indiUtils.hpp

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/** \file indiUtils.hpp
 * \brief MagAO-X INDI Utilities
 * \author Jared R. Males (jaredmales@gmail.com)
 *
 * History:
 * - 2019-01-03 created by JRM
 *
 * \ingroup app_files
 */
 
#ifndef app_indiUtils_hpp
#define app_indiUtils_hpp
 
#include <iostream>
#include <limits>
 
#include "../../INDI/libcommon/IndiProperty.hpp"
#include "../../INDI/libcommon/IndiElement.hpp"
 
namespace MagAOX
{
namespace app
{
namespace indi
{
 
#define INDI_IDLE ( pcf::IndiProperty::Idle )
#define INDI_OK ( pcf::IndiProperty::Ok )
#define INDI_BUSY ( pcf::IndiProperty::Busy )
#define INDI_ALERT ( pcf::IndiProperty::Alert )
 
/// Add a standard INDI Text element
/**
 * \returns 0 on success
 * \returns -1 on error
 */
inline int addTextElement( pcf::IndiProperty &prop,      ///< [out] the property to which to add the elemtn
                           const std::string &name,      ///< [in] the name of the element
                           const std::string &label = "" ///< [in] [optional] the GUI label suggestion for this property
)
{
    prop.add( pcf::IndiElement( name, "" ) );
 
    // Don't set "" just in case libcommon does something with defaults
    if( label != "" )
    {
        prop[name].setLabel( label );
    }
 
    return 0;
}
 
/// Add a standard INDI Number element
/**
 * \returns 0 on success
 * \returns -1 on error
 */
template <typename T>
int addNumberElement( pcf::IndiProperty &prop,      ///< [out] the property to which to add the elemtn
                      const std::string &name,      ///< [in] the name of the element
                      const T           &min,       ///< [in] the minimum value for the element
                      const T           &max,       ///< [in] the minimum value for the element
                      const T           &step,      ///< [in] the step size of the lement
                      const std::string &format,    ///< [in] the _ value for the elements, applied to both target and
                                                    ///< current.  Set to "" to use the MagAO-X standard for type.
                      const std::string &label = "" ///< [in] [optional] the GUI label suggestion for this property
)
{
    prop.add( pcf::IndiElement( name, 0 ) );
    prop[name].setMin( min );
    prop[name].setMax( max );
    prop[name].setStep( step );
    prop[name].setFormat( format );
 
    // Don't set "" just in case libcommon does something with defaults
    if( label != "" )
    {
        prop[name].setLabel( label );
    }
 
    return 0;
}
 
/// Update the value of the INDI element, but only if it has changed.
/** Only sends the set property message if the new value is different.
 * For properties with more than one element that may have changed, you should use the vector version below.
 *
 * \todo this needs a const char specialization to std::string
 *
 */
template <typename T, class indiDriverT>
void updateIfChanged( pcf::IndiProperty &p,      ///< [in/out] The property containing the element to possibly update
                      const std::string &el,     ///< [in] The element name
                      const T           &newVal, ///< [in] the new value
                      indiDriverT       *indiDriver, ///< [in] the MagAOX INDI driver to use
                      pcf::IndiProperty::PropertyStateType newState = pcf::IndiProperty::Ok )
{
    if( !indiDriver )
        return;
 
    try
    {
        // This is same code in IndiElement
        std::stringstream ssValue;
        ssValue.precision( 15 );
        ssValue << std::boolalpha << newVal;
 
        pcf::IndiProperty::PropertyStateType oldState = p.getState();
 
        // Do comparison in string space, not raw value
        if( p[el].getValue() != ssValue.str() || oldState != newState )
        {
            p[el].set( newVal );
            p.setTimeStamp( pcf::TimeStamp() );
            p.setState( newState );
            indiDriver->sendSetProperty( p );
        }
    }
    catch( std::exception &e )
    {
        std::cerr << "Exception caught at " << __FILE__ << " " << __LINE__ << " ";
        std::cerr << "from " << p.getName() << "." << el << ": ";
        std::cerr << e.what() << "\n";
    }
    catch( ... )
    {
        std::cerr << "Exception caught at " << __FILE__ << " " << __LINE__ << " ";
        std::cerr << "from " << p.getName() << "." << el << "\n";
    }
}
 
/// Update the elements of an INDI propery, but only if there has been a change in at least one.
/** Only sends the set property message if at least one of the new values is different, or if the state has changed.
 *
 *
 */
template <typename T, class indiDriverT>
void updateIfChanged( pcf::IndiProperty &p, ///< [in/out] The property containing the element to possibly update
                      const std::vector<std::string>      &els,        ///< [in] The element names
                      const std::vector<T>                &newVals,    ///< [in] the new values
                      indiDriverT                         *indiDriver, ///< [in] the MagAOX INDI driver to use
                      pcf::IndiProperty::PropertyStateType newState = pcf::IndiProperty::Ok )
{
    if( !indiDriver )
        return;
 
    size_t n = 0; // loop index outside so we can use it for error reporting.
 
