phd2.cpp

/*
    SPDX-FileCopyrightText: 2016 Jasem Mutlaq <[email protected]>
 
    SPDX-License-Identifier: GPL-2.0-or-later
*/
 
#include "phd2.h"
 
#include "Options.h"
#include "kspaths.h"
#include "kstars.h"
 
#include "ekos/manager.h"
#include "fitsviewer/fitsdata.h"
 
#include <cassert>
#include <fitsio.h>
#include <KMessageBox>
#include <QImage>
 
#include <QJsonDocument>
#include <QNetworkReply>
 
#include <ekos_guide_debug.h>
 
#define MAX_SET_CONNECTED_RETRIES   3
 
namespace Ekos
{
PHD2::PHD2()
{
    tcpSocket = new QTcpSocket(this);
 
    //This list of available PHD Events is on https://github.com/OpenPHDGuiding/phd2/wiki/EventMonitoring
 
    events["Version"]                 = Version;
    events["LockPositionSet"]         = LockPositionSet;
    events["Calibrating"]             = Calibrating;
    events["CalibrationComplete"]     = CalibrationComplete;
    events["StarSelected"]            = StarSelected;
    events["StartGuiding"]            = StartGuiding;
    events["Paused"]                  = Paused;
    events["StartCalibration"]        = StartCalibration;
    events["AppState"]                = AppState;
    events["CalibrationFailed"]       = CalibrationFailed;
    events["CalibrationDataFlipped"]  = CalibrationDataFlipped;
    events["LoopingExposures"]        = LoopingExposures;
    events["LoopingExposuresStopped"] = LoopingExposuresStopped;
    events["SettleBegin"]             = SettleBegin;
    events["Settling"]                = Settling;
    events["SettleDone"]              = SettleDone;
    events["StarLost"]                = StarLost;
    events["GuidingStopped"]          = GuidingStopped;
    events["Resumed"]                 = Resumed;
    events["GuideStep"]               = GuideStep;
    events["GuidingDithered"]         = GuidingDithered;
    events["LockPositionLost"]        = LockPositionLost;
    events["Alert"]                   = Alert;
    events["GuideParamChange"]        = GuideParamChange;
    events["ConfigurationChange"]     = ConfigurationChange;
 
    //This list of available PHD Methods is on https://github.com/OpenPHDGuiding/phd2/wiki/EventMonitoring
    //Only some of the methods are implemented.  The ones that say COMMAND_RECEIVED simply return a 0 saying the command was received.
    methodResults["capture_single_frame"]   = CAPTURE_SINGLE_FRAME;
    methodResults["clear_calibration"]      = CLEAR_CALIBRATION_COMMAND_RECEIVED;
    methodResults["dither"]                 = DITHER_COMMAND_RECEIVED;
    //find_star
    //flip_calibration
    //get_algo_param_names
    //get_algo_param
    methodResults["get_app_state"]          = APP_STATE_RECEIVED;
    //get_calibrated
    //get_calibration_data
    methodResults["get_connected"]          = IS_EQUIPMENT_CONNECTED;
    //get_cooler_status
    methodResults["get_current_equipment"]  = GET_CURRENT_EQUIPMENT;
    methodResults["get_dec_guide_mode"]     = DEC_GUIDE_MODE;
    methodResults["get_exposure"]           = EXPOSURE_TIME;
    methodResults["get_exposure_durations"] = EXPOSURE_DURATIONS;
    methodResults["get_lock_position"]      = LOCK_POSITION;
    //get_lock_shift_enabled
    //get_lock_shift_params
    //get_paused
    methodResults["get_pixel_scale"]        = PIXEL_SCALE;
    //get_profile
    //get_profiles
    //get_search_region
    //get_sensor_temperature
    methodResults["get_star_image"]         = STAR_IMAGE;
    //get_use_subframes
    methodResults["guide"]                  = GUIDE_COMMAND_RECEIVED;
    //guide_pulse
    methodResults["loop"]                   = LOOP;
    //save_image
    //set_algo_param
    methodResults["set_connected"]          = CONNECTION_RESULT;
    methodResults["set_dec_guide_mode"]     = SET_DEC_GUIDE_MODE_COMMAND_RECEIVED;
    methodResults["set_exposure"]           = SET_EXPOSURE_COMMAND_RECEIVED;
    methodResults["set_lock_position"]      = SET_LOCK_POSITION;
    //set_lock_shift_enabled
    //set_lock_shift_params
    methodResults["set_paused"]             = SET_PAUSED_COMMAND_RECEIVED;
    //set_profile
    //shutdown
    methodResults["stop_capture"]           = STOP_CAPTURE_COMMAND_RECEIVED;
 
    abortTimer = new QTimer(this);
    connect(abortTimer, &QTimer::timeout, this, [ = ]
    {
        if (state == CALIBRATING)
            qCDebug(KSTARS_EKOS_GUIDE) << "Abort timeout expired while calibrating, retrying to guide.";
        else if (state == LOSTLOCK)
            qCDebug(KSTARS_EKOS_GUIDE) << "Abort timeout expired while reacquiring star, retrying to guide.";
        else
            qCDebug(KSTARS_EKOS_GUIDE) << "Abort timeout expired, stopping.";
        abort();
    });
 
    ditherTimer = new QTimer(this);
    connect(ditherTimer, &QTimer::timeout, this, [ = ]
    {
        qCDebug(KSTARS_EKOS_GUIDE) << "ditherTimer expired, state" << state << "dithering" << isDitherActive << "settling" << isSettling;
        ditherTimer->stop();
        isDitherActive = false;
        isSettling = false;
        if (Options::ditherFailAbortsAutoGuide())
        {
            abort();
            emit newStatus(GUIDE_DITHERING_ERROR);
        }
        else
        {
            emit newLog(i18n("PHD2: There was no dithering response from PHD2, but continue guiding."));
            emit newStatus(Ekos::GUIDE_DITHERING_SUCCESS);
        }
    });
 
