Proceed to next step.");
                    CalibrationMessageTP[0].setText("Already started. Proceed to NEXT.");
                    CalibrationMessageTP.apply();
                }
            }
            else if (current_switch == CALIBRATION_NEXT)
            {
                if (m_SubModel == SESTOSENSO3_SC)
                {
                    LOG_ERROR("CALIBRATION_NEXT not applicable for SestoSenso3 SC Automatic Calibration.");
                    CalibrationMessageTP[0].setText("Error: NEXT not applicable for Automatic Calibration.");
                    CalibrationMessageTP.apply();
                    CalibrationSP.setState(IPS_ALERT);
                    CalibrationSP.apply();
                    return false;
                }
 
                if (cStage == GoToMiddle)
                {
                    defineProperty(FastMoveSP);
                    if (m_SestoSenso3->storeAsMinPosition() == false)
                        return false;
                    CalibrationMessageTP[0].setText("Semi-Automatic Calibration: Use Fast Move OUT to find MAX position, then press STOP, then NEXT.");
                    CalibrationMessageTP.apply();
                    cStage = GoMinimum;
                }
                else if (cStage == GoMinimum)
                {
                    if (m_SestoSenso3->storeAsMaxPosition() == false)
                        return false;
                    CalibrationMessageTP[0].setText("Calibration: Press NEXT to finish.");
                    CalibrationMessageTP.apply();
                    cStage = GoMaximum;
                }
                else if (cStage == GoMaximum)
                {
                    uint32_t maxLimit = 0;
                    if (m_SestoSenso3->getMaxPosition(maxLimit) == false)
                        return false;
 
                    LOGF_INFO("MAX setting is %d", maxLimit);
 
                    FocusMaxPosNP[0].setMax(maxLimit);
                    FocusMaxPosNP[0].setValue(maxLimit);
 
                    FocusAbsPosNP[0].setMin(0);
                    FocusAbsPosNP[0].setMax(maxLimit);
                    FocusAbsPosNP[0].setValue(maxLimit);
                    FocusAbsPosNP[0].setStep((FocusAbsPosNP[0].getMax() - FocusAbsPosNP[0].getMin()) / 50.0);
 
                    FocusRelPosNP[0].setMin(0.);
                    FocusRelPosNP[0].setMax(FocusAbsPosNP[0].getStep() * 10);
                    FocusRelPosNP[0].setValue(0);
                    FocusRelPosNP[0].setStep(FocusAbsPosNP[0].getStep());
 
                    PresetNP[0].setMax(maxLimit);
                    PresetNP[0].setStep((FocusAbsPosNP[0].getMax() - FocusAbsPosNP[0].getMin()) / 50.0);
                    PresetNP[1].setMax(maxLimit);
                    PresetNP[1].setStep((FocusAbsPosNP[0].getMax() - FocusAbsPosNP[0].getMin()) / 50.0);
                    PresetNP[2].setMax(maxLimit);
                    PresetNP[2].setStep((FocusAbsPosNP[0].getMax() - FocusAbsPosNP[0].getMin()) / 50.0);
 
                    FocusMaxPosNP.setState(IPS_OK);
                    FocusAbsPosNP.updateMinMax();
                    FocusRelPosNP.updateMinMax();
                    PresetNP.updateMinMax();
                    FocusMaxPosNP.updateMinMax();
 
                    CalibrationMessageTP[0].setText("Calibration Completed.");
                    CalibrationMessageTP.apply();
 
                    deleteProperty(FastMoveSP);
                    deleteProperty(MoveInOut100SP);
                    deleteProperty(MoveInOut500SP);
                    deleteProperty(MoveInOut1000SP);
 
                    cStage = Complete;
 
                    LOG_INFO("Calibration completed");
                    CalibrationSP.setState(IPS_OK);
                    CalibrationSP.apply();
                    CalibrationSP[current_switch].setState(ISS_OFF);
                    CalibrationSP.apply();
 
                    fetchMotorSettings();
                }
                else
                {
                    CalibrationMessageTP[0].setText("Calibration not in progress.");
                    CalibrationMessageTP.apply();
                }
            }
            return true;
        }
        // Fast motion
        else if (FastMoveSP.isNameMatch(name))
        {
            FastMoveSP.update(states, names, n);
            auto current_switch = FastMoveSP.findOnSwitchIndex();
 
            switch (current_switch)
            {
                case FASTMOVE_IN:
                    if (m_SestoSenso3->fastMoveIn() == false)
                        return false;
                    break;
                case FASTMOVE_OUT:
                    if (m_SestoSenso3->goOutToFindMaxPos() == false)
                        return false;
                    CalibrationMessageTP[0].setText("Semi-Automatic Calibration: Press STOP when focuser is almost at MAX position.");
                    CalibrationMessageTP.apply();
                    fetchMotorSettings();
                    break;
                case FASTMOVE_STOP:
                    if (m_SestoSenso3->stopMotor() == false)
                        return false;
                    CalibrationMessageTP[0].setText("Press NEXT to store max limit.");
                    CalibrationMessageTP.apply();
                    break;
                default:
                    break;
            }
 
