indi_jolohub.cpp

/*******************************************************************************
 Copyright(c) 2016 Radek Kaczorek  <rkaczorek AT gmail DOT 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 <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <stdio.h>
#include <string.h>
#include <memory>
#include "indi_jolohub.h"

#define VERSION_MAJOR 0
#define VERSION_MINOR 2

#define TIMERDELAY 3000 // 3s delay for sensors readout
#define MAX_STEPS 10000 // maximum steppers' value

// We declare a pointer to IndiAstrohub
std::unique_ptr<IndiAstrohub> indiAstrohub(new IndiAstrohub);

void ISPoll(void *p);
void ISInit()
{
   static int isInit = 0;

   if (isInit == 1)
       return;

    isInit = 1;
    if(indiAstrohub.get() == 0) indiAstrohub.reset(new IndiAstrohub());

}
void ISGetProperties(const char *dev)
{
	ISInit();
	indiAstrohub->ISGetProperties(dev);
}
void ISNewSwitch(const char *dev, const char *name, ISState *states, char *names[], int num)
{
	ISInit();
	indiAstrohub->ISNewSwitch(dev, name, states, names, num);
}
void ISNewText(	const char *dev, const char *name, char *texts[], char *names[], int num)
{
	ISInit();
	indiAstrohub->ISNewText(dev, name, texts, names, num);
}
void ISNewNumber(const char *dev, const char *name, double values[], char *names[], int num)
{
	ISInit();
	indiAstrohub->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)
{
	INDI_UNUSED(dev);
	INDI_UNUSED(name);
	INDI_UNUSED(sizes);
	INDI_UNUSED(blobsizes);
	INDI_UNUSED(blobs);
	INDI_UNUSED(formats);
	INDI_UNUSED(names);
	INDI_UNUSED(num);
}
void ISSnoopDevice (XMLEle *root)
{
    ISInit();
    indiAstrohub->ISSnoopDevice(root);
}
IndiAstrohub::IndiAstrohub()
{
	setVersion(VERSION_MAJOR,VERSION_MINOR);
}
IndiAstrohub::~IndiAstrohub()
{
}
bool IndiAstrohub::Handshake()
{

	if (isSimulation()) {
		IDMessage(getDeviceName(), "Simulation: connected");
		PortFD = 1;
	} else {
		// get port
		PortFD = serialConnection->getPortFD();
		
		// check device
		if(strcmp(serialCom("#"), "#:Jolo AstroHub") != 0)
		{
			IDMessage(getDeviceName(), "Device not recognized. It is not Jolo AstroHub.");
			return false;
		}

		SetTimer(TIMERDELAY);

		IDMessage(getDeviceName(), "AstroHub connected successfully.");
	}

    return true;
}
void IndiAstrohub::TimerHit()
{
	if(isConnected())
	{
		char* info = serialCom("q");

		// raw data from serial:
		// q:stepper 0 current position : stepper 0 steps to go : stepper 1 current position : stepper 1 steps to go : total current consumption : 
		// if any stepper is moving response ends here – no more values are measured and returned
		// sensor 0 temperature : sensor 0 humidity : sensor 0 dew point : sensor 1 temperature : sensor 1 humidity : sensor 1 dew point : sensor 2 temperature : sensor 2 humidity : sensor 2 dew point : pwm 0 : pwm 1 : pwm 2 : pwm 3 : DC out 0 : DC out 1 : DC out 2 : DC out 3 : input voltage : regulated voltage : 5V voltage : energy consumed in Ah : energy consumed in Wh : DC motor in move :
		// if MLX sensor is not connected response ends here
		// ambient temperature : sky temperature

		char * pch;
		char * sensor[32];

		pch = strtok (info,":");
		int index = 0;
		while (pch != NULL)
		{
			//IDMessage(getDeviceName(), "token %d: %s", index, pch);
			sensor[index] = pch;
			pch = strtok (NULL, ":");
			index++;
		}

