fcusb.cpp

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/*******************************************************************************
 Copyright(c) 2019 Jasem Mutlaq. All rights reserved.
 
 Shoestring FCUSB Focuser
 
 This library is free software; you can redistribute it and/or
 modify it under the terms of the GNU Library General Public
 License version 2 as published by the Free Software Foundation.
 .
 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
 Library 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.
*******************************************************************************/
 
#include "fcusb.h"
 
#include <cmath>
#include <cstring>
#include <memory>
 
#define FOCUS_SETTINGS_TAB "Settings"
 
static std::unique_ptr<FCUSB> fcusb(new FCUSB());
static const std::multimap<uint16_t, uint16_t> USBIDs =
{
    {0x134A, 0x9023},
    {0x134A, 0x9024},
    {0x134A, 0x903F},
};
 
FCUSB::FCUSB()
{
    setVersion(0, 3);
 
    FI::SetCapability(FOCUSER_HAS_VARIABLE_SPEED | FOCUSER_CAN_ABORT | FOCUSER_CAN_SYNC | FOCUSER_CAN_REVERSE);
    setSupportedConnections(CONNECTION_NONE);
}
 
bool FCUSB::Connect()
{
    if (isSimulation())
    {
        SetTimer(getCurrentPollingPeriod());
        return true;
    }
 
    // Iterate until the correct VID:PID is found.
    for (const auto &oneID : USBIDs)
    {
        if ( (handle = hid_open(oneID.first, oneID.second, nullptr)) != nullptr)
            break;
    }
 
    if (handle == nullptr)
    {
        LOG_ERROR("No FCUSB focuser found.");
        return false;
    }
 
    else
    {
        SetTimer(getCurrentPollingPeriod());
    }
 
    return (handle != nullptr);
}
 
bool FCUSB::Disconnect()
{
    if (isSimulation() == false)
    {
        hid_close(handle);
        hid_exit();
    }
 
    return true;
}
 
const char *FCUSB::getDefaultName()
{
    return "FCUSB";
}
 
bool FCUSB::initProperties()
{
    INDI::Focuser::initProperties();
 
    FocusSpeedN[0].min = 0;
    FocusSpeedN[0].max = 255;
 
    // PWM Scaler
    IUFillSwitch(&PWMScalerS[0], "PWM_1_1", "1:1", ISS_ON);
    IUFillSwitch(&PWMScalerS[1], "PWM_1_4", "1:4", ISS_OFF);
    IUFillSwitch(&PWMScalerS[2], "PWM_1_16", "1:16", ISS_OFF);
    IUFillSwitchVector(&PWMScalerSP, PWMScalerS, 3, getDeviceName(), "PWM_SCALER", "PWM Scale", OPTIONS_TAB, IP_RW, ISR_1OFMANY,
                       0, IPS_IDLE);
 
    addSimulationControl();
 
    return true;
}
 
bool FCUSB::updateProperties()
{
    INDI::Focuser::updateProperties();
 
    if (isConnected())
    {
        defineProperty(&PWMScalerSP);
    }
    else
    {
        deleteProperty(PWMScalerSP.name);
    }
 
    return true;
}
 
void FCUSB::TimerHit()
{
    if (!isConnected())
        return;
 
    if (FocusTimerNP.s == IPS_BUSY)
    {
        struct timeval curtime, diff;
        gettimeofday(&curtime, nullptr);
        timersub(&timedMoveEnd, &curtime, &diff);
        int timeleft = diff.tv_sec * 1000 + diff.tv_usec / 1000;
 
        if (timeleft < 0)
            timeleft = 0;
 
        FocusTimerN[0].value = timeleft;
        IDSetNumber(&FocusTimerNP, nullptr);
 
        if (timeleft == 0)
            stop();
        else if (static_cast<uint32_t>(timeleft) < getCurrentPollingPeriod())
        {
            IEAddTimer(timeleft, &FCUSB::timedMoveHelper, this);
        }
    }
 
    SetTimer(getCurrentPollingPeriod());
}
 
bool FCUSB::ISNewSwitch(const char * dev, const char * name, ISState * states, char * names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        // Focus Step Mode
        if (strcmp(PWMScalerSP.name, name) == 0)
        {
            IUUpdateSwitch(&PWMScalerSP, states, names, n);
 
            pwmStatus = static_cast<PWMBits>(IUFindOnSwitchIndex(&PWMScalerSP));
 
            PWMScalerSP.s = setStatus() ? IPS_OK : IPS_ALERT;
 
            IDSetSwitch(&PWMScalerSP, nullptr);
 
            return true;
 
        }
    }
 
    return INDI::Focuser::ISNewSwitch(dev, name, states, names, n);
}
 
bool FCUSB::getStatus()
{
    // 2 bytes response
    uint8_t status[2] = {0};
 
    int rc = hid_read(handle, status, 2);
 
    if (rc < 0)
    {
        LOGF_ERROR("getStatus: Error reading from FCUSB to device (%s)", hid_error(handle));
        return false;
    }
 
    LOGF_DEBUG("RES <%#02X %#02X>", status[0], status[1]);
 
    // Motor Status
    uint8_t motor = status[0] & 0x3;
    // 0x2 and 0x3 are identical
    if (motor == 0x3) motor = 0x2;
    MotorBits newMotorStatus = static_cast<MotorBits>(motor);
    if (newMotorStatus != motorStatus)
    {
        motorStatus = newMotorStatus;
        switch (motorStatus)
        {
            case MOTOR_OFF:
                LOG_INFO("Motor is off.");
                break;
 
            case MOTOR_REV:
                LOG_INFO("Motor is moving backwards.");
                break;
 
            case MOTOR_FWD:
                LOG_INFO("Motor is moving forward.");
                break;
 
