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/*
RoboFocus
Copyright (C) 2006 Markus Wildi (markus.wildi@datacomm.ch)
2011 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
*/
#ifndef ROBOFOCUS_H
#define ROBOFOCUS_H
#include "indibase/indifocuser.h"
#include "robofocus.h"
class RoboFocus : public INDI::Focuser
{
public:
RoboFocus();
~RoboFocus();
virtual bool Connect();
virtual bool Disconnect();
const char * getDefaultName();
virtual bool initProperties();
virtual bool updateProperties();
virtual void ISGetProperties(const char *dev);
virtual bool ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n);
virtual bool ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n);
virtual bool ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n);
virtual bool Move(FocusDirection dir, int speed, int duration);
private:
int PortFD;
unsigned char CheckSum(char *rf_cmd);
unsigned char CalculateSum(char *rf_cmd);
int SendCommand(char *rf_cmd);
int ReadResponse(char *buf, int nbytes, int timeout);
void GetFocusParams();
int updateRFPosition(double *value);
int updateRFTemperature(double *value) ;
int updateRFBacklash(double *value);
int updateRFFirmware(char *rf_cmd) ;
int updateRFMotorSettings(double *duty, double *delay, double *ticks);
int updateRFPositionRelativeInward(double *value);
int updateRFPositionRelativeOutward(double *value) ;
int updateRFPositionAbsolute(double *value);
int updateRFPowerSwitches(int s, int new_sn, int *cur_s1LL, int *cur_s2LR, int *cur_s3RL, int *cur_s4RR) ;
int updateRFMaxPosition(double *value);
int updateRFSetPosition(double *value);
ITextVectorProperty PortTP;
IText PortT[1];
INumber TemperatureN[1];
INumberVectorProperty TemperatureNP;
INumber SettingsN[3];
INumberVectorProperty SettingsNP;
ISwitch PowerSwitchesS[4];
ISwitchVectorProperty PowerSwitchesSP;
INumber MinMaxPositionN[2];
INumberVectorProperty MinMaxPositionNP;
INumber MaxTravelN[1];
INumberVectorProperty MaxTravelNP;
INumber SetRegisterPositionN[1];
INumberVectorProperty SetRegisterPositionNP;
INumber PositionN[1];
INumberVectorProperty PositionNP;
INumber RelMovementN[1];
INumberVectorProperty RelMovementNP;
INumber AbsMovementN[1];
INumberVectorProperty AbsMovementNP;
INumber SetBacklashN[1];
INumberVectorProperty SetBacklashNP;
};
#endif // ROBOFOCUS_H
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