/// <summary>
/// Handle the Orientation Data
/// </summary>
/// <param name="data"></param>
private void HandleOrn(string[] data)
{
var aAndM = data[1].Split(new[] { ';' });
var aData = aAndM[0].Split(new[] { ',' });
var mData = aAndM[1].Split(new[] { ',' });
var altitudeprep = new Point3D(aData[0], aData[1], aData[2]);
var azimuthPrep = new Point3D(mData[0], mData[1], mData[2]);
var altitude = CalcuclateAltitude(altitudeprep);
var azimuth = CalculateAzimuth(azimuthPrep);
//Convert this into the Orientation neeed for google sky.
var hcs = new HorizontalCs(azimuth, altitude);
try
{
ArduinoMessageEvent(new ErrorEvent(string.Format("Alt {0} Azi {1}", altitude, azimuth)));
var gcs = CoordinateConverter.HorizontalToGoogleSky(hcs);
//Pass Data up to UI via event or something.
ArduinoMessageEvent(new OrientationEvent(gcs));
}
catch (Exception ex)
{
ArduinoMessageEvent(new ErrorEvent(string.Format("Error Occurred: {0}", ex.Message)));
if (ex.Message.Contains("gps"))
{
GetGpsCoOrdinates();
}
}
}
/// <summary>
/// Converts horizontal coordinates to coordinates the Google Sky object can process
/// </summary>
/// <param name="azimuth"></param>
/// <param name="altitude"></param>
/// <returns> Returns the latitude, longitude, and the zoom to the Google Sky object</returns>
private double[] HorizontalToGoogleSkyDouble(int azimuth, int altitude)
{
var horizontal = new HorizontalCs(azimuth, altitude);
try
{
GoogleSkyCoordinate = CoordinateConverter.HorizontalToGoogleSky(horizontal);
return(new[] { GoogleSkyCoordinate.Latitude, GoogleSkyCoordinate.Longitude, 9000 });
}
catch (Exception ex)
{
LogListBox("Exception occured: {0}", ex.Message);
return(null);
}
}
private void btnMoveMap_Click(object sender, EventArgs e)
{
if (!isDECValid || !isRAValid)
{
MessageBox.Show("Invalid coordinates, please check your right ascencion and declination coordinates", "Invalid Inputs", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
var RA = Array.ConvertAll(txtBoxCoordinateRA.Text.Split(':'), double.Parse);
var DEC = Array.ConvertAll(txtBoxCoordinateDEC.Text.Split(':'), double.Parse);
GoogleSkyCoordinate = CoordinateConverter.EquatorialToGoogleSky(new EquatorialCs(RA, DEC));
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();
}
