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indi_astrolink4.cpp
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indi_astrolink4.cpp
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/*******************************************************************************
Copyright(c) 2019 astrojolo.com
.
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 "indi_astrolink4.h"
#include "config.h"
#include "indicom.h"
#define ASTROLINK4_LEN 100
#define ASTROLINK4_TIMEOUT 3
//////////////////////////////////////////////////////////////////////
/// Delegates
//////////////////////////////////////////////////////////////////////
static std::unique_ptr<IndiAstrolink4> indiAstrolink4(new IndiAstrolink4());
//////////////////////////////////////////////////////////////////////
///Constructor
//////////////////////////////////////////////////////////////////////
IndiAstrolink4::IndiAstrolink4() : FI(this), WI(this)
{
setVersion(ASTROLINK4_VERSION_MAJOR, ASTROLINK4_VERSION_MINOR);
}
const char * IndiAstrolink4::getDefaultName()
{
return "AstroLink 4";
}
//////////////////////////////////////////////////////////////////////
/// Communication
//////////////////////////////////////////////////////////////////////
bool IndiAstrolink4::Handshake()
{
PortFD = serialConnection->getPortFD();
char res[ASTROLINK4_LEN] = {0};
if(sendCommand("#", res))
{
if(strncmp(res, "#:AstroLink4mini", 15) != 0)
{
LOG_ERROR("Device not recognized.");
return false;
}
else
{
SetTimer(getCurrentPollingPeriod());
return true;
}
}
return false;
}
void IndiAstrolink4::TimerHit()
{
if(!isConnected())
return;
sensorRead();
SetTimer(getCurrentPollingPeriod());
}
//////////////////////////////////////////////////////////////////////
/// Overrides
//////////////////////////////////////////////////////////////////////
bool IndiAstrolink4::initProperties()
{
INDI::DefaultDevice::initProperties();
setDriverInterface(AUX_INTERFACE | FOCUSER_INTERFACE | WEATHER_INTERFACE);
FI::SetCapability(FOCUSER_CAN_ABS_MOVE |
FOCUSER_CAN_REL_MOVE |
FOCUSER_CAN_REVERSE |
FOCUSER_CAN_SYNC |
FOCUSER_CAN_ABORT |
FOCUSER_HAS_BACKLASH);
FI::initProperties(FOCUS_TAB);
WI::initProperties(ENVIRONMENT_TAB, ENVIRONMENT_TAB);
addDebugControl();
addSimulationControl();
addConfigurationControl();
// focuser settings
IUFillNumber(&FocuserSettingsN[FS_SPEED], "FS_SPEED", "Speed [pps]", "%.0f", 0, 4000, 50, 250);
IUFillNumber(&FocuserSettingsN[FS_STEP_SIZE], "FS_STEP_SIZE", "Step size [um]", "%.2f", 0, 100, 0.1, 5.0);
IUFillNumber(&FocuserSettingsN[FS_COMPENSATION], "FS_COMPENSATION", "Compensation [steps/C]", "%.2f", -1000, 1000, 1, 0);
IUFillNumber(&FocuserSettingsN[FS_COMP_THRESHOLD], "FS_COMP_THRESHOLD", "Compensation threshold [steps]", "%.0f", 1, 1000,
10, 10);
IUFillNumberVector(&FocuserSettingsNP, FocuserSettingsN, 4, getDeviceName(), "FOCUSER_SETTINGS", "Focuser settings",
SETTINGS_TAB, IP_RW, 60, IPS_IDLE);
IUFillSwitch(&FocuserModeS[FS_MODE_UNI], "FS_MODE_UNI", "Unipolar", ISS_ON);
IUFillSwitch(&FocuserModeS[FS_MODE_BI], "FS_MODE_BI", "Bipolar", ISS_OFF);
IUFillSwitch(&FocuserModeS[FS_MODE_MICRO], "FS_MODE_MICRO", "Microstep", ISS_OFF);
IUFillSwitchVector(&FocuserModeSP, FocuserModeS, 3, getDeviceName(), "FOCUSER_MODE", "Focuser mode", SETTINGS_TAB, IP_RW,
ISR_1OFMANY, 60, IPS_IDLE);
IUFillSwitch(&FocuserCompModeS[FS_COMP_AUTO], "FS_COMP_AUTO", "AUTO", ISS_OFF);
IUFillSwitch(&FocuserCompModeS[FS_COMP_MANUAL], "FS_COMP_MANUAL", "MANUAL", ISS_ON);
IUFillSwitchVector(&FocuserCompModeSP, FocuserCompModeS, 2, getDeviceName(), "COMP_MODE", "Compensation mode", SETTINGS_TAB,
IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
IUFillSwitch(&FocuserManualS[FS_MANUAL_ON], "FS_MANUAL_ON", "ON", ISS_ON);
IUFillSwitch(&FocuserManualS[FS_MANUAL_OFF], "FS_MANUAL_OFF", "OFF", ISS_OFF);
IUFillSwitchVector(&FocuserManualSP, FocuserManualS, 2, getDeviceName(), "MANUAL_CONTROLLER", "Hand controller",
SETTINGS_TAB, IP_RW, ISR_1OFMANY, 60, IPS_IDLE);
