gmath.h

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/*  Ekos guide tool
    Copyright (C) 2012 Andrew Stepanenko

    Modified by Jasem Mutlaq <mutlaqja@ikarustech.com> for KStars.

    This application is free software; you can redistribute it and/or
    modify it under the terms of the GNU General Public
    License as published by the Free Software Foundation; either
    version 2 of the License, or (at your option) any later version.
 */

#ifndef GMATH_H_
#define GMATH_H_

#include <stdint.h>
#include <sys/types.h>
#include "vect.h"
#include "matr.h"
#include "common.h"

class FITSView;

typedef struct
{
    int size;
    double square;
}guide_square_t;

#define SMART_THRESHOLD 0
#define CENTROID_THRESHOLD 1
#define AUTO_THRESHOLD  2
#define NO_THRESHOLD    3

typedef struct
{
    int idx;
    const char name[32];
}square_alg_t;

// smart threshold algorithm param
// width of outer frame for backgroung calculation
#define SMART_FRAME_WIDTH   4
// cut-factor above avarage threshold
#define SMART_CUT_FACTOR    0.1


#define GUIDE_RA    0
#define GUIDE_DEC   1
#define CHANNEL_CNT 2
#define DEFAULT_SQR 1

#define  MAX_ACCUM_CNT  50
extern const guide_square_t guide_squares[];
extern const square_alg_t guide_square_alg[];



typedef struct
{
    enum type_t
    {
        OVR_SQUARE = 1,
        OVR_RETICLE = 2
    };
    int visible;
    int square_size;
    point_t square_pos;
    point_t reticle_axis_ra[2];
    point_t reticle_axis_dec[2];
    point_t reticle_pos;
}ovr_params_t;


// input params
class cproc_in_params
{
public:
    cproc_in_params();
    void reset( void );

    int       threshold_alg_idx;
    double    guiding_rate;
    bool      enabled[CHANNEL_CNT];
    bool      average;
    uint32_t  accum_frame_cnt[CHANNEL_CNT];
    double    proportional_gain[CHANNEL_CNT];
    double    integral_gain[CHANNEL_CNT];
    double    derivative_gain[CHANNEL_CNT];
    int       max_pulse_length[CHANNEL_CNT];
    int       min_pulse_length[CHANNEL_CNT];
};


//output params
class cproc_out_params
{
public:
    cproc_out_params();
    void reset( void );

    double      delta[2];
    GuideDirection  pulse_dir[2];
    int         pulse_length[2];
    double      sigma[2];
};


typedef struct
{
 double focal_ratio;
 double fov_wd, fov_ht;
 double focal, aperture;
}info_params_t;


class cgmath
{
public:
    cgmath();
    virtual ~cgmath();
    
    // functions
    bool set_video_params( int vid_wd, int vid_ht );
    float *get_data_buffer( int *width, int *height, int *length, int *size );
    bool set_guider_params( double ccd_pix_wd, double ccd_pix_ht, double guider_aperture, double guider_focal );
    void get_guider_params( double *ccd_pix_wd, double *ccd_pix_ht, double *guider_aperture, double *guider_focal );
    bool set_reticle_params( double x, double y, double ang );
    bool get_reticle_params( double *x, double *y, double *ang ) const;
    int  get_square_index( void ) const;
    int  get_square_algorithm_index( void ) const;
    void set_square_algorithm( int alg_idx );
    cproc_in_params *get_in_params( void );
    void set_in_params( const cproc_in_params *v );
    const cproc_out_params *get_out_params( void ) const;
    info_params_t get_info_params( void ) const;
    uint32_t get_ticks( void ) const;
    void get_star_drift( double *dx, double *dy ) const;
    void get_star_screen_pos( double *dx, double *dy ) const;
    bool reset( void );
    void set_buffer(float *buffer);
    void set_image(FITSView *image);
    FITSView *get_image() { return pimage; }
    
    ovr_params_t *prepare_overlays( void );
    void move_square( double newx, double newy );
    void resize_square( int size_idx );
    
    // proc
    void start( void );
    void stop( void );
    void suspend( bool mode );
    bool is_suspended( void ) const;
    bool is_lost_star(void) const;
    void set_lost_star(bool is_lost);
    void do_processing( void );
    static double precalc_proportional_gain( double g_rate );
    bool calc_and_set_reticle( double start_x, double start_y, double end_x, double end_y );
    bool calc_and_set_reticle2( double start_ra_x, double start_ra_y, double end_ra_x, double end_ra_y, double start_dec_x, double start_dec_y, double end_dec_x, double end_dec_y);
    double calc_phi( double start_x, double start_y, double end_x, double end_y ) const;

private:
    // sys...
    uint32_t ticks;     // global channel ticker
    float *pdata;       // pointer to data buffer
    FITSView *pimage;   // pointer to image
    int video_width, video_height;  // video frame dimensions
    double ccd_pixel_width, ccd_pixel_height, aperture, focal;
    Matrix  ROT_Z;
    bool preview_mode, suspended, lost_star;
    
    // square variables
    int square_size;    // size of analysing square
    double square_square; // square of guiding rect
    Vector square_pos;  // integer values in double vars.
    int square_idx;     // index in size list
    int square_alg_idx;     // index of threshold algorithm
    
    // sky coord. system vars.
    Vector star_pos;    // position of star in reticle coord. system
    Vector scr_star_pos; // sctreen star position
    Vector reticle_pos;
    Vector reticle_orts[2];
    double reticle_angle;
    
    // processing
    uint32_t  channel_ticks[2];
    uint32_t  accum_ticks[2];
    double *drift[2];
    double drift_integral[2];
    
    // overlays...
    ovr_params_t overlays;
    cproc_in_params  in_params;
    cproc_out_params out_params;
    
    // stat math...
    bool do_statistics;
    double sum, sqr_sum;
    double delta_prev, sigma_prev, sigma;

    // proc
    void do_ticks( void );
    Vector point2arcsec( const Vector &p ) const;
    Vector find_star_local_pos( void ) const;
    void process_axes( void );
    void calc_square_err( void );
    
};

#endif /*GMATH_H_*/