private void SlewToEquatorialCoordinate(double rightAscension, double declination)
{
lock (Controller)
{
TargetRightAscension = rightAscension;
TargetDeclination = declination;
LogMessage("SlewToCoordinates", "RA:{0}/Dec:{1}", _AscomToolsCurrentPosition.Util.HoursToHMS(rightAscension, "h", "m", "s"), _AscomToolsCurrentPosition.Util.DegreesToDMS(declination, ":", ":"));
DateTime currentTime = DateTime.Now;
Controller.MCAxisStop(AxisId.Both_Axes); // Stop the axes moving to get distances
AxisPosition currentAxisPosition = _CurrentPosition.ObservedAxes;
AxisPosition targetAxisPosition = _CurrentPosition.GetAxisPositionForRADec(rightAscension, declination, _AscomToolsCurrentPosition);
double slewSeconds = Controller.MCGetSlewTimeEstimate(targetAxisPosition, Hemisphere);
// Get a refined target position allowing for slew time.
targetAxisPosition = _CurrentPosition.GetAxisPositionForRADec(rightAscension, declination, _AscomToolsCurrentPosition, slewSeconds);
_TargetPosition = new MountCoordinate(targetAxisPosition, _AscomToolsTargetPosition, currentTime);
System.Diagnostics.Debug.WriteLine($"Current Physical SOP: { currentAxisPosition.PhysicalSideOfPier}\t\tPointing SOP: {_CurrentPosition.GetPointingSideOfPier(false)}");
System.Diagnostics.Debug.WriteLine($" Target Physical SOP: { targetAxisPosition.PhysicalSideOfPier}\t\tPointing SOP: {_TargetPosition.GetPointingSideOfPier(false)}");
System.Diagnostics.Debug.WriteLine($" PreviousAxisPosition: { _previousAxisPosition}\t\tPrevious DecFlipped: {_previousAxisPosition.DecFlipped}");
System.Diagnostics.Debug.WriteLine($" Previous Pointing SOP: { _previousPointingSOP}\t\tPrevious DecFlipped: {_previousAxisPosition.DecFlipped}");
_IsSlewing = true;
Controller.MCAxisSlewTo(targetAxisPosition, Hemisphere);
}
}
public void TakiExample5_4_4()
{
using (AscomTools tools = new AscomTools())
{
Angle longitude = new Angle("-1°20'20.54\"");
tools.Transform.SiteLatitude = new Angle("52°40'6.38\"");
tools.Transform.SiteLongitude = longitude;
tools.Transform.SiteElevation = 175.5;
DateTime initialTime = new DateTime(2017, 03, 28, 21, 0, 0);
DateTime observationTime = new DateTime(2017, 03, 28, 21, 27, 56);
MountCoordinate star1 = new MountCoordinate(new EquatorialCoordinate("0h7m54.0s", "29.038°"), new AxisPosition(1.732239, 1.463808, true), tools, observationTime);
observationTime = new DateTime(2017, 03, 28, 21, 37, 02);
MountCoordinate star2 = new MountCoordinate(new EquatorialCoordinate("2h21m45.0s", "89.222°"), new AxisPosition(5.427625, 0.611563, true), tools, observationTime);
TakiEQMountMapper taki = new TakiEQMountMapper(star1, star2, initialTime);
EquatorialCoordinate bCet = new EquatorialCoordinate("0h43m07s", "-18.038°");
DateTime targetTime = new DateTime(2017, 03, 28, 21, 52, 12);
AxisPosition bCetExpected = new AxisPosition(2.27695654215, 0.657465529226, true); // 130.46°, 37.67°
AxisPosition bCetCalculated = taki.GetAxisPosition(bCet, targetTime);
System.Diagnostics.Debug.WriteLine("Expected: {0}, calculated: {1}", bCetExpected, bCetCalculated);
double tolerance = 0.5; // degrees.