    stateTimer = new QTimer(this);
    connect(stateTimer, &QTimer::timeout, this, [ = ]
    {
        if (tcpSocket->state() == QTcpSocket::UnconnectedState)
        {
            m_PHD2ReconnectCounter++;
            if (m_PHD2ReconnectCounter > PHD2_RECONNECT_THRESHOLD)
                stateTimer->stop();
            else
            {
                emit newLog(i18n("Reconnecting to PHD2 Host: %1, on port %2. . .", Options::pHD2Host(), Options::pHD2Port()));
 
                connect(tcpSocket, &QTcpSocket::readyRead, this, &PHD2::readPHD2, Qt::UniqueConnection);
#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
                connect(tcpSocket, &QTcpSocket::errorOccurred, this, &PHD2::displayError, Qt::UniqueConnection);
#else
                connect(tcpSocket, SIGNAL(error(QAbstractSocket::SocketError)), this,
                        SLOT(displayError(QAbstractSocket::SocketError)));
#endif
                tcpSocket->connectToHost(Options::pHD2Host(), Options::pHD2Port());
            }
        }
        else if (tcpSocket->state() == QTcpSocket::ConnectedState)
        {
            m_PHD2ReconnectCounter = 0;
            checkIfEquipmentConnected();
            requestAppState();
        }
    });
}
 
PHD2::~PHD2()
{
    delete abortTimer;
    delete ditherTimer;
}
 
bool PHD2::Connect()
{
    switch (connection)
    {
        case DISCONNECTED:
            // Not yet connected, let's connect server
            connection = CONNECTING;
            emit newLog(i18n("Connecting to PHD2 Host: %1, on port %2. . .", Options::pHD2Host(), Options::pHD2Port()));
 
            connect(tcpSocket, &QTcpSocket::readyRead, this, &PHD2::readPHD2, Qt::UniqueConnection);
#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
            connect(tcpSocket, &QTcpSocket::errorOccurred, this, &PHD2::displayError, Qt::UniqueConnection);
#else
            connect(tcpSocket, SIGNAL(error(QAbstractSocket::SocketError)), this,
                    SLOT(displayError(QAbstractSocket::SocketError)));
#endif
 
            tcpSocket->connectToHost(Options::pHD2Host(), Options::pHD2Port());
 
            m_PHD2ReconnectCounter = 0;
            stateTimer->start(PHD2_RECONNECT_TIMEOUT);
            return true;
 
        case EQUIPMENT_DISCONNECTED:
            // Equipment disconnected from PHD2, request reconnection
            connectEquipment(true);
            return true;
 
        case DISCONNECTING:
            // Not supposed to interrupt a running disconnection
            return false;
 
        default:
            return false;
    }
}
 
void PHD2::ResetConnectionState()
{
    connection = DISCONNECTED;
 
    // clear the outstanding and queued RPC requests
    pendingRpcResultType = NO_RESULT;
    rpcRequestQueue.clear();
 
    starImageRequested = false;
    isSettling = false;
    isDitherActive = false;
 
    ditherTimer->stop();
    abortTimer->stop();
 
    tcpSocket->disconnect(this);
 
    emit newStatus(GUIDE_DISCONNECTED);
}
 
bool PHD2::Disconnect()
{
    switch (connection)
    {
        case EQUIPMENT_CONNECTED:
            emit newLog(i18n("Aborting any capture before disconnecting equipment..."));
            abort();
            connection = DISCONNECTING;
            break;
 
        case CONNECTED:
        case CONNECTING:
        case EQUIPMENT_DISCONNECTED:
            stateTimer->stop();
            tcpSocket->disconnectFromHost();
            ResetConnectionState();
            if (tcpSocket->state() != QAbstractSocket::UnconnectedState)
                tcpSocket->waitForDisconnected(5000);
            emit newLog(i18n("Disconnected from PHD2 Host: %1, on port %2.", Options::pHD2Host(), Options::pHD2Port()));
            break;
 
        case DISCONNECTING:
        case DISCONNECTED:
            break;
    }
 
    return true;
}
 
void PHD2::displayError(QAbstractSocket::SocketError socketError)
{
    switch (socketError)
    {
        case QAbstractSocket::RemoteHostClosedError:
            emit newLog(i18n("The host disconnected."));
            break;
        case QAbstractSocket::HostNotFoundError:
            emit newLog(i18n("The host was not found. Please check the host name and port settings in Guide options."));
            break;
        case QAbstractSocket::ConnectionRefusedError:
            emit newLog(i18n("The connection was refused by the peer. Make sure the PHD2 is running, and check that "
                             "the host name and port settings are correct."));
            break;
        default:
            emit newLog(i18n("The following error occurred: %1.", tcpSocket->errorString()));
    }
 
    ResetConnectionState();
 
    emit newStatus(GUIDE_DISCONNECTED);
}
 
void PHD2::readPHD2()
{
    while (!tcpSocket->atEnd() && tcpSocket->canReadLine())
    {
        QByteArray line = tcpSocket->readLine();
        if (line.isEmpty())
            continue;
 
        QJsonParseError qjsonError;
 
        QJsonDocument jdoc = QJsonDocument::fromJson(line, &qjsonError);
 
        if (qjsonError.error != QJsonParseError::NoError)
        {
            emit newLog(i18n("PHD2: invalid response received: %1", QString(line)));
            emit newLog(i18n("PHD2: JSON error: %1", qjsonError.errorString()));
            continue;
        }
 
        QJsonObject jsonObj = jdoc.object();
 
        if (jsonObj.contains("Event"))
            processPHD2Event(jsonObj, line);
        else if (jsonObj.contains("error"))
            processPHD2Error(jsonObj, line);
        else if (jsonObj.contains("result"))
            processPHD2Result(jsonObj, line);
    }
}
 
void PHD2::processPHD2Event(const QJsonObject &jsonEvent, const QByteArray &line)
{
    if (Options::verboseLogging())
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: event:" << line;
 