            FastMoveSP.setState(IPS_BUSY);
            FastMoveSP.apply();
            return true;
        }
        // Semi-automatic calibration move switches
        else if (MoveInOut100SP.isNameMatch(name))
        {
            MoveInOut100SP.update(states, names, n);
            auto current_move_switch = MoveInOut100SP.findOnSwitchIndex();
            if (current_move_switch == MOVE_IN_100)
            {
                if (m_SestoSenso3->moveIn(100) == false) return false;
            }
            else if (current_move_switch == MOVE_OUT_100)
            {
                if (m_SestoSenso3->moveOut(100) == false) return false;
            }
            MoveInOut100SP.setState(IPS_IDLE);
            MoveInOut100SP.apply();
            return true;
        }
        else if (MoveInOut500SP.isNameMatch(name))
        {
            MoveInOut500SP.update(states, names, n);
            auto current_move_switch = MoveInOut500SP.findOnSwitchIndex();
            if (current_move_switch == MOVE_IN_500)
            {
                if (m_SestoSenso3->moveIn(500) == false) return false;
            }
            else if (current_move_switch == MOVE_OUT_500)
            {
                if (m_SestoSenso3->moveOut(500) == false) return false;
            }
            MoveInOut500SP.setState(IPS_IDLE);
            MoveInOut500SP.apply();
            return true;
        }
        else if (MoveInOut1000SP.isNameMatch(name))
        {
            MoveInOut1000SP.update(states, names, n);
            auto current_move_switch = MoveInOut1000SP.findOnSwitchIndex();
            if (current_move_switch == MOVE_IN_1000)
            {
                if (m_SestoSenso3->moveIn(1000) == false) return false;
            }
            else if (current_move_switch == MOVE_OUT_1000)
            {
                if (m_SestoSenso3->moveOut(1000) == false) return false;
            }
            MoveInOut1000SP.setState(IPS_IDLE);
            MoveInOut1000SP.apply();
            return true;
        }
        // Motor hold
        else if (MotorHoldSP.isNameMatch(name))
        {
            MotorHoldSP.update(states, names, n);
            auto sp = MotorHoldSP.findOnSwitch();
            assert(sp != nullptr);
 
            if (!strcmp(sp->name, "HOLD_OFF"))
            {
                m_SestoSenso3->setMotorHold(false);
                MotorHoldSP.setState(IPS_ALERT);
                LOG_INFO("Motor hold OFF. You may now manually adjust the focuser. Remember to enable motor hold once done.");
            }
            else
            {
                m_SestoSenso3->setMotorHold(true);
                MotorHoldSP.setState(IPS_OK);
                LOG_INFO("Motor hold ON. Do NOT attempt to manually adjust the focuser!");
                if (MotorCurrentNP[MOTOR_CURR_HOLD].getValue() < 2.0)
                {
                    LOGF_WARN("Motor hold current set to %.1f: This may be insufficient to hold focus",
                              MotorCurrentNP[MOTOR_CURR_HOLD].getValue());
                }
            }
 
            MotorHoldSP.apply();
            return true;
        }
        else if (MotorApplyPresetSP.isNameMatch(name))
        {
            MotorApplyPresetSP.update(states, names, n);
            auto index = MotorApplyPresetSP.findOnSwitchIndex();
            assert(index >= 0 && index < 3);
 
            const char *presetName = MOTOR_PRESET_NAMES[index];
 
            if (m_SestoSenso3->applyMotorPreset(presetName))
            {
                LOGF_INFO("Loaded motor preset: %s", presetName);
                MotorApplyPresetSP.setState(IPS_IDLE);
            }
            else
            {
                LOGF_ERROR("Failed to load motor preset: %s", presetName);
                MotorApplyPresetSP.setState(IPS_ALERT);
            }
 