bool testResult = ((Math.Abs(bCetExpected.DecAxis - bCetCalculated.DecAxis) < tolerance) &&
(Math.Abs(bCetExpected.RAAxis - bCetCalculated.RAAxis) < tolerance));
Assert.IsTrue(testResult);
}
}
public void MountCoordinateTest()
{
using (AscomTools _AscomTools = new AscomTools())
{
double siteLongitude = -1.333333;
double siteLatitude = 52.666667;
_AscomTools.Transform.SiteLatitude = siteLatitude;
_AscomTools.Transform.SiteLongitude = siteLongitude;
_AscomTools.Transform.SiteElevation = 192;
DateTime testTime = new DateTime(2019, 1, 18, 21, 11, 00);
AltAzCoordinate altAzPosition = new AltAzCoordinate(_AscomTools.Transform.SiteLatitude, 0.0);
MountCoordinate currentPosition = new MountCoordinate(altAzPosition, new AxisPosition(0.0, 0.0), _AscomTools, testTime);
double lst = currentPosition.LocalApparentSiderialTime;
double ra = currentPosition.Equatorial.RightAscension.Value;
double dec = currentPosition.Equatorial.Declination.Value;
double alt = currentPosition.AltAzimuth.Altitude.Value;
double az = currentPosition.AltAzimuth.Azimuth.Value;
double lstExpected = 4.95996448153762;
double raExpected = 10.9439120745406;
double decExpected = 89.9999999983757;
double azExpected = 8.03515690758855E-09;
double altExpected = 52.6666669999972;
Assert.AreEqual(lstExpected, lst, 0.001, "LST test failed");
Assert.AreEqual(raExpected, ra, 0.0001, "RA test failed");
Assert.AreEqual(decExpected, dec, 0.0001, "Dec test failed");
Assert.AreEqual(azExpected, az, 0.0001, "Az test failed");
Assert.AreEqual(altExpected, alt, 0.0001, "Alt test failed");
}
}
public void GetNCPEquatorial()
{
MountCoordinate mount = new MountCoordinate(new AxisPosition(0.0, 0.0), _Tools, _Now);
EquatorialCoordinate currentRaDec = mount.Equatorial;
Assert.AreEqual(2.00536, currentRaDec.RightAscension.Value, 0.00001, "RA Value");
Assert.AreEqual(90.0, currentRaDec.Declination.Value, 0.001, "Declination value");
}
public void LASTTest()
{
DateTime now = DateTime.Now;
MountCoordinate mount = new MountCoordinate(new AxisPosition(0.0, 0.0), _Tools, now);
double ASCOMLast = (18.697374558 + 24.065709824419081 * (_Tools.Util.DateLocalToJulian(now) - 2451545.0) + (_Tools.Transform.SiteLongitude / 15.0)) % 24.0;
Assert.AreEqual(ASCOMLast, mount.LocalApparentSiderialTime.Value, 1 / 3600.00);
}
private PierSide GetDestinationSideOfPier(double rightAscension, double declination)
{
DateTime currentTime = DateTime.Now;
AxisPosition targetAxisPosition = _CurrentPosition.GetAxisPositionForRADec(rightAscension, declination, _AscomToolsCurrentPosition);
MountCoordinate targetPosition = new MountCoordinate(targetAxisPosition, _AscomToolsTargetPosition, currentTime);
return(targetPosition.PointingSideOfPier);
}
public void SlewDec(double slewAngle, double expectedDec)
{
MountCoordinate currentPosition = new MountCoordinate(new AxisPosition(0.0, 0.0), _Tools, _Now);
currentPosition.MoveRADec(new AxisPosition(0.0, slewAngle), _Tools, _Now);
EquatorialCoordinate expected = new EquatorialCoordinate(currentPosition.Equatorial.RightAscension.Value, expectedDec);
Assert.AreEqual(expected, currentPosition.Equatorial, "Slewed DEC test");
}
public void TestCalculateTargetAxis(double targetRa, double targetDec, double expectedAxisRa, double expectedAxisDec, bool decFlipped)
{
EquatorialCoordinate target = _Tools.GetEquatorial(0.0, 0.0, _Now);
