lx200ap_v2.h

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/*
    Astro-Physics INDI driver
 
    Copyright (C) 2014 Jasem Mutlaq
 
    Based on INDI Astrophysics Driver by Markus Wildi
 
    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
 
/***********************************************************************
 * This file was copied an modified from lx200ap.h in Jan 2022.
 *
 * This is an update of the Wildi and Fulbright A-P drivers.
 * It is currently being tested.
 * You should not use this unless part of the test group.
***********************************************************************/
 
#include "lx200generic.h"
#include "lx200apdriver.h"
 
#define MOUNTNOTINITIALIZED 0
#define MOUNTINITIALIZED    1
 
class LX200AstroPhysicsV2 : public LX200Generic
{
    public:
        LX200AstroPhysicsV2();
 
        typedef enum { MCV_D, MCV_E, MCV_F, MCV_G, MCV_H, MCV_I, MCV_J, MCV_K_UNUSED,
                       MCV_L, MCV_M, MCV_N, MCV_O, MCV_P, MCV_Q, MCV_R, MCV_S,
                       MCV_T, MCV_U, MCV_V, MCV_UNKNOWN
                     } ControllerVersion;
        typedef enum { GTOCP1 = 1, GTOCP2, GTOCP3, GTOCP4, GTOCP5, GTOCP_UNKNOWN} ServoVersion;
        // This is shared by ParkFrom and ParkTo, and should be coordinated with those.
        typedef enum { PARK_LAST = 0, PARK_CUSTOM = 0, PARK_PARK1 = 1, PARK_PARK2 = 2, PARK_PARK3 = 3, PARK_PARK4 = 4, PARK_CURRENT = 5} ParkPosition;
        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 void ISGetProperties(const char *dev) override;
 
    protected:
 
        virtual const char *getDefaultName() override;
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
 
        virtual bool ReadScopeStatus() override;
        virtual bool Handshake() override;
        virtual bool Disconnect() override;
        virtual bool Connect() override;
 
        // Parking
        virtual bool SetCurrentPark() override;
        virtual bool SetDefaultPark() override;
        virtual bool Park() override;
        virtual bool UnPark() override;
 
        virtual bool Sync(double ra, double dec) override;
        virtual bool Goto(double, double) override;
        virtual bool updateTime(ln_date *utc, double utc_offset) override;
        virtual bool updateLocation(double latitude, double longitude, double elevation) override;
        virtual bool SetSlewRate(int index) override;
 
        // Guide Commands
        virtual IPState GuideNorth(uint32_t ms) override;
        virtual IPState GuideSouth(uint32_t ms) override;
        virtual IPState GuideEast(uint32_t ms) override;
        virtual IPState GuideWest(uint32_t ms) override;
        virtual int  SendPulseCmd(int8_t direction, uint32_t duration_msec) override;
        virtual bool GuideNS(INDI_DIR_NS dir, TelescopeMotionCommand command);
        virtual bool GuideWE(INDI_DIR_WE dir, TelescopeMotionCommand command);
 
        // Pulse Guide specific to AstroPhysics
        static void pulseGuideTimeoutHelperWE(void * p);
        static void pulseGuideTimeoutHelperNS(void * p);
        static void simulGuideTimeoutHelperWE(void * p);
        static void simulGuideTimeoutHelperNS(void * p);
        void AstroPhysicsGuideTimeoutWE(bool simul);
        void AstroPhysicsGuideTimeoutNS(bool simul);
 
        virtual bool getUTFOffset(double *offset) override;
        // Tracking
        virtual bool SetTrackMode(uint8_t mode) override;
        virtual bool SetTrackEnabled(bool enabled) override;
        virtual bool SetTrackRate(double raRate, double deRate) override;
 
        // NSWE Motion Commands
        virtual bool MoveNS(INDI_DIR_NS dir, TelescopeMotionCommand command) override;
        virtual bool MoveWE(INDI_DIR_WE dir, TelescopeMotionCommand command) override;
 
        virtual bool saveConfigItems(FILE *fp) override;
 
        virtual void debugTriggered(bool enable) override;
 
        void handleGTOCP2MotionBug();
 
        ISwitch StartUpS[2];
        ISwitchVectorProperty StartUpSP;
 
        INumber HourangleCoordsN[2];
        INumberVectorProperty HourangleCoordsNP;
        INumber APSiderealTimeN[1];
        INumberVectorProperty APSiderealTimeNP;
 
        INumber HorizontalCoordsN[2];
        INumberVectorProperty HorizontalCoordsNP;
 
        ISwitch APSlewSpeedS[3];
        ISwitchVectorProperty APSlewSpeedSP;
 
        ISwitch SwapS[2];
        ISwitchVectorProperty SwapSP;
 
        ISwitch SyncCMRS[2];
        ISwitchVectorProperty SyncCMRSP;
        enum { USE_REGULAR_SYNC, USE_CMR_SYNC };
 
        ISwitch APGuideSpeedS[3];
        ISwitchVectorProperty APGuideSpeedSP;
 
        ISwitch UnparkFromS[5];
        ISwitchVectorProperty UnparkFromSP;
 
        ISwitch ParkToS[6];
        ISwitchVectorProperty ParkToSP;
 
        INumberVectorProperty APUTCOffsetNP;
        INumber APUTCOffsetN[1];
 
        IText VersionT[1] {};
        ITextVectorProperty VersionTP;
 
        ISwitchVectorProperty ManualSetParkedSP;
        ISwitch ManualSetParkedS[1];
 
        ISwitchVectorProperty HomeAndReSyncSP;
        ISwitch HomeAndReSyncS[1];
        bool homeAndReSyncEnabled { false };
        APRateTableState rateTable { AP_RATE_TABLE_DEFAULT };
 
        INumber APWormPositionN[1];
        INumberVectorProperty APWormPositionNP;
 
        IText APPECStateT[1] {};
        ITextVectorProperty APPECStateTP;
 
        IText APMountStatusT[1] {};
        ITextVectorProperty APMountStatusTP;
 
        ISwitchVectorProperty APPECRecordSP;
        ISwitch APPECRecordS[2];
 
    private:
        bool ApInitialize();
        void initRateLabels();
        bool updateAPLocation(double latitude, double longitude, double elevation);
        bool parkInternal();
        bool isAPReady();
        void setMajorMinorVersions(char *version);
 
        // Side of pier
        void syncSideOfPier();
 
        bool IsMountParked(bool *isParked);
        bool getFirmwareVersion(void);
        bool calcParkPosition(ParkPosition pos, double *parkAlt, double *parkAz);
        void disclaimerMessage(void);
        bool getWormPosition(void);
        bool getPECState(const char *statusString);
        void processMountStatus(const char *statusString);
        bool APSync(double ra, double dec, bool recalibrate = true);
 
        ControllerVersion firmwareVersion = MCV_UNKNOWN;
        ServoVersion servoType = GTOCP_UNKNOWN;
        int majorVersion;
        int minorVersion;
 
 
        double currentAlt = 0, currentAz = 0;
        double lastRA = 0, lastDE = 0;
        double lastAZ = 0, lastAL = 0;
 
        int rememberSlewRate = { -1 };
 
        bool apIsInitialized = false;
        bool apLocationInitialized = false;
        bool apTimeInitialized = false;
        bool apInitializationChecked = false;
 
};