deepskydad_af3.h

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/*
    Deep Sky Dad AF3
 
    Copyright (C) 2019 Pavle Gartner
 
    Based on Moonline driver.
    Copyright (C) 2013-2019 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 "indifocuser.h"
 
#include <chrono>
 
class DeepSkyDadAF3 : public INDI::Focuser
{
    public:
        DeepSkyDadAF3();
        virtual ~DeepSkyDadAF3() override = default;
 
        typedef enum { S1, S2, S4, S8, S16, S32, S64, S128, S256 } FocusStepMode;
        typedef enum { VERY_SLOW, SLOW, MEDIUM, FAST, VERY_FAST } FocusSpeedMode;
 
        const char * getDefaultName() override;
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual bool ISNewSwitch(const char * dev, const char * name, ISState * states, char * names[], int n) override;
        virtual bool ISNewNumber(const char * dev, const char * name, double values[], char * names[], int n) override;
 
        static void timedMoveHelper(void * context);
    protected:
        /*
         * @brief Handshake Try to communicate with Focuser and see if there is a valid response.
         * @return True if communication is successful, false otherwise.
         */
        virtual bool Handshake() override;
 
        virtual IPState MoveFocuser(FocusDirection dir, int speed, uint16_t duration) override;
 
        virtual IPState MoveAbsFocuser(uint32_t targetTicks) override;
 
        virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
 
        virtual bool SyncFocuser(uint32_t ticks) override;
        virtual bool ReverseFocuser(bool enabled) override;
        virtual bool AbortFocuser() override;
        virtual void TimerHit() override;
        virtual bool saveConfigItems(FILE * fp) override;
        virtual bool SetFocuserBacklash(int32_t steps) override;
        virtual bool SetFocuserMaxPosition(uint32_t ticks) override;
 
    private:
        bool Ack();
        bool sendCommand(const char * cmd, char * res = nullptr);
        bool sendCommandSet(const char * cmd);
 
        // Get initial focuser parameter when we first connect
        void GetFocusParams();
        bool readStepMode();
        bool readSpeedMode();
        bool readPosition();
        bool readMaxPosition();
        bool readMaxMovement();
        bool readSettleBuffer();
        bool readMoveCurrentMultiplier();
        bool readHoldCurrentMultiplier();
        bool isMoving();
        bool readTemperature();
 
        void timedMoveCallback();
 
        bool MoveFocuser(uint32_t position);
 
        double targetPos { 0 }, lastPos { 0 }, lastTemperature { 0 }, backlashComp {0};
 
        bool moveAborted = false;
 
        // Step mode
        ISwitch StepModeS[9];
        ISwitchVectorProperty StepModeSP;
 
        // Speed mode
        ISwitch SpeedModeS[5];
        ISwitchVectorProperty SpeedModeSP;
 
        //Current move
        INumber MoveCurrentMultiplierN[1];
        INumberVectorProperty MoveCurrentMultiplierNP;
 
        //Current hold
        INumber HoldCurrentMultiplierN[1];
        INumberVectorProperty HoldCurrentMultiplierNP;
 
        // Max movement
        INumber FocusMaxMoveN[1];
        INumberVectorProperty FocusMaxMoveNP;
 
        // Settle buffer
        INumber SettleBufferN[1];
        INumberVectorProperty SettleBufferNP;
 
        INumber TemperatureN[1];
        INumberVectorProperty TemperatureNP;
 
        // Response Buffer
 
        static const uint8_t DSD_RES { 32 };
        static const char DSD_DEL { ')' };
        static const uint8_t DSD_TIMEOUT { 3 };
};