public HourAngle GetRA(AxisPosition axes)
{
double tempRA_hours = GetHourAngleFromAngle(axes.RAAxis.Value);
double tRa = LocalApparentSiderialTime + tempRA_hours;
double tHa = AstroConvert.RangeHA(tRa);
double dec = GetDec(axes);
// System.Diagnostics.Debug.Write($"{axes.RAAxis.Value}/{axes.DecAxis.Value}\t{dec}\t{tHa}\t{tRa}");
if (Hemisphere == HemisphereOption.Northern)
{
if (axes.DecFlipped)
{
tRa = tRa - 12.0;
// System.Diagnostics.Debug.Write("\t tRa - tRa - 12");
}
}
else
{
System.Diagnostics.Debug.Assert(false, "GetRA is not tested for Southern Hemisphere");
if (axes.DecAxis.Value > 180)
{
tRa = tRa + 12.0;
}
}
return(new HourAngle(AstroConvert.RangeRA(tRa)));
}
public void TestingHA()
{
double ra = 0.0;
double ha = 0.0;
HourAngle lst = new HourAngle(AstroConvert.LocalApparentSiderealTime(_Tools.Transform.SiteLongitude, _Now));
System.Diagnostics.Debug.WriteLine($"LST = {lst.Value}");
System.Diagnostics.Debug.WriteLine("\tRA\t\t\tHA");
System.Diagnostics.Debug.WriteLine("\t==\t\t\t==");
for (int i = 0; i < 24; i++)
{
ra = i * 1.0;
ha = AstroConvert.RangeHA(ra - lst);
System.Diagnostics.Debug.WriteLine($"\t{ra}\t\t{ha}");
}
Assert.IsTrue(true);
}
/// <summary>
/// Refreshes the NCP and current positions if more than 500ms have elapsed since the last refresh.
/// </summary>
private void RefreshCurrentPosition()
{
DateTime now = DateTime.Now;
bool axisHasMoved = false;
double tolerance;
AxisPosition axisPosition; //= _previousAxisPosition;
lock (Controller)
{
_AxisState = Controller.MCGetAxesStates();
axisPosition = Controller.MCGetAxisPositions();
tolerance = Controller.AngularResolutionDegrees;
}
#if DEBUG
//string raStatus = Convert.ToString(axesStatus[RA_AXIS], 2);
//string decStatus = Convert.ToString(axesStatus[DEC_AXIS], 2); ;
//System.Diagnostics.Debug.WriteLine($"\nAxis states - RA: {raStatus}, Dec : {decStatus}\n");
//AxisState raStatus = _AxisState[RA_AXIS];
//AxisState decStatus = _AxisState[DEC_AXIS];
//System.Diagnostics.Debug.WriteLine($"\nRA : Slewing-{raStatus.Slewing}, SlewingTo-{raStatus.SlewingTo}, Forward-{!raStatus.MeshedForReverse}, FullStop-{raStatus.FullStop}, Tracking-{raStatus.Tracking}");
//System.Diagnostics.Debug.WriteLine($"Dec: Slewing-{decStatus.Slewing}, SlewingTo-{decStatus.SlewingTo}, Forward-{!decStatus.MeshedForReverse}, FullStop-{decStatus.FullStop}, Tracking-{decStatus.Tracking}");
#endif
if (!axisPosition.Equals(_previousAxisPosition, tolerance))
//if (!_AxisState[RA_AXIS].FullStop || !_AxisState[DEC_AXIS].FullStop)
{
// One or the other axis is moving
axisHasMoved = true;
if (_previousPointingSOP == PierSide.pierUnknown)
{
// First move away from home (NCP/SCP) position.
if (_TargetPosition != null)
{
System.Diagnostics.Debug.WriteLine("Initialising SOP from goto target.");
System.Diagnostics.Debug.WriteLine($"Target Axes: {_TargetPosition.ObservedAxes.RAAxis.Value}/{_TargetPosition.ObservedAxes.DecAxis.Value}\t{_TargetPosition.ObservedAxes.DecFlipped}\tRA/Dec: {_TargetPosition.Equatorial.RightAscension}/{_TargetPosition.Equatorial.Declination}\t{_TargetPosition.PointingSideOfPier}");
axisPosition.DecFlipped = _TargetPosition.ObservedAxes.DecFlipped;
_previousPointingSOP = _TargetPosition.PointingSideOfPier;
}
}
else
{
// Keep the axis position the same
axisPosition.DecFlipped = _previousAxisPosition.DecFlipped;
}
}
else
{
// Check if parking.
if (Settings.ParkStatus == ParkStatus.Parking)
{
// Update the parked axis position decflipped setting if it isn't set.
