RORO-MQTT

This project now provides both a small helper library and a production-grade INDI driver implementing the Universal Roll‑Off‑Roof (ROR) approach. The indi-mqtt-universalror driver uses MQTT for all I/O and follows the dome semantics introduced in INDI v2.0.9.

Clone and Build (Linux)

git clone https://github.com/smeird/RORO-MQTT.git
cd RORO-MQTT
mkdir build && cd build
cmake ..
make -j
ctest

Features

• Connect to an MQTT broker with optional username/password
• Publish open and close commands
• Optional topics for open/close limit switches
• Optional percentage-open feedback topic
• Optional power control topic

Usage

#include "mqtt_roof_controller.h"
#include "mqtt_client.h"
#include <memory>

int main() {
    auto client = std::make_shared<PahoMqttClient>(
        "tcp://mqtt.example.net:1883", "roof_controller", "user", "secret");
    MQTTRoofController controller(
        client,
        "observatory/roof/open",
        "observatory/roof/close",
        "observatory/roof/open_limit",
        "observatory/roof/close_limit",
        "observatory/roof/percent",
        "observatory/roof/power");

    controller.connect();
    controller.set_power(true);
    controller.open_roof();
}

Compile with:

g++ -std=c++17 -DPAHO_MQTT src/*.cpp tests/test_driver.cpp \
    -lpaho-mqttpp3 -lpaho-mqtt3as -o example

INDI Driver

The indi-mqtt-universalror driver implements the Universal ROR specification and delegates all physical I/O to MQTT topics. Limit switches and safety events are mirrored to standard INDI dome properties. A simple state machine guards valid transitions and is unit tested with GoogleTest.

Configuration

The driver adds an MQTT_TOPICS text property in the Configuration tab. Topics for open/close/stop commands and limit switches can be edited and are stored using the standard INDI configuration mechanism.

Build

mkdir build && cd build
cmake .. && make -j
ctest

Sequence (open)

sequenceDiagram
    participant Ekos
    participant Driver
    participant MQTT
    Ekos->>Driver: DOME_UNPARK
    Driver->>MQTT: publish open
    MQTT-->>Driver: limit_open
    Driver-->>Ekos: state OPEN

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Sequence (close)

sequenceDiagram
    participant Ekos
    participant Driver
    participant MQTT
    Ekos->>Driver: DOME_PARK
    Driver->>MQTT: publish close
    MQTT-->>Driver: limit_closed
    Driver-->>Ekos: state CLOSED

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Fault Recovery

sequenceDiagram
    participant Weather
    participant Driver
    participant MQTT
    Weather-->>Driver: rain alert
    Driver->>MQTT: publish stop
    Driver->>MQTT: publish close

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Simulation

Run the driver in simulation mode:

indiserver -v indi-mqtt-universalror -n

Example Config

See config.sample.xml for a full configuration including topic mappings and safety policies.