lx200gemini.h

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/*
    Losmandy Gemini INDI driver
 
    Copyright (C) 2017 Jasem Mutlaq
    Copyright (C) 2018 Eric Vickery
 
    Difference from LX200 Generic:
 
    1. Added Side of Pier
    2. Reimplemented isSlewComplete to use :Gv# since it is more reliable
 
    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 "lx200generic.h"
 
class LX200Gemini : public LX200Generic
{
public:
    LX200Gemini();
    ~LX200Gemini() override = default;
 
    virtual void ISGetProperties(const char *dev) override;
 
    /* Return True if any property was successfully processed, false otherwise.*/
    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;
    virtual bool ISNewText(const char *dev, const char *name, char **texts, char **names, int n) override;
 
protected:
    virtual const char *getDefaultName() override;
 
    virtual bool Connect() override;
 
    virtual bool initProperties() override ;
    virtual bool updateProperties() override;
 
    virtual bool isSlewComplete() override;
    virtual bool ReadScopeStatus() override;
 
    virtual bool Park()override ;
    virtual bool UnPark() override;
 
    virtual bool SetTrackMode(uint8_t mode) override;
    virtual bool SetTrackEnabled(bool enabled) override;
 
    virtual bool checkConnection() override;
 
    virtual bool saveConfigItems(FILE *fp) override;
 
    // Guide Pulse Commands
    virtual int SendPulseCmd(int8_t direction, uint32_t duration_msec) override;
    virtual bool Flip(double ra, double dec) override;
    virtual bool Goto(double ra, double dec) override;
 
private:
    void syncState();
    void syncSideOfPier();
    bool getRefraction(bool &on);
    bool getRefractionJNOW(int &data);
    bool setRefraction(int data);
    bool setRefraction(bool on);
    bool sleepMount();
    bool wakeupMount();
    bool GotoInternal(double ra, double dec, bool flip);
    int Flip(int fd);
    bool getGeminiProperty(uint32_t propertyNumber, char* value);
    bool setGeminiProperty(uint32_t propertyNumber, char* value);
 
    // Checksum for private commands
    uint8_t calculateChecksum(char *cmd);
 
    INumber ManualSlewingSpeedN[1];
    INumberVectorProperty ManualSlewingSpeedNP;
 
    INumber GotoSlewingSpeedN[1];
    INumberVectorProperty GotoSlewingSpeedNP;
 
    INumber MoveSpeedN[1];
    INumberVectorProperty MoveSpeedNP;
 
    INumber GuidingSpeedBothN[1];
    INumberVectorProperty GuidingSpeedBothNP;
 
    INumber GuidingSpeedN[2];
    INumberVectorProperty GuidingSpeedNP;
 
    INumber CenteringSpeedN[1];
    INumberVectorProperty CenteringSpeedNP;
 
    ISwitch ParkSettingsS[3];
    ISwitchVectorProperty ParkSettingsSP;
 
    ITextVectorProperty PECCounterTP;
    IText PECCounterT[1];
 
    ISwitchVectorProperty PECControlSP;
    ISwitch PECControlS[2];
 
    ITextVectorProperty PECStateTP;
    IText PECStateT[6] {};
 
    INumber PECMaxStepsN[1];
    INumberVectorProperty PECMaxStepsNP;
 
    ISwitch PECEnableAtBootS[1];
    ISwitchVectorProperty PECEnableAtBootSP;
 
    INumber PECGuidingSpeedN[1];
    INumberVectorProperty PECGuidingSpeedNP;
 
    ISwitch ServoPrecisionS[2];
    ISwitchVectorProperty ServoPrecisionSP;
 
    ISwitch FlipControlS[2];
    ISwitchVectorProperty FlipControlSP;
 
    INumber FlipPositionN[2];
    INumberVectorProperty FlipPositionNP;
 
    ITextVectorProperty VersionTP;
    IText VersionT[5] {};
 
    ISwitch RefractionControlS[1];
    ISwitchVectorProperty RefractionControlSP;
 
    ISwitch SetSafetyLimitToCurrentS[1];
    ISwitchVectorProperty SetSafetyLimitToCurrentSP;
 
    INumber SafetyLimitsN[3];
    INumberVectorProperty SafetyLimitsNP;
 
    float gemini_software_level_;
 
    enum
    {
        EAST_SAFETY,
        WEST_SAFETY,
        WEST_GOTO
    };
 
    enum
    {
        FIRMWARE_DATE,
        FIRMWARE_TIME,
        FIRMWARE_LEVEL,
        FIRMWARE_NAME
    };
 
    enum
    {
        PARK_HOME,
        PARK_STARTUP,
        PARK_ZENITH
    };
 
    enum
    {
        GUIDING_BOTH,
    };
 
    enum
    {
        GUIDING_WE,
        GUIDING_NS
    };
 
    enum
    {
        PEC_START_TRAINING,
        PEC_ABORT_TRAINING
    };
 
    enum
    {
        PEC_STATUS_ACTIVE,
        PEC_STATUS_FRESH_TRAINED,
        PEC_STATUS_TRAINING_IN_PROGRESS,
        PEC_STATUS_TRAINING_COMPLETED,
        PEC_STATUS_WILL_TRAIN,
        PEC_STATUS_DATA_AVAILABLE
    };
 
    enum
    {
        SERVO_RA,
        SERVO_DEC,
    };
 
    ISwitch StartupModeS[3];
    ISwitchVectorProperty StartupModeSP;
    enum
    {
        COLD_START,
        WARM_START,
        WARM_RESTART
    };
 
    enum
    {
        GEMINI_TRACK_SIDEREAL,
        GEMINI_TRACK_KING,
        GEMINI_TRACK_LUNAR,
        GEMINI_TRACK_SOLAR,
        GEMINI_TRACK_TERRESTRIAL
    };
 
    enum MovementState
    {
        NO_MOVEMENT,
        TRACKING,
        GUIDING,
        CENTERING,
        SLEWING,
        STALLED
    };
 
    enum ParkingState
    {
        NOT_PARKED,
        PARKED,
        PARK_IN_PROGRESS
    };
 
    enum FlipPointState
    {
        FLIP_DISABLED,
        FLIP_EAST,
        FLIP_WEST
    };
 
    enum ServoPrecisionState
    {
        PRECISION_DISABLED,
        RA_PRECISION_ENABLED,
        DEC_PRECISION_ENABLED
    };
 
    enum FlipPointControl
    {
        FLIP_EAST_CONTROL,
        FLIP_WEST_CONTROL
    };
 
    enum FlipPointValue
    {
        FLIP_EAST_VALUE,
        FLIP_WEST_VALUE
    };
 
    const uint8_t GEMINI_TIMEOUT = 3;
 
    void setTrackState(INDI::Telescope::TelescopeStatus state);
    void updateParkingState();
    void updateMovementState();
    MovementState getMovementState();
    ParkingState getParkingState();
 
    ParkingState priorParkingState = PARK_IN_PROGRESS;
 
};