steeldrive.h

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/*
    Baader Steeldrive Focuser
    Copyright (C) 2014 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 "indifocuser.h"
 
class SteelDrive : public INDI::Focuser
{
    public:
        SteelDrive();
        virtual ~SteelDrive() = default;
 
        typedef struct
        {
            double maxTrip;
            double gearRatio;
        } FocusCustomSetting;
 
        typedef enum { FOCUS_HALF_STEP, FOCUS_FULL_STEP } FocusStepMode;
        enum
        {
            FOCUS_MAX_TRIP,
            FOCUS_GEAR_RATIO
        };
        enum
        {
            FOCUS_T_COEFF,
            FOCUS_T_SAMPLES
        };
 
        virtual bool Handshake() override;
        const char *getDefaultName() override;
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual bool saveConfigItems(FILE *fp) 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 IPState MoveFocuser(FocusDirection dir, int speed, uint16_t duration) override;
        virtual IPState MoveAbsFocuser(uint32_t targetTicks) override;
        virtual IPState MoveRelFocuser(FocusDirection dir, unsigned int ticks) override;
        virtual bool SetFocuserSpeed(int speed) override;
        virtual bool AbortFocuser() override;
        virtual void TimerHit() override;
 
        void debugTriggered(bool enable) override;
 
    private:
        // Get functions
        bool updateVersion();
        bool updateTemperature();
        bool updateTemperatureSettings();
        bool updatePosition();
        bool updateSpeed();
        bool updateAcceleration();
        bool updateCustomSettings();
 
        // Set functions
        bool setStepMode(FocusStepMode mode);
        bool setSpeed(unsigned short speed);
        bool setCustomSettings(double maxTrip, double gearRatio);
        bool setAcceleration(unsigned short accel);
        bool setTemperatureSamples(unsigned int targetSamples, unsigned int *finalSample);
        bool setTemperatureCompensation();
 
        bool Sync(unsigned int position);
 
        // Motion functions
        bool moveFocuser(unsigned int position);
        bool stop();
        bool startMotion(FocusDirection dir);
 
        // Misc functions
        bool saveFocuserConfig();
        bool Ack();
        void GetFocusParams();
        float CalcTimeLeft(timeval, float);
        void updateFocusMaxRange(double maxTrip, double gearRatio);
 
        double targetPos { 0 };
        double lastPos { 0 };
        double lastTemperature { 0 };
        double simPosition { 0 };
        unsigned int currentSpeed { 0 };
        unsigned int temperatureUpdateCounter { 0 };
        bool sim { false };
 
        struct timeval focusMoveStart
        {
            0, 0
        };
        float focusMoveRequest { 0 };
 
        INumber TemperatureN[1];
        INumberVectorProperty TemperatureNP;
 
        INumber AccelerationN[1];
        INumberVectorProperty AccelerationNP;
 
        INumber TemperatureSettingN[2];
        INumberVectorProperty TemperatureSettingNP;
 
        ISwitch TemperatureCompensateS[2];
        ISwitchVectorProperty TemperatureCompensateSP;
 
        ISwitch ModelS[5];
        ISwitchVectorProperty ModelSP;
 
        INumber CustomSettingN[2];
        INumberVectorProperty CustomSettingNP;
 
        INumber SyncN[1];
        INumberVectorProperty SyncNP;
 
        IText VersionT[2] {};
        ITextVectorProperty VersionTP;
 
        FocusCustomSetting fSettings[5];
};