// other settings
IUFillNumber(&OtherSettingsN[SET_AREF_COEFF], "SET_AREF_COEFF", "V ref coefficient", "%.3f", 0.9, 1.2, 0.001, 1.09);
IUFillNumber(&OtherSettingsN[SET_OVER_TIME], "SET_OVER_TIME", "Protection sensitivity [ms]", "%.0f", 10, 500, 10, 100);
IUFillNumber(&OtherSettingsN[SET_OVER_VOLT], "SET_OVER_VOLT", "Protection voltage [V]", "%.1f", 10, 14, 0.1, 14);
IUFillNumber(&OtherSettingsN[SET_OVER_AMP], "SET_OVER_AMP", "Protection current [A]", "%.1f", 1, 10, 0.1, 10);
IUFillNumberVector(&OtherSettingsNP, OtherSettingsN, 4, getDeviceName(), "OTHER_SETTINGS", "Device settings", SETTINGS_TAB,
IP_RW, 60, IPS_IDLE);
IUFillSwitch(&BuzzerS[0], "BUZZER", "Buzzer", ISS_OFF);
IUFillSwitchVector(&BuzzerSP, BuzzerS, 1, getDeviceName(), "BUZZER", "ONOFF", SETTINGS_TAB, IP_RW, ISR_NOFMANY, 60,
IPS_IDLE);
// focuser compensation
IUFillNumber(&CompensationValueN[0], "COMP_VALUE", "Compensation steps", "%.0f", -10000, 10000, 1, 0);
IUFillNumberVector(&CompensationValueNP, CompensationValueN, 1, getDeviceName(), "COMP_STEPS", "Compensation steps",
FOCUS_TAB, IP_RO, 60, IPS_IDLE);
IUFillSwitch(&CompensateNowS[0], "COMP_NOW", "Compensate now", ISS_OFF);
IUFillSwitchVector(&CompensateNowSP, CompensateNowS, 1, getDeviceName(), "COMP_NOW", "Compensate now", FOCUS_TAB, IP_RW,
ISR_ATMOST1, 60, IPS_IDLE);
IUFillNumber(&FocusPosMMN[0], "FOC_POS_MM", "Position [mm]", "%.3f", 0.0, 200.0, 0.001, 0.0);
IUFillNumberVector(&FocusPosMMNP, FocusPosMMN, 1, getDeviceName(), "FOC_POS_MM", "Position [mm]", FOCUS_TAB, IP_RO, 60,
IPS_IDLE);
// power lines
IUFillText(&PowerControlsLabelsT[0], "POWER_LABEL_1", "Port 1", "Port 1");
IUFillText(&PowerControlsLabelsT[1], "POWER_LABEL_2", "Port 2", "Port 2");
IUFillText(&PowerControlsLabelsT[2], "POWER_LABEL_3", "Port 3", "Port 3");
IUFillTextVector(&PowerControlsLabelsTP, PowerControlsLabelsT, 3, getDeviceName(), "POWER_CONTROL_LABEL", "Power Labels",
POWER_TAB, IP_WO, 60, IPS_IDLE);
char portLabel1[MAXINDILABEL], portLabel2[MAXINDILABEL], portLabel3[MAXINDILABEL];
memset(portLabel1, 0, MAXINDILABEL);
int portRC1 = IUGetConfigText(getDeviceName(), PowerControlsLabelsTP.name, PowerControlsLabelsT[0].name, portLabel1,
MAXINDILABEL);
IUFillSwitch(&Power1S[0], "PWR1BTN_ON", "ON", ISS_OFF);
IUFillSwitch(&Power1S[1], "PWR1BTN_OFF", "OFF", ISS_ON);
IUFillSwitchVector(&Power1SP, Power1S, 2, getDeviceName(), "DC1", portRC1 == -1 ? "Port 1" : portLabel1, POWER_TAB, IP_RW,
ISR_1OFMANY, 0, IPS_IDLE);
memset(portLabel2, 0, MAXINDILABEL);
int portRC2 = IUGetConfigText(getDeviceName(), PowerControlsLabelsTP.name, PowerControlsLabelsT[1].name, portLabel2,
MAXINDILABEL);
IUFillSwitch(&Power2S[0], "PWR2BTN_ON", "ON", ISS_OFF);
IUFillSwitch(&Power2S[1], "PWR2BTN_OFF", "OFF", ISS_ON);
IUFillSwitchVector(&Power2SP, Power2S, 2, getDeviceName(), "DC2", portRC2 == -1 ? "Port 2" : portLabel2, POWER_TAB, IP_RW,
ISR_1OFMANY, 0, IPS_IDLE);
memset(portLabel3, 0, MAXINDILABEL);
int portRC3 = IUGetConfigText(getDeviceName(), PowerControlsLabelsTP.name, PowerControlsLabelsT[2].name, portLabel3,
MAXINDILABEL);
IUFillSwitch(&Power3S[0], "PWR3BTN_ON", "ON", ISS_OFF);
IUFillSwitch(&Power3S[1], "PWR3BTN_OFF", "OFF", ISS_ON);
IUFillSwitchVector(&Power3SP, Power3S, 2, getDeviceName(), "DC3", portRC3 == -1 ? "Port 3" : portLabel3, POWER_TAB, IP_RW,
ISR_1OFMANY, 0, IPS_IDLE);
IUFillSwitch(&PowerDefaultOnS[0], "POW_DEF_ON1", "DC1", ISS_OFF);
IUFillSwitch(&PowerDefaultOnS[1], "POW_DEF_ON2", "DC2", ISS_OFF);
IUFillSwitch(&PowerDefaultOnS[2], "POW_DEF_ON3", "DC3", ISS_OFF);
IUFillSwitchVector(&PowerDefaultOnSP, PowerDefaultOnS, 3, getDeviceName(), "POW_DEF_ON", "Power default ON", SETTINGS_TAB,
IP_RW, ISR_NOFMANY, 60, IPS_IDLE);
// pwm
IUFillNumber(&PWMN[0], "PWM1_VAL", "A", "%3.0f", 0, 100, 10, 0);
IUFillNumber(&PWMN[1], "PWM2_VAL", "B", "%3.0f", 0, 100, 10, 0);
IUFillNumberVector(&PWMNP, PWMN, 2, getDeviceName(), "PWM", "PWM", POWER_TAB, IP_RW, 60, IPS_IDLE);
// Auto pwm