/*
		parsed data:
		sensor[0] = q
		sensor[1] = stepper 0 current position
		sensor[2] = stepper 0 steps to go
		sensor[3] = stepper 1 current position
		sensor[4] = stepper 1 steps to go
		sensor[5] = total current consumption
		sensor[6] = sensor 0 temperature
		sensor[7] = sensor 0 humidity
		sensor[8] = sensor 0 dew point
		sensor[9] = sensor 1 temperature
		sensor[10] = sensor 1 humidity
		sensor[11] = sensor 1 dew point
		sensor[12] = sensor 2 temperature
		sensor[13] = sensor 2 humidity
		sensor[14] = sensor 2 dew point
		sensor[15] = pwm 0
		sensor[16] = pwm 1
		sensor[17] = pwm 2
		sensor[18] = pwm 3
		sensor[19] = DC out 0
		sensor[20] = DC out 1
		sensor[21] = DC out 2
		sensor[22] = DC out 3
		sensor[23] = input voltage
		sensor[24] = regulated voltage
		sensor[25] = 5V voltage
		sensor[26] = energy consumed in Ah
		sensor[27] = energy consumed in Wh
		sensor[28] = DC motor in move
		sensor[29] = ambient temperature
		sensor[30] = sky temperature
		sensor[31] = 0

*/

		if (!strcmp(sensor[0], "q"))
		{
			//IDMessage(getDeviceName(), "Sensors data received");

			Sensor1NP.s=IPS_BUSY;
			IDSetNumber(&Sensor1NP, NULL);
			Sensor1N[0].value = atof(sensor[6]);
			Sensor1N[1].value = atof(sensor[7]);
			Sensor1N[2].value = atof(sensor[8]);
			Sensor1NP.s=IPS_OK;
			IDSetNumber(&Sensor1NP, NULL);

			Sensor2NP.s=IPS_BUSY;
			IDSetNumber(&Sensor2NP, NULL);
			Sensor2N[0].value = atof(sensor[9]);
			Sensor2N[1].value = atof(sensor[10]);
			Sensor2N[2].value = atof(sensor[11]);
			Sensor2NP.s=IPS_OK;
			IDSetNumber(&Sensor2NP, NULL);

			Sensor3NP.s=IPS_BUSY;
			IDSetNumber(&Sensor3NP, NULL);
			Sensor3N[0].value = atof(sensor[12]);
			Sensor3NP.s=IPS_OK;
			IDSetNumber(&Sensor3NP, NULL);

			// update values of various controls
			Focus1AbsPosN[0].value = atof(sensor[1]);
			IDSetNumber(&Focus1AbsPosNP, NULL);
			Focus2AbsPosN[0].value = atof(sensor[3]);
			IDSetNumber(&Focus2AbsPosNP, NULL);
			PWM1N[0].value = atof(sensor[18]);
			IDSetNumber(&PWM1NP, NULL);
			PWM2N[0].value = atof(sensor[19]);
			IDSetNumber(&PWM2NP, NULL);
			PWM3N[0].value = atof(sensor[20]);
			IDSetNumber(&PWM3NP, NULL);
			PWM4N[0].value = atof(sensor[21]);
			IDSetNumber(&PWM4NP, NULL);
		}

		SetTimer(TIMERDELAY);
    }
}
const char * IndiAstrohub::getDefaultName()
{
        return (char *)"Jolo AstroHub";
}
bool IndiAstrohub::initProperties()
{
    // We init parent properties first
    INDI::DefaultDevice::initProperties();

	// addDebugControl();
	addSimulationControl();

	// power lines
    IUFillSwitch(&Power1S[0], "PWR1BTN_ON", "ON", ISS_OFF);
    IUFillSwitch(&Power1S[1], "PWR1BTN_OFF", "OFF", ISS_ON);
    IUFillSwitchVector(&Power1SP, Power1S, 2, getDeviceName(), "POWER1", "Power Line 1", "Power Lines", IP_RW, ISR_1OFMANY, 0, IPS_IDLE);

    IUFillSwitch(&Power2S[0], "PWR2BTN_ON", "ON", ISS_OFF);
    IUFillSwitch(&Power2S[1], "PWR2BTN_OFF", "OFF", ISS_ON);
    IUFillSwitchVector(&Power2SP, Power2S, 2, getDeviceName(), "POWER2", "Power Line 2", "Power Lines", IP_RW, ISR_1OFMANY, 0, IPS_IDLE);