    QString eventName = jsonEvent["Event"].toString();
 
    if (!events.contains(eventName))
    {
        emit newLog(i18n("Unknown PHD2 event: %1", eventName));
        return;
    }
 
    event = events.value(eventName);
 
    switch (event)
    {
        case Version:
            emit newLog(i18n("PHD2: Version %1", jsonEvent["PHDVersion"].toString()));
            break;
 
        case CalibrationComplete:
            emit newLog(i18n("PHD2: Calibration Complete."));
            emit newStatus(Ekos::GUIDE_CALIBRATION_SUCCESS);
            break;
 
        case StartGuiding:
            updateGuideParameters();
            requestCurrentEquipmentUpdate();
            // Do not report guiding as started because it will start scheduled capture before guiding is settled
            // just print the log message and GUIDE_STARTED status will be set in SettleDone
            // phd2 will always send SettleDone event
            emit newLog(i18n("PHD2: Waiting for guiding to settle."));
            break;
 
        case Paused:
            handlePHD2AppState(PAUSED);
            break;
 
        case StartCalibration:
            handlePHD2AppState(CALIBRATING);
            break;
 
        case AppState:
            // AppState is the last of the initial messages received when we first connect to PHD2
            processPHD2State(jsonEvent["State"].toString());
            // if the equipment is not already connected, then try to connect it.
            if (connection == CONNECTING)
            {
                emit newLog("PHD2: Connecting equipment and external guider...");
                connectEquipment(true);
            }
            break;
 
        case CalibrationFailed:
            emit newLog(i18n("PHD2: Calibration Failed (%1).", jsonEvent["Reason"].toString()));
            handlePHD2AppState(STOPPED);
            break;
 
        case CalibrationDataFlipped:
            emit newLog(i18n("Calibration Data Flipped."));
            break;
 
        case LoopingExposures:
            handlePHD2AppState(LOOPING);
            break;
 
        case LoopingExposuresStopped:
            handlePHD2AppState(STOPPED);
            break;
 
        case Calibrating:
        case Settling:
        case SettleBegin:
            //This can happen for guiding or for dithering.  A Settle done event will arrive when it finishes.
            break;
 
        case SettleDone:
        {
            // guiding stopped during dithering
            if (state == PHD2::STOPPED)
                return;
 
            bool error = false;
 
            if (jsonEvent["Status"].toInt() != 0)
            {
                error = true;
                emit newLog(i18n("PHD2: Settling failed (%1).", jsonEvent["Error"].toString()));
            }
 
            bool wasDithering = isDitherActive;
 
            isDitherActive = false;
            isSettling = false;
 
            if (wasDithering)
            {
                ditherTimer->stop();
                if (error && Options::ditherFailAbortsAutoGuide())
                {
                    abort();
                    emit newStatus(GUIDE_DITHERING_ERROR);
                }
                else
                {
                    if (error)
                        emit newLog(i18n("PHD2: There was a dithering error, but continue guiding."));
 
                    emit newStatus(Ekos::GUIDE_DITHERING_SUCCESS);
                }
            }
            else
            {
                if (error)
                {
                    emit newLog(i18n("PHD2: Settling failed, aborted."));
                    emit newStatus(GUIDE_ABORTED);
                }
                else
                {
                    // settle completed after "guide" command
                    emit newLog(i18n("PHD2: Settling complete, Guiding Started."));
                    emit newStatus(GUIDE_GUIDING);
                }
            }
        }
        break;
 
        case StarSelected:
            handlePHD2AppState(SELECTED);
            break;
 
        case StarLost:
            // If we lost the guide star, let the state and abort timers update our state
            handlePHD2AppState(LOSTLOCK);
            break;
 
        case GuidingStopped:
            handlePHD2AppState(STOPPED);
            break;
 
        case Resumed:
            handlePHD2AppState(GUIDING);
            break;
 
        case GuideStep:
        {
            // If we lost the guide star, let the state timer update our state
            // Sometimes PHD2 is actually not guiding at that time, so we'll either resume or abort
            if (state == LOSTLOCK)
                emit newLog(i18n("PHD2: Star found, guiding is resuming..."));
 
            if (isDitherActive)
                return;
 
            double diff_ra_pixels, diff_de_pixels, diff_ra_arcsecs, diff_de_arcsecs, pulse_ra, pulse_dec, snr;
            QString RADirection, DECDirection;
            diff_ra_pixels = jsonEvent["RADistanceRaw"].toDouble();
            diff_de_pixels = jsonEvent["DECDistanceRaw"].toDouble();
            pulse_ra = jsonEvent["RADuration"].toDouble();
            pulse_dec = jsonEvent["DECDuration"].toDouble();
            RADirection = jsonEvent["RADirection"].toString();
            DECDirection = jsonEvent["DECDirection"].toString();
            snr = jsonEvent["SNR"].toDouble();
 
            if (RADirection == "East")
                pulse_ra = -pulse_ra;  //West Direction is Positive, East is Negative
            if (DECDirection == "South")
                pulse_dec = -pulse_dec; //South Direction is Negative, North is Positive
 
            //If the pixelScale is properly set from PHD2, the second block of code is not needed, but if not, we will attempt to calculate the ra and dec error without it.
            if (pixelScale != 0)
            {
                diff_ra_arcsecs = diff_ra_pixels * pixelScale;
                diff_de_arcsecs = diff_de_pixels * pixelScale;
            }
            else
            {
                diff_ra_arcsecs = 206.26480624709 * diff_ra_pixels * ccdPixelSizeX / mountFocalLength;
                diff_de_arcsecs = 206.26480624709 * diff_de_pixels * ccdPixelSizeY / mountFocalLength;
            }
 
            if (std::isfinite(snr))
                emit newSNR(snr);
 
            if (std::isfinite(diff_ra_arcsecs) && std::isfinite(diff_de_arcsecs))
            {
                errorLog.append(QPointF(diff_ra_arcsecs, diff_de_arcsecs));
                if(errorLog.size() > 50)
                    errorLog.remove(0);
 
                emit newAxisDelta(diff_ra_arcsecs, diff_de_arcsecs);
                emit newAxisPulse(pulse_ra, pulse_dec);
 