IUFillSwitch(&AutoPWMDefaultOnS[0], "PWMA_A_DEF_ON", "A", ISS_OFF);
IUFillSwitch(&AutoPWMDefaultOnS[1], "PWMA_B_DEF_ON", "B", ISS_OFF);
IUFillSwitchVector(&AutoPWMDefaultOnSP, AutoPWMDefaultOnS, 2, getDeviceName(), "AUTO_PWM_DEF_ON", "Auto PWM default ON",
SETTINGS_TAB,
IP_RW, ISR_NOFMANY, 60, IPS_IDLE);
ISState pwmAutoA = ISS_OFF;
IUGetConfigSwitch(getDeviceName(), AutoPWMDefaultOnSP.name, AutoPWMDefaultOnS[0].name, &pwmAutoA);
ISState pwmAutoB = ISS_OFF;
IUGetConfigSwitch(getDeviceName(), AutoPWMDefaultOnSP.name, AutoPWMDefaultOnS[1].name, &pwmAutoB);
IUFillSwitch(&AutoPWMS[0], "PWMA_A", "A", pwmAutoA);
IUFillSwitch(&AutoPWMS[1], "PWMA_B", "B", pwmAutoB);
IUFillSwitchVector(&AutoPWMSP, AutoPWMS, 2, getDeviceName(), "AUTO_PWM", "Auto PWM", POWER_TAB, IP_RW, ISR_NOFMANY, 60,
IPS_OK);
IUFillNumber(&PowerDataN[POW_VIN], "VIN", "Input voltage", "%.1f", 0, 15, 10, 0);
IUFillNumber(&PowerDataN[POW_VREG], "VREG", "Regulated voltage", "%.1f", 0, 15, 10, 0);
IUFillNumber(&PowerDataN[POW_ITOT], "ITOT", "Total current", "%.1f", 0, 15, 10, 0);
IUFillNumber(&PowerDataN[POW_AH], "AH", "Energy consumed [Ah]", "%.1f", 0, 1000, 10, 0);
IUFillNumber(&PowerDataN[POW_WH], "WH", "Energy consumed [Wh]", "%.1f", 0, 10000, 10, 0);
IUFillNumberVector(&PowerDataNP, PowerDataN, 5, getDeviceName(), "POWER_DATA", "Power data", POWER_TAB, IP_RO, 60,
IPS_IDLE);
// Environment Group
addParameter("WEATHER_TEMPERATURE", "Temperature (C)", -15, 35, 15);
addParameter("WEATHER_HUMIDITY", "Humidity %", 0, 100, 15);
addParameter("WEATHER_DEWPOINT", "Dew Point (C)", 0, 100, 15);
// Sensor 2
IUFillNumber(&Sensor2N[0], "TEMP_2", "Temperature (C)", "%.1f", -50, 100, 1, 0);
IUFillNumberVector(&Sensor2NP, Sensor2N, 1, getDeviceName(), "SENSOR_2", "Sensor 2", ENVIRONMENT_TAB, IP_RO, 60, IPS_IDLE);
// DC focuser
IUFillNumber(&DCFocTimeN[DC_PERIOD], "DC_PERIOD", "Time [ms]", "%.0f", 10, 5000, 10, 500);
IUFillNumber(&DCFocTimeN[DC_PWM], "DC_PWM", "PWM [%]", "%.0f", 10, 100, 10, 50);
IUFillNumberVector(&DCFocTimeNP, DCFocTimeN, 2, getDeviceName(), "DC_FOC_TIME", "DC Focuser", DCFOCUSER_TAB, IP_RW, 60,
IPS_OK);
IUFillSwitch(&DCFocDirS[0], "DIR_IN", "IN", ISS_OFF);
IUFillSwitch(&DCFocDirS[1], "DIR_OUT", "OUT", ISS_ON);
IUFillSwitchVector(&DCFocDirSP, DCFocDirS, 2, getDeviceName(), "DC_FOC_DIR", "DC Focuser direction", DCFOCUSER_TAB, IP_RW,
ISR_1OFMANY, 60, IPS_OK);
IUFillSwitch(&DCFocAbortS[0], "DC_FOC_ABORT", "STOP", ISS_OFF);
IUFillSwitchVector(&DCFocAbortSP, DCFocAbortS, 1, getDeviceName(), "DC_FOC_ABORT", "DC Focuser stop", DCFOCUSER_TAB, IP_RW,
ISR_ATMOST1, 60, IPS_IDLE);
serialConnection = new Connection::Serial(this);
serialConnection->registerHandshake([&]()
{
return Handshake();
});
registerConnection(serialConnection);
serialConnection->setDefaultPort("/dev/ttyUSB0");
serialConnection->setDefaultBaudRate(serialConnection->B_115200);
return true;
}
bool IndiAstrolink4::updateProperties()
{
// Call parent update properties first
INDI::DefaultDevice::updateProperties();
if (isConnected())
{
defineProperty(&FocusPosMMNP);
FI::updateProperties();
WI::updateProperties();
defineProperty(&Power1SP);
defineProperty(&Power2SP);
defineProperty(&Power3SP);
defineProperty(&AutoPWMSP);
defineProperty(&Sensor2NP);
defineProperty(&PWMNP);
defineProperty(&PowerDataNP);
defineProperty(&FocuserSettingsNP);
defineProperty(&FocuserModeSP);
defineProperty(&FocuserCompModeSP);
defineProperty(&FocuserManualSP);
defineProperty(&CompensationValueNP);
defineProperty(&CompensateNowSP);
defineProperty(&PowerDefaultOnSP);
defineProperty(&AutoPWMDefaultOnSP);
defineProperty(&OtherSettingsNP);
defineProperty(&DCFocDirSP);
defineProperty(&DCFocTimeNP);
defineProperty(&DCFocAbortSP);
defineProperty(&PowerControlsLabelsTP);
defineProperty(&BuzzerSP);
}
else
{
deleteProperty(Power1SP.name);
deleteProperty(Power2SP.name);
deleteProperty(Power3SP.name);
deleteProperty(AutoPWMSP.name);
deleteProperty(Sensor2NP.name);
deleteProperty(PWMNP.name);
