integra.h

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/*
    Gemini Telescope Design Integra85 Focusing Rotator.
    Copyright (C) 2017 Hans Lambermont
 
    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 "indifocuser.h"
#include "indirotatorinterface.h"
 
class Integra : public INDI::Focuser, public INDI::RotatorInterface
{
    public:
 
        typedef enum { MOTOR_FOCUS, MOTOR_ROTATOR } MotorType;
 
        typedef enum { VERSION_20170125, VERSION_20171220 } FirmwareVersion;
 
        // these are used for sanity checks only
        const int wellKnownIntegra85FocusMax = 188600;
        const int wellKnownIntegra85RotateMax = 61802;
 
        enum INTEGRA_HOMING_STATE
        {
            HOMING_IDLE,
            HOMING_START,
            HOMING_ABORT,
            HOMING_COUNT
        };
 
        Integra();
        virtual ~Integra() = default;
 
        virtual bool Handshake() override;
        const char * getDefaultName() override;
        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:
        // Focuser
        virtual IPState MoveAbsFocuser(uint32_t targetTicks) override;
        virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
        virtual bool AbortFocuser() override;
 
        // Rotator
        virtual IPState MoveRotator(double angle) override;
        virtual bool AbortRotator() override;
        virtual bool SyncRotator(double angle) override;
        virtual bool ReverseRotator(bool enabled) override;
 
        // Misc.
        virtual bool saveConfigItems(FILE *fp) override;
        virtual void TimerHit() override;
 
    private:
        bool genericIntegraCommand(const char *name, const char *cmd, const char *expectStart, char *returnValueString);
        bool integraGetCommand(const char *name, int command, char *returnValueString );
        bool integraMotorGetCommand(const char *name, int command, MotorType motor, char *returnValueString);
        bool integraMotorSetCommand(const char *name, int command, MotorType motor, int value, char *returnValueString);
        bool getFirmware();
        bool getFocuserType();
        bool gotoMotor(MotorType type, int32_t position);
        bool relativeGotoMotor(MotorType type, int32_t relativePosition);
        bool getPosition(MotorType type);
        bool stopMotor(MotorType type);
        bool isMotorMoving(MotorType type);
        bool getTemperature();
        bool findHome();
        bool abortHome();
        bool isHomingComplete();
        void cleanPrint(const char *cmd, char *cleancmd);
        bool saveToEEPROM();
        bool getMaxPosition(MotorType type);
        uint32_t rotatorDegreesToTicks(double angle);
        double rotatorTicksToDegrees(uint32_t ticks);
 
        INumber MaxPositionN[2];
        INumberVectorProperty MaxPositionNP;
 
        INumber SensorN[2];
        INumberVectorProperty SensorNP;
        enum { SENSOR_TEMPERATURE };
 
        ISwitch FindHomeS[HOMING_COUNT];
        ISwitchVectorProperty FindHomeSP;
 
        INumber RotatorAbsPosN[1];
        INumberVectorProperty RotatorAbsPosNP;
 
        double lastTemperature { 0 };
        int timeToReadTemperature = 0;
        double rotatorTicksPerDegree { 0 };
        double rotatorDegreesPerTick = 0.0;
        uint32_t lastFocuserPosition { 0 };
        bool haveReadFocusPositionAtLeastOnce = false;
        uint32_t lastRotatorPosition { 0 };
        bool haveReadRotatorPositionAtLeastOnce = false;
        uint32_t targetPosition { 0 };
        FirmwareVersion firmwareVersion { VERSION_20170125 };
};