-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathindi_focuserone.cpp
717 lines (633 loc) · 26.8 KB
/
indi_focuserone.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
/*******************************************************************************
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_focuserone.h"
#include "indicom.h"
#define VERSION_MAJOR 1
#define VERSION_MINOR 0
#define ASTROLINK4_LEN 100
#define ASTROLINK4_TIMEOUT 3
#define POLLTIME 500
//////////////////////////////////////////////////////////////////////
/// Delegates
//////////////////////////////////////////////////////////////////////
std::unique_ptr<FocuserOne> indiFocuserOne(new FocuserOne());
void ISGetProperties(const char *dev)
{
indiFocuserOne->ISGetProperties(dev);
}
void ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int num)
{
indiFocuserOne->ISNewSwitch(dev, name, states, names, num);
}
void ISNewText( const char *dev, const char *name, char *texts[], char *names[], int num)
{
indiFocuserOne->ISNewText (dev, name, texts, names, num);
}
void ISNewNumber(const char *dev, const char *name, double values[], char *names[], int num)
{
indiFocuserOne->ISNewNumber(dev, name, values, names, num);
}
void ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int num)
{
indiFocuserOne->ISNewBLOB(dev, name, sizes, blobsizes, blobs, formats, names, num);
}
void ISSnoopDevice (XMLEle *root)
{
indiFocuserOne->ISSnoopDevice(root);
}
//////////////////////////////////////////////////////////////////////
///Constructor
//////////////////////////////////////////////////////////////////////
FocuserOne::FocuserOne() : FI(this), WI(this)
{
setVersion(VERSION_MAJOR,VERSION_MINOR);
}
const char * FocuserOne::getDefaultName()
{
return (char *)"FocuserOne";
}
//////////////////////////////////////////////////////////////////////
/// Communication
//////////////////////////////////////////////////////////////////////
bool FocuserOne::Handshake()
{
PortFD = serialConnection->getPortFD();
char res[ASTROLINK4_LEN] = {0};
if(sendCommand("#", res))
{
if(strncmp(res, "#:FocuserOne", 12) != 0)
{
LOG_ERROR("Device not recognized.");
return false;
}
else
{
SetTimer(POLLTIME);
return true;
}
}
return false;
}
void FocuserOne::TimerHit()
{
if(isConnected())
{
sensorRead();
SetTimer(POLLTIME);
}
}
//////////////////////////////////////////////////////////////////////
/// Overrides
//////////////////////////////////////////////////////////////////////
bool FocuserOne::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();
serialConnection = new Connection::Serial(this);
serialConnection->registerHandshake([&]()
{
return Handshake();
});
registerConnection(serialConnection);
serialConnection->setDefaultPort("/dev/ttyUSB0");
serialConnection->setDefaultBaudRate(serialConnection->B_38400);
// 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_CURRENT], "FS_CURRENT", "Stepper current [mA]", "%.0f", 100, 1500, 100, 400);
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, 5, getDeviceName(), "FOCUSER_SETTINGS", "Focuser settings", SETTINGS_TAB, IP_RW, 60, IPS_IDLE);
IUFillSwitch(&FocuserHoldS[FS_HOLD_OFF], "FS_HOLD_OFF", "OFF", ISS_OFF);
IUFillSwitch(&FocuserHoldS[FS_HOLD_ON], "FS_HOLD_ON", "ON", ISS_ON);
IUFillSwitchVector(&FocuserHoldSP, FocuserHoldS, 2, getDeviceName(), "MOTOR_HOLD", "Stepper holding torque", SETTINGS_TAB, IP_RW, ISR_1OFMANY, 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_L], "FS_MODE_MICRO_L", "Microstep 1/8", ISS_OFF);
IUFillSwitch(&FocuserModeS[FS_MODE_MICRO_H], "FS_MODE_MICRO_H", "Microstep 1/32", ISS_OFF);
IUFillSwitchVector(&FocuserModeSP, FocuserModeS, 4, 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
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);
// 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);
return true;
}
bool FocuserOne::updateProperties()
{
// Call parent update properties first
INDI::DefaultDevice::updateProperties();
if (isConnected())
{
defineProperty(&FocusPosMMNP);
FI::updateProperties();
WI::updateProperties();
defineProperty(&FocuserSettingsNP);