                // Does PHD2 real a sky background or num-stars measure?
                emit guideStats(diff_ra_arcsecs, diff_de_arcsecs, pulse_ra, pulse_dec,
                                std::isfinite(snr) ? snr : 0, 0, 0);
 
                double total_sqr_RA_error = 0.0;
                double total_sqr_DE_error = 0.0;
 
                for (auto &point : errorLog)
                {
                    total_sqr_RA_error += point.x() * point.x();
                    total_sqr_DE_error += point.y() * point.y();
                }
 
                emit newAxisSigma(sqrt(total_sqr_RA_error / errorLog.size()), sqrt(total_sqr_DE_error / errorLog.size()));
 
            }
            //Note that if it is receiving full size remote images, it should not get the guide star image.
            //But if it is not getting the full size images, or if the current camera is not in Ekos, it should get the guide star image
            //If we are getting the full size image, we will want to know the lock position for the image that loads in the viewer.
            if ( Options::guideSubframeEnabled() || currentCameraIsNotInEkos )
                requestStarImage(32); //This requests a star image for the guide view.  32 x 32 pixels
            else
                requestLockPosition();
        }
        break;
 
        case GuidingDithered:
            break;
 
        case LockPositionSet:
            handlePHD2AppState(SELECTED);
            break;
 
        case LockPositionLost:
            handlePHD2AppState(LOSTLOCK);
            break;
 
        case Alert:
            emit newLog(i18n("PHD2 %1: %2", jsonEvent["Type"].toString(), jsonEvent["Msg"].toString()));
            break;
 
        case GuideParamChange:
        case ConfigurationChange:
            //Don't do anything for now, might change this later.
            //Some Possible Parameter Names:
            //Backlash comp enabled, Backlash comp amount,
            //For Each Axis: MinMove, Max Duration,
            //PPEC aggressiveness, PPEC prediction weight,
            //Resist switch minimum motion, Resist switch aggression,
            //Low-pass minimum move, Low-pass slope weight,
            //Low-pass2 minimum move, Low-pass2 aggressiveness,
            //Hysteresis hysteresis, Hysteresis aggression
            break;
 
    }
}
 
void PHD2::processPHD2State(const QString &phd2State)
{
    if (phd2State == "Stopped")
        handlePHD2AppState(STOPPED);
    else if (phd2State == "Selected")
        handlePHD2AppState(SELECTED);
    else if (phd2State == "Calibrating")
        handlePHD2AppState(CALIBRATING);
    else if (phd2State == "Guiding")
        handlePHD2AppState(GUIDING);
    else if (phd2State == "LostLock")
        handlePHD2AppState(LOSTLOCK);
    else if (phd2State == "Paused")
        handlePHD2AppState(PAUSED);
    else if (phd2State == "Looping")
        handlePHD2AppState(LOOPING);
    else emit newLog(QString("PHD2: Unsupported app state ") + phd2State + ".");
}
 
void PHD2::handlePHD2AppState(PHD2State newstate)
{
    // do not handle the same state twice
    if (state == newstate)
        return;
 
    switch (newstate)
    {
        case STOPPED:
            switch (state)
            {
                case CALIBRATING:
                    //emit newLog(i18n("PHD2: Calibration Failed (%1).", jsonEvent["Reason"].toString()));
                    emit newStatus(Ekos::GUIDE_CALIBRATION_ERROR);
                    break;
                case LOOPING:
                    emit newLog(i18n("PHD2: Looping Exposures Stopped."));
                    emit newStatus(Ekos::GUIDE_IDLE);
                    break;
                case GUIDING:
                case LOSTLOCK:
                    emit newLog(i18n("PHD2: Guiding Stopped."));
                    emit newStatus(Ekos::GUIDE_ABORTED);
                    break;
                default:
                    if (connection == DISCONNECTING)
                    {
                        emit newLog("PHD2: Disconnecting equipment and external guider...");
                        connectEquipment(false);
                    }
                    break;
            }
            break;
 
        case SELECTED:
            switch (state)
            {
                case STOPPED:
                case CALIBRATING:
                case GUIDING:
                    emit newLog(i18n("PHD2: Lock Position Set."));
                    if (isSettling)
                    {
                        newstate = CALIBRATING;
                        emit newStatus(Ekos::GUIDE_CALIBRATING);
                    }
                    break;
                case DITHERING:
                    // do nothing, this is the initial step in PHD2 for dithering
                    break;
                default:
                    emit newLog(i18n("PHD2: Star Selected."));
                    emit newStatus(GUIDE_STAR_SELECT);
            }
            break;
 
        case GUIDING:
            switch (state)
            {
                case PAUSED:
                case DITHERING:
                    emit newLog(i18n("PHD2: Guiding resumed."));
                    abortTimer->stop();
                    emit newStatus(Ekos::GUIDE_GUIDING);
                    break;
                default:
                    emit newLog(i18n("PHD2: Guiding started."));
                    abortTimer->stop();
                    emit newStatus(Ekos::GUIDE_GUIDING);
                    break;
            }
            break;
 
        case LOSTLOCK:
            switch (state)
            {
                case CALIBRATING:
                    emit newLog(i18n("PHD2: Lock Position Lost, continuing calibration."));
                    // Don't be paranoid, accept star-lost events during calibration and trust PHD2 to complete
                    //newstate = STOPPED;
                    //emit newStatus(Ekos::GUIDE_CALIBRATION_ERROR);
                    break;
                case GUIDING:
                    emit newLog(i18n("PHD2: Star Lost. Trying to reacquire for %1s.", Options::guideLostStarTimeout()));
                    abortTimer->start(static_cast<int>(Options::guideLostStarTimeout()) * 1000);
                    qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: Lost star timeout started (" << Options::guideLostStarTimeout() << " sec)";
                    emit newStatus(Ekos::GUIDE_REACQUIRE);
                    break;
                default:
                    emit newLog(i18n("PHD2: Lock Position Lost."));
                    break;
            }
            break;
 
        case PAUSED:
            emit newLog(i18n("PHD2: Guiding paused."));
            emit newStatus(GUIDE_SUSPENDED);
            break;
 
