rigel_dome.cpp

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/*******************************************************************************
 Rigel Systems Dome INDI Driver
 
 Copyright(c) 2019 Jasem Mutlaq. All rights reserved.
 
 Based on Protocol extracted from https://github.com/rpineau/RigelDome
 
 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 "rigel_dome.h"
#include "indicom.h"
#include "connectionplugins/connectionserial.h"
 
#include <cmath>
#include <cstring>
#include <regex>
#include <memory>
#include <termios.h>
 
// We declare an auto pointer to RigelDome.
static std::unique_ptr<RigelDome> rigelDome(new RigelDome());
 
#define DOME_CMD          9    /* Dome command in bytes */
#define DOME_BUF          16   /* Dome command buffer */
#define DOME_TIMEOUT      3    /* 3 seconds comm timeout */
 
#define SIM_SHUTTER_TIMER 5.0 /* Simulated Shutter closes/open in 5 seconds */
#define SIM_FLAP_TIMER    5.0 /* Simulated Flap closes/open in 3 seconds */
#define SIM_DOME_HI_SPEED 5.0 /* Simulated dome speed 5.0 degrees per second, constant */
#define SIM_DOME_LO_SPEED 0.5 /* Simulated dome speed 0.5 degrees per second, constant */
 
RigelDome::RigelDome()
{
    setVersion(1, 0);
 
    SetDomeCapability(DOME_CAN_ABORT |
                      DOME_CAN_ABS_MOVE |
                      DOME_CAN_REL_MOVE |
                      DOME_CAN_PARK |
                      DOME_CAN_SYNC);
}
 
bool RigelDome::initProperties()
{
    INDI::Dome::initProperties();
 
    IUFillSwitch(&OperationS[OPERATION_FIND_HOME], "OPERATION_FIND_HOME", "Find Home", ISS_OFF);
    IUFillSwitch(&OperationS[OPERATION_CALIBRATE], "OPERATION_CALIBRATE", "Calibrate", ISS_OFF);
    IUFillSwitchVector(&OperationSP, OperationS, 2, getDeviceName(), "OPERATION", "Operation", MAIN_CONTROL_TAB, IP_RW,
                       ISR_ATMOST1, 0, IPS_IDLE);
 
    IUFillText(&InfoT[INFO_FIRMWARE], "FIRMWARE", "Version", "NA");
    IUFillText(&InfoT[INFO_MODEL], "MODEL", "Model", "NA");
    IUFillText(&InfoT[INFO_TICKS], "TICKS_PER_REV", "Ticks/Rev", "NA");
    IUFillText(&InfoT[INFO_BATTERY], "BATTERY", "Battery", "NA");
    IUFillTextVector(&InfoTP, InfoT, 4, getDeviceName(), "FIRMWARE_INFO", "Info", INFO_TAB, IP_RO, 60, IPS_IDLE);
 
    IUFillNumber(&HomePositionN[AXIS_AZ], "HOME_AZ", "AZ D:M:S", "%10.6m", 0.0, 360.0, 0.0, 0);
    IUFillNumberVector(&HomePositionNP, HomePositionN, 1, getDeviceName(), "DOME_HOME_POSITION", "Home Position",
                       SITE_TAB, IP_RW, 60, IPS_IDLE);
 
    serialConnection->setDefaultBaudRate(Connection::Serial::B_115200);
 
    SetParkDataType(PARK_AZ);
 
    addAuxControls();
 
    return true;
}
 
/************************************************************************************
 *
* ***********************************************************************************/
bool RigelDome::getStartupValues()
{
    targetAz = 0;
 