deleteProperty(PowerDataNP.name);
deleteProperty(FocuserSettingsNP.name);
deleteProperty(FocuserModeSP.name);
deleteProperty(CompensateNowSP.name);
deleteProperty(CompensationValueNP.name);
deleteProperty(PowerDefaultOnSP.name);
deleteProperty(AutoPWMDefaultOnSP.name);
deleteProperty(OtherSettingsNP.name);
deleteProperty(DCFocTimeNP.name);
deleteProperty(DCFocDirSP.name);
deleteProperty(DCFocAbortSP.name);
deleteProperty(BuzzerSP.name);
deleteProperty(FocuserCompModeSP.name);
deleteProperty(FocuserManualSP.name);
deleteProperty(FocusPosMMNP.name);
deleteProperty(PowerControlsLabelsTP.name);
FI::updateProperties();
WI::updateProperties();
}
return true;
}
bool IndiAstrolink4::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
{
if (dev && !strcmp(dev, getDeviceName()))
{
char cmd[ASTROLINK4_LEN] = {0};
char res[ASTROLINK4_LEN] = {0};
// handle PWM
if (!strcmp(name, PWMNP.name))
{
bool allOk = true;
if(PWMN[0].value != values[0])
{
if(AutoPWMS[0].s == ISS_OFF)
{
sprintf(cmd, "B:0:%d", static_cast<uint8_t>(values[0]));
allOk = allOk && sendCommand(cmd, res);
}
else
{
LOG_WARN("Cannot set PWM output, it is in AUTO mode.");
}
}
if(PWMN[1].value != values[1])
{
if(AutoPWMS[1].s == ISS_OFF)
{
sprintf(cmd, "B:1:%d", static_cast<uint8_t>(values[1]));
allOk = allOk && sendCommand(cmd, res);
}
else
{
LOG_WARN("Cannot set PWM output, it is in AUTO mode.");
}
}
PWMNP.s = (allOk) ? IPS_BUSY : IPS_ALERT;
if(allOk)
IUUpdateNumber(&PWMNP, values, names, n);
IDSetNumber(&PWMNP, nullptr);
IDSetSwitch(&AutoPWMSP, nullptr);
return true;
}
// Focuser settings
if(!strcmp(name, FocuserSettingsNP .name))
{
bool allOk = true;
std::map<int, std::string> updates;
updates[U_SPEED] = doubleToStr(values[FS_SPEED]);
updates[U_ACC] = doubleToStr(values[FS_SPEED] * 2.0);
updates[U_STEPSIZE] = doubleToStr(values[FS_STEP_SIZE] * 100.0);
allOk = allOk && updateSettings("u", "U", updates);
updates.clear();
updates[E_COMP_CYCLE] = "30"; // cycle [s]
updates[E_COMP_STEPS] = doubleToStr(values[FS_COMPENSATION] * 100.0);
updates[E_COMP_SENSR] = "0"; // sensor
updates[E_COMP_TRGR] = doubleToStr(values[FS_COMP_THRESHOLD]);
allOk = allOk && updateSettings("e", "E", updates);
if(allOk)
{
FocuserSettingsNP.s = IPS_BUSY;
IUUpdateNumber(&FocuserSettingsNP, values, names, n);
IDSetNumber(&FocuserSettingsNP, nullptr);
LOG_INFO(values[FS_COMPENSATION] > 0 ? "Temperature compensation is enabled." : "Temperature compensation is disabled.");
return true;
}
FocuserSettingsNP.s = IPS_ALERT;
return true;
}
// Other settings
if(!strcmp(name, OtherSettingsNP .name))
{
std::map<int, std::string> updates;
updates[N_AREF_COEFF] = doubleToStr(values[SET_AREF_COEFF] * 1000.0);
updates[N_OVER_VOLT] = doubleToStr(values[SET_OVER_VOLT] * 10.0);
updates[N_OVER_AMP] = doubleToStr(values[SET_OVER_AMP] * 10.0);
updates[N_OVER_TIME] = doubleToStr(values[SET_OVER_TIME]);
if(updateSettings("n", "N", updates))
{
OtherSettingsNP.s = IPS_BUSY;
IUUpdateNumber(&OtherSettingsNP, values, names, n);
IDSetNumber(&OtherSettingsNP, nullptr);
return true;
}
OtherSettingsNP.s = IPS_ALERT;
return true;
}
// DC Focuser
if(!strcmp(name, DCFocTimeNP.name))
{
IUUpdateNumber(&DCFocTimeNP, values, names, n);
IDSetNumber(&DCFocTimeNP, nullptr);
saveConfig(true);
sprintf(cmd, "G:%d:%.0f:%.0f", (DCFocDirS[0].s == ISS_ON) ? 1 : 0, DCFocTimeN[DC_PWM].value, DCFocTimeN[DC_PERIOD].value);
if(sendCommand(cmd, res))
{
DCFocAbortS[0].s = ISS_OFF;
DCFocAbortSP.s = IPS_OK;
IDSetSwitch(&DCFocAbortSP, nullptr);
DCFocTimeNP.s = IPS_BUSY;
return true;
}
DCFocTimeNP.s = IPS_ALERT;
return true;
}
if (strstr(name, "FOCUS_"))
return FI::processNumber(dev, name, values, names, n);
if (strstr(name, "WEATHER_"))
return WI::processNumber(dev, name, values, names, n);
}
return INDI::DefaultDevice::ISNewNumber(dev, name, values, names, n);
}
bool IndiAstrolink4::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
{
if (dev && !strcmp(dev, getDeviceName()))
{