        case CALIBRATING:
            emit newLog(i18n("PHD2: Calibrating, timing out in %1s.", Options::guideCalibrationTimeout()));
            abortTimer->start(static_cast<int>(Options::guideCalibrationTimeout()) * 1000);
            emit newStatus(GUIDE_CALIBRATING);
            break;
 
        case LOOPING:
            switch (state)
            {
                case CALIBRATING:
                    emit newLog(i18n("PHD2: Calibration turned to looping, failed."));
                    emit newStatus(GUIDE_CALIBRATION_ERROR);
                    break;
                default:
                    emit newLog(i18n("PHD2: Looping Exposures."));
                    emit newStatus(GUIDE_LOOPING);
                    break;
            }
            break;
        case DITHERING:
            emit newLog(i18n("PHD2: Dithering started."));
            emit newStatus(GUIDE_DITHERING);
            break;
    }
 
    state = newstate;
}
 
void PHD2::processPHD2Result(const QJsonObject &jsonObj, const QByteArray &line)
{
    PHD2ResultType resultType = takeRequestFromList(jsonObj);
 
    if (resultType == STAR_IMAGE)
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: received star image response, id" <<
                                   jsonObj["id"].toInt();   // don't spam the log with image data
    else
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: response:" << line;
 
    switch (resultType)
    {
        case NO_RESULT:
            //Ekos didn't ask for this result?
            break;
 
        case CAPTURE_SINGLE_FRAME:                  //capture_single_frame
            break;
 
        case CLEAR_CALIBRATION_COMMAND_RECEIVED:    //clear_calibration
            emit newLog(i18n("PHD2: Calibration is cleared"));
            break;
 
        case DITHER_COMMAND_RECEIVED:               //dither
            handlePHD2AppState(DITHERING);
            break;
 
        //find_star
        //flip_calibration
        //get_algo_param_names
        //get_algo_param
 
        case APP_STATE_RECEIVED:                    //get_app_state
        {
            QString state = jsonObj["State"].toString();
            if (state.isEmpty())
                state = jsonObj["result"].toString();
            if (state.isEmpty())
                qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: received unsupported app state";
            else
                processPHD2State(state);
        }
        break;
 
        //get_calibrated
        //get_calibration_data
 
        case IS_EQUIPMENT_CONNECTED:                //get_connected
        {
            bool isConnected = jsonObj["result"].toBool();
            switch (connection)
            {
                case CONNECTING:
                    // We just plugged in server, request equipment connection if needed
                    if (isConnected)
                    {
                        connection = CONNECTED;
                        setEquipmentConnected();
                    }
                    else connectEquipment(true);
                    break;
 
                case CONNECTED:
                    // We were waiting for equipment to be connected after plugging in server
                    if (isConnected)
                        setEquipmentConnected();
                    break;
 
                case DISCONNECTING:
                    // We were waiting for equipment to be disconnected before unplugging from server
                    if (!isConnected)
                    {
                        connection = EQUIPMENT_DISCONNECTED;
                        Disconnect();
                    }
                    else connectEquipment(false);
                    break;
 
                case EQUIPMENT_CONNECTED:
                    // Equipment was disconnected from PHD2 side, so notify clients and wait.
                    if (!isConnected)
                    {
                        // TODO: setEquipmentDisconnected()
                        connection = EQUIPMENT_DISCONNECTED;
                        emit newStatus(Ekos::GUIDE_DISCONNECTED);
                    }
                    break;
 
                case DISCONNECTED:
                case EQUIPMENT_DISCONNECTED:
                    // Equipment was connected from PHD2 side, so notify clients and wait.
                    if (isConnected)
                        setEquipmentConnected();
                    break;
            }
        }
        break;
 
        //get_cooler_status
        case GET_CURRENT_EQUIPMENT:                 //get_current_equipment
        {
            QJsonObject equipObject = jsonObj["result"].toObject();
            currentCamera = equipObject["camera"].toObject()["name"].toString();
            currentMount = equipObject["mount"].toObject()["name"].toString();
            currentAuxMount = equipObject["aux_mount"].toObject()["name"].toString();
 
            emit guideEquipmentUpdated();
 
            break;
        }
 
 
        case DEC_GUIDE_MODE:                        //get_dec_guide_mode
        {
            QString mode = jsonObj["result"].toString();
            Ekos::Manager::Instance()->guideModule()->updateDirectionsFromPHD2(mode);
            emit newLog(i18n("PHD2: DEC Guide Mode is Set to: %1", mode));
        }
        break;
 
 
        case EXPOSURE_TIME:                         //get_exposure
        {
            int exposurems = jsonObj["result"].toInt();
            double exposureTime = exposurems / 1000.0;
            Ekos::Manager::Instance()->guideModule()->setExposure(exposureTime);
            emit newLog(i18n("PHD2: Exposure Time set to: ") + QString::number(exposureTime, 'f', 2));
            break;
        }
 
 
        case EXPOSURE_DURATIONS:                    //get_exposure_durations
        {
            QVariantList exposureListArray = jsonObj["result"].toArray().toVariantList();
            logValidExposureTimes = i18n("PHD2: Valid Exposure Times: Auto, ");
            QList<double> values;
            for(int i = 1; i < exposureListArray.size();
                    i ++) //For some reason PHD2 has a negative exposure time of 1 at the start of the array?
                values << exposureListArray.at(i).toDouble() / 1000.0; //PHD2 reports in ms.
            logValidExposureTimes += Ekos::Manager::Instance()->guideModule()->setRecommendedExposureValues(values);
            emit newLog(logValidExposureTimes);
            break;
        }
        case LOCK_POSITION:                         //get_lock_position
        {
            if(jsonObj["result"].toArray().count() == 2)
            {
                double x  = jsonObj["result"].toArray().at(0).toDouble();
                double y  = jsonObj["result"].toArray().at(1).toDouble();
                QVector3D newStarCenter(x, y, 0);
                emit newStarPosition(newStarCenter, true);
 
