/// <summary>
/// Gets the observed axis positions for a given mount axis position.
/// </summary>
/// <param name="mountAxes">Mount Ra and Dec axis positions</param>
/// <param name="pierSide">The pier side to use 0 = East, 1 = West, 2 = Unknown</param>
/// <returns></returns>
public double[] GetObservedAxes(double[] mountAxes, int pierSide)
{
if (!IsAlignmentOn || !AlignmentPoints.Any())
{
return(mountAxes); // Fast exit as alignment modeling is switched off or there are no points.
}
lock (_accessLock)
{
try
{
AxisPosition mAxes = new AxisPosition(mountAxes);
if (mAxes.IncludedAngleTo(_homePosition) < ProximityLimit)
{
return(mountAxes); // Fast exist if we are going home.
}
RaiseNotification(NotificationType.Information, MethodBase.GetCurrentMethod().Name,
$"GetObservedAxes for {mountAxes[0]}/{mountAxes[1]}");
PierSide pSide = (PierSide)pierSide;
WriteLastAccessTime();
Matrix offsets = Matrix.CreateInstance(1, 2);
if (AlignmentPoints.Count == 1)
{
offsets[0, 0] = AlignmentPoints[0].ObservedAxes[0] - AlignmentPoints[0].MountAxes[0];
offsets[0, 1] = AlignmentPoints[0].ObservedAxes[1] - AlignmentPoints[0].MountAxes[1];
RaiseNotification(NotificationType.Data, MethodBase.GetCurrentMethod().Name,
$"Single alignment point selected {AlignmentPoints[0].Id:D3}, Mount axes: {AlignmentPoints[0].MountAxes.RaAxis}/{AlignmentPoints[0].MountAxes.RaAxis}, Observed axes: {AlignmentPoints[0].ObservedAxes.RaAxis}/{AlignmentPoints[0].ObservedAxes.RaAxis}");
}
else
{
AlignmentPoint[] alignmentPoints = GetNearestMountPoints(mAxes, pSide, SampleSize);
int rows = alignmentPoints.Length;
if (rows > 2)
{
// Build features and values from registered points
Matrix features = Matrix.CreateInstance(rows, 3);
Matrix values = Matrix.CreateInstance(rows, 2);
_stringBuilder.Clear();
_stringBuilder.Append("Points chosen are");
for (int i = 0; i < rows; i++)
{
var pt = alignmentPoints[i];
_stringBuilder.Append($" ({pt.Id:D3})");
features[i, 0] = 1f;
features[i, 1] = pt.MountAxes[0] * pt.MountAxes[0];
features[i, 2] = pt.MountAxes[1] * pt.MountAxes[1];
values[i, 0] = Range.RangePlusOrMinus180(pt.ObservedAxes[0] - pt.MountAxes[0]);
values[i, 1] = Range.RangePlusOrMinus180(pt.ObservedAxes[1] - pt.MountAxes[1]);
}
_stringBuilder.AppendLine(".");
// Solve the normal equation to get theta
Matrix theta = SolveNormalEquation(features, values);
// Calculate the difference for the incoming points
Matrix target = Matrix.CreateInstance(1, 3);
target[0, 0] = 1f;
target[0, 1] = mAxes[0] * mAxes[0];
target[0, 2] = mAxes[1] * mAxes[1];
offsets = target * theta;
_stringBuilder.AppendLine("Features");
_stringBuilder.AppendLine(features.ToString());
_stringBuilder.AppendLine("Values");
_stringBuilder.AppendLine(values.ToString());
_stringBuilder.AppendLine("Theta");
_stringBuilder.AppendLine(theta.ToString());
_stringBuilder.AppendLine("Target");
_stringBuilder.AppendLine(target.ToString());
_stringBuilder.AppendLine("Offsets");
_stringBuilder.AppendLine(offsets.ToString());
RaiseNotification(NotificationType.Data, MethodBase.GetCurrentMethod().Name, _stringBuilder.ToString());
_stringBuilder.Clear();
}
else if (rows > 0)
{
// Just use the nearest point of the two.
