private void OnArduinoMessageEvent(CustomEventArgs customEventArgs)
{
var args = customEventArgs as OrientationEvent;
if (args == null)
{
return;
}
or = args;
semi.Release();
}
private void HandleOrientationEvent(OrientationEvent orientationEvent)
{
if (orientationEvent == null)
{
return;
}
if (GoogleSkyWebBrowser.InvokeRequired)
{
GoogleSkyWebBrowser.Invoke(new Action(() => HandleOrientationEvent(orientationEvent)));
return;
}
GoogleSkyCoordinate = orientationEvent.Orientation;
LogListBox("Update Google Sky coordinates \n Latitiude:{0} \n Longitude:{1}", GoogleSkyCoordinate.Latitude, GoogleSkyCoordinate.Longitude);
GoogleSkyWebBrowser.Document.InvokeScript("updateGoogleSkyCoordinates",
new object[] { new object[] { GoogleSkyCoordinate.Latitude, GoogleSkyCoordinate.Longitude, DefaultRange } });
}
/// <summary>
/// Request the AutoSky Telescope to point to a new direction.
/// </summary>
/// <param name="coordinate"> the GoogleSky coordinate you wish to use</param>
/// <param name="telescopeUp"></param>
/// <param name="telescopeDown"></param>
public void RequestNewPosition(GoogleSkyCs coordinate)
{
//ArduinoMessageEvent += RetrieveOrientationEvent();
stop = false;
if (!CheckConnection())
{
return;
}
var destinationHcs = CoordinateConverter.GoogleSkyToHorizonatal(coordinate);
var altitude = destinationHcs.Altitude;
var azimuth = destinationHcs.Azimuth;
//First, set the altitude using the 3axis data
//Y arrow points towards front of telescope. Z arrow points straight up. (X axis not used.)
const int maxIterations = 500;
for (var i = 0; i < maxIterations; i++)
{
if (stop)
{
break;
}
ArduinoMessageEvent += OnArduinoMessageEvent;
GetOrientation();
semi.WaitOne(800);
ArduinoMessageEvent -= OnArduinoMessageEvent;
if (or == null)
{
ArduinoMessageEvent(new ErrorEvent("Didn't get orientation Data!"));
StopMotors();
continue;
}
var gcs = new GoogleSkyCs(or.Orientation.Latitude, or.Orientation.Longitude);
or = null;
var currentHcs = CoordinateConverter.GoogleSkyToHorizonatal(gcs);
var currentAlt = currentHcs.Altitude;
var currentHeading = currentHcs.Azimuth;
ArduinoMessageEvent(new ErrorEvent(String.Format("Alt: {0},Azi: {1}", currentAlt, currentHeading)));
//Too close to adjust
var altComplete = false;
if (Math.Abs(altitude - currentAlt) < 5)
{
if (Math.Abs(altitude - currentAlt) < 3)
{
UpDownStop();
altComplete = true;
}
else
{
altComplete = false;
if (altitude > currentAlt)
{
telescopeUp();
}
else
{
telescopeDown();
}
}
}
else
{
altComplete = false;
if (altitude > currentAlt)
{
telescopeUp();
}
else
{
telescopeDown();
}
}
//Too close to adjust
var aziComplete = false;
if (Math.Abs(azimuth - currentHeading) < 40)
{
if (Math.Abs(azimuth - currentHeading) < 10)
{
LeftRightStop();
aziComplete = true;
}
else
{
aziComplete = false;
var a = azimuth - currentHeading;
var b = currentHeading - azimuth;
if (a < 0)
{
a = a + 360;
}
if (b < 0)
{
b = b + 360;
}
if (a < b)
{
telescopeRightSlow();
}
else
{
telescopeLeftSlow();
}
}
}
else
{
aziComplete = false;
var a = azimuth - currentHeading;
var b = currentHeading - azimuth;
if (a < b)
{
telescopeRight();
}
else
{
telescopeLeft();
}
}
if (!aziComplete || !altComplete)
{
continue;
}
ArduinoMessageEvent(new ErrorEvent("Success! Pointing where we want to!"));
StopMotors();
break;
}
StopMotors();
}
