command_interface.cpp

/*
 Starbook mount driver

 Copyright (C) 2018 Norbert Szulc (not7cd)

 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

 */

#include <exception>
#include <regex>
#include <inditelescope.h>
#include <iomanip>
#include "command_interface.h"


namespace starbook
{

CommandInterface::CommandInterface(Connection::Curl *new_connection) : connection(new_connection) {}

static std::string read_buffer;

static size_t WriteCallback(void *contents, size_t size, size_t nmemb, void *userp)
{
    INDI_UNUSED(userp);
    size_t real_size = size * nmemb;
    read_buffer.append(static_cast<char *>(contents), real_size);
    return real_size;
}

CommandResponse CommandInterface::SendCommand(const std::string &cmd)
{
    CURLcode rc;
    CURL *handle = connection->getHandle();

    last_response.clear();
    read_buffer.clear();
    std::ostringstream cmd_url;

    cmd_url << "http://" << connection->host() << ":" << connection->port() << "/" << cmd;
    last_cmd_url = cmd_url.str();

    DEBUGFDEVICE(m_Device.c_str(), INDI::Logger::DBG_DEBUG, "CMD <%s>", last_cmd_url.c_str());

    curl_easy_setopt(handle, CURLOPT_USERAGENT, "curl/7.58.0");
    /* send all data to this function  */
    curl_easy_setopt(handle, CURLOPT_WRITEFUNCTION, WriteCallback);
    curl_easy_setopt(handle, CURLOPT_WRITEDATA, &read_buffer);
    curl_easy_setopt(handle, CURLOPT_URL, cmd_url.str().c_str());

    rc = curl_easy_perform(handle);

    if (rc != CURLE_OK)
    {
        throw std::runtime_error(curl_easy_strerror(rc));
    }

    DEBUGFDEVICE(m_Device.c_str(), INDI::Logger::DBG_DEBUG, "RES_RAW <%s>", read_buffer.c_str());

    // all responses are hidden in HTML comments ...
    std::regex response_comment_re("<!--(.*)-->", std::regex_constants::ECMAScript);
    std::smatch comment_match;
    if (!regex_search(read_buffer, comment_match, response_comment_re))
    {
        throw std::runtime_error("parsing error, response not found ");
    }

    last_response = comment_match[1].str();
    if (last_response.empty())
    {
        throw std::runtime_error("parsing error, response empty");
    }

    DEBUGFDEVICE(m_Device.c_str(), INDI::Logger::DBG_DEBUG, "RES_PRO <%s>", last_response.c_str());

    return CommandResponse(comment_match[1].str());
}

ResponseCode CommandInterface::SendOkCommand(const std::string &cmd)
{
    CommandResponse res = CommandInterface::SendCommand(cmd);
    return res.status;
}

ResponseCode CommandInterface::GotoRaDec(double ra, double dec)
{
    std::ostringstream cmd;
    cmd << "GOTORADEC?" << starbook::Equ{ra, dec};
    return SendOkCommand(cmd.str());
}

ResponseCode CommandInterface::Align(double ra, double dec)
{
    std::ostringstream cmd;
    cmd << "ALIGN?" << starbook::Equ{ra, dec};
    return SendOkCommand(cmd.str());
}

ResponseCode CommandInterface::Version(VersionResponse &res)
{
    CommandResponse cmd_res = SendCommand("VERSION");
    if (cmd_res.status != OK) return cmd_res.status;
    res = ParseVersionResponse(cmd_res);
    return cmd_res.status;
}

ResponseCode CommandInterface::GetStatus(StatusResponse &res)
{
    CommandResponse cmd_res = SendCommand("GETSTATUS");
    if (cmd_res.status != OK) return cmd_res.status;
    res = ParseStatusResponse(cmd_res);
    return cmd_res.status;
}

ResponseCode CommandInterface::GetPlace(PlaceResponse &res)
{
    CommandResponse cmd_res = SendCommand("GETPLACE");
    if (cmd_res.status != OK) return cmd_res.status;
    res = ParsePlaceResponse(cmd_res);
    return cmd_res.status;
}

ResponseCode CommandInterface::GetTime(ln_date &res)
{
    CommandResponse cmd_res = SendCommand("GETIME");
    if (cmd_res.status != OK) return cmd_res.status;
    res = ParseTimeResponse(cmd_res);
    return cmd_res.status;
}

ResponseCode CommandInterface::GetRound(long int &res)
{
    CommandResponse cmd_res = SendCommand("GETROUND");
    if (cmd_res.status != OK) return cmd_res.status;
    res = ParseRoundResponse(cmd_res);
    return cmd_res.status;
}

ResponseCode CommandInterface::GetXY(XYResponse &res)
{
    CommandResponse cmd_res = SendCommand("GETXY");
    if (cmd_res.status != OK) return cmd_res.status;
    res = ParseXYResponse(cmd_res);
    return cmd_res.status;
}

