phd2.h

/*
    SPDX-FileCopyrightText: 2016 Jasem Mutlaq <mutlaqja@ikarustech.com>
 
    SPDX-License-Identifier: GPL-2.0-or-later
*/
 
#pragma once
 
#include "../guideinterface.h"
 
#include <QAbstractSocket>
#include <QJsonArray>
#include <QJsonObject>
#include <QPointer>
#include <QTimer>
 
class FITSView;
class QTcpSocket;
 
namespace Ekos
{
/**
 * @class  PHD2
 * Uses external PHD2 for guiding.
 *
 * @author Jasem Mutlaq
 * @version 1.1
 */
class PHD2 : public GuideInterface
{
        Q_OBJECT
 
    public:
        enum PHD2Event
        {
            Version,
            LockPositionSet,
            Calibrating,
            CalibrationComplete,
            StarSelected,
            StartGuiding,
            Paused,
            StartCalibration,
            AppState,
            CalibrationFailed,
            CalibrationDataFlipped,
            LoopingExposures,
            LoopingExposuresStopped,
            SettleBegin,
            Settling,
            SettleDone,
            StarLost,
            GuidingStopped,
            Resumed,
            GuideStep,
            GuidingDithered,
            LockPositionLost,
            Alert,
            GuideParamChange,
            ConfigurationChange
 
        };
        enum PHD2State
        {
            // these are the states exposed by phd2
            STOPPED,
            SELECTED,
            CALIBRATING,
            GUIDING,
            LOSTLOCK,
            PAUSED,
            LOOPING,
            DITHERING,
        };
        enum PHD2Connection
        {
            DISCONNECTED,
            CONNECTED,
            EQUIPMENT_DISCONNECTED,
            EQUIPMENT_CONNECTED,
            CONNECTING,
            DISCONNECTING,
        };
        enum PHD2MessageType
        {
            PHD2_UNKNOWN,
            PHD2_RESULT,
            PHD2_EVENT,
            PHD2_ERROR,
        };
 
        // These are the PHD2 Results and the commands they are associated with
        enum PHD2ResultType
        {
            NO_RESULT,
            CAPTURE_SINGLE_FRAME,                   //capture_single_frame
            CLEAR_CALIBRATION_COMMAND_RECEIVED,     //clear_calibration
            DITHER_COMMAND_RECEIVED,                //dither
            //find_star
            //flip_calibration
            //get_algo_param_names
            //get_algo_param
            APP_STATE_RECEIVED,                     //get_app_state
            //get_calibrated
            //get_calibration_data
            IS_EQUIPMENT_CONNECTED,                 //get_connected
            //get_cooler_status
            GET_CURRENT_EQUIPMENT,                  //get_current_equipment
            DEC_GUIDE_MODE,                         //get_dec_guide_mode
            EXPOSURE_TIME,                          //get_exposure
            EXPOSURE_DURATIONS,                     //get_exposure_durations
            LOCK_POSITION,                          //get_lock_position
            //get_lock_shift_enabled
            //get_lock_shift_params
            //get_paused
            PIXEL_SCALE,                            //get_pixel_scale
            //get_profile
            //get_profiles
            //get_search_region
            //get_sensor_temperature
            STAR_IMAGE,                             //get_star_image
            //get_use_subframes
            GUIDE_COMMAND_RECEIVED,                 //guide
            //guide_pulse
            LOOP,                                   //loop
            //save_image
            //set_algo_param
            CONNECTION_RESULT,                      //set_connected
            SET_DEC_GUIDE_MODE_COMMAND_RECEIVED,    //set_dec_guide_mode
            SET_EXPOSURE_COMMAND_RECEIVED,          //set_exposure
            SET_LOCK_POSITION,                      //set_lock_position
            //set_lock_shift_enabled
            //set_lock_shift_params
            SET_PAUSED_COMMAND_RECEIVED,            //set_paused
            //set_profile
            //shutdown
            STOP_CAPTURE_COMMAND_RECEIVED           //stop_capture
        };
 
        PHD2();
        ~PHD2();
 
        //These are the connection methods to connect the external guide program PHD2
        bool Connect() override;
        bool Disconnect() override;
        bool isConnected() override
        {
            return (connection == CONNECTED || connection == EQUIPMENT_CONNECTED);
        }
 
        //These are the PHD2 Methods.  Only some are implemented in Ekos.
 