char cmd[ASTROLINK4_LEN] = {0};
char res[ASTROLINK4_LEN] = {0};
// handle power line 1
if (!strcmp(name, Power1SP.name))
{
sprintf(cmd, "C:0:%s", (strcmp(Power1S[0].name, names[0])) ? "0" : "1");
bool allOk = sendCommand(cmd, res);
Power1SP.s = allOk ? IPS_BUSY : IPS_ALERT;
if(allOk)
IUUpdateSwitch(&Power1SP, states, names, n);
IDSetSwitch(&Power1SP, nullptr);
return true;
}
// handle power line 2
if (!strcmp(name, Power2SP.name))
{
sprintf(cmd, "C:1:%s", (strcmp(Power2S[0].name, names[0])) ? "0" : "1");
bool allOk = sendCommand(cmd, res);
Power2SP.s = allOk ? IPS_BUSY : IPS_ALERT;
if(allOk)
IUUpdateSwitch(&Power2SP, states, names, n);
IDSetSwitch(&Power2SP, nullptr);
return true;
}
// handle power line 3
if (!strcmp(name, Power3SP.name))
{
sprintf(cmd, "C:2:%s", (strcmp(Power3S[0].name, names[0])) ? "0" : "1");
bool allOk = sendCommand(cmd, res);
Power3SP.s = allOk ? IPS_BUSY : IPS_ALERT;
if(allOk)
IUUpdateSwitch(&Power3SP, states, names, n);
IDSetSwitch(&Power3SP, nullptr);
return true;
}
// compensate now
if(!strcmp(name, CompensateNowSP.name))
{
sprintf(cmd, "S:%d", static_cast<uint8_t>(CompensationValueN[0].value));
bool allOk = sendCommand(cmd, res);
CompensateNowSP.s = allOk ? IPS_BUSY : IPS_ALERT;
if(allOk)
IUUpdateSwitch(&CompensateNowSP, states, names, n);
IDSetSwitch(&CompensateNowSP, nullptr);
return true;
}
// Auto PWM
if (!strcmp(name, AutoPWMSP.name))
{
IUUpdateSwitch(&AutoPWMSP, states, names, n);
AutoPWMSP.s = (setAutoPWM()) ? IPS_OK : IPS_ALERT;
IDSetSwitch(&AutoPWMSP, nullptr);
return true;
}
// DC Focuser
if (!strcmp(name, DCFocDirSP.name))
{
DCFocDirSP.s = IPS_OK;
IUUpdateSwitch(&DCFocDirSP, states, names, n);
IDSetSwitch(&DCFocDirSP, nullptr);
return true;
}
if (!strcmp(name, DCFocAbortSP.name))
{
sprintf(cmd, "%s", "K");
if(sendCommand(cmd, res))
{
DCFocAbortSP.s = IPS_BUSY;
IUUpdateSwitch(&DCFocAbortSP, states, names, n);
IDSetSwitch(&DCFocAbortSP, nullptr);
}
DCFocAbortSP.s = IPS_ALERT;
return true;
}
// Power default on
if(!strcmp(name, PowerDefaultOnSP.name))
{
std::map<int, std::string> updates;
updates[U_OUT1_DEF] = (states[0] == ISS_ON) ? "1" : "0";
updates[U_OUT2_DEF] = (states[1] == ISS_ON) ? "1" : "0";
updates[U_OUT3_DEF] = (states[2] == ISS_ON) ? "1" : "0";
if(updateSettings("u", "U", updates))
{
PowerDefaultOnSP.s = IPS_BUSY;
IUUpdateSwitch(&PowerDefaultOnSP, states, names, n);
IDSetSwitch(&PowerDefaultOnSP, nullptr);
return true;
}
PowerDefaultOnSP.s = IPS_ALERT;
return true;
}
// Auto PWM default on
if (!strcmp(name, AutoPWMDefaultOnSP.name))
{
IUUpdateSwitch(&AutoPWMDefaultOnSP, states, names, n);
AutoPWMDefaultOnSP.s = IPS_OK;
saveConfig();
IDSetSwitch(&AutoPWMDefaultOnSP, nullptr);
return true;
}
// Buzzer
if(!strcmp(name, BuzzerSP.name))
{
if(updateSettings("j", "J", 1, (states[0] == ISS_ON) ? "1" : "0"))
{
BuzzerSP.s = IPS_BUSY;
IUUpdateSwitch(&BuzzerSP, states, names, n);
IDSetSwitch(&BuzzerSP, nullptr);
return true;
}
BuzzerSP.s = IPS_ALERT;
return true;
}
// Manual mode
if(!strcmp(name, FocuserManualSP.name))
{
sprintf(cmd, "F:%s", (strcmp(FocuserManualS[0].name, names[0])) ? "0" : "1");
if(sendCommand(cmd, res))
{
FocuserManualSP.s = IPS_BUSY;
IUUpdateSwitch(&FocuserManualSP, states, names, n);
IDSetSwitch(&FocuserManualSP, nullptr);
return true;
}
FocuserManualSP.s = IPS_ALERT;
return true;
}
// Focuser Mode
if(!strcmp(name, FocuserModeSP.name))
{
std::string value = "0";
if(!strcmp(FocuserModeS[FS_MODE_UNI].name, names[0])) value = "0";
if(!strcmp(FocuserModeS[FS_MODE_BI].name, names[0])) value = "1";
if(!strcmp(FocuserModeS[FS_MODE_MICRO].name, names[0])) value = "2";
if(updateSettings("u", "U", U_STEPPER_MODE, value.c_str()))
{
FocuserModeSP.s = IPS_BUSY;
IUUpdateSwitch(&FocuserModeSP, states, names, n);
IDSetSwitch(&FocuserModeSP, nullptr);
return true;
}
FocuserModeSP.s = IPS_ALERT;
return true;
}
// Focuser compensation mode
if(!strcmp(name, FocuserCompModeSP.name))
{
std::string value = "0";