_ParkedAxisPosition.DecFlipped = _previousAxisPosition.DecFlipped;
if (axisPosition.Equals(_ParkedAxisPosition, tolerance))
{
LogMessage("Command", "Park - complete");
Settings.ParkStatus = ParkStatus.Parked;
SaveSettings();
}
else
{
//if (_NeedSlowToStopStep)
//{
// Need to keep going
Controller.MCAxisSlewTo(_ParkedAxisPosition, Hemisphere);
// _NeedSlowToStopStep = false;
//}
}
}
axisPosition.DecFlipped = _previousAxisPosition.DecFlipped;
}
// Update current position
_CurrentPosition.MoveRADec(axisPosition, _AscomToolsCurrentPosition, now);
if (!_decFlippedConfirmed && _CurrentPosition.PointingSideOfPier != PierSide.pierUnknown)
{
double ha = AstroConvert.RangeHA(SiderealTime - _CurrentPosition.Equatorial.RightAscension.Value);
if (_CurrentPosition.PointingSideOfPier == PierSide.pierWest)
{
if (ha >= 0)
{
// need to flip the DEC axis as it is reporting the wrong RA
axisPosition.DecFlipped = !axisPosition.DecFlipped;
_CurrentPosition.MoveRADec(axisPosition, _AscomToolsCurrentPosition, now);
}
}
else
{
if (ha < 0)
{
// need to flip the DEC axis as it is reporting the wrong RA
axisPosition.DecFlipped = !axisPosition.DecFlipped;
_CurrentPosition.MoveRADec(axisPosition, _AscomToolsCurrentPosition, now);
}
}
_decFlippedConfirmed = true;
}
//// Just check that we have the DecFlipped setting correct
//if (!_decFlippedConfirmed && _IsSlewing)
//{
// double deltaRa = _TargetPosition.Equatorial.RightAscension - _CurrentPosition.Equatorial.RightAscension;
// if (_previousDeltaRa.HasValue)
// {
// if (deltaRa > _previousDeltaRa.Value)
// {
// // Going in the wrong direction so flip the Dec axis
// axisPosition.DecFlipped = !axisPosition.DecFlipped;
// _CurrentPosition.MoveRADec(axisPosition, _AscomToolsCurrentPosition, now);
// }
// _decFlippedConfirmed = true;
// }
// else {
// // Get it on the next cycle
// _previousDeltaRa = deltaRa;
// }
//}
if (_previousPointingSOP != PierSide.pierUnknown)
{
// See if pointing has moved across the meridian
if (_CurrentPosition.PointingSideOfPier != _previousPointingSOP)
{
System.Diagnostics.Debug.WriteLine("** Crossing the meridian **");
// Pointing has moved across the meridian so toggle the DecFlipped value;
axisPosition.DecFlipped = !_previousAxisPosition.DecFlipped;
_CurrentPosition.MoveRADec(axisPosition, _AscomToolsCurrentPosition, now);
}
}
if (Settings.ParkStatus == ParkStatus.Parking)
{
System.Diagnostics.Debug.WriteLine($"Parking to: {_ParkedAxisPosition.RAAxis.Value}/{_ParkedAxisPosition.RAAxis.Value}\t{_ParkedAxisPosition.DecFlipped}");
}
if (_TargetPosition != null)
{
System.Diagnostics.Debug.WriteLine($"Target Axes: {_TargetPosition.ObservedAxes.RAAxis.Value}/{_TargetPosition.ObservedAxes.DecAxis.Value}\t{_TargetPosition.ObservedAxes.DecFlipped}\tRA/Dec: {_TargetPosition.Equatorial.RightAscension}/{_TargetPosition.Equatorial.Declination}\t{_TargetPosition.PointingSideOfPier}");
}
if (Settings.ParkStatus == ParkStatus.Parked)
{
System.Diagnostics.Debug.WriteLine("Parked");
}
else
{
// System.Diagnostics.Debug.WriteLine($"Current Axes: {axisPosition.RAAxis.Value}/{axisPosition.DecAxis.Value}\t{axisPosition.DecFlipped}\tRA/Dec: {_CurrentPosition.Equatorial.RightAscension}/{_CurrentPosition.Equatorial.Declination}\t{_CurrentPosition.PointingSideOfPier}\n");
}
_previousAxisPosition = axisPosition;
// See if we can sort out the initial SideOfPier
if (_previousPointingSOP == PierSide.pierUnknown)
{
// Only initialise the previous pointing SOP if we know for certain what it should be
if (axisHasMoved && (_IsSlewing || _IsMoveAxisSlewing))
{
// Remember the current pointing side of the pier.
