private void HandleGpsEvent(GpsEvent gpsEvent)
{
if (gpsEvent == null)
{
return;
}
if (GoogleSkyWebBrowser.InvokeRequired)
{
GoogleSkyWebBrowser.Invoke(new Action(() => HandleGpsEvent(gpsEvent)));
return;
}
GoogleSkyCoordinate = new GoogleSkyCs(gpsEvent.Latitude, gpsEvent.Longitude);
LogListBox("Got GPS coordinates \n Latitiude:{0} \n Longitude:{1}", GoogleSkyCoordinate.Latitude, GoogleSkyCoordinate.Longitude);
var scriptArguements = new object[] { GoogleSkyCoordinate.Latitude, GoogleSkyCoordinate.Longitude, DefaultRange };
try
{
if (GoogleSkyWebBrowser.Document != null)
{
GoogleSkyWebBrowser.Document.InvokeScript("updateGoogleSkyCoordinates", scriptArguements);
}
}
catch
{
UpdateGoogleSkyErrorUi("Unable to update sky coordinates");
}
}
private void HandleConnectionEvent(ConnectionEvent connectionEvent)
{
if (connectionEvent == null)
{
return;
}
var result = connectionEvent.Connected;
if (result)
{
UpdateTelescopeUi("Connection Established");
GoogleSkyCoordinate = new GoogleSkyCs(Double.MaxValue, Double.MaxValue);
LogListBox("Retrieving GPS coordinates from current location...");
_hardwareHandler.GetGpsCoOrdinates();
}
if (result)
{
return;
}
UpdateTelescopeErrorUi("Connection Failed");
_hardwareHandler.ConnectToArduino();
CurrentTask("Attempting to reconnect");
}
public static EquatorialCs GoogleSkyToEquatorial(GoogleSkyCs gcs)
{
var declination = gcs.Latitude;
var rightAscension = (gcs.Longitude + 180) / 15;
var hourAngle = LocalSiderealTime - rightAscension;
return(new EquatorialCs(rightAscension, declination, hourAngle));
}
public void GoogleSkyToEquatorialAndBack()
{
var start = new GoogleSkyCs(5, 5);
var middle = CoordinateConverter.GoogleSkyToEquatorial(start);
var end = CoordinateConverter.EquatorialToGoogleSky(middle);
Assert.AreEqual(start.Latitude, end.Latitude, DELTA);
Assert.AreEqual(start.Longitude, start.Longitude, DELTA);
}
public void GoogleSkyToGodKnowsAndBack()
{
var start = new GoogleSkyCs(180, -180);
var a = CoordinateConverter.GoogleSkyToHorizonatal(start);
var b = CoordinateConverter.HorizontalToGoogleSky(a);
var c = CoordinateConverter.GoogleSkyToHorizonatal(b);
var d = CoordinateConverter.HorizontalToGoogleSky(c);
var e = CoordinateConverter.GoogleSkyToHorizonatal(d);
var f = CoordinateConverter.HorizontalToGoogleSky(e);
var g = CoordinateConverter.GoogleSkyToHorizonatal(f);
var end = CoordinateConverter.HorizontalToGoogleSky(g);
Assert.AreEqual(start.Latitude, end.Latitude, DELTA);
Assert.AreEqual(start.Longitude, end.Longitude, DELTA);
}
/// <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 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 } });
}
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 } });
}
private void btnSelectPOI_Click(object sender, EventArgs e)
{
var selectedPlacemark = (Placemark)comboBoxPOI.SelectedItem;
if (comboBoxPOI.SelectedItem == null)
{
return;
}
var range = selectedPlacemark.Range;
GoogleSkyCoordinate = new GoogleSkyCs(selectedPlacemark.Latitude, selectedPlacemark.Longitude);
GoogleSkyWebBrowser.Document.InvokeScript("addPlacemark", new object[] {
new object[] { selectedPlacemark.Latitude, selectedPlacemark.Longitude, selectedPlacemark.Name }
});
LogListBox("Update Google Sky coordinates \n Latitiude:{0} \n Longitude:{1}", GoogleSkyCoordinate.Latitude, GoogleSkyCoordinate.Longitude);
if (GoogleSkyWebBrowser.Document != null)
{
GoogleSkyWebBrowser.Document.InvokeScript("updateGoogleSkyCoordinates",
new object[] { new object[] { GoogleSkyCoordinate.Latitude, GoogleSkyCoordinate.Longitude, range } });
}
}
public static HorizontalCs GoogleSkyToHorizonatal(GoogleSkyCs gcs)
{
var ecs = GoogleSkyToEquatorial(gcs);
return(EquatorialToHorizontal(ecs));
}
public OrientationEvent(GoogleSkyCs orientation)
{
Orientation = orientation;
}
/// <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();
}
private void btnTelescopeToMap_Click(object sender, EventArgs e)
{
GoogleSkyCoordinate = new GoogleSkyCs(Double.MaxValue, Double.MaxValue);
_hardwareHandler.GetOrientation();
}