    InfoTP.s = (readFirmware() && readModel() && readStepsPerRevolution()) ? IPS_OK : IPS_ALERT;
    if (HasShutter())
        readBatteryLevels();
    IDSetText(&InfoTP, nullptr);
 
    if (readPosition())
        IDSetNumber(&DomeAbsPosNP, nullptr);
 
    if (readShutterStatus())
        IDSetSwitch(&DomeShutterSP, nullptr);
 
    if (readHomePosition())
        IDSetNumber(&HomePositionNP, nullptr);
 
    if (InitPark())
    {
        // If loading parking data is successful, we just set the default parking values.
        SetAxis1ParkDefault(0);
    }
    else
    {
        // Otherwise, we set all parking data to default in case no parking data is found.
        SetAxis1Park(0);
        SetAxis1ParkDefault(0);
    }
 
    return true;
}
 
/************************************************************************************
 *
* ***********************************************************************************/
bool RigelDome::Handshake()
{
    char res[DRIVER_LEN] = {0};
    sendCommand("PULSAR", res); // send dummy command to flush serial line
 
    bool rc = readShutterStatus();
    if (rc)
    {
        if (m_rawShutterState != S_NotFitted)
            SetDomeCapability(GetDomeCapability() | DOME_HAS_SHUTTER);
    }
 
    return rc;
}
 
/************************************************************************************
 *
* ***********************************************************************************/
const char *RigelDome::getDefaultName()
{
    return "Rigel Dome";
}
 
/************************************************************************************
 *
* ***********************************************************************************/
bool RigelDome::updateProperties()
{
    INDI::Dome::updateProperties();
 
    if (isConnected())
    {
        defineProperty(&OperationSP);
        defineProperty(&InfoTP);
        defineProperty(&HomePositionNP);
 
        getStartupValues();
    }
    else
    {
        deleteProperty(OperationSP.name);
        deleteProperty(InfoTP.name);
        deleteProperty(HomePositionNP.name);
    }
 
    return true;
}
 
/************************************************************************************
 *
* ***********************************************************************************/
bool RigelDome::ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        if (!strcmp(OperationSP.name, name))
        {
            const char *requestedOperation = IUFindOnSwitchName(states, names, n);
            if (!strcmp(requestedOperation, OperationS[OPERATION_FIND_HOME].name))
            {
                if (home())
                {
                    IUResetSwitch(&OperationSP);
                    OperationS[OPERATION_FIND_HOME].s = ISS_ON;
                    OperationSP.s = IPS_BUSY;
                    LOG_INFO("Dome is moving to home position...");
                    setDomeState(DOME_MOVING);
                }
                else
                {
                    OperationSP.s = IPS_ALERT;
                }
            }
            else if (!strcmp(requestedOperation, OperationS[OPERATION_CALIBRATE].name))
            {
                if (calibrate())
                {
                    IUResetSwitch(&OperationSP);
                    OperationS[OPERATION_CALIBRATE].s = ISS_ON;
                    OperationSP.s = IPS_BUSY;
                    LOG_INFO("Dome is calibrating...");
                    setDomeState(DOME_MOVING);
                }
                else
                {
                    OperationSP.s = IPS_ALERT;
                }
            }
 
            IDSetSwitch(&OperationSP, nullptr);
            return true;
        }
    }
 
    return INDI::Dome::ISNewSwitch(dev, name, states, names, n);
}
 
/************************************************************************************
 *
* ***********************************************************************************/
bool RigelDome::ISNewNumber(const char * dev, const char * name, double values[], char * names[], int n)
{
    if (dev != nullptr && strcmp(dev, getDeviceName()) == 0)
    {
        if (strcmp(name, HomePositionNP.name) == 0)
        {
            IUUpdateNumber(&HomePositionNP, values, names, n);
            HomePositionNP.s = IPS_OK;
            float homeAz = HomePositionN[AXIS_AZ].value;
            setHome(homeAz);
            LOGF_INFO("Setting home position to %3.1f", homeAz);
            IDSetNumber(&HomePositionNP, nullptr);
            return true;
        }
    }
 
    return INDI::Dome::ISNewNumber(dev, name, values, names, n);
}
 
/************************************************************************************
 *
* ***********************************************************************************/
void RigelDome::TimerHit()
{
    if (!isConnected())
        return; //  No need to reset timer if we are not connected anymore
 
    readState();
 
    bool isMoving = (m_rawMotorState != M_Idle && m_rawMotorState != M_MovingAtSideral);
 
    if (DomeAbsPosNP.s == IPS_BUSY && isMoving == false)
    {
        bool isHoming = (OperationSP.s == IPS_BUSY && OperationS[OPERATION_FIND_HOME].s == ISS_ON);
        bool isCalibrating = (OperationSP.s == IPS_BUSY && OperationS[OPERATION_CALIBRATE].s == ISS_ON);
 