                //This is needed so that PHD2 sends the new star pixmap when
                //remote images are enabled.
                emit newStarPixmap(m_GuideFrame->getTrackingBoxPixmap());
            }
            break;
        }
        //get_lock_shift_enabled
        //get_lock_shift_params
        //get_paused
 
        case PIXEL_SCALE:                           //get_pixel_scale
            pixelScale = jsonObj["result"].toDouble();
            if (pixelScale == 0)
                emit newLog(i18n("PHD2: Please set CCD and telescope parameters in PHD2, Pixel Scale is invalid."));
            else
                emit newLog(i18n("PHD2: Pixel Scale is %1 arcsec per pixel", QString::number(pixelScale, 'f', 2)));
            break;
 
        //get_profile
        //get_profiles
        //get_search_region
        //get_sensor_temperature
 
        case STAR_IMAGE:                            //get_star_image
        {
            starImageRequested = false;
            QJsonObject jsonResult = jsonObj["result"].toObject();
            processStarImage(jsonResult);
            break;
        }
 
        //get_use_subframes
 
        case GUIDE_COMMAND_RECEIVED:                //guide
            if (0 != jsonObj["result"].toInt(0))
            {
                emit newLog("PHD2: Guide command was rejected.");
                handlePHD2AppState(STOPPED);
            }
            break;
 
        //guide_pulse
 
        case LOOP:                                  //loop
            handlePHD2AppState(jsonObj["result"].toBool() ? LOOPING : STOPPED);
            break;
 
        //save_image
        //set_algo_param
 
        case CONNECTION_RESULT:                     //set_connected
            checkIfEquipmentConnected();
            break;
 
        case SET_DEC_GUIDE_MODE_COMMAND_RECEIVED:   //set_dec_guide_mode
            checkDEGuideMode();
            break;
 
        case SET_EXPOSURE_COMMAND_RECEIVED:         //set_exposure
            requestExposureTime(); //This will check what it was set to and print a message as to what it is.
            break;
 
        case SET_LOCK_POSITION:                     //set_lock_position
            handlePHD2AppState(SELECTED);
            break;
 
        //set_lock_shift_enabled
        //set_lock_shift_params
 
        case SET_PAUSED_COMMAND_RECEIVED:           //set_paused
            handlePHD2AppState(PAUSED);
            break;
        //set_profile
        //shutdown
 
        case STOP_CAPTURE_COMMAND_RECEIVED:         //stop_capture
            handlePHD2AppState(STOPPED);
            //emit newStatus(GUIDE_ABORTED);
            break;
    }
 
    // send the next pending call
    sendNextRpcCall();
}
 
void PHD2::processPHD2Error(const QJsonObject &jsonError, const QByteArray &line)
{
    qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: error:" << line;
 
    QJsonObject jsonErrorObject = jsonError["error"].toObject();
 
    PHD2ResultType resultType = takeRequestFromList(jsonError);
 
    // This means the user mistakenly entered an invalid exposure time.
    switch (resultType)
    {
        case SET_EXPOSURE_COMMAND_RECEIVED:
            emit newLog(logValidExposureTimes);  //This will let the user know the valid exposure durations
            QTimer::singleShot(300, [ = ] {requestExposureTime();}); //This will reset the Exposure time in Ekos to PHD2's current exposure time after a third of a second.
            break;
 
        case CONNECTION_RESULT:
            connection = EQUIPMENT_DISCONNECTED;
            emit newStatus(Ekos::GUIDE_DISCONNECTED);
            break;
 
        case DITHER_COMMAND_RECEIVED:
            ditherTimer->stop();
            isSettling = false;
            isDitherActive = false;
            emit newStatus(GUIDE_DITHERING_ERROR);
 
            if (Options::ditherFailAbortsAutoGuide())
            {
                abort();
                emit newLog("PHD2: failing after dithering aborts.");
                emit newStatus(GUIDE_ABORTED);
            }
            else
            {
                // !FIXME-ag why is this trying to resume (un-pause)?
                resume();
            }
            break;
 
        case GUIDE_COMMAND_RECEIVED:
            isSettling = false;
            break;
 
        default:
            emit newLog(i18n("PHD2 Error: unhandled '%1'", jsonErrorObject["message"].toString()));
            break;
    }
 
    // send the next pending call
    sendNextRpcCall();
}
 
//These methods process the Star Images the PHD2 provides
 
void PHD2::setGuideView(const QSharedPointer<FITSView> &guideView)
{
    m_GuideFrame = guideView;
}
 
void PHD2::processStarImage(const QJsonObject &jsonStarFrame)
{
    //The width and height of the received PHD2 Star Image
    int width =  jsonStarFrame["width"].toInt();
    int height = jsonStarFrame["height"].toInt();
 
    //This section sets up the FITS File
    fitsfile *fptr = nullptr;
    int status = 0;
    long fpixel = 1, naxis = 2, nelements, exposure;
    long naxes[2] = { width, height };
    char error_status[512] = {0};
 
    void* fits_buffer = nullptr;
    size_t fits_buffer_size = 0;
    if (fits_create_memfile(&fptr, &fits_buffer, &fits_buffer_size, 4096, realloc, &status))
    {
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_create_file failed:" << error_status;
        return;
    }
 
    if (fits_create_img(fptr, USHORT_IMG, naxis, naxes, &status))
    {
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_create_img failed:" << error_status;
        status = 0;
        fits_close_file(fptr, &status);
        free(fits_buffer);
        return;
    }
 
    //Note, this is made up.  If you want the actual exposure time, you have to request it from PHD2
    exposure = 1;
    fits_update_key(fptr, TLONG, "EXPOSURE", &exposure, "Total Exposure Time", &status);
 
    //This section takes the Pixels from the JSON Document
    //Then it converts from base64 to a QByteArray
    //Then it creates a datastream from the QByteArray to the pixel array for the FITS File
    QByteArray converted = QByteArray::fromBase64(jsonStarFrame["pixels"].toString().toLocal8Bit());
 