defineProperty(&FocuserModeSP);
defineProperty(&FocuserCompModeSP);
defineProperty(&FocuserHoldSP);
defineProperty(&FocuserManualSP);
defineProperty(&CompensationValueNP);
defineProperty(&CompensateNowSP);
defineProperty(&BuzzerSP);
}
else
{
deleteProperty(FocuserSettingsNP.name);
deleteProperty(FocuserModeSP.name);
deleteProperty(CompensateNowSP.name);
deleteProperty(CompensationValueNP.name);
deleteProperty(BuzzerSP.name);
deleteProperty(FocuserCompModeSP.name);
deleteProperty(FocuserHoldSP.name);
deleteProperty(FocuserManualSP.name);
deleteProperty(FocusPosMMNP.name);
FI::updateProperties();
WI::updateProperties();
}
return true;
}
bool FocuserOne::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};
// 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);
updates[U_COMP_CYCLE] = "30"; // cycle [s]
updates[U_COMP_STEPS] = doubleToStr(values[FS_COMPENSATION] * 100.0);
//updates[U_COMP_SENSR] = "0"; // sensor
updates[U_COMP_TRGR] = doubleToStr(values[FS_COMP_THRESHOLD]);
updates[U_CURRENT] = doubleToStr(values[FS_CURRENT]);
allOk = allOk && updateSettings("u", "U", 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;
}
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 FocuserOne::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};
// compensate now
if(!strcmp(name, CompensateNowSP.name))
{
sprintf(cmd, "S:%d", static_cast<uint16_t>(FocuserSettingsN[FS_COMP_THRESHOLD].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;
}
// 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_L].name, names[0])) value = "2";
if(!strcmp(FocuserModeS[FS_MODE_MICRO_H].name, names[0])) value = "3";
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("u", "U", U_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;
}
// Focuser stepper holding torque mode
if(!strcmp(name, FocuserHoldSP.name))
{
std::string value = "3";
if(!strcmp(FocuserHoldS[FS_HOLD_ON].name, names[0])) value = "2";
if(updateSettings("u", "U", U_STOP_CURRENT, value.c_str()))
{
FocuserHoldSP.s = IPS_BUSY;
IUUpdateSwitch(&FocuserHoldSP, states, names, n);
IDSetSwitch(&FocuserHoldSP, nullptr);
return true;
}
FocuserHoldSP.s = IPS_ALERT;
return true;
}
if (strstr(name, "FOCUS_"))
return FI::processSwitch(dev, name, states, names, n);
if (strstr(name, "WEATHER_"))
return WI::processSwitch(dev, name, states, names, n);
}
return INDI::DefaultDevice::ISNewSwitch (dev, name, states, names, n);
}
bool FocuserOne::ISNewText(const char * dev, const char * name, char * texts[], char * names[], int n)
{
return INDI::DefaultDevice::ISNewText(dev, name, texts, names, n);
}
bool FocuserOne::saveConfigItems(FILE *fp)
{
INDI::DefaultDevice::saveConfigItems(fp);
FI::saveConfigItems(fp);
return true;
}
//////////////////////////////////////////////////////////////////////
/// Focuser interface
//////////////////////////////////////////////////////////////////////
IPState FocuserOne::MoveAbsFocuser(uint32_t targetTicks)
{
int32_t backlash = 0;
if(backlashEnabled)
{
if((targetTicks > FocusAbsPosN[0].value) == (backlashSteps > 0))
{
if((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 FocuserOne::MoveRelFocuser(FocusDirection dir, uint32_t ticks)
{
return MoveAbsFocuser(dir == FOCUS_INWARD ? FocusAbsPosN[0].value - ticks : FocusAbsPosN[0].value + ticks);
}
bool FocuserOne::AbortFocuser()
{
char res[ASTROLINK4_LEN] = {0};
return (sendCommand("H", res));
}
bool FocuserOne::ReverseFocuser(bool enabled)
{
return updateSettings("u", "U", U_REVERSED, (enabled) ? "1" : "0");
}
bool FocuserOne::SyncFocuser(uint32_t ticks)
{
char cmd[ASTROLINK4_LEN] = {0}, res[ASTROLINK4_LEN] = {0};
snprintf(cmd, ASTROLINK4_LEN, "P:%u", ticks);
return sendCommand(cmd, res);
}
bool FocuserOne::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 FocuserOne::SetFocuserBacklash(int32_t steps)
{
backlashSteps = steps;
return true;
}
bool FocuserOne::SetFocuserBacklashEnabled(bool enabled)
{
backlashEnabled = enabled;
return true;
}
//////////////////////////////////////////////////////////////////////
/// Serial commands