        if (isHoming)
        {
            LOG_INFO("Dome completed homing...");
            IUResetSwitch(&OperationSP);
            OperationSP.s = IPS_OK;
            IDSetSwitch(&OperationSP, nullptr);
            setDomeState(DOME_SYNCED);
        }
        else if (isCalibrating)
        {
            LOG_INFO("Dome completed calibration...");
            IUResetSwitch(&OperationSP);
            OperationSP.s = IPS_OK;
            IDSetSwitch(&OperationSP, nullptr);
            setDomeState(DOME_SYNCED);
        }
        else if (getDomeState() == DOME_PARKING)
        {
            SetParked(true);
            LOG_INFO("Dome is parked.");
        }
        else
        {
            LOGF_INFO("Dome reached requested azimuth: %.3f Degrees", DomeAbsPosN[0].value);
            setDomeState(DOME_SYNCED);
        }
    }
    else
    {
        if (DomeAbsPosNP.s != IPS_BUSY && isMoving)
            DomeAbsPosNP.s = IPS_BUSY;
 
        IDSetNumber(&DomeAbsPosNP, nullptr);
    }
 
    if (HasShutter())
    {
        ShutterState newShutterState = parseShutterState(m_rawShutterState);
        if (newShutterState != getShutterState())
        {
            setShutterState(newShutterState);
        }
 
        if (readBatteryLevels())
            IDSetText(&InfoTP, nullptr);
    }
 
    SetTimer(getCurrentPollingPeriod());
}
 
IPState RigelDome::MoveAbs(double az)
{
    char cmd[DRIVER_LEN] = {0}, res[DRIVER_LEN] = {0};
 
    snprintf(cmd, DRIVER_LEN, "GO %3.1f", az);
    if (sendCommand(cmd, res) == false)
        return IPS_ALERT;
 
    return (res[0] == 'A') ? IPS_BUSY : IPS_ALERT;
}
 
IPState RigelDome::MoveRel(double azDiff)
{
    targetAz = DomeAbsPosN[0].value + azDiff;
 
    if (targetAz < DomeAbsPosN[0].min)
        targetAz += DomeAbsPosN[0].max;
    if (targetAz > DomeAbsPosN[0].max)
        targetAz -= DomeAbsPosN[0].max;
 
    // It will take a few cycles to reach final position
    return MoveAbs(targetAz);
}
 
bool RigelDome::Sync(double az)
{
    char cmd[DRIVER_LEN] = {0}, res[DRIVER_LEN] = {0};
 
    snprintf(cmd, DRIVER_LEN, "ANGLE K %3.1f", az);
    if (sendCommand(cmd, res) == false)
        return false;
 
    return (res[0] == 'A');
}
 
IPState RigelDome::Park()
{
    targetAz = GetAxis1Park();
    if (setParkAz(targetAz))
    {
        char res[DRIVER_LEN] = {0};
        if (sendCommand("GO P", res) == false)
            return IPS_ALERT;
        return (res[0] == 'A' ? IPS_BUSY : IPS_ALERT);
    }
 
    return IPS_ALERT;
}
 
bool RigelDome::home()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand("GO H", res) == false)
        return false;
 
    return (res[0] == 'A');
}
 
bool RigelDome::calibrate()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand("CALIBRATE", res) == false)
        return false;
 
    return (res[0] == 'A');
}
 
bool RigelDome::setHome(double az)
{
    char cmd[DRIVER_LEN] = {0}, res[DRIVER_LEN] = {0};
 
    snprintf(cmd, DRIVER_LEN, "HOME %3.1f", az);
    if (sendCommand(cmd, res) == false)
        return false;
 
    return (res[0] == 'A');
}
 
IPState RigelDome::UnPark()
{
    return IPS_OK;
}
 
IPState RigelDome::ControlShutter(ShutterOperation operation)
{
    char res[DRIVER_LEN] = {0};
 