    //This finishes up and closes the FITS file
    nelements = naxes[0] * naxes[1];
    if (fits_write_img(fptr, TUSHORT, fpixel, nelements, converted.data(), &status))
    {
        fits_get_errstatus(status, error_status);
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_write_img failed:" << error_status;
        status = 0;
        fits_close_file(fptr, &status);
        free(fits_buffer);
        return;
    }
 
    if (fits_flush_file(fptr, &status))
    {
        fits_get_errstatus(status, error_status);
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_flush_file failed:" << error_status;
        status = 0;
        fits_close_file(fptr, &status);
        free(fits_buffer);
        return;
    }
 
    if (fits_close_file(fptr, &status))
    {
        fits_get_errstatus(status, error_status);
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_close_file failed:" << error_status;
        free(fits_buffer);
        return;
    }
 
    //This loads the FITS file in the Guide FITSView
    //Then it updates the Summary Screen
    QSharedPointer<FITSData> fdata;
    QByteArray buffer = QByteArray::fromRawData(reinterpret_cast<char *>(fits_buffer), fits_buffer_size);
    fdata.reset(new FITSData(), &QObject::deleteLater);
    fdata->loadFromBuffer(buffer, "fits");
    free(fits_buffer);
    m_GuideFrame->loadData(fdata);
 
    m_GuideFrame->updateFrame();
    m_GuideFrame->setTrackingBox(QRect(0, 0, width, height));
    emit newStarPixmap(m_GuideFrame->getTrackingBoxPixmap());
}
 
void PHD2::setEquipmentConnected()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        setConnectedRetries = 0;
        connection = EQUIPMENT_CONNECTED;
        emit newStatus(Ekos::GUIDE_CONNECTED);
        updateGuideParameters();
        requestExposureDurations();
        requestCurrentEquipmentUpdate();
    }
}
 
void PHD2::updateGuideParameters()
{
    if (pixelScale == 0)
        requestPixelScale();
    requestExposureTime();
    checkDEGuideMode();
}
 
//This section handles the methods/requests sent to PHD2, some are not implemented.
 
//capture_single_frame
void PHD2::captureSingleFrame()
{
    sendPHD2Request("capture_single_frame");
}
 
//clear_calibration
bool PHD2::clearCalibration()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    QJsonArray args;
    //This instructs PHD2 which calibration to clear.
    args << "mount";
    sendPHD2Request("clear_calibration", args);
 
    return true;
}
 
//dither
bool PHD2::dither(double pixels)
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    if (isSettling)
    {
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: ignoring dither requested while already settling";
 
        if (!isDitherActive)
        {
            // act like we just dithered so we get the appropriate
            // effects after the settling completes
            handlePHD2AppState(DITHERING);
            isDitherActive = true;
        }
        return true;
    }
 
    QJsonArray args;
    QJsonObject settle;
 
    int ditherTimeout = static_cast<int>(Options::ditherTimeout());
 
    settle.insert("pixels", static_cast<double>(Options::ditherThreshold()));
    settle.insert("time", static_cast<int>(Options::ditherSettle()));
    settle.insert("timeout", ditherTimeout);
 
    // Pixels
    args << pixels;
    // RA Only?
    args << false;
    // Settle
    args << settle;
 
    isSettling = true;
    isDitherActive = true;
 
    // PHD2 will send a SettleDone event shortly after the settling
    // timeout in PHD2. We don't really need a timer here, but we'll
    // set one anyway (belt and suspenders). Make sure to give an
    // extra time allowance since PHD2 won't report its timeout until
    // the completion of the next guide exposure after the timeout
    // period expires.
    enum { TIMEOUT_EXTRA_SECONDS = 60 };  // at least as long as any reasonable guide exposure
    int millis = (ditherTimeout + TIMEOUT_EXTRA_SECONDS) * 1000;
    ditherTimer->start(millis);
 
    sendPHD2Request("dither", args);
 
    handlePHD2AppState(DITHERING);
 
    return true;
}
 
//find_star
//flip_calibration
//get_algo_param_names
//get_algo_param
 
//get_app_state
void PHD2::requestAppState()
{
    sendPHD2Request("get_app_state");
}
 
//get_calibrated
//get_calibration_data
 
//get_connected
void PHD2::checkIfEquipmentConnected()
{
    sendPHD2Request("get_connected");
}
 
//get_cooler_status
//get_current_equipment
void PHD2::requestCurrentEquipmentUpdate()
{
    sendPHD2Request("get_current_equipment");
}
 
//get_dec_guide_mode
void PHD2::checkDEGuideMode()
{
    sendPHD2Request("get_dec_guide_mode");
}
 
//get_exposure
void PHD2::requestExposureTime()
{
    sendPHD2Request("get_exposure");
}
 
//get_exposure_durations
void PHD2::requestExposureDurations()
{
    sendPHD2Request("get_exposure_durations");
}
 
//get_lock_position
void PHD2::requestLockPosition()
{
    sendPHD2Request("get_lock_position");
}
//get_lock_shift_enabled
//get_lock_shift_params
//get_paused
 
//get_pixel_scale
void PHD2::requestPixelScale()
{
    sendPHD2Request("get_pixel_scale");
}
 
//get_profile
//get_profiles
//get_search_region
//get_sensor_temperature
 
//get_star_image
void PHD2::requestStarImage(int size)
{
    if (starImageRequested)
    {
        if (Options::verboseLogging())
            qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: skip extra star image request";
        return;
    }
 
    QJsonArray args2;
    args2 << size; // This is both the width and height.
    sendPHD2Request("get_star_image", args2);
 
    starImageRequested = true;
}
 
//get_use_subframes
 
//guide
bool PHD2::guide()
{
    if (state == GUIDING)
    {
        emit newLog(i18n("PHD2: Guiding is already running."));
        emit newStatus(Ekos::GUIDE_GUIDING);
        return true;
    }
 
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    QJsonArray args;
    QJsonObject settle;
 
    settle.insert("pixels", static_cast<double>(Options::ditherThreshold()));
    settle.insert("time", static_cast<int>(Options::ditherSettle()));
    settle.insert("timeout", static_cast<int>(Options::ditherTimeout()));
 
    // Settle param
    args << settle;
    // Recalibrate param
    args << false;
 
    errorLog.clear();
 
    isSettling = true;
    sendPHD2Request("guide", args);
 
    return true;
}
 
//guide_pulse
//loop
void PHD2::loop()
{
    sendPHD2Request("loop");
}
//save_image
//set_algo_param
 