    IUFillSwitch(&Power3S[0], "PWR3BTN_ON", "ON", ISS_OFF);
    IUFillSwitch(&Power3S[1], "PWR3BTN_OFF", "OFF", ISS_ON);
    IUFillSwitchVector(&Power3SP, Power3S, 2, getDeviceName(), "POWER3", "Power Line 3", "Power Lines", IP_RW, ISR_1OFMANY, 0, IPS_IDLE);

    IUFillSwitch(&Power4S[0], "PWR4BTN_ON", "ON", ISS_OFF);
    IUFillSwitch(&Power4S[1], "PWR4BTN_OFF", "OFF", ISS_ON);
    IUFillSwitchVector(&Power4SP, Power4S, 2, getDeviceName(), "POWER4", "Power Line 4", "Power Lines", IP_RW, ISR_1OFMANY, 0, IPS_IDLE);

	// focuser 1
    IUFillSwitch(&Focus1MotionS[0],"FOCUS1_INWARD","Focus In",ISS_OFF);
    IUFillSwitch(&Focus1MotionS[1],"FOCUS1_OUTWARD","Focus Out",ISS_ON);
    IUFillSwitchVector(&Focus1MotionSP,Focus1MotionS,2,getDeviceName(),"FOCUS1_MOTION","Direction","Focuser 1",IP_RW,ISR_ATMOST1,60,IPS_OK);

    IUFillNumber(&Focus1StepN[0],"FOCUS1_STEP","Steps","%0.0f",0,(int)MAX_STEPS/10,(int)MAX_STEPS/100,(int)MAX_STEPS/100);
    IUFillNumberVector(&Focus1StepNP,Focus1StepN,1,getDeviceName(),"FOCUS1_STEPSIZE","Step Size","Focuser 1",IP_RW,60,IPS_OK);

    IUFillNumber(&Focus1AbsPosN[0],"FOCUS1_ABSOLUTE_POSITION","Steps","%0.0f",0,MAX_STEPS,(int)MAX_STEPS/100,0);
    IUFillNumberVector(&Focus1AbsPosNP,Focus1AbsPosN,1,getDeviceName(),"FOCUS1_ABS","Absolute Position","Focuser 1",IP_RW,0,IPS_OK);

	// focuser 2
    IUFillSwitch(&Focus2MotionS[0],"FOCUS2_INWARD","Focus In",ISS_OFF);
    IUFillSwitch(&Focus2MotionS[1],"FOCUS2_OUTWARD","Focus Out",ISS_ON);
    IUFillSwitchVector(&Focus2MotionSP,Focus2MotionS,2,getDeviceName(),"FOCUS2_MOTION","Direction","Focuser 2",IP_RW,ISR_ATMOST1,60,IPS_OK);

    IUFillNumber(&Focus2StepN[0],"FOCUS2_STEP","Steps","%0.0f",0,(int)MAX_STEPS/10,(int)MAX_STEPS/100,(int)MAX_STEPS/100);
    IUFillNumberVector(&Focus2StepNP,Focus2StepN,1,getDeviceName(),"FOCUS2_STEPSIZE","Step Size","Focuser 2",IP_RW,60,IPS_OK);

    IUFillNumber(&Focus2AbsPosN[0],"FOCUS2_ABSOLUTE_POSITION","Steps","%0.0f",0,MAX_STEPS,(int)MAX_STEPS/100,0);
    IUFillNumberVector(&Focus2AbsPosNP,Focus2AbsPosN,1,getDeviceName(),"FOCUS2_ABS","Absolute Position","Focuser 2",IP_RW,0,IPS_OK);

	// focuser 3
    IUFillSwitch(&Focus3MotionS[0],"FOCUS3_INWARD","Focus In",ISS_OFF);
    IUFillSwitch(&Focus3MotionS[1],"FOCUS3_OUTWARD","Focus Out",ISS_ON);
    IUFillSwitchVector(&Focus3MotionSP,Focus3MotionS,2,getDeviceName(),"FOCUS3_MOTION","Direction","Focuser 3",IP_RW,ISR_ATMOST1,60,IPS_OK);

    IUFillNumber(&Focus3SpeedN[0],"FOCUS3_SPD","speed","%0.0f",1,4,1,1);
    IUFillNumberVector(&Focus3SpeedNP,Focus3SpeedN,1,getDeviceName(),"FOCUS3_SPEED","Speed","Focuser 3",IP_RW,60,IPS_OK);