MountCoordinate mount = new MountCoordinate(new AxisPosition(0.0, 0.0), _Tools, _Now);
AxisPosition axisPosition = mount.GetAxisPositionForRADec(targetRa, targetDec, _Tools);
Assert.AreEqual(expectedAxisRa, axisPosition.RAAxis, 0.000001, "RA Axis");
Assert.AreEqual(expectedAxisDec, axisPosition.DecAxis, 0.000001, "Dec Axis");
Assert.AreEqual(decFlipped, axisPosition.DecFlipped, "Dec flipped");
}
public void SlewRA(double slewAngle, double expectedRA)
{
MountCoordinate currentPosition = new MountCoordinate(new AxisPosition(0.0, 0.0), _Tools, _Now);
double targetRA = AstroConvert.RangeRA(currentPosition.Equatorial.RightAscension.Value + expectedRA);
double targetDec = currentPosition.Equatorial.Declination.Value;
currentPosition.MoveRADec(new AxisPosition(slewAngle, 0.0), _Tools, _Now);
EquatorialCoordinate expected = new EquatorialCoordinate(targetRA, targetDec);
Assert.AreEqual(expected.RightAscension, currentPosition.Equatorial.RightAscension, 0.000001, "RA test");
Assert.AreEqual(expected.Declination, currentPosition.Equatorial.Declination, 0.000001, "DEc test");
}
public void GenerateTestData()
{
MountCoordinate mount = new MountCoordinate(
new AltAzCoordinate(_Tools.Transform.SiteLatitude, 0.0),
new AxisPosition(0.0, 0.0),
_Tools,
_Now);
AxisPosition axes = mount.GetAxisPositionForRADec(17.0, 15, _Tools);
for (double ra = 0.0; ra < 24.0; ra = ra + 3.0)
{
for (double dec = -90.0; dec <= 90.0; dec = dec + 30.0)
{
axes = mount.GetAxisPositionForRADec(ra, dec, _Tools);
System.Diagnostics.Debug.WriteLine($"[DataRow({ra}, {dec}, {axes.RAAxis.Value}, {axes.DecAxis.Value}, {(axes.DecFlipped ? "true":"false")})]");
}
}
foreach (double ra in new double[] { 8.0, 9.0, 14.0, 21.0 })
{
foreach (double dec in new double[] { 90.0, 45.0, 0.0, -45.0, -90.0 })
{
axes = mount.GetAxisPositionForRADec(ra, dec, _Tools);
System.Diagnostics.Debug.WriteLine($"[DataRow({ra}, {dec}, {axes.RAAxis.Value}, {axes.DecAxis.Value}, {(axes.DecFlipped ? "true" : "false")})]");
}
}
System.Diagnostics.Debug.WriteLine("// ASCOM_SOP Tests");
double sopRA = 23.0;
double sopDec = 15.0;
axes = mount.GetAxisPositionForRADec(sopRA, sopDec, _Tools);
System.Diagnostics.Debug.WriteLine($"[DataRow({sopRA}, {sopDec}, {axes.RAAxis.Value}, {axes.DecAxis.Value}, {(axes.DecFlipped ? "true" : "false")})] // Point A (SE)");
sopRA = 11.0;
sopDec = 60.0;
axes = mount.GetAxisPositionForRADec(sopRA, sopDec, _Tools);
System.Diagnostics.Debug.WriteLine($"[DataRow({sopRA}, {sopDec}, {axes.RAAxis.Value}, {axes.DecAxis.Value}, {(axes.DecFlipped ? "true" : "false")})] // Point B (NW)");
sopRA = 5.0;
sopDec = 60.0;
axes = mount.GetAxisPositionForRADec(sopRA, sopDec, _Tools);
System.Diagnostics.Debug.WriteLine($"[DataRow({sopRA}, {sopDec}, {axes.RAAxis.Value}, {axes.DecAxis.Value}, {(axes.DecFlipped ? "true" : "false")})] // Point C (NE)");
sopRA = 17.0;
sopDec = 15.0;
axes = mount.GetAxisPositionForRADec(sopRA, sopDec, _Tools);
System.Diagnostics.Debug.WriteLine($"[DataRow({sopRA}, {sopDec}, {axes.RAAxis.Value}, {axes.DecAxis.Value}, {(axes.DecFlipped ? "true" : "false")})] // Point D (SW)");
Assert.IsTrue(true);
}
public void TestGetDec(double expectedRA, double expectedDec, double RAAxis, double DecAxis, bool decFlipped)
{
EquatorialCoordinate target = _Tools.GetEquatorial(0.0, 0.0, _Now);
