pmc8.h

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/*
    INDI Explore Scientific PMC8 driver
 
    Copyright (C) 2017 Michael Fulbright
    Additional contributors:
        Thomas Olson, Copyright (C) 2019
        Karl Rees, Copyright (C) 2019-2021
 
    Based on IEQPro driver.
 
    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 "pmc8driver.h"
#include "indiguiderinterface.h"
#include "inditelescope.h"
 
typedef enum { PMC8_MOVE_INACTIVE, PMC8_MOVE_RAMPING, PMC8_MOVE_ACTIVE } PMC8_MOVE_STATE;
typedef enum { PMC8_RAMP_UP, PMC8_RAMP_DOWN } PMC8_RAMP_DIRECTION;
 
typedef struct PMC8MoveInfo
{
    PMC8_MOVE_STATE state = PMC8_MOVE_INACTIVE;
    uint8_t moveDir = 0;
    int targetRate = 0;
    int rampIteration = 0;
    int rampLastStep = 0;
    PMC8_RAMP_DIRECTION rampDir = PMC8_RAMP_UP;
    int timer;
} PMC8MoveInfo;
 
 
class PMC8 : public INDI::Telescope, public INDI::GuiderInterface
{
    public:
 
        PMC8();
        ~PMC8() 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;
 
        virtual void ISGetProperties(const char *dev) override;
 
    protected:
 
        virtual const char *getDefaultName() override;
 
        virtual bool Handshake() override;
 
        virtual bool initProperties() override;
 
        virtual bool updateProperties() override;
 
        virtual bool ReadScopeStatus() override;
 
        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 bool Park() override;
        virtual bool UnPark() override;
 
        virtual bool Sync(double ra, double dec) override;
        virtual bool Goto(double, double) override;
        virtual bool Abort() override;
 
        virtual bool updateTime(ln_date *utc, double utc_offset) override;
        virtual bool updateLocation(double latitude, double longitude, double elevation) override;
 
        virtual void debugTriggered(bool enable) override;
        virtual void simulationTriggered(bool enable) override;
 
        // Parking
        virtual bool SetCurrentPark() override;
        virtual bool SetDefaultPark() override;
 
        // Track Mode
        virtual bool SetTrackMode(uint8_t mode) override;
 
        // Track Rate
        virtual bool SetTrackRate(double raRate, double deRate) override;
 
        // Track On/Off
        virtual bool SetTrackEnabled(bool enabled) override;
 
        // Slew Rate
        virtual bool SetSlewRate(int index) override;
 
        // Sim
        void mountSim();
 
        // Guide
        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;
 
        // Pulse Guide
        static void guideTimeoutHelperN(void *p);
        static void guideTimeoutHelperS(void *p);
        static void guideTimeoutHelperE(void *p);
        static void guideTimeoutHelperW(void *p);
        void guideTimeout(PMC8_DIRECTION calldir);
 
        //GUIDE variables.
        int GuideNSTID;
        int GuideWETID;
 
        // Move
        static void rampTimeoutHelperN(void *p);
        static void rampTimeoutHelperS(void *p);
        static void rampTimeoutHelperE(void *p);
        static void rampTimeoutHelperW(void *p);
        bool ramp_movement(PMC8_DIRECTION calldir);
 
        int getSlewRate();
 
    private:
        void getStartupData();
 
        uint8_t convertToPMC8TrackMode(uint8_t mode);
        uint8_t convertFromPMC8TrackMode(uint8_t mode);
 
        /* Firmware */
        IText FirmwareT[1] {};
        ITextVectorProperty FirmwareTP;
 
        /* Mount Types */
        ISwitch MountTypeS[3];
        ISwitchVectorProperty MountTypeSP;
 
        /* SRF Guide Rates */
        INumber GuideRateN[2];
        INumberVectorProperty GuideRateNP;
        INumber LegacyGuideRateN[1];
        INumberVectorProperty LegacyGuideRateNP;
 
        /* Move Ramp Settings */
        INumber RampN[3];
        INumberVectorProperty RampNP;
 
        // Serial Cable Type
        ISwitch SerialCableTypeS[3];
        ISwitchVectorProperty SerialCableTypeSP;
 
        // Post-Goto Behavior
        ISwitch PostGotoS[3];
        ISwitchVectorProperty PostGotoSP;
 
        unsigned int DBG_SCOPE;
        double currentRA, currentDEC;
        double targetRA, targetDEC;
        double currentTrackRate = 0;
 
        int trackingPollCounter = 0;
 
        bool isPulsingNS = false;
        bool isPulsingWE = false;
 
        PMC8MoveInfo moveInfoRA, moveInfoDEC;
 
        //PMC8Info scopeInfo;
        FirmwareInfo firmwareInfo;
};