    IUFillNumber(&Focus3StepN[0],"FOCUS3_STEP","ms","%0.0f",0,5000,100,1000);
    IUFillNumberVector(&Focus3StepNP,Focus3StepN,1,getDeviceName(),"FOCUS3_STEPSIZE","Duration","Focuser 3",IP_RW,60,IPS_OK);

	// sensors
    IUFillNumber(&Sensor1N[0],"SENSOR1_TEMP","Temperature [C]","%0.0f",0,100,0,0);
    IUFillNumber(&Sensor1N[1],"SENSOR1_HUM","Humidity [%]","%0.0f",0,100,0,0);
    IUFillNumber(&Sensor1N[2],"SENSOR1_DEW","Dew Point [C]","%0.0f",0,100,0,0);
    IUFillNumberVector(&Sensor1NP,Sensor1N,3,getDeviceName(),"SENSOR1","Sensor 1","Sensors",IP_RO,60,IPS_OK);	

    IUFillNumber(&Sensor2N[0],"SENSOR2_TEMP","Temperature [C]","%0.0f",0,100,0,0);
    IUFillNumber(&Sensor2N[1],"SENSOR2_HUM","Humidity [%]","%0.0f",0,100,0,0);
    IUFillNumber(&Sensor2N[2],"SENSOR2_DEW","Dew Point [C]","%0.0f",0,100,0,0);
    IUFillNumberVector(&Sensor2NP,Sensor2N,3,getDeviceName(),"SENSOR2","Sensor 2","Sensors",IP_RO,60,IPS_OK);	

    IUFillNumber(&Sensor3N[0],"SENSOR3_TEMP","Temperature [C]","%0.0f",0,100,0,0);
    IUFillNumberVector(&Sensor3NP,Sensor3N,1,getDeviceName(),"SENSOR3","Sensor 3","Sensors",IP_RO,60,IPS_OK);	

	// pwm
    IUFillNumber(&PWM1N[0],"PWM1_VAL","Value","%0.0f",0,100,10,0);
    IUFillNumberVector(&PWM1NP,PWM1N,1,getDeviceName(),"PWM1","PWM 1","PWM",IP_RW,60,IPS_OK);

    IUFillNumber(&PWM2N[0],"PWM2_VAL","Value","%0.0f",0,100,10,0);
    IUFillNumberVector(&PWM2NP,PWM2N,1,getDeviceName(),"PWM2","PWM 2","PWM",IP_RW,60,IPS_OK);

    IUFillNumber(&PWM3N[0],"PWM3_VAL","Value","%0.0f",0,100,10,0);
    IUFillNumberVector(&PWM3NP,PWM3N,1,getDeviceName(),"PWM3","PWM 3","PWM",IP_RW,60,IPS_OK);

    IUFillNumber(&PWM4N[0],"PWM4_VAL","Value","%0.0f",0,100,10,0);
    IUFillNumberVector(&PWM4NP,PWM4N,1,getDeviceName(),"PWM4","PWM 4","PWM",IP_RW,60,IPS_OK);

    serialConnection = new Connection::Serial(this);
    serialConnection->registerHandshake([&]() { return Handshake();});
	registerConnection(serialConnection);

	serialConnection->setDefaultPort("/dev/ttyACM0");
//	serialConnection->setDefaultBaudRate(B_115200);

    return true;
}
bool IndiAstrohub::updateProperties()
{
    // Call parent update properties first
    INDI::DefaultDevice::updateProperties();

