nframe.h

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/*
     nFrame Rotator by Gene N
    Based on:
    nstep focuser driver and
    Seletek Rotator Driver
 
    Copyright (C) 2020 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 <indirotator.h>
 
class nFrameRotator : public INDI::Rotator
{
    public:
 
        enum RotateDirection
        {
            ROTATE_INWARD,
            ROTATE_OUTWARD
        };
 
        nFrameRotator();
        virtual ~nFrameRotator() override = default;
 
        virtual bool Handshake() override;
        const char *getDefaultName() override;
        virtual void ISGetProperties(const char *dev) override;
        virtual bool initProperties() override;
        virtual bool updateProperties() 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;
 
    protected:
        virtual IPState MoveRotator(double angle) override;
        virtual bool AbortRotator() override;
        virtual bool SyncRotator(double angle) override;
        bool SetRotatorSpeed(uint8_t speed) ;
        bool SyncRotator(uint32_t ticks) ;
 
        virtual bool saveConfigItems(FILE *fp) override;
 
        virtual void TimerHit() override;
 
        // GeneN hack
        // Rotator Speed (if variable speeds are supported)
        INumberVectorProperty RotatorSpeedNP;
        INumber RotatorSpeedN[1];
 
 
        INumberVectorProperty RotateMaxPosNP;
        INumber ROtateMaxPosN[1];
 
        // Sync
        INumberVectorProperty RotateSyncNP;
        INumber RotateSyncN[1];
 
 
    private:
 
        bool setParam(const std::string &param, uint32_t value);
        bool getParam(const std::string &param, uint32_t &value);
        bool gotoTarget(uint32_t position);
        // bool setSpeedRange(uint32_t min, uint32_t max);
        bool syncSettings();
        bool echo();
        double calculateAngle(uint32_t steps);
 
        bool sendCommand(const char * cmd, int32_t &res);
        void hexDump(char * buf, const char * data, int size);
        std::vector<std::string> split(const std::string &input, const std::string &regex);
 
 
        // Settings
        INumberVectorProperty SettingNP;
        INumber SettingN[1];
        enum { PARAM_STEPS_DEGREE };
 
        // Rotator Steps
        INumber RotatorAbsPosN[1];
        INumberVectorProperty RotatorAbsPosNP;
 
 
        bool m_IsMoving {false};
        uint32_t m_ZeroPosition {0};
 
        static constexpr const char * SETTINGS_TAB = "Settings";
        // '#' is the stop char
        static const char DRIVER_STOP_CHAR { 0x23 };
        // Wait up to a maximum of 3 seconds for serial input
        static constexpr const uint8_t DRIVER_TIMEOUT {3};
        // Maximum buffer for sending/receving.
        static constexpr const uint8_t DRIVER_LEN {128};
        // Operatives
        static constexpr const uint8_t DRIVER_OPERATIVES {2};
        // Models
        static constexpr const uint8_t DRIVER_MODELS {4};
 
        ISwitch SteppingModeS[3];
        ISwitchVectorProperty SteppingModeSP;
        enum
        {
            STEPPING_WAVE,
            STEPPING_HALF,
            STEPPING_FULL,
        };
 
        ISwitch CoilStatusS[2];
        ISwitchVectorProperty CoilStatusSP;
        enum
        {
            COIL_ENERGIZED_OFF,
            COIL_ENERGIZED_ON,
        };
 
        INumber SteppingPhaseN[1];
        INumberVectorProperty SteppingPhaseNP;
 
        INumber MaxSpeedN[1];
        INumberVectorProperty MaxSpeedNP;
 
        bool readPosition();
        bool readCompensationInfo();
        bool readSpeedInfo();
        bool readSteppingInfo();
        bool readCoilStatus();
        bool setSteppingPhase(uint8_t phase);
        bool setCoilStatus(uint8_t status);
        bool setMaxSpeed(uint8_t maxSpeed);
 
        bool sendCommand(const char * cmd, char * res = nullptr, int cmd_len = -1, int res_len = -1);
        bool getStartupValues();
        bool isMoving();
 
        int32_t m_TargetDiff { 0 };
        double requestedAngle = -1.0;
        bool wantAbort = false;
 
 
        static constexpr const char * STEPPING_TAB = "Stepping";
        // '#' is the stop char
        static const char NFRAME_STOP_CHAR { 0x23 };
        // Wait up to a maximum of 3 seconds for serial input
        static constexpr const uint8_t NFRAME_TIMEOUT {3};
        // Maximum buffer for sending/receving.
        static constexpr const uint8_t NFRAME_LEN {64};
 
 
};