///// <summary>
///// get current step count
///// </summary>
///// <param name="axis"></param>
///// <returns></returns>
//private int GetEncoderCount(AxisId axis)
//{
// var stepsSky = new SkyGetEncoderCount(SkyQueue.NewId, axis);
// var steps = (int[])SkyQueue.GetCommandResult(stepsSky).Result;
// if (!stepsSky.Successful && stepsSky.Exception != null) throw stepsSky.Exception;
// switch (axis)
// {
// case AxisId.Axis1:
// return steps[0];
// case AxisId.Axis2:
// return steps[1];
// default:
// throw new ArgumentOutOfRangeException(nameof(axis), axis, null);
// }
//}
/// <summary>
/// Gets the direction to home sensor or if null then TripPosition was set
/// </summary>
/// <param name="axis"></param>
/// <returns></returns>
private bool?GetHomeSensorStatus(AxisId axis)
{
var sensorStatusSky = new SkyGetHomePosition(SkyQueue.NewId, axis);
var sensorStatus = (long)SkyQueue.GetCommandResult(sensorStatusSky).Result;
var monitorItem = new MonitorEntry
{
Datetime = HiResDateTime.UtcNow,
Device = MonitorDevice.Telescope,
Category = MonitorCategory.Server,
Type = MonitorType.Information,
Method = MethodBase.GetCurrentMethod().Name,
Thread = Thread.CurrentThread.ManagedThreadId,
Message = $"{sensorStatus}"
};
MonitorLog.LogToMonitor(monitorItem);
switch (sensorStatus)
{
case 16777215:
return(false);
case 0:
return(true);
default:
TripPosition = Convert.ToInt32(sensorStatus);
return(null);
}
}
/// <summary>
/// Slew to home based on TripPosition already being set
/// </summary>
/// <param name="axis"></param>
private int SlewToHome(AxisId axis)
{
if (SkyServer.AutoHomeStop)
{
return(-3); //stop requested
}
//convert position to mount degrees
var a = TripPosition -= 0x00800000;
var skyCmd = new SkyGetStepToAngle(SkyQueue.NewId, axis, a);
var b = (double)SkyQueue.GetCommandResult(skyCmd).Result;
var c = Units.Rad2Deg1(b);
var positions = Axes.MountAxis2Mount();
switch (axis)
{
case AxisId.Axis1:
var d = Axes.AxesMountToApp(new[] { c, 0 }); // Convert to local
if (SkyServer.SouthernHemisphere)
{
d[0] = d[0] + 180;
}
SkyServer.SlewAxes(d[0], positions[1], SlewType.SlewMoveAxis);
break;
case AxisId.Axis2:
var e = Axes.AxesMountToApp(new[] { 0, c }); // Convert to local
if (SkyServer.SouthernHemisphere)
{
e[1] = 180 - e[1];
}
SkyServer.SlewAxes(positions[0], e[1], SlewType.SlewMoveAxis);
break;
default:
throw new ArgumentOutOfRangeException(nameof(axis), axis, null);
}
while (SkyServer.IsSlewing)
{
//Console.WriteLine(@"slewing");
Thread.Sleep(300);
}
var _ = new SkyAxisStop(0, axis);
//Thread.Sleep(1500);
return(0);
}
/// <summary>
/// Initialize
/// </summary>
private void Initialize()
{
var canHomeSky = new SkyCanHomeSensors(SkyQueue.NewId);
var hasHome = (bool)SkyQueue.GetCommandResult(canHomeSky).Result;
if (!canHomeSky.Successful && canHomeSky.Exception != null)
{
throw canHomeSky.Exception;
}
if (!hasHome)
{
throw new Exception("Home sensor not supported");
}
}
/// <summary>
/// Process queue items monitor the pulse
/// </summary>
/// <param name="entry"></param>
private static void ProcessPulseStatusQueue(PulseStatusEntry entry)
{
try
{
if (!SkyServer.Tracking || SkyServer.IsSlewing)
{
ResetGuiding(entry);
return;
}
entry.ProcessDateTime = HiResDateTime.UtcNow;
bool pulseRunning;
switch (SkySettings.Mount)
{
case MountType.Simulator:
if (entry.Axis == 0)
{
var statuscmd = new CmdPulseRaRunning(MountQueue.NewId);
pulseRunning = Convert.ToBoolean(MountQueue.GetCommandResult(statuscmd).Result);
}
else
{
var statuscmd = new CmdPulseDecRunning(MountQueue.NewId);
pulseRunning = Convert.ToBoolean(MountQueue.GetCommandResult(statuscmd).Result);
}
break;
case MountType.SkyWatcher:
if (entry.Axis == 0)
{
var statussky = new SkyPulseRaRunning(SkyQueue.NewId);
pulseRunning = Convert.ToBoolean(SkyQueue.GetCommandResult(statussky).Result);
}
else
{
var statussky = new SkyPulseDecRunning(SkyQueue.NewId);
pulseRunning = Convert.ToBoolean(SkyQueue.GetCommandResult(statussky).Result);
}
break;
default:
pulseRunning = false;
break;
}
ResetGuiding(entry.Axis, pulseRunning);
var curtime = HiResDateTime.UtcNow;
var processtime = (int)(curtime - entry.ProcessDateTime).TotalMilliseconds;
var alltime = (int)(curtime - entry.CreateDateTime).TotalMilliseconds;
var monitorItem = new MonitorEntry
{
Datetime = curtime, Device = MonitorDevice.Telescope, Category = MonitorCategory.Mount, Type = MonitorType.Data, Method = MethodBase.GetCurrentMethod().Name, Thread = Thread.CurrentThread.ManagedThreadId, Message = $"Complete,{alltime},{processtime}-{entry.Duration}={processtime - entry.Duration}"
};
MonitorLog.LogToMonitor(monitorItem);
}
catch (Exception ex)
{
ResetGuiding(entry.Axis, false);
var monitorItem = new MonitorEntry
{
Datetime = HiResDateTime.UtcNow, Device = MonitorDevice.Telescope, Category = MonitorCategory.Mount, Type = MonitorType.Error, Method = MethodBase.GetCurrentMethod().Name, Thread = Thread.CurrentThread.ManagedThreadId, Message = $"{ex.Message}"
};
MonitorLog.LogToMonitor(monitorItem);
}
}