if(!strcmp(FocuserCompModeS[FS_COMP_AUTO].name, names[0])) value = "1";
if(updateSettings("e", "E", E_COMP_AUTO, value.c_str()))
{
FocuserCompModeSP.s = IPS_BUSY;
IUUpdateSwitch(&FocuserCompModeSP, states, names, n);
IDSetSwitch(&FocuserCompModeSP, nullptr);
return true;
}
FocuserCompModeSP.s = IPS_ALERT;
return true;
}
if (strstr(name, "FOCUS"))
return FI::processSwitch(dev, name, states, names, n);
}
return INDI::DefaultDevice::ISNewSwitch (dev, name, states, names, n);
}
bool IndiAstrolink4::ISNewText(const char * dev, const char * name, char * texts[], char * names[], int n)
{
if (dev && !strcmp(dev, getDeviceName()))
{
// Power Labels
if (!strcmp(name, PowerControlsLabelsTP.name))
{
IUUpdateText(&PowerControlsLabelsTP, texts, names, n);
PowerControlsLabelsTP.s = IPS_OK;
LOG_INFO("Power port labels saved. Driver must be restarted for the labels to take effect.");
saveConfig();
IDSetText(&PowerControlsLabelsTP, nullptr);
return true;
}
}
return INDI::DefaultDevice::ISNewText(dev, name, texts, names, n);
}
bool IndiAstrolink4::saveConfigItems(FILE *fp)
{
INDI::DefaultDevice::saveConfigItems(fp);
FI::saveConfigItems(fp);
IUSaveConfigNumber(fp, &DCFocTimeNP);
IUSaveConfigSwitch(fp, &DCFocDirSP);
IUSaveConfigText(fp, &PowerControlsLabelsTP);
IUSaveConfigSwitch(fp, &AutoPWMDefaultOnSP);
return true;
}
//////////////////////////////////////////////////////////////////////
/// PWM outputs
//////////////////////////////////////////////////////////////////////
bool IndiAstrolink4::setAutoPWM()
{
char cmd[ASTROLINK4_LEN] = {0}, res[ASTROLINK4_LEN] = {0};
bool allOk = true;
uint8_t valA = (AutoPWMS[0].s == ISS_ON) ? 255 : static_cast<uint8_t>(PWMN[0].value);
uint8_t valB = (AutoPWMS[1].s == ISS_ON) ? 255 : static_cast<uint8_t>(PWMN[1].value);
snprintf(cmd, ASTROLINK4_LEN, "B:0:%d", valA);
allOk = allOk && sendCommand(cmd, res);
snprintf(cmd, ASTROLINK4_LEN, "B:1:%d", valB);
allOk = allOk && sendCommand(cmd, res);
return allOk;
}
//////////////////////////////////////////////////////////////////////
/// Focuser interface
//////////////////////////////////////////////////////////////////////
IPState IndiAstrolink4::MoveAbsFocuser(uint32_t targetTicks)
{
int32_t backlash = 0;
if(backlashEnabled)
{
if((targetTicks > FocusAbsPosN[0].value) == (backlashSteps > 0))
{
if(((int32_t)targetTicks + backlash) < 0 || (targetTicks + backlash) > FocusMaxPosN[0].value)
{
backlash = 0;
}
else
{
backlash = backlashSteps;
requireBacklashReturn = true;
}
}
}
char cmd[ASTROLINK4_LEN] = {0}, res[ASTROLINK4_LEN] = {0};
snprintf(cmd, ASTROLINK4_LEN, "R:0:%u", targetTicks + backlash);
return (sendCommand(cmd, res)) ? IPS_BUSY : IPS_ALERT;
}
IPState IndiAstrolink4::MoveRelFocuser(FocusDirection dir, uint32_t ticks)
{
return MoveAbsFocuser(dir == FOCUS_INWARD ? FocusAbsPosN[0].value - ticks : FocusAbsPosN[0].value + ticks);
}
bool IndiAstrolink4::AbortFocuser()
{
char res[ASTROLINK4_LEN] = {0};
return (sendCommand("H", res));
}
bool IndiAstrolink4::ReverseFocuser(bool enabled)
{
return updateSettings("u", "U", U_REVERSED, (enabled) ? "1" : "0");
}
bool IndiAstrolink4::SyncFocuser(uint32_t ticks)
{
char cmd[ASTROLINK4_LEN] = {0}, res[ASTROLINK4_LEN] = {0};
snprintf(cmd, ASTROLINK4_LEN, "P:0:%u", ticks);
return sendCommand(cmd, res);
}
bool IndiAstrolink4::SetFocuserMaxPosition(uint32_t ticks)
{
if(updateSettings("u", "U", U_MAX_POS, std::to_string(ticks).c_str()))
{
FocuserSettingsNP.s = IPS_BUSY;
return true;
}
else
{
return false;
}
}
bool IndiAstrolink4::SetFocuserBacklash(int32_t steps)
{
backlashSteps = steps;
return true;
}
bool IndiAstrolink4::SetFocuserBacklashEnabled(bool enabled)
{
backlashEnabled = enabled;
return true;
}
//////////////////////////////////////////////////////////////////////
/// Serial commands
//////////////////////////////////////////////////////////////////////
bool IndiAstrolink4::sendCommand(const char * cmd, char * res)
{
int nbytes_read = 0, nbytes_written = 0, tty_rc = 0;