MountCoordinate mount = new MountCoordinate(
new AltAzCoordinate(_Tools.Transform.SiteLatitude, 0.0),
new AxisPosition(0.0, 0.0),
_Tools,
_Now);
AxisPosition axisPosition = new AxisPosition(RAAxis, DecAxis);
Angle testDec = mount.GetDec(axisPosition);
Assert.AreEqual(expectedDec, testDec, 0.000001, "Dec Value");
}
public void NorthHorizonAltAz()
{
EquatorialCoordinate target = _Tools.GetEquatorial(0.0, 0.0, _Now);
MountCoordinate mount = new MountCoordinate(new AxisPosition(0.0, 0.0), _Tools, _Now);
AxisPosition targetAxisPosition = mount.GetAxisPositionForRADec(target.RightAscension, target.Declination, _Tools);
mount.MoveRADec(targetAxisPosition, _Tools, _Now);
EquatorialCoordinate testRaDec = mount.Equatorial;
// Assert.AreEqual(PierSide.pierEast, mount.GetPointingSideOfPier(false), "Pointing side of pier");
Assert.AreEqual(7.98608, testRaDec.RightAscension.Value, 0.00001, "RA Value");
Assert.AreEqual(37.333, testRaDec.Declination.Value, 0.001, "Declination value");
Assert.AreEqual(307.333, mount.ObservedAxes[1], 0.001, "Declination axis value");
}
public void SouthEastHorizonAltAz()
{
EquatorialCoordinate target = _Tools.GetEquatorial(0.0, 135.0, _Now);
MountCoordinate mount = new MountCoordinate(new AxisPosition(0.0, 0.0),
_Tools,
_Now);
AxisPosition targetAxisPosition = mount.GetAxisPositionForRADec(target.RightAscension, target.Declination, _Tools);
mount.MoveRADec(targetAxisPosition, _Tools, _Now);
EquatorialCoordinate testRaDec = mount.Equatorial;
// Assert.AreEqual(PierSide.pierWest, mount.GetPointingSideOfPier(false), "Pointing side of pier");
Assert.AreEqual(23.42014, testRaDec.RightAscension.Value, 0.00001, "RA Value");
Assert.AreEqual(-25.39285, testRaDec.Declination.Value, 0.001, "Declination value");
Assert.AreEqual(244.60715, mount.ObservedAxes[1], 0.001, "Declination axis value");
}
private void RelocateMounts(double latitude, double longitude, double elevation)
{
_AscomToolsCurrentPosition.Transform.SiteLongitude = longitude;
_AscomToolsTargetPosition.Transform.SiteLongitude = longitude;
_AscomToolsCurrentPosition.Transform.SiteLatitude = latitude;
_AscomToolsTargetPosition.Transform.SiteLatitude = latitude;
_AscomToolsCurrentPosition.Transform.SiteElevation = elevation;
_AscomToolsTargetPosition.Transform.SiteElevation = elevation;
// Refresh the current positiona using the new longitude
_CurrentPosition = new MountCoordinate(_CurrentPosition.ObservedAxes, _AscomToolsCurrentPosition, _CurrentPosition.SyncTime);
if (_TargetPosition != null)
{
_TargetPosition = new MountCoordinate(_TargetPosition.ObservedAxes, _AscomToolsTargetPosition, _TargetPosition.SyncTime);
}
RefreshCurrentPosition();
}
public void TestGetRA(double expectedRa, double expectedDec, double RAAxis, double DecAxis, bool flippedDec)
{
EquatorialCoordinate target = _Tools.GetEquatorial(0.0, 0.0, _Now);
MountCoordinate mount = new MountCoordinate(
new AltAzCoordinate(_Tools.Transform.SiteLatitude, 0.0),
new AxisPosition(0.0, 0.0),
_Tools,
_Now);
AxisPosition axisPosition = new AxisPosition(RAAxis, DecAxis, flippedDec);
System.Diagnostics.Debug.Write($"\nFlipped:{(flippedDec ? "Y" : "N")} Expecting: {expectedRa} ->");
HourAngle testRa = mount.GetRA(axisPosition);
//if (Math.Abs(expectedRa-testRa)> 0.000001)
//{
// System.Diagnostics.Debug.Write(" - FAIL");