ResponseCode CommandInterface::SetTime(ln_date &local_time)
{
    std::ostringstream cmd;
    cmd << "SETTIME?TIME=" << static_cast<starbook::DateTime &>(local_time);
    return SendOkCommand(cmd.str());
}

ResponseCode CommandInterface::SetPlace(LnLat posn, short tz)
{
    std::ostringstream cmd;
    if (tz > 12 || tz < -12)
        throw std::domain_error("timezone should be between -12 and 12");
    cmd << "SETPLACE?" << posn
        << "&timezone="
        << tz;
    return SendOkCommand(cmd.str());
}


ResponseCode CommandInterface::SetSpeed(int speed)
{
    if (speed < MIN_SPEED || speed > MAX_SPEED)
        throw std::domain_error(
            "speed should be between" + std::to_string(MIN_SPEED) + " and " + std::to_string(MAX_SPEED));

    std::ostringstream cmd;
    cmd << "SETSPEED?speed=" << speed;
    return SendOkCommand(cmd.str());
}

ResponseCode CommandInterface::Move(INDI_DIR_NS dir, INDI::Telescope::TelescopeMotionCommand command)
{
    std::ostringstream cmd;
    cmd << "MOVE?NORTH="
        << (dir == DIRECTION_NORTH && command == INDI::Telescope::TelescopeMotionCommand::MOTION_START ? 1 : 0)
        << "&SOUTH="
        << (dir == DIRECTION_SOUTH && command == INDI::Telescope::TelescopeMotionCommand::MOTION_START ? 1 : 0);

    return SendOkCommand(cmd.str());
}

ResponseCode CommandInterface::Move(INDI_DIR_WE dir, INDI::Telescope::TelescopeMotionCommand command)
{
    std::ostringstream cmd;
    cmd << "MOVE?WEST="
        << (dir == DIRECTION_WEST && command == INDI::Telescope::TelescopeMotionCommand::MOTION_START ? 1 : 0)
        << "&EAST="
        << (dir == DIRECTION_EAST && command == INDI::Telescope::TelescopeMotionCommand::MOTION_START ? 1 : 0);
    return SendOkCommand(cmd.str());
}

const std::string &CommandInterface::getLastCmdUrl() const
{
    return last_cmd_url;
}

const std::string &CommandInterface::getLastResponse() const
{
    return last_response;
}

StatusResponse CommandInterface::ParseStatusResponse(const CommandResponse &res)
{
    StatusResponse result;

    lnh_equ_posn equ_posn = {{0, 0, 0},
        {0, 0, 0, 0}
    };
    HMS ra{};
    DMS dec(res.payload.at("DEC"));

    std::stringstream ss{res.payload.at("RA")};
    ss >> ra;

    equ_posn.ra = ra;
    equ_posn.dec = dec;
    result.equ = {0, 0};
    ln_hequ_to_equ(&equ_posn, &result.equ);

    result.state = ParseState(res.payload.at("STATE"));
    result.executing_goto = res.payload.at("GOTO") == "1";

    return result;
}

VersionResponse CommandInterface::ParseVersionResponse(const CommandResponse &response)
{
    VersionResponse result;

    std::regex param_re(R"(((\d+\.\d+)\w+))");
    std::smatch sm;
    if (!regex_search(response.payload.at("VERSION"), sm, param_re))
    {
        throw std::runtime_error("parsing error, version string not found");
    }

    result.full_str = sm[1].str();
    result.major_minor = std::stof(sm[2]);
    return result;
}

StarbookState CommandInterface::ParseState(const std::string &value)
{
    for (std::pair<StarbookState, std::string> element : STATE_TO_STR)
    {
        if (value == element.second)
            return element.first;
    }
    return UNKNOWN;
}

PlaceResponse CommandInterface::ParsePlaceResponse(const CommandResponse &response)
{
    if (!response.status) throw std::runtime_error("Cannot parse place");
    return {{0, 0}, 0}; // TODO
}

ln_date CommandInterface::ParseTimeResponse(const CommandResponse &response)
{
    if (!response.status) throw std::runtime_error("Cannot parse time");
    std::stringstream ss{response.payload.at("time")};
    DateTime time{0, 0, 0, 0, 0, 0};
    ss >> time;
    return time;
}

XYResponse CommandInterface::ParseXYResponse(const CommandResponse &response)
{
    if (!response.status) throw std::runtime_error("Cannot parse xy");
    return
    {
        .x = std::stod(response.payload.at("X")),
        .y = std::stod(response.payload.at("Y"))
    };
}

long int CommandInterface::ParseRoundResponse(const CommandResponse &response)
{
    if (!response.status) throw std::runtime_error("Cannot parse round");
    return std::stol(response.payload.at("ROUND"));
}
}