wanderer_eta.h

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/*******************************************************************************
  Copyright(c) 2025 cfuture81. All rights reserved.
 
  Wanderer ETA M54 - Electronic Tilt Adjuster
 
  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.
*******************************************************************************/
 
#pragma once
 
#include "defaultdevice.h"
#include <mutex>
 
namespace Connection
{
class Serial;
}
 
class WandererETA : public INDI::DefaultDevice
{
    public:
        WandererETA();
        virtual ~WandererETA() = default;
 
        virtual bool initProperties() override;
        virtual bool updateProperties() 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;
 
    protected:
        const char *getDefaultName() override;
        virtual void TimerHit() override;
        virtual bool saveConfigItems(FILE *fp) override;
 
    private:
        // Serial communication
        bool sendCommand(std::string command);
        bool getData();
        bool parseDeviceData(const char *data);
 
        // State
        int firmware = 0;
 
        // Motor position targets (RW) - individual properties for independent control
        INDI::PropertyNumber Position1NP{1};
        INDI::PropertyNumber Position2NP{1};
        INDI::PropertyNumber Position3NP{1};
 
        enum
        {
            POINT_1,
            POINT_2,
            POINT_3,
        };
 
        // Motor position readback (RO) - what the encoders report
        INDI::PropertyNumber PositionReadNP{3};
 
        // Firmware information
        INDI::PropertyText FirmwareTP{1};
        enum
        {
            FIRMWARE_VERSION,
        };
 
        // Zero all points
        INDI::PropertySwitch ZeroAllSP{1};
        enum
        {
            ZERO_ALL,
        };
 
        // Backfocus offset - apply uniform offset to all points
        INDI::PropertyNumber BackfocusOffsetNP{1};
        INDI::PropertySwitch ApplyOffsetSP{1};
        enum
        {
            APPLY_OFFSET,
        };
 
        int PortFD{ -1 };
        Connection::Serial *serialConnection{ nullptr };
 
        // Mutex for thread safety
        std::timed_mutex serialPortMutex;
        bool m_Initializing {true};
        bool m_FirstRead {true};
 
        // Non-blocking move state machine
        struct MoveState
        {
            bool active {false};
            double target[3] {0, 0, 0};
            bool pending[3] {false, false, false};
            int currentPoint {0};
            double startPosition[3] {0, 0, 0};  // Position when move started
            int graceCount {0};
            int timeoutCount[3] {0, 0, 0};  // Polls remaining before timeout
            bool isZeroAll {false};
            bool isApplyOffset {false};
        };
        MoveState m_Move;
        static constexpr double POSITION_TOLERANCE = 0.005;  // mm
        static constexpr double MOTOR_SPEED_MMS = 0.015;     // mm/s (conservative estimate)
        static constexpr int    TIMEOUT_SAFETY_S = 25;       // extra seconds added to calculated timeout
 
        void startMove(int pointIndex, double target);
        void startMultiPointMove(double targets[3], bool isZeroAll, bool isApplyOffset);
        void checkMoveProgress();
        void sendPointCommand(int pointIndex, double target);
 
        void setPositionNP(int index, double values[], char *names[], int n, IPState state);
        void setPositionState(int index, IPState state);
        void updateAllTargets(double targets[3]);
};