offsets[0, 0] = alignmentPoints[0].ObservedAxes[0] - alignmentPoints[0].MountAxes[0];
offsets[0, 1] = alignmentPoints[0].ObservedAxes[1] - alignmentPoints[0].MountAxes[1];
RaiseNotification(NotificationType.Data, MethodBase.GetCurrentMethod().Name,
$"Using nearest point of two {alignmentPoints[0].Id:D3}, Mount axes: {alignmentPoints[0].MountAxes.RaAxis}/{alignmentPoints[0].MountAxes.RaAxis}, Observed axes: {alignmentPoints[0].ObservedAxes.RaAxis}/{alignmentPoints[0].ObservedAxes.RaAxis}");
}
// Otherwise default to using no correcting offset
}
var observedAxes = new[]
{
mountAxes[0] + offsets[0, 0],
mountAxes[1] + offsets[0, 1]
};
RaiseNotification(NotificationType.Data, MethodBase.GetCurrentMethod().Name,
$"Correction -> Observer = {offsets[0, 0]}/{offsets[0, 1]}");
RaiseNotification(NotificationType.Information, MethodBase.GetCurrentMethod().Name,
$"Mount axes: {mountAxes[0]}/{mountAxes[1]} -> Observed axes: {observedAxes[0]}/{observedAxes[1]}");
return(observedAxes);
}
catch (Exception ex)
{
LogException(ex, true);
return(mountAxes);
}
}
}
/// <summary>
/// Gets the mount axis positions for a given observed axis position.
/// </summary>
/// <param name="observedAxes">Observed Ra and Dec axis positions</param>
/// <param name="pierSide">The pier side to use 0 = East, 1 = West, 2 = Unknown</param>
/// <returns></returns>
public double[] GetMountAxes(double[] observedAxes, int pierSide)
{
if (!IsAlignmentOn || !AlignmentPoints.Any())
{
return(observedAxes); // Fast exit as alignment modeling is switched off or there are no points.
}
lock (_accessLock)
{
try
{
bool postLogMessages = false;
AxisPosition sAxes = new AxisPosition(observedAxes);
if (sAxes.IncludedAngleTo(_homePosition) < ProximityLimit)
{
return(observedAxes); // Fast exit if we are going home.
}
PierSide pSide = (PierSide)pierSide;
WriteLastAccessTime();
Matrix offsets = Matrix.CreateInstance(1, 2);
int checksum;
if (AlignmentPoints.Count == 1)
{
checksum = GetChecksum(AlignmentPoints[0].Id);
if (checksum == _currentChecksum)
{
// Checksum hasn't changed so use the last offsets
offsets = _lastOffsets;
}
else
{
RaiseNotification(NotificationType.Information, MethodBase.GetCurrentMethod().Name,
$"GetMountAxes for {observedAxes[0]}/{observedAxes[1]}");
ClearSelectedPoints();
offsets[0, 0] = AlignmentPoints[0].MountAxes[0] - AlignmentPoints[0].ObservedAxes[0];
offsets[0, 1] = AlignmentPoints[0].MountAxes[1] - AlignmentPoints[0].ObservedAxes[1];
AlignmentPoints[0].Selected = true;
_selectedPoints.Add(AlignmentPoints[0]);
// Cache the offsets and checksum
_lastOffsets = offsets;
_currentChecksum = checksum;
RaiseNotification(NotificationType.Data, MethodBase.GetCurrentMethod().Name,
$"Single alignment point selected {AlignmentPoints[0].Id:D3}, Mount axes: {AlignmentPoints[0].MountAxes.RaAxis}/{AlignmentPoints[0].MountAxes.RaAxis}, Observed axes: {AlignmentPoints[0].ObservedAxes.RaAxis}/{AlignmentPoints[0].ObservedAxes.RaAxis}");
postLogMessages = true;
}
}
else
{
// Get the nearest points and their corresponding checksum value
AlignmentPoint[] alignmentPoints =
GetNearestObservedPoints(sAxes, pSide, SampleSize, out checksum);
if (checksum == _currentChecksum)
{
// Checksum hasn't changed to use the last offsets
offsets = _lastOffsets;
}
else
{
int rows = alignmentPoints.Length;
if (rows > 2)
{
RaiseNotification(NotificationType.Information, MethodBase.GetCurrentMethod().Name,
$"GetMountAxes for {observedAxes[0]}/{observedAxes[1]}");
ClearSelectedPoints();
// Build features and values from registered points
Matrix features = Matrix.CreateInstance(rows, 3);
