smartfocus.h

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/*******************************************************************************
  Copyright(c) 2015,2020 Camiel Severijns. All rights reserved.
 
 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Library General Public
 License version 2 as published by the Free Software Foundation.
 .
 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
 Library 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.
*******************************************************************************/
 
#pragma once
 
#include "indifocuser.h"
 
class SmartFocus : public INDI::Focuser
{
    public:
        SmartFocus();
 
        const char *getDefaultName() override;
 
        bool initProperties() override;
        bool updateProperties() override;
 
        virtual bool Handshake() override;
 
        virtual bool ISNewNumber(const char *dev, const char *name, double values[], char *names[], int n) override;
        //virtual bool ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n) override;
 
        virtual bool AbortFocuser() override;
        virtual IPState MoveAbsFocuser(uint32_t targetPosition) override;
        virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
        virtual void TimerHit() override;
 
        typedef unsigned short Position;
    protected:
        virtual bool saveConfigItems(FILE *fp) override;
 
    private:
        typedef unsigned char Flags;
 
        enum State
        {
            Idle,
            MovingTo,
            MovingIn,
            MovingOut
        };
 
        enum StatusFlags
        {
            STATUS_SERIAL_FRAMING_ERROR = 0,
            STATUS_SERIAL_OVERRUN_ERROR,
            STATUS_MOTOR_ENCODE_ERROR,
            STATUS_AT_ZERO_POSITION,
            STATUS_AT_MAX_POSITION,
            STATUS_NUM_FLAGS
        };
 
        enum FlagBits
        {
            SerFramingError   = 0x02,
            SerOverrunError   = 0x04,
            MotorEncoderError = 0x08,
            AtZeroPosition    = 0x40,
            AtMaxPosition     = 0x80
        };
 
        bool SFacknowledge();
        bool SFisIdle() const
        {
            return (state == Idle);
        }
        bool SFisMoving() const
        {
            return !SFisIdle();
        }
        Position SFgetPosition();
        Flags SFgetFlags();
        void SFgetState();
 
        bool send(const char *command, const size_t nbytes, const char *from, const bool log_error = true);
        bool recv(char *respons, const size_t nbytes, const char *from, const bool log_error = true);
 
        Position position { 0 };
        State state { Idle };
        int timer_id { 0 };
 
        ILight FlagsL[5];
        ILightVectorProperty FlagsLP;
        INumber MotionErrorN[1];
        INumberVectorProperty MotionErrorNP;
};