celestronauxpacket.h

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/*
    Celestron Focuser for SCT and EDGEHD
 
    Copyright (C) 2019 Chris Rowland
    Copyright (C) 2019 Jasem Mutlaq (mutlaqja@ikarustech.com)
 
    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
 
*/
 
#pragma once
 
#include <vector>
#include <stdint.h>
#include <cstring>
#include <string>
 
namespace Aux
{
 
typedef std::vector<uint8_t> buffer;
 
enum Command
{
    MC_GET_POSITION = 0x01,         
    MC_GOTO_FAST = 0x02,            
    MC_SET_POSITION = 0x04,         
    MC_SET_POS_GUIDERATE = 0x06,
    MC_SET_NEG_GUIDERATE = 0x07,
    MC_LEVEL_START = 0x0b,
    MC_SET_POS_BACKLASH = 0x10,    
    MC_SET_NEG_BACKLASH = 0x11,    
    MC_SLEW_DONE = 0x13,          
    MC_GOTO_SLOW = 0x17,          
    MC_SEEK_INDEX = 0x19,
    MC_MOVE_POS = 0x24,           
    MC_MOVE_NEG = 0x25,           
    MC_GET_POS_BACKLASH = 0x40,   
    MC_GET_NEG_BACKLASH = 0x41,   
 
    // common to all devices (maybe)
    GET_VER = 0xfe,             
 
    // GPS device commands
    //GPS_GET_LAT = 0x01,
    //GPS_GET_LONG = 0x02,
    //GPS_GET_DATE = 0x03,
    //GPS_GET_YEAR = 0x04,
    //GPS_GET_TIME = 0x33,
    //GPS_TIME_VALID = 0x36,
    //GPS_LINKED = 0x37,
 
 
    FOC_CALIB_ENABLE = 42,      
    FOC_CALIB_DONE = 43,        
    FOC_GET_HS_POSITIONS = 44,  
};
 
enum Target
{
    ANY = 0x00,
    MB = 0x01,
    HC = 0x04,        
    HCP = 0x0d,
    AZM = 0x10,       
    ALT = 0x11,       
    FOCUSER = 0x12,   
    APP = 0x20,
    NEX_REMOTE = 0x22,
    GPS = 0xb0,       
    WiFi = 0xb5,      
    BAT = 0xb6,
    CHG = 0xb7,
    LIGHT = 0xbf
};
 
class Packet
{
    public:
        Packet() {}
        Packet(Target source, Target destination, Command command, buffer data);
        Packet(Target source, Target destination, Command command);
 
        // packet contents
        static const uint8_t AUX_HDR = 0x3b;
        uint32_t length;
        Target source;
        Target destination;
        Command command;
        buffer data;
 
        void FillBuffer(buffer &buf);
 
        bool Parse (buffer buf);
 
    private:
        uint8_t checksum(buffer data);
};
 
class Communicator
{
    public:
        Communicator();
        Communicator(Target source);
        // send command with data and reply
        bool sendCommand(int port, Target dest, Command cmd, buffer data, buffer &reply);
        // send command with reply but no data
        bool sendCommand(int port, Target dest, Command cmd, buffer &reply);
        // send command with data but no reply
        bool commandBlind(int port, Target dest, Command cmd, buffer data);
 
        Target source;
 
        static std::string Device;
        static void setDeviceName(const std::string &device)
        {
            Device =  device;
        }
 
    private:
        bool sendPacket(int port, Target dest, Command cmd, buffer data);
        bool readPacket(int port, Packet &reply);
};
 
}