// Until the SOP has been determined from a SLEW or GOTO it should not be updated.
_previousPointingSOP = _CurrentPosition.PointingSideOfPier;
}
}
else
{
_previousPointingSOP = _CurrentPosition.PointingSideOfPier;
}
// If the axis has stopped moving there are some bit to clear up
if (_wasMoving && !axisHasMoved)
{
// See if we need to refine a goto.
if (_RefineGoto)
{
_RefineGoto = false;
System.Diagnostics.Debug.WriteLine("Refining GOTO");
SlewToEquatorialCoordinate(TargetRightAscension, TargetDeclination);
}
else
{
if (Settings.ParkStatus == ParkStatus.Unparked)
{
// Check if slew finished
if (_IsSlewing)
{
_IsSlewing = false;
// Announce("Slew complete.");
}
if (_IsMoveAxisSlewing)
{
_IsMoveAxisSlewing = false;
}
if (!_IsMoveAxisSlewing && !_IsSlewing)
{
if (TrackingState != TrackingStatus.Off)
{
System.Diagnostics.Debug.WriteLine("Restarting tracking");
LogMessage("Command", "Restarting tracking {0}", TrackingState);
StartTracking();
}
}
}
}
}
_wasMoving = axisHasMoved;
}
/// <summary>
///
/// </summary>
/// <param name="targetRA"></param>
/// <param name="targetDec"></param>
/// <param name="tools"></param>
/// <param name="futureOffset">Offset in future in seconds (if any)</param>
/// <returns></returns>
public AxisPosition GetAxisPositionForRADec(double targetRA, double targetDec, AscomTools tools, double futureOffset = 0.0)
{
bool flipDEC;
double adjustedRA = targetRA;
double targetHA = AstroConvert.RangeHA(targetRA - LocalApparentSiderialTime + (futureOffset / 3600.0));
if (targetHA < 0) // Target is to the west.
{
if (ForceMeridianFlip)
{
if (Hemisphere == HemisphereOption.Northern)
{
flipDEC = false;
}
else
{
flipDEC = true;
}
adjustedRA = targetRA;
}
else
{
if (Hemisphere == HemisphereOption.Northern)
{
flipDEC = true;
}
else
{
flipDEC = false;
}
adjustedRA = AstroConvert.RangeRA(targetRA - 12);
}
}
else
{
if (ForceMeridianFlip)
{
if (Hemisphere == HemisphereOption.Northern)
{
flipDEC = true;
}
else
{
flipDEC = false;
}
adjustedRA = AstroConvert.RangeRA(targetRA - 12);
}
else
{
if (Hemisphere == HemisphereOption.Northern)
{
flipDEC = false;
}
else
{
flipDEC = true;
}
adjustedRA = targetRA;
}
}
// Compute for Target RA/DEC angles
Angle RAAxis = GetAxisPositionForRA(adjustedRA, 0.0, futureOffset);
Angle DecAxis = GetAxisPositionForDec(targetDec, flipDEC);
// System.Diagnostics.Debug.WriteLine($"RA/Dec:{targetHA}/{targetDec} Axes:{ RAAxis.Value}/{ DecAxis.Value} FlipDec: {flipDEC}");
return(new AxisPosition(RAAxis.Value, DecAxis.Value, flipDEC));
}
