sestosenso.h

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/*
    SestoSenso Focuser
    Copyright (C) 2013 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 "indifocuser.h"
#include "inditimer.h"
 
class SestoSenso : public INDI::Focuser
{
    public:
        SestoSenso();
        virtual ~SestoSenso() override = default;
 
        const char *getDefaultName() override;
        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual bool ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int n) override;
 
    protected:
        virtual bool Handshake() override;
        virtual bool Disconnect() override;
        virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
        virtual IPState MoveAbsFocuser(uint32_t targetTicks) override;
        virtual bool ReverseFocuser(bool enabled) override;
        virtual bool AbortFocuser() override;
        virtual void TimerHit() override;
 
    private:
        bool Ack();
        bool setMinLimit(uint32_t limit);
        bool setMaxLimit(uint32_t limit);
        bool updateMaxLimit();
 
        bool updateTemperature();
        bool updatePosition();
 
        void checkMotionProgressCallback();
 
        bool sendCommand(const char * cmd, char * res = nullptr, int cmd_len = -1, int res_len = -1);
        bool getStartupValues();
        void hexDump(char * buf, const char * data, int size);
        bool isMotionComplete();
 
        uint32_t targetPos { 0 };
        uint32_t lastPos { 0 };
        double lastTemperature { 0 };
        uint16_t m_TemperatureCounter { 0 };
 
        INDI::Timer m_MotionProgressTimer;
 
        INumber TemperatureN[1];
        INumberVectorProperty TemperatureNP;
 
        IText FirmwareT[1] {};
        ITextVectorProperty FirmwareTP;
 
        ISwitch CalibrationS[2];
        ISwitchVectorProperty CalibrationSP;
        enum
        {
            CALIBRATION_START,
            CALIBRATION_NEXT
        };
 
        ISwitch FastMoveS[3];
        ISwitchVectorProperty FastMoveSP;
        enum
        {
            FASTMOVE_IN,
            FASTMOVE_OUT,
            FASTMOVE_STOP
        };
 
        IText CalibrationMessageT[1] {};
        ITextVectorProperty CalibrationMessageTP;
 
        typedef enum { Idle, GoToMiddle, GoMinimum, GoMaximum, Complete } CalibrationStage;
        CalibrationStage cStage { Idle };
        // CR is the stop char
        static const char SESTO_STOP_CHAR { 0xD };
        // Update temperature every 10x POLLMS. For 500ms, we would
        // update the temperature one every 5 seconds.
        static constexpr const uint8_t SESTO_TEMPERATURE_FREQ {10};
        // Wait up to a maximum of 3 seconds for serial input
        static constexpr const uint8_t SESTO_TIMEOUT {3};
        // Maximum buffer for sending/receving.
        static constexpr const uint8_t SESTO_LEN {64};
 
};