        void captureSingleFrame();              //capture_single_frame
        bool clearCalibration() override;       //clear_calibration
        bool dither(double pixels) override;    //dither
        //find_star
        //flip_calibration
        //get_algo_param_names
        //get_algo_param
        void requestAppState();                //get_app_state
        //get_calibrated
        //get_calibration_data
        void checkIfEquipmentConnected();       //get_connected
        //get_cooler_status
        void requestCurrentEquipmentUpdate();     //get_current_equipment
        void checkDEGuideMode();                //get_dec_guide_mode
        void requestExposureTime();             //get_exposure
        void requestExposureDurations();        //get_exposure_durations
        void requestLockPosition();             //get_lock_position
        //get_lock_shift_enabled
        //get_lock_shift_params
        //get_paused
        void requestPixelScale();               //get_pixel_scale
        //get_profile
        //get_profiles
        //get_search_region
        //get_sensor_temperature
        void requestStarImage(int size);        //get_star_image
        //get_use_subframes
        bool guide() override;                  //guide
        //guide_pulse
        void loop();                            //loop
        //save_image
        //set_algo_param
        void connectEquipment(bool enable);//set_connected
        void requestSetDEGuideMode(bool deEnabled, bool nEnabled, bool sEnabled);           //set_dec_guide_mode
        void requestSetExposureTime(int time);  //set_exposure
        void setLockPosition(double x, double y); //set_lock_position
        //set_lock_shift_enabled
        //set_lock_shift_params
        bool suspend() override;                //set_paused
        bool resume() override;                 //set_paused
        //set_profile
        //shutdown
        bool abort() override;                  //stop_capture
 
        bool calibrate() override; //Note PHD2 does not have a separate calibrate command.  This is unused.
        void setGuideView(const QSharedPointer<FITSView> &guideView);
 
        QString getCurrentCamera()
        {
            return currentCamera;
        }
        QString getCurrentMount()
        {
            return currentMount;
        }
        QString getCurrentAuxMount()
        {
            return currentAuxMount;
        }
 
        bool isCurrentCameraNotInEkos()
        {
            return currentCameraIsNotInEkos;
        }
        void setCurrentCameraIsNotInEkos(bool enable)
        {
            currentCameraIsNotInEkos = enable;
        }
 
    private slots:
 
        void readPHD2();
        void displayError(QAbstractSocket::SocketError socketError);
 
    private:
        QSharedPointer<FITSView> m_GuideFrame;
 
        QVector<QPointF> errorLog;
 
        void sendPHD2Request(const QString &method, const QJsonObject &args = QJsonObject());
        void sendRpcCall(QJsonObject &call, PHD2ResultType resultType);
        void sendNextRpcCall();
 
        void processPHD2Event(const QJsonObject &jsonEvent, const QByteArray &rawResult);
        void processPHD2Result(const QJsonObject &jsonObj, const QByteArray &rawResult);
        void processStarImage(const QJsonObject &jsonStarFrame);
        void processPHD2State(const QString &phd2State);
        void handlePHD2AppState(PHD2State state);
        void processPHD2Error(const QJsonObject &jsonError, const QByteArray &rawResult);
 
        PHD2ResultType takeRequestFromList(const QJsonObject &response);
 
        QPointer<QTcpSocket> tcpSocket;
        int nextRpcId { 1 };
 
        QHash<QString, PHD2Event> events;                     // maps event name to event type
        QHash<QString, PHD2ResultType> methodResults;         // maps method name to result type
 
        int pendingRpcId;                         // ID of outstanding RPC call
        PHD2ResultType pendingRpcResultType { NO_RESULT };      // result type of outstanding RPC call
        bool starImageRequested { false };        // true when there is an outstanding star image request
 
        struct RpcCall
        {
            QJsonObject call;
            PHD2ResultType resultType;
            RpcCall() = default;
            RpcCall(const QJsonObject &call_, PHD2ResultType resultType_) : call(call_), resultType(resultType_) { }
        };
        QVector<RpcCall> rpcRequestQueue;
 
        PHD2State state { STOPPED };
        bool isDitherActive { false };
        bool isSettling { false };
        PHD2Connection connection { DISCONNECTED };
        PHD2Event event { Alert };
        uint8_t setConnectedRetries { 0 };
 
        void setEquipmentConnected();
        void updateGuideParameters();
        void ResetConnectionState();
 
        QTimer *abortTimer;
        QTimer *ditherTimer;
        QTimer *stateTimer;
 
        double pixelScale = 0;
 
        QString logValidExposureTimes;
 
        QString currentCamera;
        QString currentMount;
        QString currentAuxMount;
        bool currentCameraIsNotInEkos;
 
        uint8_t m_PHD2ReconnectCounter {0};
 
        // Wait this many milliseconds before trying to reconnect again to PHD2
        static const uint32_t PHD2_RECONNECT_TIMEOUT {3000};
        // Try to connect this many times before giving up.
        static const uint8_t PHD2_RECONNECT_THRESHOLD {10};
 
};
 
}