bool FocuserInterface::processSwitch(const char *dev, const char *name, ISState *states, char *names[], int n)
{
INDI_UNUSED(dev);
// This one is for us
if (strcmp(name, "FOCUS_MOTION") == 0)
{
// Record last direction and state.
FocusDirection prevDirection = FocusMotionS[FOCUS_INWARD].s == ISS_ON ? FOCUS_INWARD : FOCUS_OUTWARD;
IPState prevState = FocusMotionSP.s;
IUUpdateSwitch(&FocusMotionSP, states, names, n);
FocusDirection targetDirection = FocusMotionS[FOCUS_INWARD].s == ISS_ON ? FOCUS_INWARD : FOCUS_OUTWARD;
if (CanRelMove() || CanAbsMove() || HasVariableSpeed())
{
FocusMotionSP.s = IPS_OK;
}
// If we are dealing with a simple dumb DC focuser, we move in a specific direction in an open-loop fashion until stopped.
else
{
// If we are reversing direction let's issue abort first.
if (prevDirection != targetDirection && prevState == IPS_BUSY)
AbortFocuser();
FocusMotionSP.s = MoveFocuser(targetDirection, 0, 0);
}
IDSetSwitch(&FocusMotionSP, nullptr);
return true;
}
if (strcmp(name, "FOCUS_ABORT_MOTION") == 0)
{
IUResetSwitch(&AbortSP);
if (AbortFocuser())
{
AbortSP.s = IPS_OK;
if (CanAbsMove() && FocusAbsPosNP.s != IPS_IDLE)
{
FocusAbsPosNP.s = IPS_IDLE;
IDSetNumber(&FocusAbsPosNP, nullptr);
}
if (CanRelMove() && FocusRelPosNP.s != IPS_IDLE)
{
FocusRelPosNP.s = IPS_IDLE;
IDSetNumber(&FocusRelPosNP, nullptr);
}
}
else
AbortSP.s = IPS_ALERT;
IDSetSwitch(&AbortSP, nullptr);
return true;
}
return false;
}
IPState FocusMaster::MoveFocuser(FocusDirection dir, int speed, uint16_t duration)
{
INDI_UNUSED(speed);
uint8_t command[MAX_FM_BUF] = {0};
if (dir == FOCUS_INWARD)
{
command[0] = 0x31;
command[1] = 0x21;
}
else
{
command[0] = 0x32;
command[1] = 0x22;
}
sendCommand(command);
gettimeofday(&focusMoveStart, nullptr);
focusMoveRequest = duration / 1000.0;
if (duration > 0 && duration <= POLLMS)
{
usleep(duration * 1000);
AbortFocuser();
return IPS_OK;
}
return IPS_BUSY;
}
void FocusMaster::TimerHit()
{
if (!isConnected())
return;
//uint32_t currentTicks = 0;
if (FocusTimerNP.s == IPS_BUSY)
{
float remaining = CalcTimeLeft(focusMoveStart, focusMoveRequest);
if (remaining <= 0)
{
FocusTimerNP.s = IPS_OK;
FocusTimerN[0].value = 0;
AbortFocuser();
}
else
FocusTimerN[0].value = remaining * 1000.0;
IDSetNumber(&FocusTimerNP, nullptr);
}
#if 0
bool rc = getPosition(¤tTicks);
if (rc)
FocusAbsPosN[0].value = currentTicks;
if (FocusAbsPosNP.s == IPS_BUSY || FocusRelPosNP.s == IPS_BUSY)
{
if (targetPosition == FocusAbsPosN[0].value)
{
if (FocusRelPosNP.s == IPS_BUSY)
{
FocusRelPosNP.s = IPS_OK;
IDSetNumber(&FocusRelPosNP, nullptr);
}
FocusAbsPosNP.s = IPS_OK;
LOG_DEBUG("Focuser reached target position.");
}
}
IDSetNumber(&FocusAbsPosNP, nullptr);
#endif
SetTimer(POLLMS);
}
void INDI::Focuser::processButton(const char * button_n, ISState state)
{
//ignore OFF
if (state == ISS_OFF)
return;
FocusTimerN[0].value = lastTimerValue;
IPState rc= IPS_IDLE;
// Abort
if (!strcmp(button_n, "Abort Focus"))
{
if (AbortFocuser())
{
AbortSP.s = IPS_OK;
DEBUG(INDI::Logger::DBG_SESSION, "Focuser aborted.");
if (CanAbsMove() && FocusAbsPosNP.s != IPS_IDLE)
{
FocusAbsPosNP.s = IPS_IDLE;
IDSetNumber(&FocusAbsPosNP, NULL);
}
if (CanRelMove() && FocusRelPosNP.s != IPS_IDLE)
{
FocusRelPosNP.s = IPS_IDLE;
IDSetNumber(&FocusRelPosNP, NULL);
}
}
else
{
AbortSP.s = IPS_ALERT;
DEBUG(INDI::Logger::DBG_ERROR, "Aborting focuser failed.");
}
IDSetSwitch(&AbortSP, NULL);
}
// Focus In
else if (!strcmp(button_n, "Focus In"))
{
if (FocusMotionS[FOCUS_INWARD].s != ISS_ON)
{
FocusMotionS[FOCUS_INWARD].s = ISS_ON;
FocusMotionS[FOCUS_OUTWARD].s = ISS_OFF;
IDSetSwitch(&FocusMotionSP, NULL);
}
if (HasVariableSpeed())
{
rc = MoveFocuser(FOCUS_INWARD, FocusSpeedN[0].value, FocusTimerN[0].value);
FocusTimerNP.s = rc;
IDSetNumber(&FocusTimerNP,NULL);
}
else if (CanRelMove())
{
rc=MoveRelFocuser(FOCUS_INWARD, FocusRelPosN[0].value);
if (rc == IPS_OK)
{
FocusRelPosNP.s=IPS_OK;
IDSetNumber(&FocusRelPosNP, "Focuser moved %d steps inward", (int) FocusRelPosN[0].value);
IDSetNumber(&FocusAbsPosNP, NULL);
}
else if (rc == IPS_BUSY)
{
FocusRelPosNP.s=IPS_BUSY;
IDSetNumber(&FocusAbsPosNP, "Focuser is moving %d steps inward...", (int) FocusRelPosN[0].value);
}
}
}
else if (!strcmp(button_n, "Focus Out"))
{
if (FocusMotionS[FOCUS_OUTWARD].s != ISS_ON)
{
FocusMotionS[FOCUS_INWARD].s = ISS_OFF;
FocusMotionS[FOCUS_OUTWARD].s = ISS_ON;
IDSetSwitch(&FocusMotionSP, NULL);
}
if (HasVariableSpeed())
{
rc = MoveFocuser(FOCUS_OUTWARD, FocusSpeedN[0].value, FocusTimerN[0].value);
FocusTimerNP.s = rc;
IDSetNumber(&FocusTimerNP,NULL);
}
else if (CanRelMove())
{
rc=MoveRelFocuser(FOCUS_OUTWARD, FocusRelPosN[0].value);
if (rc == IPS_OK)
{
FocusRelPosNP.s=IPS_OK;
IDSetNumber(&FocusRelPosNP, "Focuser moved %d steps outward", (int) FocusRelPosN[0].value);
IDSetNumber(&FocusAbsPosNP, NULL);
}
else if (rc == IPS_BUSY)
{
FocusRelPosNP.s=IPS_BUSY;
IDSetNumber(&FocusAbsPosNP, "Focuser is moving %d steps outward...", (int) FocusRelPosN[0].value);
}
}
}
}