            MotorApplyPresetSP[index].setState(ISS_OFF);
            MotorApplyPresetSP.apply();
 
            fetchMotorSettings();
            return true;
        }
    }
    return INDI::Focuser::ISNewSwitch(dev, name, states, names, n);
}
 
bool SestoSenso3::ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n)
{
    if (dev == nullptr || strcmp(dev, getDeviceName()) != 0)
        return INDI::Focuser::ISNewNumber(dev, name, values, names, n);
 
    if (MotorRateNP.isNameMatch(name))
    {
        MotorRateNP.update(values, names, n);
        MotorRateNP.setState(IPS_OK);
        applyMotorRates();
        MotorRateNP.apply();
        return true;
    }
    else if (MotorCurrentNP.isNameMatch(name))
    {
        MotorCurrentNP.update(values, names, n);
        MotorCurrentNP.setState(IPS_OK);
        applyMotorCurrents();
        MotorCurrentNP.apply();
        return true;
    }
    else if (RecoveryDelayNP.isNameMatch(name))
    {
        RecoveryDelayNP.update(values, names, n);
        int32_t delay = static_cast<int32_t>(RecoveryDelayNP[RECOVERY_DELAY_VALUE].getValue());
        if (m_SestoSenso3->setRecoveryDelay(delay))
        {
            RecoveryDelayNP.setState(IPS_OK);
            LOGF_INFO("Recovery Delay set to %d seconds.", delay);
        }
        else
        {
            RecoveryDelayNP.setState(IPS_ALERT);
            LOG_ERROR("Failed to set Recovery Delay.");
        }
        saveConfig(RecoveryDelayNP);
        RecoveryDelayNP.apply();
        return true;
    }
 
    return INDI::Focuser::ISNewNumber(dev, name, values, names, n);
}
 
IPState SestoSenso3::MoveAbsFocuser(uint32_t targetTicks)
{
    targetPos = targetTicks;
 
    if (isSimulation() == false)
    {
        backlashDirection = targetTicks < lastPos ? FOCUS_INWARD : FOCUS_OUTWARD;
        if (backlashDirection == FOCUS_INWARD)
            targetPos -= backlashTicks;
        else
            targetPos += backlashTicks;
 
        if (m_SestoSenso3->goAbsolutePosition(targetPos) == false)
            return IPS_ALERT;
    }
 
    m_MotionProgressTimer.start(10);
    return IPS_BUSY;
}
 
IPState SestoSenso3::MoveRelFocuser(FocusDirection dir, uint32_t ticks)
{
    int reversed = (FocusReverseSP.findOnSwitchIndex() == INDI_ENABLED) ? -1 : 1;
    int relativeTicks = ((dir == FOCUS_INWARD) ? -ticks : ticks) * reversed;
    double newPosition = FocusAbsPosNP[0].getValue() + relativeTicks;
 
    bool rc = MoveAbsFocuser(newPosition);
 
    return (rc ? IPS_BUSY : IPS_ALERT);
}
 
bool SestoSenso3::AbortFocuser()
{
    m_MotionProgressTimer.stop();
 
    if (isSimulation())
        return true;
 
    return m_SestoSenso3->stop();
}
 
void SestoSenso3::checkMotionProgressCallback()
{
    FocusAbsPosNP.apply();
    lastPos = FocusAbsPosNP[0].getValue();
    if (isMotionComplete())
    {
        FocusRelPosNP.apply();
 
        if (CalibrationSP.getState() == IPS_BUSY)
        {
            ISState states[2] = { ISS_OFF, ISS_ON };
            const char *names[2] = { CalibrationSP[CALIBRATION_START].getName(), CalibrationSP[CALIBRATION_NEXT].getName() };
            ISNewSwitch(getDeviceName(), CalibrationSP.getName(), states, const_cast<char **>(names), CalibrationSP.count());
        }
        else
            LOG_INFO("Focuser reached requested position.");
        FocusAbsPosNP.setState(IPS_OK);
        FocusRelPosNP.setState(IPS_OK);
        return;
    }
 
    m_MotionProgressTimer.start(500);
}
 
void SestoSenso3::TimerHit()
{
    if (!isConnected() ||
            FocusAbsPosNP.getState() == IPS_BUSY ||
            FocusRelPosNP.getState() == IPS_BUSY ||
            CalibrationSP.getState() == IPS_BUSY)
    {
        SetTimer(getCurrentPollingPeriod());
        return;
    }
 