    if (operation == SHUTTER_OPEN)
    {
        m_TargetShutter = operation;
        sendCommand("OPEN", res);
    }
    else
    {
        m_TargetShutter = operation;
        sendCommand("CLOSE", res);
    }
 
    return (res[0] == 'A') ? IPS_BUSY : IPS_ALERT;
}
 
bool RigelDome::Abort()
{
    if (sendCommand("STOP"))
    {
        if (OperationSP.s == IPS_BUSY)
        {
            LOGF_INFO("%s is aborted.", OperationS[OPERATION_CALIBRATE].s == ISS_ON ? "Calibration" : "Finding home");
            IUResetSwitch(&OperationSP);
            OperationSP.s = IPS_ALERT;
            IDSetSwitch(&OperationSP, nullptr);
        }
        else if (getShutterState() == SHUTTER_MOVING)
        {
            DomeShutterSP.s = IPS_ALERT;
            IDSetSwitch(&DomeShutterSP, nullptr);
            LOG_WARN("Shutter motion aborted!");
        }
        else
        {
            LOG_WARN("Dome motion aborted.");
        }
 
        return true;
    }
 
    return false;
}
 
bool RigelDome::SetCurrentPark()
{
    SetAxis1Park(DomeAbsPosN[0].value);
    return true;
}
 
bool RigelDome::SetDefaultPark()
{
    // By default set position to 90
    SetAxis1Park(90);
    return true;
}
 
bool RigelDome::setShutterConnected(bool enabled)
{
    char cmd[DRIVER_LEN] = {0};
    snprintf(cmd, DRIVER_LEN, "BBOND %d", enabled ? 1 : 0);
    return sendCommand(cmd);
}
 
bool RigelDome::isShutterConnected()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand("BBOND", res) == false)
        return false;
    bool rc = (std::stoi(res) != 0);
    LOGF_DEBUG("Shutter is %s.", (rc ? "connected" : "disconnected"));
    return rc;
}
 
bool RigelDome::readStepsPerRevolution()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand("ENCREV", res) == false)
        return false;
 
    IUSaveText(&InfoT[INFO_TICKS], res);
    return true;
}
 
bool RigelDome::readBatteryLevels()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand("BAT", res) == false)
        return false;
 
    int percent = 0;
    double volts = 0;
 
    if (sscanf(res, "%d %lf", &percent, &volts) != 2)
        return false;
 
    char levels[DRIVER_LEN] = {0};
    snprintf(levels, DRIVER_LEN, "%.2fv (%d%%)", volts / 1000.0, percent);
    IUSaveText(&InfoT[INFO_BATTERY], levels);
    return true;
}
 
bool RigelDome::readPosition()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand("ANGLE", res) == false)
        return false;
 
    DomeAbsPosN[0].value = std::stod(res);
    return true;
}
 
bool RigelDome::readHomePosition()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("HOME", res) == false)
        return false;
 
    HomePositionN[0].value = std::stod(res);
    return true;
}
 
bool RigelDome::setParkAz(double az)
{
    char cmd[DRIVER_LEN] = {0}, res[DRIVER_LEN] = {0};
 
    snprintf(cmd, DRIVER_LEN, "PARK %3.1f", az);
    if (sendCommand(cmd, res) == false)
        return false;
 
    return res[0] == 'A';
}
 
bool RigelDome::readState()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand("V", res) == false)
        return false;
 
    std::vector<std::string> fields = split(res, "\t");
    if (fields.size() < 13)
        return false;
 
    DomeAbsPosN[0].value = std::stod(fields[0]);
    m_rawMotorState = static_cast<RigelMotorState>(std::stoi(fields[1]));
    m_rawShutterState = static_cast<RigelShutterState>(std::stoi(fields[5]));
    return true;
}
 
INDI::Dome::ShutterState RigelDome::parseShutterState(int state)
{
    switch (state)
    {
        case S_Open:
            return SHUTTER_OPENED;
 
        case S_Opening:
            return SHUTTER_MOVING;
 
        case S_Closed:
            return SHUTTER_CLOSED;
 
        case S_Closing:
            return SHUTTER_MOVING;
 
        case S_Error:
            return SHUTTER_ERROR;
 
        default:
            return SHUTTER_UNKNOWN;
    }
}
bool RigelDome::readShutterStatus()
{
    char res[DRIVER_LEN] = {0};
    if (sendCommand("SHUTTER", res) == false)
        return false;
 
    m_rawShutterState = static_cast<RigelShutterState>(std::stoi(res));
    return true;
}
 
bool RigelDome::readFirmware()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("VER", res) == false)
        return false;
 