    if (isConnected())
    {
		defineSwitch(&Power1SP);
		defineSwitch(&Power2SP);
		defineSwitch(&Power3SP);
		defineSwitch(&Power4SP);
		defineSwitch(&Focus1MotionSP);
		defineNumber(&Focus1StepNP);
		defineNumber(&Focus1AbsPosNP);
		defineSwitch(&Focus2MotionSP);
		defineNumber(&Focus2StepNP);
		defineNumber(&Focus2AbsPosNP);
		defineSwitch(&Focus3MotionSP);
		defineNumber(&Focus3SpeedNP);
		defineNumber(&Focus3StepNP);
		defineNumber(&Sensor1NP);
		defineNumber(&Sensor2NP);
		defineNumber(&Sensor3NP);
		defineNumber(&PWM1NP);
		defineNumber(&PWM2NP);
		defineNumber(&PWM3NP);
		defineNumber(&PWM4NP);
  }
    else
    {
		// We're disconnected
		deleteProperty(Power1SP.name);
		deleteProperty(Power2SP.name);
		deleteProperty(Power3SP.name);
		deleteProperty(Power4SP.name);
		deleteProperty(Focus1MotionSP.name);
		deleteProperty(Focus1StepNP.name);
		deleteProperty(Focus1AbsPosNP.name);
		deleteProperty(Focus2MotionSP.name);
		deleteProperty(Focus2StepNP.name);
		deleteProperty(Focus2AbsPosNP.name);
		deleteProperty(Focus3MotionSP.name);
		deleteProperty(Focus3SpeedNP.name);
		deleteProperty(Focus3StepNP.name);
		deleteProperty(Sensor1NP.name);
		deleteProperty(Sensor2NP.name);
		deleteProperty(Sensor3NP.name);
		deleteProperty(PWM1NP.name);
		deleteProperty(PWM2NP.name);
		deleteProperty(PWM3NP.name);
		deleteProperty(PWM4NP.name);
    }

    return true;
}
void IndiAstrohub::ISGetProperties(const char *dev)
{
    INDI::DefaultDevice::ISGetProperties(dev);

    /* Add debug controls so we may debug driver if necessary */
    // addDebugControl();
}
bool IndiAstrohub::ISNewNumber (const char *dev, const char *name, double values[], char *names[], int n)
{
	// first we check if it's for our device
    if (!strcmp(dev, getDeviceName()))
    {
		// handle focuser 1 - absolute
		if (!strcmp(name, Focus1AbsPosNP.name))
		{
			IUUpdateNumber(&Focus1AbsPosNP,values,names,n);

			char stepval[8];
			char newval[8];
			sprintf(stepval, "R:0:%0.0f", Focus1AbsPosN[0].value);
			serialCom(stepval);
			sprintf(newval, "p:%0.0f", Focus1AbsPosN[0].value);

			// loop until new position is reached
			while ( strcmp(serialCom("p:0"), newval) )
			{
				IDMessage(getDeviceName(), "Focuser 1 moving to the position...");
				usleep(100 * 1000);
			}

			// if reached new position update client
			if (!strcmp(serialCom("p:0"),newval))
			{
				IDMessage(getDeviceName(), "Focuser 1 at the position %0.0f", Focus1AbsPosN[0].value);
				IDSetNumber(&Focus1AbsPosNP, NULL);
				return true;
			} else {
				return false;
			}
		}

		// handle focuser 1 - relative
		if (!strcmp(name, Focus1StepNP.name))
		{
			IUUpdateNumber(&Focus1StepNP,values,names,n);
			IDSetNumber(&Focus1StepNP, NULL);

			if (Focus1MotionS[0].s == ISS_ON)
			{
				if ( Focus1AbsPosN[0].value - Focus1StepN[0].value >= Focus1AbsPosN[0].min )
					Focus1AbsPosN[0].value -= Focus1StepN[0].value;
			} else {
				if ( Focus1AbsPosN[0].value + Focus1StepN[0].value <= Focus1AbsPosN[0].max )
					Focus1AbsPosN[0].value += Focus1StepN[0].value;
			}

			char stepval[8];
			char newval[8];
			sprintf(stepval, "R:0:%0.0f", Focus1AbsPosN[0].value);
			serialCom(stepval);
			sprintf(newval, "p:%0.0f", Focus1AbsPosN[0].value);

			// loop until new position is reached
			while ( strcmp(serialCom("p:0"), newval) )
			{
				IDMessage(getDeviceName(), "Focuser 1 moving to the position...");
				usleep(100 * 1000);
			}

			// if reached new position update client
			if (!strcmp(serialCom("p:0"),newval))
			{
				IDMessage(getDeviceName(), "Focuser 1 at the position %0.0f", Focus1AbsPosN[0].value);
				IDSetNumber(&Focus1AbsPosNP, NULL);
				return true;
			} else {
				return false;
			}
		}