//set_connected
void PHD2::connectEquipment(bool enable)
{
    if (connection == EQUIPMENT_CONNECTED && enable == true)
        return;
 
    if (connection == EQUIPMENT_DISCONNECTED && enable == false)
        return;
 
    if (setConnectedRetries++ > MAX_SET_CONNECTED_RETRIES)
    {
        setConnectedRetries = 0;
        connection = EQUIPMENT_DISCONNECTED;
        emit newStatus(Ekos::GUIDE_DISCONNECTED);
        return;
    }
 
    pixelScale = 0 ;
 
    QJsonArray args;
 
    // connected = enable
    args << enable;
 
    if (enable)
        emit newLog(i18n("PHD2: Connecting Equipment. . ."));
    else
        emit newLog(i18n("PHD2: Disconnecting Equipment. . ."));
 
    sendPHD2Request("set_connected", args);
}
 
//set_dec_guide_mode
void PHD2::requestSetDEGuideMode(bool deEnabled, bool nEnabled,
                                 bool sEnabled) //Possible Settings Off, Auto, North, and South
{
    QJsonArray args;
 
    if(deEnabled)
    {
        if(nEnabled && sEnabled)
            args << "Auto";
        else if(nEnabled)
            args << "North";
        else if(sEnabled)
            args << "South";
        else
            args << "Off";
    }
    else
    {
        args << "Off";
    }
 
    sendPHD2Request("set_dec_guide_mode", args);
}
 
//set_exposure
void PHD2::requestSetExposureTime(int time) //Note: time is in milliseconds
{
    QJsonArray args;
    args << time;
    sendPHD2Request("set_exposure", args);
}
 
//set_lock_position
void PHD2::setLockPosition(double x, double y)
{
    // Note: false will mean if a guide star is near the coordinates, it will use that.
    QJsonArray args;
    args << x << y << false;
    sendPHD2Request("set_lock_position", args);
}
//set_lock_shift_enabled
//set_lock_shift_params
 
//set_paused
bool PHD2::suspend()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    QJsonArray args;
 
    // Paused param
    args << true;
    // FULL param
    args << "full";
 
    sendPHD2Request("set_paused", args);
 
    if (abortTimer->isActive())
    {
        // Avoid that the a preceding lost star event leads to an abort while guiding is suspended.
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: Lost star timeout cancelled.";
        abortTimer->stop();
    }
 
    return true;
}
 
//set_paused (also)
bool PHD2::resume()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    QJsonArray args;
 
    // Paused param
    args << false;
 
    sendPHD2Request("set_paused", args);
 
    if (state == LOSTLOCK)
    {
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: Lost star timeout restarted.";
        abortTimer->start(static_cast<int>(Options::guideLostStarTimeout()) * 1000);
    }
 
    return true;
}
 
//set_profile
//shutdown
 
//stop_capture
bool PHD2::abort()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    abortTimer->stop();
 
    sendPHD2Request("stop_capture");
    return true;
}
 
//This method is not handled by PHD2
bool PHD2::calibrate()
{
    // We don't explicitly do calibration since it is done in the guide step by PHD2 anyway
    //emit newStatus(Ekos::GUIDE_CALIBRATION_SUCCESS);
    return true;
}
 
//This is how information requests and commands for PHD2 are handled
 
void PHD2::sendRpcCall(QJsonObject &call, PHD2ResultType resultType)
{
    assert(resultType != NO_RESULT); // should be a real request
    assert(pendingRpcResultType == NO_RESULT);  // only one pending RPC call at a time
 
    int rpcId = nextRpcId++;
    call.insert("id", rpcId);
 
    pendingRpcId = rpcId;
    pendingRpcResultType = resultType;
 
    QByteArray request = QJsonDocument(call).toJson(QJsonDocument::Compact);
 
    qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: request:" << request;
 
    request.append("\r\n");
 
    if (tcpSocket->state() == QTcpSocket::ConnectedState)
    {
        qint64 const n = tcpSocket->write(request);
 
        if ((int) n != request.size())
        {
            qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: unexpected short write:" << n << "bytes of" << request.size();
        }
    }
}
 
void PHD2::sendNextRpcCall()
{
    if (pendingRpcResultType != NO_RESULT)
        return; // a request is currently outstanding
 
    if (rpcRequestQueue.empty())
        return; // no queued requests
 
    RpcCall &call = rpcRequestQueue.front();
    sendRpcCall(call.call, call.resultType);
    rpcRequestQueue.pop_front();
}
 
void PHD2::sendPHD2Request(const QString &method, const QJsonArray &args)
{
    assert(methodResults.contains(method));
 
    PHD2ResultType resultType = methodResults[method];
 
    QJsonObject jsonRPC;
 
    jsonRPC.insert("jsonrpc", "2.0");
    jsonRPC.insert("method", method);
 
    if (!args.empty())
        jsonRPC.insert("params", args);
 
    if (pendingRpcResultType == NO_RESULT)
    {
        // no outstanding rpc call, send it right off
        sendRpcCall(jsonRPC, resultType);
    }
    else
    {
        // there is already an outstanding call, enqueue this call
        // until the prior call completes
 
        if (Options::verboseLogging())
            qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: defer call" << method;
 
        rpcRequestQueue.push_back(RpcCall(jsonRPC, resultType));
    }
}
 
PHD2::PHD2ResultType PHD2::takeRequestFromList(const QJsonObject &response)
{
    if (Q_UNLIKELY(!response.contains("id")))
    {
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: ignoring unexpected response with no id";
        return NO_RESULT;
    }
 
    int id = response["id"].toInt();
 
    if (Q_UNLIKELY(id != pendingRpcId))
    {
        // RPC id mismatch -- this should never happen, something is
        // seriously wrong
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: ignoring unexpected response with id" << id;
        return NO_RESULT;
    }
 
    PHD2ResultType val = pendingRpcResultType;
    pendingRpcResultType = NO_RESULT;
    return val;
}
 
}