    bool rc = updatePosition();
    if (rc)
    {
        if (fabs(lastPos - FocusAbsPosNP[0].getValue()) > 0)
        {
            FocusAbsPosNP.apply();
            lastPos = FocusAbsPosNP[0].getValue();
        }
    }
 
    if (m_TemperatureCounter++ == SESTO_TEMPERATURE_FREQ)
    {
        rc = updateTemperature();
        if (rc)
        {
            if (fabs(lastTemperature - TemperatureNP[0].getValue()) >= 0.1)
            {
                TemperatureNP.apply();
                lastTemperature = TemperatureNP[0].getValue();
            }
        }
 
        rc = updateVoltageIn();
        if (rc)
        {
            if (fabs(lastVoltageIn - VoltageInNP[0].getValue()) >= 0.1)
            {
                VoltageInNP.apply();
                lastVoltageIn = VoltageInNP[0].getValue();
 
                if (VoltageInNP[0].getValue() < 11.0)
                    LOG_WARN("Please check 12v DC power supply is connected.");
            }
        }
 
        m_TemperatureCounter = 0;
    }
 
    SetTimer(getCurrentPollingPeriod());
}
 
bool SestoSenso3::getStartupValues()
{
    bool rc = updatePosition();
    if (rc)
        FocusAbsPosNP.apply();
 
    rc &= fetchMotorSettings();
 
    return rc;
}
 
bool SestoSenso3::ReverseFocuser(bool enable)
{
    INDI_UNUSED(enable);
    return false;
}
 
bool SestoSenso3::Ack()
{
    std::string response;
 
    if (isSimulation())
        response = "1.0 Simulation";
    else
    {
        if (initCommandSet() == false)
        {
            LOG_ERROR("Failed setting attributes on serial port and init command sets");
            return false;
        }
        if (m_SestoSenso3->getSerialNumber(response))
        {
            LOGF_INFO("Serial number: %s", response.c_str());
        }
        else
        {
            return false;
        }
 
        std::string modelName;
        if (m_SestoSenso3->getModel(modelName))
        {
            LOGF_INFO("Model name: %s", modelName.c_str());
 
            std::string subModel;
            if (m_SestoSenso3->getSubModel(subModel))
            {
                LOGF_INFO("SubModel: %s", subModel.c_str());
 
                if (subModel.find("SESTOSENSO3SC") != std::string::npos)
                {
                    m_SubModel = SESTOSENSO3_SC;
                    LOG_INFO("Detected: SestoSenso3 SC (Automatic Calibration)");
                }
                else if (subModel.find("SESTOSENSO3LS") != std::string::npos)
                {
                    m_SubModel = SESTOSENSO3_LS;
                    LOG_INFO("Detected: SestoSenso3 LS (Semi-Automatic Calibration)");
                }
                else
                {
                    m_SubModel = SESTOSENSO3_STANDARD;
                    LOG_INFO("Detected: SestoSenso3 Standard (Semi-Automatic Calibration)");
                }
            }
            else
            {
                m_SubModel = SESTOSENSO3_STANDARD;
                LOG_WARN("Failed to query submodel, defaulting to SestoSenso3 Standard");
            }
        }
    }
 
    FirmwareTP[FIRMWARE_SN].setText(response.c_str());
 
    if (m_SestoSenso3->getFirmwareVersion(response))
    {
        LOGF_INFO("Firmware version: %s", response.c_str());
        IUSaveText(&FirmwareTP[FIRMWARE_VERSION], response.c_str());
    }
    else
    {
        return false;
    }
 
    return true;
}
 
void SestoSenso3::setConnectionParams()
{
    serialConnection->setDefaultBaudRate(serialConnection->B_115200);
    serialConnection->setWordSize(8);
}
 
bool SestoSenso3::initCommandSet()
{
    m_SestoSenso3.reset(new PrimalucaLabs::SestoSenso3(getDeviceName(), PortFD));
 
    struct termios tty_setting;
    if (tcgetattr(PortFD, &tty_setting) == -1)
    {
        LOG_ERROR("setTTYFlags: failed getting tty attributes.");
        return false;
    }
    tty_setting.c_lflag |= ICANON;
    if (tcsetattr(PortFD, TCSANOW, &tty_setting))
    {
        LOG_ERROR("setTTYFlags: failed setting attributes on serial port.");
        return false;
    }
    return true;
}
 
bool SestoSenso3::saveConfigItems(FILE *fp)
{
    Focuser::saveConfigItems(fp);
    MotorRateNP.save(fp);
    MotorCurrentNP.save(fp);
    return true;
}