//////////////////////////////////////////////////////////////////////
bool FocuserOne::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", "#:FocuserOne");
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 FocuserOne::sensorRead()
{
char res[ASTROLINK4_LEN] = {0};
LOGF_DEBUG("Answer length %i", ASTROLINK4_LEN);
if (sendCommand("q", res))
{
LOGF_DEBUG("Response %s", 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;
LOGF_DEBUG("Foc pos %f", focuserPosition);
float stepsToGo = std::stod(result[Q_STEPS_TO_GO]);
LOGF_DEBUG("Foc to go %f", stepsToGo);
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);
LOGF_DEBUG("%s", "Before if");
if(result.size() > 5)
{
LOGF_DEBUG("%s", "After if");
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]));
}
LOGF_DEBUG("%s", "After sens type");
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);
}
}
LOGF_DEBUG("%s", "End if");
// update settings data if was changed
if(FocuserSettingsNP.s != IPS_OK || FocuserModeSP.s != IPS_OK || BuzzerSP.s != IPS_OK || FocuserCompModeSP.s != IPS_OK || FocuserHoldSP.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_L].s = FocuserModeS[FS_MODE_MICRO_H].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_L].s = ISS_ON;
if(!strcmp("3", result[U_STEPPER_MODE].c_str())) FocuserModeS[FS_MODE_MICRO_H].s = ISS_ON;
FocuserModeSP.s = IPS_OK;
IDSetSwitch(&FocuserModeSP, 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);
FocuserSettingsN[FS_CURRENT].value = std::stod(result[U_CURRENT]);
FocuserHoldS[FS_HOLD_OFF].s = (std::stod(result[U_STOP_CURRENT]) == 3) ? ISS_ON : ISS_OFF;
FocuserHoldS[FS_HOLD_ON].s = (std::stod(result[U_STOP_CURRENT]) < 3) ? ISS_ON : ISS_OFF;
FocuserHoldSP.s = IPS_OK;
IDSetSwitch(&FocuserHoldSP, nullptr);
FocuserSettingsN[FS_COMPENSATION].value = std::stod(result[U_COMP_STEPS]) / 100.0;
FocuserSettingsN[FS_COMP_THRESHOLD].value = std::stod(result[U_COMP_TRGR]);
FocuserSettingsNP.s = IPS_OK;
IDSetNumber(&FocuserSettingsNP, nullptr);
FocuserCompModeS[FS_COMP_MANUAL].s = (std::stod(result[U_COMP_AUTO]) == 0) ? ISS_ON : ISS_OFF;
FocuserCompModeS[FS_COMP_AUTO].s = (std::stod(result[U_COMP_AUTO]) > 0) ? ISS_ON : ISS_OFF;
FocuserCompModeSP.s = IPS_OK;
IDSetSwitch(&FocuserCompModeSP, 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 (sendCommand("z", res))
{
std::vector<std::string> result = split(res, ":");
FocuserSettingsN[FS_CURRENT].value = std::stod(result[Z_CURRENT]);
FocuserHoldS[FS_HOLD_OFF].s = (std::stod(result[Z_STOP_CURRENT]) == 3) ? ISS_ON : ISS_OFF;
FocuserHoldS[FS_HOLD_ON].s = (std::stod(result[Z_STOP_CURRENT]) < 3) ? ISS_ON : ISS_OFF;
FocuserHoldSP.s = IPS_OK;
IDSetSwitch(&FocuserHoldSP, 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);
}
}
*/
return true;
}
//////////////////////////////////////////////////////////////////////
/// Helper functions
//////////////////////////////////////////////////////////////////////
std::vector<std::string> FocuserOne::split(const std::string &input, const std::string ®ex)
{
// 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};
}
std::string FocuserOne::doubleToStr(double val)
{
char buf[10];
sprintf(buf, "%.0f", val);
return std::string(buf);
}
bool FocuserOne::updateSettings(const char * getCom, const char * setCom, int index, const char * value)
{
std::map<int, std::string> values;
values[index] = value;
return updateSettings(getCom, setCom, values);
}
bool FocuserOne::updateSettings(const char * getCom, const char * setCom, std::map<int, std::string> values)
{
char cmd[ASTROLINK4_LEN] = {0}, res[ASTROLINK4_LEN] = {0};
snprintf(cmd, ASTROLINK4_LEN, "%s", getCom);
if(sendCommand(cmd, res))
{
std::string concatSettings = "";
std::vector<std::string> result = split(res, ":");
if(result.size() >= values.size())
{
result[0] = setCom;
for(std::map<int, std::string>::iterator it = values.begin(); it != values.end(); ++it)
result[it->first] = it->second;
for (const auto &piece : result) concatSettings += piece + ":";
snprintf(cmd, ASTROLINK4_LEN, "%s", concatSettings.c_str());
if(sendCommand(cmd, res)) return true;
}
}
return false;
}