char command[ASTROLINK4_LEN];
if(isSimulation())
{
if(strcmp(cmd, "#") == 0) sprintf(res, "%s\n", "#:AstroLink4mini");
if(strcmp(cmd, "q") == 0) sprintf(res, "%s\n",
"q:1234:0:1.47:1:2.12:45.1:-12.81:1:-25.22:45:0:0:0:1:12.1:5.0:1.12:13.41:0:34:0:0");
if(strcmp(cmd, "p") == 0) sprintf(res, "%s\n", "p:1234");
if(strcmp(cmd, "i") == 0) sprintf(res, "%s\n", "i:0");
if(strcmp(cmd, "n") == 0) sprintf(res, "%s\n", "n:1077:14.0:10.0:100");
if(strcmp(cmd, "e") == 0) sprintf(res, "%s\n", "e:30:1200:1:0:20");
if(strcmp(cmd, "u") == 0) sprintf(res, "%s\n", "u:25000:220:0:100:440:0:0:1:257:0:0:0:0:0:1:0:0");
if(strncmp(cmd, "R", 1) == 0) sprintf(res, "%s\n", "R:");
if(strncmp(cmd, "C", 1) == 0) sprintf(res, "%s\n", "C:");
if(strncmp(cmd, "B", 1) == 0) sprintf(res, "%s\n", "B:");
if(strncmp(cmd, "H", 1) == 0) sprintf(res, "%s\n", "H:");
if(strncmp(cmd, "P", 1) == 0) sprintf(res, "%s\n", "P:");
if(strncmp(cmd, "U", 1) == 0) sprintf(res, "%s\n", "U:");
if(strncmp(cmd, "S", 1) == 0) sprintf(res, "%s\n", "S:");
if(strncmp(cmd, "G", 1) == 0) sprintf(res, "%s\n", "G:");
if(strncmp(cmd, "K", 1) == 0) sprintf(res, "%s\n", "K:");
if(strncmp(cmd, "N", 1) == 0) sprintf(res, "%s\n", "N:");
if(strncmp(cmd, "E", 1) == 0) sprintf(res, "%s\n", "E:");
}
else
{
tcflush(PortFD, TCIOFLUSH);
sprintf(command, "%s\n", cmd);
LOGF_DEBUG("CMD %s", command);
if ( (tty_rc = tty_write_string(PortFD, command, &nbytes_written)) != TTY_OK)
return false;
if (!res)
{
tcflush(PortFD, TCIOFLUSH);
return true;
}
if ( (tty_rc = tty_nread_section(PortFD, res, ASTROLINK4_LEN, stopChar, ASTROLINK4_TIMEOUT, &nbytes_read)) != TTY_OK
|| nbytes_read == 1)
return false;
tcflush(PortFD, TCIOFLUSH);
res[nbytes_read - 1] = '\0';
LOGF_DEBUG("RES %s", res);
if (tty_rc != TTY_OK)
{
char errorMessage[MAXRBUF];
tty_error_msg(tty_rc, errorMessage, MAXRBUF);
LOGF_ERROR("Serial error: %s", errorMessage);
return false;
}
}
return (cmd[0] == res[0]);
}
//////////////////////////////////////////////////////////////////////
/// Sensors
//////////////////////////////////////////////////////////////////////
bool IndiAstrolink4::sensorRead()
{
char res[ASTROLINK4_LEN] = {0};
if (sendCommand("q", res))
{
std::vector<std::string> result = split(res, ":");
float focuserPosition = std::stod(result[Q_STEPPER_POS]);
FocusAbsPosN[0].value = focuserPosition;
FocusPosMMN[0].value = focuserPosition * FocuserSettingsN[FS_STEP_SIZE].value / 1000.0;
float stepsToGo = std::stod(result[Q_STEPS_TO_GO]);
if(stepsToGo == 0)
{
if(requireBacklashReturn)
{
requireBacklashReturn = false;
MoveAbsFocuser(focuserPosition - backlashSteps);
}
FocusAbsPosNP.s = FocusRelPosNP.s = FocusPosMMNP.s = IPS_OK;
IDSetNumber(&FocusRelPosNP, nullptr);
}
else
{
FocusAbsPosNP.s = FocusRelPosNP.s = FocusPosMMNP.s = IPS_BUSY;
}
IDSetNumber(&FocusPosMMNP, nullptr);
IDSetNumber(&FocusAbsPosNP, nullptr);
PowerDataN[POW_ITOT].value = std::stod(result[Q_CURRENT]);
if(result.size() > 5)
{
if(std::stod(result[Q_SENS1_TYPE]) > 0)
{
setParameterValue("WEATHER_TEMPERATURE", std::stod(result[Q_SENS1_TEMP]));
setParameterValue("WEATHER_HUMIDITY", std::stod(result[Q_SENS1_HUM]));
setParameterValue("WEATHER_DEWPOINT", std::stod(result[Q_SENS1_DEW]));
ParametersNP.setState(IPS_OK);
ParametersNP.apply();
}
else
{
ParametersNP.setState(IPS_IDLE);
}
if(std::stod(result[Q_SENS2_TYPE]) > 0)
{
Sensor2N[0].value = std::stod(result[Q_SENS2_TEMP]);
Sensor2NP.s = IPS_OK;
IDSetNumber(&Sensor2NP, nullptr);
}
else
{
Sensor2NP.s = IPS_IDLE;
}
PWMN[0].value = std::stod(result[Q_PWM1]);
PWMN[1].value = std::stod(result[Q_PWM2]);
PWMNP.s = IPS_OK;
IDSetNumber(&PWMNP, nullptr);
bool dcMotorMoving = (std::stod(result[Q_DC_MOVE]) > 0);
if(dcMotorMoving)
{
DCFocTimeNP.s = IPS_BUSY;
IDSetNumber(&DCFocTimeNP, nullptr);
}
else if (DCFocTimeNP.s == IPS_BUSY)
{
DCFocTimeNP.s = IPS_OK;
DCFocAbortSP.s = IPS_IDLE;
IDSetNumber(&DCFocTimeNP, nullptr);
IDSetSwitch(&DCFocAbortSP, nullptr);
}