		// handle focuser 2 - absolute
		if (!strcmp(name, Focus2AbsPosNP.name))
		{
			IUUpdateNumber(&Focus2AbsPosNP,values,names,n);

			char stepval[8];
			char newval[8];
			sprintf(stepval, "R:1:%0.0f", Focus2AbsPosN[0].value);
			serialCom(stepval);
			sprintf(newval, "p:%0.0f", Focus2AbsPosN[0].value);

			// loop until new position is reached
			while ( strcmp(serialCom("p:1"), newval) )
			{
				IDMessage(getDeviceName(), "Focuser 2 moving to the position...");
				usleep(100 * 1000);
			}

			// if reached new position update client
			if (!strcmp(serialCom("p:1"),newval))
			{
				IDMessage(getDeviceName(), "Focuser 2 at the position %0.0f", Focus2AbsPosN[0].value);
				IDSetNumber(&Focus2AbsPosNP, NULL);
				return true;
			} else {
				return false;
			}
		}

		// handle focuser 2 - relative
		if (!strcmp(name, Focus2StepNP.name))
		{
			IUUpdateNumber(&Focus2StepNP,values,names,n);
			IDSetNumber(&Focus2StepNP, NULL);

			if (Focus2MotionS[0].s == ISS_ON)
			{
				if ( Focus2AbsPosN[0].value - Focus2StepN[0].value >= Focus2AbsPosN[0].min )
					Focus2AbsPosN[0].value -= Focus2StepN[0].value;
			} else {
				if ( Focus2AbsPosN[0].value + Focus2StepN[0].value <= Focus2AbsPosN[0].max )
					Focus2AbsPosN[0].value += Focus2StepN[0].value;
			}

			char stepval[8];
			char newval[8];
			sprintf(stepval, "R:1:%0.0f", Focus2AbsPosN[0].value);
			serialCom(stepval);
			sprintf(newval, "p:%0.0f", Focus2AbsPosN[0].value);

			// loop until new position is reached
			while ( strcmp(serialCom("p:1"), newval) )
			{
				IDMessage(getDeviceName(), "Focuser 2 moving to the position...");
				usleep(100 * 1000);
			}

			// if reached new position update client
			if (!strcmp(serialCom("p:1"),newval))
			{
				IDMessage(getDeviceName(), "Focuser 2 at the position %0.0f", Focus2AbsPosN[0].value);
				IDSetNumber(&Focus2AbsPosNP, NULL);
				return true;
			} else {
				return false;
			}
		}

		// handle focuser 3
		if (!strcmp(name, Focus3StepNP.name))
		{
			IUUpdateNumber(&Focus3StepNP,values,names,n);
			IDSetNumber(&Focus3StepNP, NULL);

			char stepval[10];
			int direction;

			if (Focus3MotionS[0].s == ISS_ON)
			{
				direction = 0;
			} else {
				direction = 1;
			}

			sprintf(stepval, "G:%d:%0.0f:%0.0f", direction, Focus3SpeedN[0].value, Focus3StepN[0].value);
			serialCom(stepval);

			// loop until new position is reached
			while ( strcmp(serialCom("g"), "g:0") )
			{
				IDMessage(getDeviceName(), "Focuser 3 moving...");
				usleep(100 * 1000);
			}
			IDMessage(getDeviceName(), "Focuser 3 ready");
			return true;
		}

		if (!strcmp(name, Focus3SpeedNP.name))
		{
			IUUpdateNumber(&Focus3SpeedNP,values,names,n);
			IDSetNumber(&Focus3SpeedNP, NULL);
			return true;
		}
		// handle PWM1
		if (!strcmp(name, PWM1NP.name))
		{
			IUUpdateNumber(&PWM1NP,values,names,n);
			char pwmval[8];
			char newval[8];
			sprintf(pwmval, "B:0:%0.0f", PWM1N[0].value);
			serialCom(pwmval);
			sprintf(newval, "b:%0.0f", PWM1N[0].value);
			if (!strcmp(serialCom("b:0"),newval))
			{
				PWM1NP.s=IPS_OK;
				IDSetNumber(&PWM1NP, NULL);
				return true;
			} else {
				return false;
			}
		}