//}
Assert.AreEqual(expectedRa, testRa, 0.000001, "RA Value");
}
public void CalculateSlewAngles()
{
MountCoordinate currentPosition = new MountCoordinate(new AxisPosition(0.0, 0.0), _Tools, _Now);
double ha = currentPosition.LocalApparentSiderialTime;
System.Diagnostics.Debug.WriteLine("\nPoint A (SE)");
System.Diagnostics.Debug.WriteLine("============");
AxisPosition targetAxes = currentPosition.GetAxisPositionForRADec(AstroConvert.RangeRA(ha - 3.0), 10.0, _Tools);
Angle[] deltaAngles = currentPosition.ObservedAxes.GetSlewAnglesTo(targetAxes);
System.Diagnostics.Debug.WriteLine($"Slewing through: {deltaAngles[0]} / {deltaAngles[1]}");
currentPosition.MoveRADec(targetAxes, _Tools, _Now);
currentPosition.DumpDebugInfo();
Assert.AreEqual(PierSide.pierWest, currentPosition.GetPointingSideOfPier(false), "Point A");
System.Diagnostics.Debug.WriteLine("\nPoint B (NW)");
System.Diagnostics.Debug.WriteLine("============");
targetAxes = currentPosition.GetAxisPositionForRADec(AstroConvert.RangeRA(ha + 9.0), 60.0, _Tools);
deltaAngles = currentPosition.ObservedAxes.GetSlewAnglesTo(targetAxes);
System.Diagnostics.Debug.WriteLine($"Slewing through: {deltaAngles[0]} / {deltaAngles[1]}");
currentPosition.MoveRADec(targetAxes, _Tools, _Now);
currentPosition.DumpDebugInfo();
Assert.AreEqual(PierSide.pierEast, currentPosition.GetPointingSideOfPier(false), "Point B");
System.Diagnostics.Debug.WriteLine("\nPoint C (NE)");
System.Diagnostics.Debug.WriteLine("============");
targetAxes = currentPosition.GetAxisPositionForRADec(AstroConvert.RangeRA(ha - 9.0), 60.0, _Tools);
deltaAngles = currentPosition.ObservedAxes.GetSlewAnglesTo(targetAxes);
System.Diagnostics.Debug.WriteLine($"Slewing through: {deltaAngles[0]} / {deltaAngles[1]}");
currentPosition.MoveRADec(targetAxes, _Tools, _Now);
currentPosition.DumpDebugInfo();
Assert.AreEqual(PierSide.pierWest, currentPosition.GetPointingSideOfPier(false), "Point C");
System.Diagnostics.Debug.WriteLine("\nPoint D (SW)");
System.Diagnostics.Debug.WriteLine("============");
targetAxes = currentPosition.GetAxisPositionForRADec(AstroConvert.RangeRA(ha + 3.0), 10.0, _Tools);
deltaAngles = currentPosition.ObservedAxes.GetSlewAnglesTo(targetAxes);
System.Diagnostics.Debug.WriteLine($"Slewing through: {deltaAngles[0]} / {deltaAngles[1]}");
currentPosition.MoveRADec(targetAxes, _Tools, _Now);
currentPosition.DumpDebugInfo();
Assert.AreEqual(PierSide.pierEast, currentPosition.GetPointingSideOfPier(false), "Point D");
}
private void InitialiseCurrentPosition(bool firstConnection)
{
lock (Controller)
{
DateTime now = DateTime.Now;
// This method is only called if this is the first connection to the mount
// so override saved ParkStatus and always start off parked.
_ParkedAxisPosition = Settings.AxisParkPosition;
if (firstConnection)
{
_CurrentPosition = new MountCoordinate(_ParkedAxisPosition, _AscomToolsCurrentPosition, now);
_previousAxisPosition = _ParkedAxisPosition;
Controller.MCSetAxisPosition(_ParkedAxisPosition);
}
else
{
_previousAxisPosition = Controller.MCGetAxisPositions();
_CurrentPosition = new MountCoordinate(_previousAxisPosition, _AscomToolsCurrentPosition, now);
}
//if (Settings.ParkStatus != ParkStatus.Parked)
//{
// Settings.ParkStatus = ParkStatus.Parked;
// SaveSettings();
//}
// Get the MoveAxis value limits.
