gpg.h

/*
    SPDX-FileCopyrightText: 2020 Hy Murveit <hy@murveit.com>
 
    SPDX-License-Identifier: GPL-2.0-or-later
*/
 
#pragma once
 
#include "vect.h"
#include "indi/indicommon.h"
#include "MPI_IS_gaussian_process/src/gaussian_process_guider.h"
#include "ekos_guide_debug.h"
class GuideStars;
class GaussianProcessGuider;
class Calibration;
 
// This is a wrapper class around the GaussianProcessGuider contributed class
// to make integration with EKos easier.
class GPG
{
    public:
        GPG();
        ~GPG() {}
 
        // Reads parameters from Options, and updates the GPG.
        void updateParameters();
 
        // Restarts the gpg.
        void reset();
 
        // Should be called when dithering starts.
        // Inputs are pixel offsets in camera coordinates.
        void startDithering(double dx, double dy, const Calibration &cal);
 
        // Should be called after dithering is done.
        // Indicated whether dithering settled or not.
        void ditheringSettled(bool success);
 
        // Should be called while suspended, at the point when
        // guiding would normally occur. GPG gets updated but does not
        // emit a pulse.
        void suspended(const GuiderUtils::Vector &guideStarPosition,
                       const GuiderUtils::Vector &reticlePosition,
                       GuideStars *guideStars,
                       const Calibration &cal);
 
        // Compute the RA pulse for guiding.
        // Returns false if it chooses not to compute a pulse.
        bool computePulse(double raArcsecError, GuideStars *guideStars,
                          int *pulseLength, GuideDirection *pulseDir,
                          const Calibration &cal, Seconds timeStep);
 
        double predictionContribution();
 
 
        // Compute dark guiding RA pulse.
        // Returns false if it chooses not to compute a pulse.
        bool darkGuiding(int *pulseLength, GuideDirection *pulseDir,
                         const Calibration &cal, Seconds timeStep);
 
    private:
        std::unique_ptr<GaussianProcessGuider> gpg;
        int gpgSamples = 0;
        int gpgSkippedSamples = 0;
        // Converts the gpg output to pulse milliseconds
        double convertCorrectionToPulseMilliseconds(const Calibration &cal, int *pulseLength, GuideDirection *pulseDir, const double gpgResult);
};