		// handle PWM2
		if (!strcmp(name, PWM2NP.name))
		{
			IUUpdateNumber(&PWM2NP,values,names,n);
			char pwmval[8];
			char newval[8];
			sprintf(pwmval, "B:1:%0.0f", PWM2N[0].value);
			serialCom(pwmval);
			sprintf(newval, "b:%0.0f", PWM2N[0].value);
			if (!strcmp(serialCom("b:1"),newval))
			{
				PWM2NP.s=IPS_OK;
				IDSetNumber(&PWM2NP, NULL);
				return true;
			} else {
				return false;
			}
		}

		// handle PWM3
		if (!strcmp(name, PWM3NP.name))
		{
			IUUpdateNumber(&PWM3NP,values,names,n);
			char pwmval[8];
			char newval[8];
			sprintf(pwmval, "B:2:%0.0f", PWM3N[0].value);
			serialCom(pwmval);
			sprintf(newval, "b:%0.0f", PWM3N[0].value);
			if (!strcmp(serialCom("b:2"),newval))
			{
				PWM3NP.s=IPS_OK;
				IDSetNumber(&PWM3NP, NULL);
				return true;
			} else {
				return false;
			}
		}

		// handle PWM4
		if (!strcmp(name, PWM4NP.name))
		{
			IUUpdateNumber(&PWM4NP,values,names,n);
			char pwmval[8];
			char newval[8];
			sprintf(pwmval, "B:3:%0.0f", PWM4N[0].value);
			serialCom(pwmval);
			sprintf(newval, "b:%0.0f", PWM4N[0].value);
			if (!strcmp(serialCom("b:3"),newval))
			{
				PWM4NP.s=IPS_OK;
				IDSetNumber(&PWM4NP, NULL);
				return true;
			} else {
				return false;
			}
		}
	}
	return INDI::DefaultDevice::ISNewNumber(dev,name,values,names,n);
}
bool IndiAstrohub::ISNewSwitch (const char *dev, const char *name, ISState *states, char *names[], int n)
{
	// first we check if it's for our device
    if (!strcmp(dev, getDeviceName()))
    {
		// handle power line 1
		if (!strcmp(name, Power1SP.name))
		{
			IUUpdateSwitch(&Power1SP, states, names, n);

			// ON
			if ( Power1S[0].s == ISS_ON )
			{
				if (strcmp(serialCom("C:0:1"),"C:") || strcmp(serialCom("c:0"),"c:1"))
					return false;
			}

			// OFF
			if ( Power1S[1].s == ISS_ON )
			{
				if (strcmp(serialCom("C:0:0"),"C:") || strcmp(serialCom("c:0"),"c:0"))
					return false;
			}

			IDMessage(getDeviceName(), "Power Line 1 is %s", Power1S[0].s == ISS_ON ? "ON" : "OFF" );
			Power1SP.s = IPS_OK;
			IDSetSwitch(&Power1SP, NULL);
			return true;
		}

		// handle power line 2
		if (!strcmp(name, Power2SP.name))
		{
			IUUpdateSwitch(&Power2SP, states, names, n);

			// ON
			if ( Power2S[0].s == ISS_ON )
			{
				if (strcmp(serialCom("C:1:1"),"C:") || strcmp(serialCom("c:1"),"c:1"))
					return false;
			}

			// OFF
			if ( Power2S[1].s == ISS_ON )
			{
				if (strcmp(serialCom("C:1:0"),"C:") || strcmp(serialCom("c:1"),"c:0"))
					return false;
			}

			IDMessage(getDeviceName(), "Power Line 2 is %s", Power2S[0].s == ISS_ON ? "ON" : "OFF" );
			Power2SP.s = IPS_OK;
			IDSetSwitch(&Power2SP, NULL);
			return true;
		}

		// handle power line 3
		if (!strcmp(name, Power3SP.name))
		{
			IUUpdateSwitch(&Power3SP, states, names, n);

			// ON
			if ( Power3S[0].s == ISS_ON )
			{
				if (strcmp(serialCom("C:2:1"),"C:") || strcmp(serialCom("c:2"),"c:1"))
					return false;
			}