InitialiseAxisRates();
// Get the controllers current axis states and see if we need to
// start tracking.
_AxisState = Controller.MCGetAxesStates();
if (TrackingState != TrackingStatus.Off)
{
if ((!_AxisState[RA_AXIS].Slewing && !_AxisState[DEC_AXIS].Slewing))
{
StartTracking();
}
}
}
}
public void ASCOM_SOP()
{
MountCoordinate currentPosition = new MountCoordinate(new AxisPosition(0.0, 0.0), _Tools, _Now);
double ha = currentPosition.LocalApparentSiderialTime;
AxisPosition targetAxisPosition = currentPosition.GetAxisPositionForRADec(AstroConvert.RangeRA(ha - 3.0), 10.0, _Tools);
MountCoordinate targetCoordinate = new MountCoordinate(targetAxisPosition, _Tools, _Now);
// currentPosition.MoveRADec(targetAxisPosition, _Tools, _Now);
Assert.AreEqual(PierSide.pierWest, targetCoordinate.GetPointingSideOfPier(false), "Point A");
targetAxisPosition = currentPosition.GetAxisPositionForRADec(AstroConvert.RangeRA(ha + 9.0), 60.0, _Tools);
currentPosition.MoveRADec(targetAxisPosition, _Tools, _Now);
Assert.AreEqual(PierSide.pierEast, currentPosition.GetPointingSideOfPier(false), "Point B");
targetAxisPosition = currentPosition.GetAxisPositionForRADec(AstroConvert.RangeRA(ha - 9.0), 60.0, _Tools);
currentPosition.MoveRADec(targetAxisPosition, _Tools, _Now);
Assert.AreEqual(PierSide.pierWest, currentPosition.GetPointingSideOfPier(false), "Point C");
targetAxisPosition = currentPosition.GetAxisPositionForRADec(AstroConvert.RangeRA(ha + 3.0), 10.0, _Tools);
currentPosition.MoveRADec(targetAxisPosition, _Tools, _Now);
Assert.AreEqual(PierSide.pierEast, currentPosition.GetPointingSideOfPier(false), "Point D");
}
public void GetTheoreticalFromEquatorial()
{
using (AscomTools tools = new AscomTools())
{
Angle longitude = new Angle("-1°20'20.54\"");
tools.Transform.SiteLatitude = new Angle("52°40'6.38\"");
tools.Transform.SiteLongitude = longitude;
tools.Transform.SiteElevation = 175.5;
MountCoordinate mirphac = new MountCoordinate(new EquatorialCoordinate("3h25m34.77s", "49°55'12.0\""), new AxisPosition(1.04551212078025, 0.882804566344625, true), tools, _localTime);
MountCoordinate almaak = new MountCoordinate(new EquatorialCoordinate("2h04m58.83s", "42°24'41.1\""), new AxisPosition(0.597795712351665, 0.817146830684098, true), tools, _localTime);
MountCoordinate ruchbah = new MountCoordinate(new EquatorialCoordinate("1h26m58.39s", "60°19'33.3\""), new AxisPosition(0.506260233480349, 1.09753088667021, true), tools, _localTime);
TakiEQMountMapper taki = new TakiEQMountMapper(mirphac, almaak, ruchbah, _localTime);
EquatorialCoordinate gPer = new EquatorialCoordinate("2h03m28.89s", "54°34'10.9\"");
AxisPosition gPerExpected = new AxisPosition(0.649384407012042, 0.998796900509728, true);
AxisPosition gPerCalculated = taki.GetAxisPosition(gPer, _localTime);
System.Diagnostics.Debug.WriteLine("Calculated: {0}, expected: {1}", gPerExpected, gPerCalculated);
double tolerance = 0.25; // degrees.
bool testResult = ((Math.Abs(gPerExpected.DecAxis - gPerCalculated.DecAxis) < tolerance) &&
(Math.Abs(gPerExpected.RAAxis - gPerCalculated.RAAxis) < tolerance));
Assert.IsTrue(testResult);
}
}