    try
    {
        // First we look for any changes
        bool                                 changed  = false;
        pcf::IndiProperty::PropertyStateType oldState = p.getState();
 
        if( oldState != newState )
            changed = true;
 
        for( n = 0; n < els.size() && changed != true; ++n )
        {
            // This is same code in IndiElement
            std::stringstream ssValue;
            ssValue.precision( 15 );
            ssValue << std::boolalpha << newVals[n];
 
            // compare in string space
            if( p[els[n]].getValue() != ssValue.str() )
                changed = true;
        }
 
        // and if there are changes, we send an update
        if( changed )
        {
            for( n = 0; n < els.size(); ++n )
            {
                p[els[n]].set( newVals[n] );
            }
            p.setTimeStamp( pcf::TimeStamp() );
            p.setState( newState );
            indiDriver->sendSetProperty( p );
        }
    }
    catch( std::exception &e )
    {
        std::cerr << "Exception caught at " << __FILE__ << " " << __LINE__ << " ";
        if( n < els.size() )
        {
            std::cerr << "from " << p.getName() << "." << els[n] << ": ";
        }
        std::cerr << e.what() << "\n";
    }
    catch( ... )
    {
        std::cerr << "Exception caught at " << __FILE__ << " " << __LINE__ << " ";
        if( n < els.size() )
        {
            std::cerr << "from " << p.getName() << "." << els[n] << "\n";
        }
    }
}
 
/// Update the elements of an INDI propery, but only if there has been a change in at least one.
/** Only sends the set property message if at least one of the new values is different, or if the state has changed.
 *
 * \tparam T the type of the values
 * \tparam elVecT the type of the element names, should be either std::string or const char *
 * \tparam indiDriverT the type of the INDI driver class
 */
template <typename T, typename elVecT, class indiDriverT>
void updatesIfChanged( pcf::IndiProperty    &p,   ///< [in/out] The property containing the element to possibly update
                       const elVecT         &els, ///< [in] The element names
                       const std::vector<T> &newVals,    ///< [in] the new values
                       indiDriverT          *indiDriver, ///< [in] the MagAOX INDI driver to use
                       pcf::IndiProperty::PropertyStateType newState = pcf::IndiProperty::Ok )
{
    if( !indiDriver )
        return;
 
    size_t n = 0; // loop index outside so we can use it for error reporting.
 
    try
    {
        // First we look for any changes
        bool                                 changed  = false;
        pcf::IndiProperty::PropertyStateType oldState = p.getState();
 
        if( oldState != newState )
            changed = true;
 
        for( n = 0; n < els.size() && changed != true; ++n )
        {
            // This is same code in IndiElement
            std::stringstream ssValue;
            ssValue.precision( 15 );
            ssValue << std::boolalpha << newVals[n];
 
            // compare in string space
            if( p[els[n]].getValue() != ssValue.str() )
                changed = true;
        }
 
        // and if there are changes, we send an update
        if( changed )
        {
            for( n = 0; n < els.size(); ++n )
            {
                p[els[n]].set( newVals[n] );
            }
            p.setTimeStamp( pcf::TimeStamp() );
            p.setState( newState );
            indiDriver->sendSetProperty( p );
        }
    }
    catch( std::exception &e )
    {
        std::cerr << "Exception caught at " << __FILE__ << " " << __LINE__ << " ";
        if( n < els.size() )
        {
            std::cerr << "from " << p.getName() << "." << els[n] << ": ";
        }
        std::cerr << e.what() << "\n";
    }
    catch( ... )
    {
        std::cerr << "Exception caught at " << __FILE__ << " " << __LINE__ << " ";
        if( n < els.size() )
        {
            std::cerr << "from " << p.getName() << "." << els[n] << "\n";
        }
    }
}
 
/// Update the elements of an INDI propery, but only if there has been a change in at least one.
/** Specialization for const char * element names.
 *
 * Only sends the set property message if at least one of the new values is different, or if the state has changed.
 *
 * \tparam T the type of the values
 * \tparam indiDriverT the type of the INDI driver class
 *
 */
template <typename T, class indiDriverT>
void updatesIfChanged( pcf::IndiProperty &p, ///< [in/out] The property containing the element to possibly update
                       const std::vector<const char *>     &els,        ///< [in] The element names
                       const std::vector<T>                &newVals,    ///< [in] the new values
                       indiDriverT                         *indiDriver, ///< [in] the MagAOX INDI driver to use
                       pcf::IndiProperty::PropertyStateType newState = pcf::IndiProperty::Ok )
{
    updatesIfChanged<T, std::vector<const char *>, indiDriverT>( p, els, newVals, indiDriver, newState );
}
 