if(Power1SP.s != IPS_OK || Power2SP.s != IPS_OK || Power3SP.s != IPS_OK)
{
Power1S[0].s = (std::stod(result[Q_OUT1]) > 0) ? ISS_ON : ISS_OFF;
Power1S[1].s = (std::stod(result[Q_OUT1]) == 0) ? ISS_ON : ISS_OFF;
Power1SP.s = IPS_OK;
IDSetSwitch(&Power1SP, nullptr);
Power2S[0].s = (std::stod(result[Q_OUT2]) > 0) ? ISS_ON : ISS_OFF;
Power2S[1].s = (std::stod(result[Q_OUT2]) == 0) ? ISS_ON : ISS_OFF;
Power2SP.s = IPS_OK;
IDSetSwitch(&Power2SP, nullptr);
Power3S[0].s = (std::stod(result[Q_OUT3]) > 0) ? ISS_ON : ISS_OFF;
Power3S[1].s = (std::stod(result[Q_OUT3]) == 0) ? ISS_ON : ISS_OFF;
Power3SP.s = IPS_OK;
IDSetSwitch(&Power3SP, nullptr);
}
CompensationValueN[0].value = std::stod(result[Q_COMP_DIFF]);
CompensateNowSP.s = CompensationValueNP.s = (CompensationValueN[0].value > 0) ? IPS_OK : IPS_IDLE;
CompensateNowS[0].s = (CompensationValueN[0].value > 0) ? ISS_OFF : ISS_ON;
IDSetNumber(&CompensationValueNP, nullptr);
IDSetSwitch(&CompensateNowSP, nullptr);
PowerDataN[POW_VIN].value = std::stod(result[Q_VIN]);
PowerDataN[POW_VREG].value = std::stod(result[Q_VREG]);
PowerDataN[POW_AH].value = std::stod(result[Q_AH]);
PowerDataN[POW_WH].value = std::stod(result[Q_WH]);
if(strcmp(result[Q_OP_FLAG].c_str(), "0"))
{
int opFlag = std::stoi(result[Q_OP_FLAG]);
LOGF_WARN("Protection triggered, outputs were disabled. Reason: %s was too high, value: %.1f",
(opFlag == 1) ? "voltage" : "current", std::stod(result[Q_OP_VALUE]));
}
}
PowerDataNP.s = IPS_OK;
IDSetNumber(&PowerDataNP, nullptr);
}
// update settings data if was changed
if(FocuserSettingsNP.s != IPS_OK || FocuserModeSP.s != IPS_OK || PowerDefaultOnSP.s != IPS_OK || BuzzerSP.s != IPS_OK
|| FocuserCompModeSP.s != IPS_OK)
{
if (sendCommand("u", res))
{
std::vector<std::string> result = split(res, ":");
FocuserModeS[FS_MODE_UNI].s = FocuserModeS[FS_MODE_BI].s = FocuserModeS[FS_MODE_MICRO].s = ISS_OFF;
if(!strcmp("0", result[U_STEPPER_MODE].c_str())) FocuserModeS[FS_MODE_UNI].s = ISS_ON;
if(!strcmp("1", result[U_STEPPER_MODE].c_str())) FocuserModeS[FS_MODE_BI].s = ISS_ON;
if(!strcmp("2", result[U_STEPPER_MODE].c_str())) FocuserModeS[FS_MODE_MICRO].s = ISS_ON;
FocuserModeSP.s = IPS_OK;
IDSetSwitch(&FocuserModeSP, nullptr);
PowerDefaultOnS[0].s = (std::stod(result[U_OUT1_DEF]) > 0) ? ISS_ON : ISS_OFF;
PowerDefaultOnS[1].s = (std::stod(result[U_OUT2_DEF]) > 0) ? ISS_ON : ISS_OFF;
PowerDefaultOnS[2].s = (std::stod(result[U_OUT3_DEF]) > 0) ? ISS_ON : ISS_OFF;
PowerDefaultOnSP.s = IPS_OK;
IDSetSwitch(&PowerDefaultOnSP, nullptr);
FocuserSettingsN[FS_SPEED].value = std::stod(result[U_SPEED]);
FocuserSettingsN[FS_STEP_SIZE].value = std::stod(result[U_STEPSIZE]) / 100.0;
FocusMaxPosN[0].value = std::stod(result[U_MAX_POS]);
FocuserSettingsNP.s = IPS_OK;
IDSetNumber(&FocuserSettingsNP, nullptr);
IDSetNumber(&FocusMaxPosNP, nullptr);
}
if(sendCommand("j", res))
{
std::vector<std::string> result = split(res, ":");
BuzzerS[0].s = (std::stod(result[1]) > 0) ? ISS_ON : ISS_OFF;
BuzzerSP.s = IPS_OK;
IDSetSwitch(&BuzzerSP, nullptr);
}
if (sendCommand("e", res))
{
std::vector<std::string> result = split(res, ":");
FocuserSettingsN[FS_COMPENSATION].value = std::stod(result[E_COMP_STEPS]) / 100.0;
FocuserSettingsN[FS_COMP_THRESHOLD].value = std::stod(result[E_COMP_TRGR]);
FocuserSettingsNP.s = IPS_OK;
IDSetNumber(&FocuserSettingsNP, nullptr);
FocuserCompModeS[FS_COMP_MANUAL].s = (std::stod(result[E_COMP_AUTO]) == 0) ? ISS_ON : ISS_OFF;
FocuserCompModeS[FS_COMP_AUTO].s = (std::stod(result[E_COMP_AUTO]) > 0) ? ISS_ON : ISS_OFF;
FocuserCompModeSP.s = IPS_OK;
IDSetSwitch(&FocuserCompModeSP, nullptr);
}
}
if(FocuserManualSP.s != IPS_OK)
{
if (sendCommand("f", res))
{
std::vector<std::string> result = split(res, ":");
FocuserManualS[FS_MANUAL_OFF].s = (std::stod(result[1]) == 0) ? ISS_ON : ISS_OFF;
FocuserManualS[FS_MANUAL_ON].s = (std::stod(result[1]) > 0) ? ISS_ON : ISS_OFF;
FocuserManualSP.s = IPS_OK;
IDSetSwitch(&FocuserManualSP, nullptr);
}
}
if(OtherSettingsNP.s != IPS_OK)
{