    IUSaveText(&InfoT[INFO_FIRMWARE], res);
 
    return true;
}
 
bool RigelDome::readModel()
{
    char res[DRIVER_LEN] = {0};
 
    if (sendCommand("PULSAR", res) == false)
        return false;
 
    IUSaveText(&InfoT[INFO_MODEL], res);
 
    return true;
}
 
bool RigelDome::sendCommand(const char * cmd, char * res, int cmd_len, int res_len)
{
    int nbytes_written = 0, nbytes_read = 0, rc = -1;
 
    tcflush(PortFD, TCIOFLUSH);
 
    if (cmd_len > 0)
    {
        char hex_cmd[DRIVER_LEN * 3] = {0};
        hexDump(hex_cmd, cmd, cmd_len);
        LOGF_DEBUG("CMD <%s>", hex_cmd);
        rc = tty_write(PortFD, cmd, cmd_len, &nbytes_written);
    }
    else
    {
        LOGF_DEBUG("CMD <%s>", cmd);
 
        char formatted_command[DRIVER_LEN] = {0};
        snprintf(formatted_command, DRIVER_LEN, "%s\r", cmd);
        rc = tty_write_string(PortFD, formatted_command, &nbytes_written);
    }
 
    if (rc != TTY_OK)
    {
        char errstr[MAXRBUF] = {0};
        tty_error_msg(rc, errstr, MAXRBUF);
        LOGF_ERROR("Serial write error: %s.", errstr);
        return false;
    }
 
    if (res == nullptr)
        return true;
 
    if (res_len > 0)
        rc = tty_read(PortFD, res, res_len, DRIVER_TIMEOUT, &nbytes_read);
    else
        rc = tty_nread_section(PortFD, res, DRIVER_LEN, DRIVER_STOP_CHAR, DRIVER_TIMEOUT, &nbytes_read);
 
    if (rc != TTY_OK)
    {
        char errstr[MAXRBUF] = {0};
        tty_error_msg(rc, errstr, MAXRBUF);
        LOGF_ERROR("Serial read error: %s.", errstr);
        return false;
    }
 
    if (res_len > 0)
    {
        char hex_res[DRIVER_LEN * 3] = {0};
        hexDump(hex_res, res, res_len);
        LOGF_DEBUG("RES <%s>", hex_res);
    }
    else
    {
        // Remove extra \r
        res[nbytes_read - 1] = 0;
        LOGF_DEBUG("RES <%s>", res);
    }
 
    tcflush(PortFD, TCIOFLUSH);
 
    return true;
}
 
void RigelDome::hexDump(char * buf, const char * data, int size)
{
    for (int i = 0; i < size; i++)
        sprintf(buf + 3 * i, "%02X ", static_cast<uint8_t>(data[i]));
 
    if (size > 0)
        buf[3 * size - 1] = '\0';
}
 
std::vector<std::string> RigelDome::split(const std::string &input, const std::string &regex)
{
    // passing -1 as the submatch index parameter performs splitting
    std::regex re(regex);
    std::sregex_token_iterator
    first{input.begin(), input.end(), re, -1},
          last;
    return {first, last};
}
 
IPState RigelDome::Move(DomeDirection dir, DomeMotionCommand operation)
{
    double target;
 
    if (operation == MOTION_START)
    {
        target = DomeAbsPosN[0].value;
        if(dir == DOME_CW)
        {
            target += 5;
        }
        else
        {
            target -= 5;
        }
 
        if(target < 0)
            target += 360;
        if(target >= 360)
            target -= 360;
    }
    else
    {
        target = DomeAbsPosN[0].value;
    }
 
    MoveAbs(target);
 
    return ((operation == MOTION_START) ? IPS_BUSY : IPS_OK);
 
}