/// Update the elements of an INDI propery, but only if there has been a change in at least one.
/** Specialization for std::string element names.
 *
 * Only sends the set property message if at least one of the new values is different, or if the state has changed.
 *
 * \tparam T the type of the values
 * \tparam indiDriverT the type of the INDI driver class
 *
 */
template <typename T, class indiDriverT>
void updatesIfChanged( pcf::IndiProperty &p, ///< [in/out] The property containing the element to possibly update
                       const std::vector<std::string>      &els,        ///< [in] The element names
                       const std::vector<T>                &newVals,    ///< [in] the new values
                       indiDriverT                         *indiDriver, ///< [in] the MagAOX INDI driver to use
                       pcf::IndiProperty::PropertyStateType newState = pcf::IndiProperty::Ok )
{
    updatesIfChanged<T, std::vector<std::string>, indiDriverT>( p, els, newVals, indiDriver, newState );
}
 
/// Update the value of the INDI element, but only if it has changed.
/** Only sends the set property message if the new value is different.
 *
 * \todo investigate how this handles floating point values and string conversions.
 * \todo this needs a const char specialization to std::string
 *
 */
template <class indiDriverT>
void updateSwitchIfChanged( pcf::IndiProperty &p,  ///< [in/out] The property containing the element to possibly update
                            const std::string &el, ///< [in] The element name
                            const pcf::IndiElement::SwitchStateType &newVal,     ///< [in] the new value
                            indiDriverT                             *indiDriver, ///< [in] the MagAOX INDI driver to use
                            pcf::IndiProperty::PropertyStateType     newState = pcf::IndiProperty::Ok )
{
    if( !indiDriver )
    {
        return;
    }
 
    try
    {
        pcf::IndiElement::SwitchStateType oldVal = p[el].getSwitchState();
 
        pcf::IndiProperty::PropertyStateType oldState = p.getState();
 
        if( oldVal != newVal || oldState != newState )
        {
            p[el].setSwitchState( newVal );
            p.setTimeStamp( pcf::TimeStamp() );
            p.setState( newState );
            indiDriver->sendSetProperty( p );
        }
    }
    catch( ... )
    {
        std::cerr << "INDI Exception at " << __FILE__ << " " << __LINE__ << "\n";
        std::cerr << "from " << p.getName() << "." << el << "\n";
    }
}
 
/// Update the values of a one-of-many INDI switch vector, but only if it has changed.
/** Only sends the set property message if the new settings are different.
 *
 *
 */
template <class indiDriverT>
void updateSelectionSwitchIfChanged(
    pcf::IndiProperty                   &p,  ///< [in/out] The property containing the element to possibly update
    const std::string                   &el, ///< [in] The element name which is now on
    indiDriverT                         *indiDriver, ///< [in] the MagAOX INDI driver to use
    pcf::IndiProperty::PropertyStateType newState = pcf::IndiProperty::Ok )
{
    if( !indiDriver )
        return;
 
    if( !p.find( el ) )
    {
        std::cerr << "INDI error at " << __FILE__ << " " << __LINE__ << "\n";
        std::cerr << p.getName() << " does not have " << el << "\n";
        return;
    }
 
    try
    {
 
        bool changed = false;
        for( auto elit = p.getElements().begin(); elit != p.getElements().end(); ++elit )
        {
            if( elit->first == el )
            {
                if( elit->second.getSwitchState() != pcf::IndiElement::On )
                {
                    p[elit->first].setSwitchState( pcf::IndiElement::On );
                    changed = true;
                }
            }
            else
            {
                if( elit->second.getSwitchState() != pcf::IndiElement::Off )
                {
                    p[elit->first].setSwitchState( pcf::IndiElement::Off );
                    changed = true;
                }
            }
        }
 
        pcf::IndiProperty::PropertyStateType oldState = p.getState();
 
        if( changed || oldState != newState )
        {
            p.setState( newState );
            p.setTimeStamp( pcf::TimeStamp() );
            indiDriver->sendSetProperty( p );
        }
    }
    catch( ... )
    {
        std::cerr << "INDI Exception at " << __FILE__ << " " << __LINE__ << "\n";
        std::cerr << "from " << p.getName() << "." << el << "\n";
    }
}
 
/// Parse an INDI key into the device and property names
/** We often represent an INDI property as a unique key in the form
 * `deviceName.propName`.  This function parses such a key into its
 * parts.
 *
 * \returns 0  on success
 * \returns -1 if the provided key is not at least 3 characters long
 * \returns -2 if no '.' is found
 * \returns -3 if '.' is the first character
 * \returns -4 if '.' is the last character
 */
inline int parseIndiKey( std::string       &devName,  ///< [out] the device name
                         std::string       &propName, ///< [out] the property name
                         const std::string &key       ///< [in] the key to parse
)
{
    if( key.size() < 3 )
    {
        return -1;
    }
 
    size_t p = key.find( '.' );
 
    if( p == std::string::npos )
    {
        devName  = "";
        propName = "";
        return -2;
    }
 
    if( p == 0 )
    {
        devName  = "";
        propName = "";
        return -3;
    }
 
    if( p == key.size() - 1 )
    {
        devName  = "";
        propName = "";
        return -4;
    }
 
    devName  = key.substr( 0, p );
    propName = key.substr( p + 1 );
 
    return 0;
}
 
} // namespace indi
} // namespace app
} // namespace MagAOX
 
#endif // app_magAOXIndiDriver_hpp