Merge pull request #861 from glowmouse/develop

Bee Focuser Device Driver

3rdparty/CMakeLists.txt

@@ -98,6 +98,7 @@ option(WITH_ATIK "Install Atik Driver" On)
 option(WITH_TOUPCAM "Install Toupcam Driver" On)
 option(WITH_ALTAIRCAM "Install Altair Driver" On)
 option(WITH_AVALON "Install Avalon StarGO Driver" On)
+option(WITH_BEEFOCUS "Install Bee Focuser Driver" On)
 
 find_package(FFmpeg)
 
@@ -279,6 +280,12 @@ SET(LIBRARIES_FOUND FALSE)
 endif (ALTAIRCAM_FOUND)
 endif (WITH_ALTAIRCAM)
 
+## Bee Focuser
+if (WITH_BEEFOCUS)
+add_subdirectory(indi-beefocus)
+endif(WITH_BEEFOCUS)
+
+
 ## INOVA
 if (WITH_INOVAPLX)
 find_package(INOVASDK)

3rdparty/indi-beefocus/CMakeLists.txt

@@ -0,0 +1,84 @@
+cmake_minimum_required(VERSION 2.8)
+PROJECT(indi_beefocus CXX C)
+
+LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/")
+LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake_modules/")
+include(GNUInstallDirs)
+
+find_package(INDI REQUIRED)
+
+set(BEEFOCUS_VERSION_MAJOR 1)
+set(BEEFOCUS_VERSION_MINOR 0)
+
+set(INDI_DATA_DIR "${CMAKE_INSTALL_PREFIX}/share/indi")
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/indi_beefocus.xml.cmake ${CMAKE_CURRENT_BINARY_DIR}/indi_beefocus.xml )
+
+include_directories(${CMAKE_CURRENT_BINARY_DIR})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/driver)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/firmware)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/glue)
+include_directories(${INDI_INCLUDE_DIR})
+
+include(CMakeCommon)
+
+################# Beefocus ############################
+
+set(indi_beefocus_SRCS
+   ${CMAKE_CURRENT_SOURCE_DIR}/driver/beefocus.cpp
+   ${CMAKE_CURRENT_SOURCE_DIR}/driver/beeconnect.cpp
+   ${CMAKE_CURRENT_SOURCE_DIR}/driver/beesimfirmware.cpp
+   ${CMAKE_CURRENT_SOURCE_DIR}/firmware/command_parser.cpp
+   ${CMAKE_CURRENT_SOURCE_DIR}/firmware/focuser_state.cpp
+   ${CMAKE_CURRENT_SOURCE_DIR}/firmware/hardware_interface.cpp
+)
+
+add_executable(indi_beefocus ${indi_beefocus_SRCS})
+
+target_link_libraries(indi_beefocus ${INDI_LIBRARIES} )
+
+install(TARGETS indi_beefocus RUNTIME DESTINATION bin )
+
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/indi_beefocus.xml DESTINATION ${INDI_DATA_DIR})
+
+################# Unit Testing ########################
+
+IF (INDI_BUILD_UNITTESTS)
+  # Workaround for fixing a linking error caused by "-pie" flag in CMakeCommon
+  # set(CMAKE_EXE_LINKER_FLAGS "-Wl,-z,nodump -Wl,-z,noexecstack -Wl,-z,relro -Wl,-z,now")
+
+  enable_testing()
+  find_package(GTest REQUIRED)
+  include_directories(${GTEST_INCLUDE_DIRS})
+
+  SET(UNIT_TESTS 
+    test_driver 
+  )
+
+  foreach( TEST ${UNIT_TESTS} )
+    SET( TEST_SOURCES ${indi_beefocus_SRCS} ${CMAKE_CURRENT_SOURCE_DIR}/unit_tests/test_helpers.cpp )
+    SET( TEST_MAIN_CPP ${CMAKE_CURRENT_SOURCE_DIR}/unit_tests/${TEST}.cpp)
+    SET_SOURCE_FILES_PROPERTIES(${TEST_MAIN_CPP} PROPERTIES LANGUAGE CXX)
+
+    ADD_EXECUTABLE(${TEST} ${TEST_MAIN_CPP} ${TEST_SOURCES})
+
+    TARGET_LINK_LIBRARIES( ${TEST}
+      ${INDI_LIBRARIES}
+      ${GTEST_BOTH_LIBRARIES}
+      ${CMAKE_THREAD_LIBS_INIT}
+      #${ZLIB_LIBRARY}
+    )
+    add_test( run-tests ${TEST} )
+
+    ADD_CUSTOM_COMMAND(
+      TARGET ${TEST}
+      COMMENT "Running ${TEST}"
+      POST_BUILD
+      WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+      COMMAND ${TEST} )
+
+  endforeach(TEST)
+
+ENDIF (INDI_BUILD_UNITTESTS)
+
+

3rdparty/indi-beefocus/README.md

@@ -0,0 +1,59 @@
+Beefocus
+========
+
+Beefocus is an Open Source Hardware/ Software Telescope Focuser
+The goal of the project is to create a high quality DIY focuser that's
+relatively easy to build and modify.
+
+The Github page for the project is https://github.com/glowmouse/beefocus
+The page contains the focuser's firmware and hardware builds.
+
+The connection to the focuser hardware is done using WiFi.  WiFi telescope
+setups are becoming common as astronomers mount computers directly onto
+their telescopes to reduce cabling.  The WiFi connection means one less cable
+and one less USB port.  
+
+The Focuser's firmware runs on an ESP8266 - these are <$10 micro-controllers
+similar to Arduinos (in fact, the Arduino SDK is used to compile the firmware)
+
+Actual and Simulated Focuser
+============================
+
+The Beefocus INDI driver supports two modes,
+
+1. Connect to an actual focuser using a TCP/IP connection
+2. Simulate the focuser in software, using a virtual "software-only" connection
+
+The actual hardware focuser is controlled by firmware that's compiled and 
+loaded onto the EPS8266 micro-controller.  The firmware handles the connection
+to the driver, accepts new commands from the driver, controls the stepper
+motor, and sends responses.
+
+The same firmware is used when the driver is in simulation mode.  The simulated
+firmware handles the virtual "software-only" connection to the driver, 
+accepts new commands from the driver, controls a simulated stepper motor,
+and sends responses. 
+
+Having simulated hardware that's a close match to the actual hardware is useful
+for testing. The unit tests create an INDI Beefocus driver using a simulated 
+focuser, feed the driver commands (i.e. move to an absolute position), and 
+check the driver's output to make sure it's correct.  The tests run in 
+"accelerated time";  a test sequence that would take minutes on an actual 
+focuser takes seconds on the simulated focuser.
+
+To try out the simulator to to the Focuser's Connection menu, select 
+Simulated Connection instead of TCP Connect,  and then press Connect in 
+Main Control.
+
+INDI Driver Directory Layout
+============================
+
+File                    | Description
+----                    | -----------
+driver/beefocus         | The core INDI driver
+driver/beeconnect       | Connection interface to actual or simulated focuser
+driver/beesimfirmware   | Uses the Firmware to simulate the focuser
+unit_tests/test_helpers | General Utilities for unit testing INDI drivers
+unit_tests/test_driver  | Beefocus unit tests (using the simulated firmware)
+firmware/*              | ESP8266 Firmware.  Also used for simulation.
+