gemini.h

/*
   Optec Gemini Focuser Rotator INDI driver
   Copyright (C) 2017 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 "indirotatorinterface.h"

#include <stdint.h>
#include <map>

class Gemini : public INDI::Focuser, public INDI::RotatorInterface
{
    public:
        Gemini();
        ~Gemini();

        enum
        {
            FOCUS_A_COEFF,
            FOCUS_B_COEFF,
            FOCUS_C_COEFF,
            FOCUS_D_COEFF,
            FOCUS_E_COEFF,
            FOCUS_F_COEFF
        };
        enum
        {
            STATUS_MOVING,
            STATUS_HOMING,
            STATUS_HOMED,
            STATUS_FFDETECT,
            STATUS_TMPPROBE,
            STATUS_REMOTEIO,
            STATUS_HNDCTRL,
            STATUS_REVERSE,
            STATUS_UNKNOWN
        };
        enum
        {
            GOTO_CENTER,
            GOTO_HOME
        };
        typedef enum
        {
            DEVICE_FOCUSER,
            DEVICE_ROTATOR
        } DeviceType;

        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 bool ISNewText(const char *dev, const char *name, char *texts[], char *names[], int n) override;

    protected:

        virtual bool Handshake() override;
        virtual const char *getDefaultName() override;

        virtual bool initProperties() override;
        virtual bool updateProperties() override;
        virtual bool saveConfigItems(FILE *fp) override;

        // Focuser Functions
        virtual IPState MoveAbsFocuser(uint32_t targetPosition) override;
        virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks) override;
        virtual IPState MoveFocuser(FocusDirection dir, int speed, uint16_t duration) override;
        virtual bool AbortFocuser() override;

        virtual bool SetFocuserBacklash(int32_t steps) override;
        virtual bool SetFocuserBacklashEnabled(bool enabled) override;

        virtual void TimerHit() override;

        // Misc functions
        bool ack();
        bool isResponseOK();

    protected:
        // Move from private to public to validate
        bool focuserConfigurationComplete = false;
        bool rotatorConfigurationComplete = false;

        // Rotator Overrides
        virtual IPState HomeRotator() override;
        virtual IPState MoveRotator(double angle) override;
        virtual bool ReverseRotator(bool enabled) override;
        virtual bool SetRotatorBacklash(int32_t steps) override;
        virtual bool SetRotatorBacklashEnabled(bool enabled) override;

    private:
        uint32_t focuserSimPosition = 0;
        uint32_t rotatorSimPosition = 0;
        uint32_t rotatorSimPA = 0;
        uint32_t targetFocuserPosition = 0;
        uint32_t targetRotatorPosition = 0;
        uint32_t targetRotatorAngle = 0;
        uint32_t maxControllerTicks = 0;

        ISState focuserSimStatus[8];
        ISState rotatorSimStatus[8];

        bool simCompensationOn;
        char focusTarget[8];

        struct timeval focusMoveStart;
        float focusMoveRequest;

        ////////////////////////////////////////////////////////////
        // Focuser Functions
        ///////////////////////////////////////////////////////////

        // Get functions
        bool getFocusConfig();
        bool getFocusStatus();

        // Set functions

        // Position
        bool setFocusPosition(uint16_t position);

        // Temperature
        bool setTemperatureCompensation(bool enable);
        bool setTemperatureCompensationMode(char mode);
        bool setTemperatureCompensationCoeff(char mode, int16_t coeff);
        bool setTemperatureCompensationOnStart(bool enable);

        // Backlash
        bool setBacklashCompensation(DeviceType type, bool enable);
        bool setBacklashCompensationSteps(DeviceType type, uint16_t steps);

        // Motion functions
        bool home(DeviceType type);
        bool halt(DeviceType type);
        bool center(DeviceType type);
        bool homeOnStart(DeviceType type, bool enable);

        ////////////////////////////////////////////////////////////
        // Focuser Properties
        ///////////////////////////////////////////////////////////

        // Set/Get Temperature
        INumber TemperatureN[1];
        INumberVectorProperty TemperatureNP;

        // Enable/Disable temperature compnesation
        ISwitch TemperatureCompensateS[2];
        ISwitchVectorProperty TemperatureCompensateSP;

        // Enable/Disable temperature compnesation on start
        ISwitch TemperatureCompensateOnStartS[2];
        ISwitchVectorProperty TemperatureCompensateOnStartSP;

        // Temperature Coefficient
        INumber TemperatureCoeffN[5];
        INumberVectorProperty TemperatureCoeffNP;

        // Temperature Coefficient Mode
        ISwitch TemperatureCompensateModeS[5];
        ISwitchVectorProperty TemperatureCompensateModeSP;

        // Enable/Disable backlash
        //    ISwitch FocuserBacklashCompensationS[2];
        //    ISwitchVectorProperty FocuserFocusBacklashSP;

        // Backlash Value
        //    INumber FocusBacklashN[1];
        //    INumberVectorProperty FocusBacklashNP;

        // Home On Start
        ISwitch FocuserHomeOnStartS[2];
        ISwitchVectorProperty FocuserHomeOnStartSP;

        // Go to home/center
        ISwitch FocuserGotoS[2];
        ISwitchVectorProperty FocuserGotoSP;

        // Status indicators
        ILight FocuserStatusL[8];
        ILightVectorProperty FocuserStatusLP;

        bool isFocuserAbsolute;
        bool isFocuserHoming;

        ////////////////////////////////////////////////////////////
        // Rotator Functions
        ///////////////////////////////////////////////////////////

        // Get functions
        bool getRotatorConfig();
        bool getRotatorStatus();

        IPState MoveAbsRotatorTicks(uint32_t targetTicks);
        IPState MoveAbsRotatorAngle(double angle);
        bool reverseRotator(bool enable);

        ////////////////////////////////////////////////////////////
        // Rotator Properties
        ///////////////////////////////////////////////////////////

        // Status
        ILight RotatorStatusL[8];
        ILightVectorProperty RotatorStatusLP;

        // Rotator Steps
        INumber RotatorAbsPosN[1];
        INumberVectorProperty RotatorAbsPosNP;

#if 0
        // Reverse Direction
        ISwitch RotatorReverseS[2];
        ISwitchVectorProperty RotatorReverseSP;



        // Rotator Degrees or PA (Position Angle)
        INumber RotatorAbsAngleN[1];
        INumberVectorProperty RotatorAbsAngleNP;

        // Abort
        ISwitch AbortRotatorS[1];
        ISwitchVectorProperty AbortRotatorSP;

        // Go to home/center
        ISwitch RotatorGotoS[2];
        ISwitchVectorProperty RotatorGotoSP;
#endif

        // Home On Start
        ISwitch RotatorHomeOnStartS[2];
        ISwitchVectorProperty RotatorHomeOnStartSP;

        bool isRotatorHoming;

        ////////////////////////////////////////////////////////////
        // Hub Functions
        ///////////////////////////////////////////////////////////

        // Led level
        bool setLedLevel(int level);

        // Device Nickname
        bool setNickname(DeviceType type, const char *nickname);

        // Misc functions
        bool resetFactory();
        float calcTimeLeft(timeval, float);

        ////////////////////////////////////////////////////////////
        // Hub Properties
        ///////////////////////////////////////////////////////////

        // Reset to Factory setting
        ISwitch ResetS[1];
        ISwitchVectorProperty ResetSP;

        // Focus and rotator name configure in the HUB
        IText HFocusNameT[2] {};
        ITextVectorProperty HFocusNameTP;

        // Led Intensity Value
        INumber LedN[1];
        INumberVectorProperty LedNP;

        uint32_t DBG_FOCUS;
};