        }
    }
 
    uint8_t pwm   = (status[0] & 0xC0) >> 6 ;
    // 0x2 and 0x3 are identical
    if (pwm == 0x3) pwm = 0x2;
    PWMBits newPWMStatus = static_cast<PWMBits>(pwm);
    if (newPWMStatus != pwmStatus)
    {
        pwmStatus = newPWMStatus;
        switch (pwmStatus)
        {
            case PWM_1_1:
                LOG_INFO("PWM Scaler is 1:1");
                break;
 
            case PWM_1_4:
                LOG_INFO("PWM Scaler is 1:4");
                break;
 
            case PWM_1_16:
                LOG_INFO("PWM Scaler is 1:16");
                break;
        }
 
        IUResetSwitch(&PWMScalerSP);
        PWMScalerS[pwmStatus].s = ISS_ON;
        IDSetSwitch(&PWMScalerSP, nullptr);
    }
 
    // Update speed (PWM) if it was changed.
    if (fabs(FocusSpeedN[0].value - status[1]) > 0)
    {
        FocusSpeedN[0].value = status[1];
        LOGF_DEBUG("PWM: %d%", FocusSpeedN[0].value);
        IDSetNumber(&FocusSpeedNP, nullptr);
    }
 
    return true;
}
 
bool FCUSB::AbortFocuser()
{
    motorStatus = MOTOR_OFF;
 
    LOG_DEBUG("Aborting focuser...");
 
    bool rc = setStatus();
 
    if (rc)
    {
        if (FocusTimerNP.s != IPS_IDLE)
        {
            FocusTimerNP.s = IPS_IDLE;
            FocusTimerN[0].value = 0;
            IDSetNumber(&FocusTimerNP, nullptr);
        }
 
        if (FocusMotionSP.s != IPS_IDLE)
        {
            IUResetSwitch(&FocusMotionSP);
            FocusMotionSP.s = IPS_IDLE;
            IDSetSwitch(&FocusMotionSP, nullptr);
        }
    }
 
    return rc;
}
 
bool FCUSB::stop()
{
    motorStatus = MOTOR_OFF;
 
    LOG_DEBUG("Stopping focuser...");
 
    bool rc = setStatus();
 
    if (rc)
    {
        if (FocusTimerNP.s != IPS_OK)
        {
            FocusTimerNP.s = IPS_OK;
            FocusTimerN[0].value = 0;
            IDSetNumber(&FocusTimerNP, nullptr);
        }
 
        if (FocusMotionSP.s != IPS_OK)
        {
            IUResetSwitch(&FocusMotionSP);
            FocusMotionSP.s = IPS_OK;
            IDSetSwitch(&FocusMotionSP, nullptr);
        }
    }
 
    return rc;
}
 
bool FCUSB::SetFocuserSpeed(int speed)
{
    targetSpeed = speed;
 
    // Only call send status when the motor is running
    if (motorStatus != MOTOR_OFF)
        return setStatus();
    else
        return true;
}
 
IPState FCUSB::MoveFocuser(FocusDirection dir, int speed, uint16_t duration)
{
    FocusDirection targetDirection = dir;
 
    if (FocusReverseS[INDI_ENABLED].s == ISS_ON)
        targetDirection = (dir == FOCUS_INWARD) ? FOCUS_OUTWARD : FOCUS_INWARD;
 
    motorStatus = (targetDirection == FOCUS_INWARD) ? MOTOR_REV : MOTOR_FWD;
 
    targetSpeed = speed;
 
    bool rc = setStatus();
 
    if (!rc)
        return IPS_ALERT;
 
    if (duration > 0)
    {
        struct timeval duration_secs, current_time;
        gettimeofday(&current_time, nullptr);
        duration_secs.tv_sec = duration / 1000;
        duration_secs.tv_usec = duration % 1000;
        timeradd(&current_time, &duration_secs, &timedMoveEnd);
 
        if (duration < getCurrentPollingPeriod())
        {
            IEAddTimer(duration, &FCUSB::timedMoveHelper, this);
        }
    }
 
    return IPS_BUSY;
}
 
bool FCUSB::setStatus()
{
    uint8_t command[2] = {0};
 
    command[0] |= motorStatus;
    // Forward (Green) - Reverse (Red)
    command[0] |= (motorStatus == MOTOR_FWD) ? 0 : FC_LED_RED;
    // On / Off LED
    command[0] |= (motorStatus == MOTOR_OFF) ? 0 : FC_LED_ON;
    // PWM
    command[0] |= (pwmStatus << 6);
 
    command[1] = (motorStatus == MOTOR_OFF) ? 0 : static_cast<uint8_t>(targetSpeed);
 
    LOGF_DEBUG("CMD <%#X %#X>", command[0], command[1]);
 
    int rc = hid_write(handle, command, 2);
    if (rc < 0)
    {
        LOGF_DEBUG("Setting state failed (%s)", hid_error(handle));
        return false;
    }
 
    return true;
}
 
bool FCUSB::saveConfigItems(FILE * fp)
{
    Focuser::saveConfigItems(fp);
 
    IUSaveConfigSwitch(fp, &PWMScalerSP);
 
    return true;
}
 
bool FCUSB::ReverseFocuser(bool enabled)
{
    INDI_UNUSED(enabled);
    return true;
}
 
void FCUSB::timedMoveHelper(void * context)
{
    static_cast<FCUSB *>(context)->timedMoveCallback();
}
 
void FCUSB::timedMoveCallback()
{
    stop();
}