Matrix values = Matrix.CreateInstance(rows, 2);
_stringBuilder.Clear();
_stringBuilder.Append("Points chosen are");
for (int i = 0; i < rows; i++)
{
var pt = alignmentPoints[i];
_stringBuilder.Append($" ({pt.Id:D3})");
features[i, 0] = 1f;
features[i, 1] = pt.ObservedAxes[0] * pt.ObservedAxes[0];
features[i, 2] = pt.ObservedAxes[1] * pt.ObservedAxes[1];
values[i, 0] = Range.RangePlusOrMinus180(pt.MountAxes[0] - pt.ObservedAxes[0]);
values[i, 1] = Range.RangePlusOrMinus180(pt.MountAxes[1] - pt.ObservedAxes[1]);
pt.Selected = true;
_selectedPoints.Add(pt);
}
_stringBuilder.AppendLine(".");
// Solve the normal equation to get theta
Matrix theta = SolveNormalEquation(features, values);
// Calculate the difference for the incoming points
Matrix target = Matrix.CreateInstance(1, 3);
target[0, 0] = 1f;
target[0, 1] = sAxes[0] * sAxes[0];
target[0, 2] = sAxes[1] * sAxes[1];
offsets = target * theta;
_stringBuilder.AppendLine("Features");
_stringBuilder.AppendLine(features.ToString());
_stringBuilder.AppendLine("Values");
_stringBuilder.AppendLine(values.ToString());
_stringBuilder.AppendLine("Theta");
_stringBuilder.AppendLine(theta.ToString());
_stringBuilder.AppendLine("Target");
_stringBuilder.AppendLine(target.ToString());
_stringBuilder.AppendLine("Offsets");
_stringBuilder.AppendLine(offsets.ToString());
RaiseNotification(NotificationType.Data, MethodBase.GetCurrentMethod().Name, _stringBuilder.ToString());
_stringBuilder.Clear();
// Cache the offsets and the checksum
_lastOffsets = offsets;
_currentChecksum = checksum;
postLogMessages = true;
}
else if (rows > 0)
{
checksum = GetChecksum(AlignmentPoints[0].Id);
if (checksum == _currentChecksum)
{
// Checksum hasn't changed so use the last offsets
offsets = _lastOffsets;
}
else
{
RaiseNotification(NotificationType.Information, MethodBase.GetCurrentMethod().Name,
$"GetMountAxes for {observedAxes[0]}/{observedAxes[1]}");
ClearSelectedPoints();
// Use the nearest point of the two.
offsets[0, 0] =
alignmentPoints[0].MountAxes[0] - alignmentPoints[0].ObservedAxes[0];
offsets[0, 1] =
alignmentPoints[0].MountAxes[1] - alignmentPoints[0].ObservedAxes[1];
alignmentPoints[0].Selected = true;
_selectedPoints.Add(alignmentPoints[0]);
// Cache the offsets and checksum
_lastOffsets = offsets;
_currentChecksum = checksum;
postLogMessages = true;
RaiseNotification(NotificationType.Data, MethodBase.GetCurrentMethod().Name,
$"Using nearest point of two {alignmentPoints[0].Id:D3}, Mount axes: {alignmentPoints[0].MountAxes.RaAxis}/{alignmentPoints[0].MountAxes.RaAxis}, Observed axes: {alignmentPoints[0].ObservedAxes.RaAxis}/{alignmentPoints[0].ObservedAxes.RaAxis}");
}
}
else
{
if (_currentChecksum != int.MinValue)
{
_currentChecksum = int.MinValue;
RaiseNotification(NotificationType.Warning, MethodBase.GetCurrentMethod().Name,
$"No alignment points selected, Mount axes: {alignmentPoints[0].MountAxes.RaAxis}/{alignmentPoints[0].MountAxes.RaAxis}, Observed axes: {alignmentPoints[0].ObservedAxes.RaAxis}/{alignmentPoints[0].ObservedAxes.RaAxis}");
}
}
}
// Otherwise default to using zero offset
}
var mountAxes = new[]
{
observedAxes[0] + offsets[0, 0],
observedAxes[1] + offsets[0, 1]
};
if (postLogMessages)
{
RaiseNotification(NotificationType.Data, MethodBase.GetCurrentMethod().Name,
$"Correction -> Mount = {offsets[0, 0]}/{offsets[0, 1]}");
RaiseNotification(NotificationType.Information, MethodBase.GetCurrentMethod().Name,
$"Observed axes: {observedAxes[0]}/{observedAxes[1]} -> Mount axes: {mountAxes[0]}/{mountAxes[1]}");
}
return(mountAxes);
}
catch (Exception ex)
{
LogException(ex);
return(observedAxes);
}
}
}