			// OFF
			if ( Power3S[1].s == ISS_ON )
			{
				if (strcmp(serialCom("C:2:0"),"C:") || strcmp(serialCom("c:2"),"c:0"))
					return false;
			}

			IDMessage(getDeviceName(), "Power Line 3 is %s", Power3S[0].s == ISS_ON ? "ON" : "OFF" );
			Power3SP.s = IPS_OK;
			IDSetSwitch(&Power3SP, NULL);
			return true;
		}


		// handle power line 4
		if (!strcmp(name, Power4SP.name))
		{
			IUUpdateSwitch(&Power4SP, states, names, n);

			// ON
			if ( Power4S[0].s == ISS_ON )
			{
				if (strcmp(serialCom("C:3:1"),"C:") || strcmp(serialCom("c:3"),"c:1"))
					return false;
			}

			// OFF
			if ( Power4S[1].s == ISS_ON )
			{
				if (strcmp(serialCom("C:3:0"),"C:") || strcmp(serialCom("c:3"),"c:0"))
					return false;
			}

			IDMessage(getDeviceName(), "Power Line 4 is %s", Power4S[0].s == ISS_ON ? "ON" : "OFF" );
			Power4SP.s = IPS_OK;
			IDSetSwitch(&Power4SP, NULL);
			return true;
		}

		// handle focuser 1
		if (!strcmp(name, Focus1MotionSP.name))
		{
			IUUpdateSwitch(&Focus1MotionSP, states, names, n);
			IDSetSwitch(&Focus1MotionSP, NULL);
			return true;
		}

		// handle focuser 2
		if (!strcmp(name, Focus2MotionSP.name))
		{
			IUUpdateSwitch(&Focus2MotionSP, states, names, n);
			IDSetSwitch(&Focus2MotionSP, NULL);
			return true;
		}

		// handle focuser 3
		if (!strcmp(name, Focus3MotionSP.name))
		{
			IUUpdateSwitch(&Focus3MotionSP, states, names, n);
			IDSetSwitch(&Focus3MotionSP, NULL);
			return true;
		}

	}
	return INDI::DefaultDevice::ISNewSwitch (dev, name, states, names, n);
}
bool IndiAstrohub::ISNewText (const char *dev, const char *name, char *texts[], char *names[], int n)
{
	return INDI::DefaultDevice::ISNewText (dev, name, texts, names, n);
}
bool IndiAstrohub::ISNewBLOB (const char *dev, const char *name, int sizes[], int blobsizes[], char *blobs[], char *formats[], char *names[], int n)
{
	return INDI::DefaultDevice::ISNewBLOB (dev, name, sizes, blobsizes, blobs, formats, names, n);
}
bool IndiAstrohub::ISSnoopDevice(XMLEle *root)
{
    return INDI::DefaultDevice::ISSnoopDevice(root);
}
bool IndiAstrohub::saveConfigItems(FILE *fp)
{
	IUSaveConfigSwitch(fp, &Power1SP);
	IUSaveConfigSwitch(fp, &Power2SP);
	IUSaveConfigSwitch(fp, &Power3SP);
	IUSaveConfigSwitch(fp, &Power4SP);
	IUSaveConfigNumber(fp, &Focus1AbsPosNP);
	IUSaveConfigNumber(fp, &Focus2AbsPosNP);
	IUSaveConfigNumber(fp, &PWM1NP);
	IUSaveConfigNumber(fp, &PWM2NP);
	IUSaveConfigNumber(fp, &PWM3NP);
	IUSaveConfigNumber(fp, &PWM4NP);
    return true;
}
char* IndiAstrohub::serialCom(const char* input)
{
	char command[255];
	char buffer[255];
	char* output = new char[255];

	// format input
	sprintf(command, "%s\n", input);

	// write command
	write(PortFD, command, strlen(command));

	// delay
	usleep(200 * 1000);

	// read response
	int res = read(PortFD, buffer, 255);
	buffer[res] = 0;

	// remove line feed
	buffer[strcspn(buffer, "\n\r")] = 0;

	// format output 
	sprintf(output, "%s", buffer);

	// debug response
	// IDLog("AstroHub Input: [%s] (length: %d), AstroHub Output: [%s] (length: %d)\n", input, (int)strlen(input), output, (int)strlen(output));

	return output;
}