libindi-dev 1.7.1-0ubuntu1 / usr / include / libindi / indifocuserinterface.h

/*
    Filter Interface
    Copyright (C) 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

*/

#pragma once

#include "indibase.h"

#include <stdint.h>

// Alias
using FI = INDI::FocuserInterface;

namespace INDI
{

/**
 * \class FocuserInterface
   \brief Provides interface to implement focuser functionality.

   A focuser can be an independent device, or an embedded focuser within another device (e.g. Camera or mount).

   When developing a driver for a fully indepdent focuser device, use INDI::Focuser directly. To add focus functionality to
   an existing mount or camera driver, subclass INDI::FocuserInterface. In your driver, then call the necessary focuser interface functions.

   <table>
   <tr><th>Function</th><th>Where to call it from your driver</th></tr>
   <tr><td>FI::SetCapability</td><td>Constructor</td></tr>
   <tr><td>FI::initProperties</td><td>initProperties()</td></tr>
   <tr><td>FI::updateProperties</td><td>updateProperties()</td></tr>
   <tr><td>FI::processNumber</td><td>ISNewNumber(...) Check if the property name contains FOCUS_* and then call FI::processNumber(..) for such properties</td></tr>
   <tr><td>FI::processSwitch</td><td>ISNewSwitch(...)</td></tr>
   </table>

   Implement and overwrite the rest of the virtual functions as needed. INDI GPhoto driver is a good example to check for an actual implementation
   of a focuser interface within a CCD driver.
\author Jasem Mutlaq
*/
class FocuserInterface
{
  public:
    enum FocusDirection
    {
        FOCUS_INWARD,
        FOCUS_OUTWARD
    };

    enum
    {
        FOCUSER_CAN_ABS_MOVE       = 1 << 0, /*!< Can the focuser move by absolute position? */
        FOCUSER_CAN_REL_MOVE       = 1 << 1, /*!< Can the focuser move by relative position? */
        FOCUSER_CAN_ABORT          = 1 << 2, /*!< Is it possible to abort focuser motion? */
        FOCUSER_HAS_VARIABLE_SPEED = 1 << 3  /*!< Can the focuser move in different configurable speeds? */
    } FocuserCapability;

    /**
     * @brief GetFocuserCapability returns the capability of the focuser
     */
    uint32_t GetCapability() const { return capability; }

    /**
     * @brief FI::SetCapability sets the focuser capabilities. All capabilities must be initialized.
     * @param cap pointer to focuser capability struct.
     */
    void SetCapability(uint32_t cap) { capability = cap; }

    /**
     * @return True if the focuser has absolute position encoders.
     */
    bool CanAbsMove() { return capability & FOCUSER_CAN_ABS_MOVE; }

    /**
     * @return True if the focuser has relative position encoders.
     */
    bool CanRelMove() { return capability & FOCUSER_CAN_REL_MOVE; }

    /**
     * @return True if the focuser motion can be aborted.
     */
    bool CanAbort() { return capability & FOCUSER_CAN_ABORT; }

    /**
     * @return True if the focuser has multiple speeds.
     */
    bool HasVariableSpeed() { return capability & FOCUSER_HAS_VARIABLE_SPEED; }

  protected:
    explicit FocuserInterface(DefaultDevice *defaultDevice);
    virtual ~FocuserInterface() = default;

    /**
     * \brief Initilize focuser properties. It is recommended to call this function within
     * initProperties() of your primary device
     * \param groupName Group or tab name to be used to define focuser properties.
     */
    void initProperties(const char *groupName);

    /**
     * @brief updateProperties Define or Delete Rotator properties based on the connection status of the base device
     * @return True if successful, false otherwise.
     */
    bool updateProperties();

    /** \brief Process focus number properties */
    bool processNumber(const char *dev, const char *name, double values[], char *names[], int n);

    /** \brief Process focus switch properties */
    bool processSwitch(const char *dev, const char *name, ISState *states, char *names[], int n);

    /**
     * @brief SetFocuserSpeed Set Focuser speed
     * @param speed focuser speed
     * @return true if successful, false otherwise
     */
    virtual bool SetFocuserSpeed(int speed);

    /**
     * \brief MoveFocuser the focuser in a particular direction with a specific speed for a
     * finite duration.
     * \param dir Direction of focuser, either FOCUS_INWARD or FOCUS_OUTWARD.
     * \param speed Speed of focuser if supported by the focuser.
     * \param duration The timeout in milliseconds before the focus motion halts. Pass 0 to move indefinitely.
     * \return Return IPS_OK if motion is completed and focuser reached requested position.
     * Return IPS_BUSY if focuser started motion to requested position and is in progress.
     * Return IPS_ALERT if there is an error.
     */
    virtual IPState MoveFocuser(FocusDirection dir, int speed, uint16_t duration);

    /**
     * \brief MoveFocuser the focuser to an absolute position.
     * \param ticks The new position of the focuser.
     * \return Return IPS_OK if motion is completed and focuser reached requested position. Return
     * IPS_BUSY if focuser started motion to requested position and is in progress.
     * Return IPS_ALERT if there is an error.
     */
    virtual IPState MoveAbsFocuser(uint32_t targetTicks);

    /**
     * \brief MoveFocuser the focuser to an relative position.
     * \param dir Direction of focuser, either FOCUS_INWARD or FOCUS_OUTWARD.
     * \param ticks The relative ticks to move.
     * \return Return IPS_OK if motion is completed and focuser reached requested position. Return
     * IPS_BUSY if focuser started motion to requested position and is in progress.
     * Return IPS_ALERT if there is an error.
     */
    virtual IPState MoveRelFocuser(FocusDirection dir, uint32_t ticks);

    /**
     * @brief AbortFocuser all focus motion
     * @return True if abort is successful, false otherwise.
     */
    virtual bool AbortFocuser();

    INumberVectorProperty FocusSpeedNP;
    INumber FocusSpeedN[1];
    ISwitchVectorProperty FocusMotionSP; //  A Switch in the client interface to park the scope
    ISwitch FocusMotionS[2];
    INumberVectorProperty FocusTimerNP;
    INumber FocusTimerN[1];
    INumberVectorProperty FocusAbsPosNP;
    INumber FocusAbsPosN[1];
    INumberVectorProperty FocusRelPosNP;
    INumber FocusRelPosN[1];
    ISwitchVectorProperty AbortSP;
    ISwitch AbortS[1];

    uint32_t capability;

    double lastTimerValue = { 0 };

    DefaultDevice *m_defaultDevice { nullptr };
};
}