[api]: Support ASCOM Rotator

tiagohm · May 20, 2024 · 5425a23 · 5425a23
1 parent 0a9b8c1
commit 5425a23
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Showing 2 changed files with 121 additions and 2 deletions.
diff --git a/nebulosa-alpaca-indi/src/main/kotlin/nebulosa/alpaca/indi/client/AlpacaClient.kt b/nebulosa-alpaca-indi/src/main/kotlin/nebulosa/alpaca/indi/client/AlpacaClient.kt
@@ -5,6 +5,7 @@ import nebulosa.alpaca.api.DeviceType
 import nebulosa.alpaca.indi.device.cameras.ASCOMCamera
 import nebulosa.alpaca.indi.device.focusers.ASCOMFocuser
 import nebulosa.alpaca.indi.device.mounts.ASCOMMount
+import nebulosa.alpaca.indi.device.rotators.ASCOMRotator
 import nebulosa.alpaca.indi.device.wheels.ASCOMFilterWheel
 import nebulosa.indi.device.AbstractINDIDeviceProvider
 import nebulosa.indi.protocol.INDIProtocol
@@ -21,7 +22,7 @@ data class AlpacaClient(
 
     override val id = UUID.randomUUID().toString()
 
-    override fun sendMessageToServer(message: INDIProtocol) {}
+    override fun sendMessageToServer(message: INDIProtocol) = Unit
 
     fun discovery() {
         val response = service.management.configuredDevices().execute()
@@ -59,7 +60,13 @@ data class AlpacaClient(
                             }
                         }
                     }
-                    DeviceType.ROTATOR -> Unit
+                    DeviceType.ROTATOR -> {
+                        with(ASCOMRotator(device, service.rotator, this)) {
+                            if (registerRotator(this)) {
+                                initialize()
+                            }
+                        }
+                    }
                     DeviceType.DOME -> Unit
                     DeviceType.SWITCH -> Unit
                     DeviceType.COVER_CALIBRATOR -> Unit

diff --git a/nebulosa-alpaca-indi/src/main/kotlin/nebulosa/alpaca/indi/device/rotators/ASCOMRotator.kt b/nebulosa-alpaca-indi/src/main/kotlin/nebulosa/alpaca/indi/device/rotators/ASCOMRotator.kt
@@ -0,0 +1,112 @@
+package nebulosa.alpaca.indi.device.rotators
+
+import nebulosa.alpaca.api.AlpacaRotatorService
+import nebulosa.alpaca.api.ConfiguredDevice
+import nebulosa.alpaca.indi.client.AlpacaClient
+import nebulosa.alpaca.indi.device.ASCOMDevice
+import nebulosa.indi.device.Device
+import nebulosa.indi.device.rotator.*
+import nebulosa.indi.protocol.INDIProtocol
+
+@Suppress("RedundantModalityModifier")
+data class ASCOMRotator(
+    override val device: ConfiguredDevice,
+    override val service: AlpacaRotatorService,
+    override val sender: AlpacaClient,
+) : ASCOMDevice(), Rotator {
+
+    @Volatile final override var angle = 0.0
+    @Volatile final override var minAngle = 0.0
+    @Volatile final override var maxAngle = 360.0
+    @Volatile final override var moving = false
+    @Volatile final override var canAbort = true
+    @Volatile final override var canHome = false
+    @Volatile final override var canSync = true
+    @Volatile final override var canReverse = false
+    @Volatile final override var reversed = false
+    @Volatile final override var hasBacklashCompensation = false
+    @Volatile final override var backslash = 0
+
+    override val snoopedDevices = emptyList<Device>()
+
+    override fun onConnected() {
+        processCapabilities()
+        processPosition()
+    }
+
+    override fun onDisconnected() {}
+
+    override fun refresh(elapsedTimeInSeconds: Long) {
+        super.refresh(elapsedTimeInSeconds)
+
+        if (connected) {
+            processPosition()
+            processMoving()
+            processReversed()
+        }
+    }
+
+    override fun snoop(devices: Iterable<Device?>) {}
+
+    override fun moveRotator(angle: Double) {
+        service.moveTo(device.number, angle).doRequest()
+    }
+
+    override fun syncRotator(angle: Double) {
+        if (canSync) {
+            service.sync(device.number, angle).doRequest()
+        }
+    }
+
+    override fun homeRotator() = Unit
+
+    override fun reverseRotator(enable: Boolean) {
+        if (canReverse) {
+            service.reverse(device.number, enable).doRequest()
+        }
+    }
+
+    override fun abortRotator() {
+        if (canAbort) {
+            service.halt(device.number).doRequest()
+        }
+    }
+
+    override fun handleMessage(message: INDIProtocol) = Unit
+
+    private fun processCapabilities() {
+        service.canReverse(device.number).doRequest {
+            if (it.value != canReverse) {
+                canReverse = it.value
+                sender.fireOnEventReceived(RotatorCanReverseChanged(this))
+            }
+        }
+    }
+
+    private fun processPosition() {
+        service.position(device.number).doRequest {
+            if (it.value != angle) {
+                angle = it.value
+                sender.fireOnEventReceived(RotatorAngleChanged(this))
+            }
+        }
+    }
+
+    private fun processMoving() {
+        service.isMoving(device.number).doRequest {
+            if (it.value != moving) {
+                moving = it.value
+                sender.fireOnEventReceived(RotatorMovingChanged(this))
+            }
+        }
+    }
+
+    private fun processReversed() {
+        service.isReversed(device.number).doRequest {
+            if (it.value != reversed) {
+                reversed = it.value
+                sender.fireOnEventReceived(RotatorReversedChanged(this))
+            }
+        }
+    }
+}