synscandriver.h

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/*******************************************************************************
  Copyright(c) 2019 Jasem Mutlaq. 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 "inditelescope.h"
#include "indiguiderinterface.h"
#include "libastro.h"
 
class SynscanDriver : public INDI::Telescope, public INDI::GuiderInterface
{
    public:
        SynscanDriver();
 
        typedef enum { SYN_N, SYN_S, SYN_E, SYN_W } SynscanDirection;
 
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual const char * getDefaultName() 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;
 
        static void guideTimeoutHelperNS(void *context);
        static void guideTimeoutHelperWE(void *context);
 
    protected:
        virtual bool Handshake() override;
 
        // Get RA/DE and status
        virtual bool ReadScopeStatus() override;
 
        // Time & Location
        virtual bool updateLocation(double latitude, double longitude, double elevation) override;
        virtual bool updateTime(ln_date * utc, double utc_offset) override;
 
        // Parking
        virtual bool Park() override;
        virtual bool UnPark() override;
        virtual bool SetCurrentPark() override;
        virtual bool SetDefaultPark() override;
 
        // Motion
        virtual bool Sync(double ra, double dec) override;
        virtual bool Goto(double, double) override;
        virtual bool GotoAzAlt(double az, double alt);
        virtual bool Abort() override;
        virtual bool SetSlewRate(int index) override;
        virtual bool MoveNS(INDI_DIR_NS dir, TelescopeMotionCommand command) override;
        virtual bool MoveWE(INDI_DIR_WE dir, TelescopeMotionCommand command) override;
 
        // Tracking
        virtual bool SetTrackEnabled(bool enabled) override;
        virtual bool SetTrackMode(uint8_t mode) override;
 
        // Guiding
        virtual IPState GuideNorth(uint32_t ms) override;
        virtual IPState GuideSouth(uint32_t ms) override;
        virtual IPState GuideEast(uint32_t ms) override;
        virtual IPState GuideWest(uint32_t ms) override;
 
    private:
        bool sendCommand(const char * cmd, char * res = nullptr, int cmd_len = -1, int res_len = -1);
        // Check if mount is responding
        virtual bool echo();
 
        // Initial Params
        void setupParams();
        // Send
        void sendStatus();
        bool sendTime();
        bool sendLocation();
        // Read
        bool readFirmware();
        bool readModel();
        bool readTracking();
        // Goto mode
        bool SetAltAzMode(bool);
 
        // Slew
        bool slewFixedRate(SynscanDirection direction, uint8_t rate);
        bool isSlewComplete();
 
        // Guiding
        void guideTimeoutCallbackNS();
        void guideTimeoutCallbackWE();
 
        bool slewVariableRate(SynscanDirection direction, double rate);
 
        // Simulation
        void mountSim();
 
        double CurrentRA { 0 }, CurrentDE { 0 };
        double TargetRA {0}, TargetDE {0};
        uint8_t m_MountModel { 0 };
        int m_TargetSlewRate { 5 };
        uint8_t m_TrackingFlag { 0 };
        double m_FirmwareVersion { 0 };
        double m_CustomGuideRA { 0 }, m_CustomGuideDE { 0 };
        int m_GuideNSTID { 0 }, m_GuideWETID { 0 };
 
        // Utility
        int hexStrToInteger(const std::string &str);
        void hexDump(char *buf, const char *data, int size);
 
        // Is mount type Alt-Az?
        bool m_isAltAz { false };
        // Use Alt-Az Goto?
        bool goto_AltAz { false };
 
 
        // Mount Status
        IText StatusT[5] = {};
        ITextVectorProperty StatusTP;
 
        // Custom Slew Rate
        INumber CustomSlewRateN[2];
        INumberVectorProperty CustomSlewRateNP;
 
        // Guide Rate
        INumber GuideRateN[2];
        INumberVectorProperty GuideRateNP;
 
        // Horizontal Coords
        INumber HorizontalCoordsN[2];
        INumberVectorProperty HorizontalCoordsNP;
 
        // Goto mode
        ISwitch GotoModeS[2];
        ISwitchVectorProperty GotoModeSP;
 
        // Mount Info
        enum MountInfo
        {
            MI_FW_VERSION,
            MI_MOUNT_MODEL,
            MI_GOTO_STATUS,
            MI_POINT_STATUS,
            MI_TRACK_MODE
        };
        std::vector<std::string> m_MountInfo;
 
 
        // Simulated Slew Rates
        static constexpr uint16_t SIM_SLEW_RATE[] = {1, 8, 16, 32, 64, 128, 400, 600, 800, 900};
        // Maximum buffer for reading from Synscan
        static const uint8_t SYN_RES = 64;
        // Timeout
        static const uint8_t SYN_TIMEOUT = 3;
        // Delimiter
        static const char SYN_DEL = {'#'};
        // Mount Information Tab
        static constexpr const char * MOUNT_TAB = "Mount Information";
};