/// <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>
/// Slews degrees from current position using the goto from the server
/// </summary>
/// <param name="degrees"></param>
/// <param name="direction"></param>
/// <param name="axis"></param>
private int SlewAxis(double degrees, AxisId axis, bool direction = false)
{
if (SkyServer.AutoHomeStop)
{
return(-3); //stop requested
}
if (SkyServer.Tracking)
{
SkyServer.TrackingSpeak = false;
SkyServer.Tracking = false;
}
var positions = Axes.MountAxis2Mount();
switch (axis)
{
case AxisId.Axis1:
degrees = direction ? Math.Abs(degrees) : -Math.Abs(degrees);
if (SkyServer.SouthernHemisphere)
{
degrees = direction ? -Math.Abs(degrees) : Math.Abs(degrees);
}
SkyServer.SlewAxes(positions[0] + degrees, positions[1], SlewType.SlewMoveAxis);
break;
case AxisId.Axis2:
degrees = direction ? -Math.Abs(degrees) : Math.Abs(degrees);
if (SkyServer.SouthernHemisphere)
{
degrees = direction ? Math.Abs(degrees) : -Math.Abs(degrees);
}
SkyServer.SlewAxes(positions[0], positions[1] + degrees, SlewType.SlewMoveAxis);
break;
default:
throw new ArgumentOutOfRangeException(nameof(axis), axis, null);
}
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 = $"{positions[0]},{positions[1]},{degrees},{axis},{direction}"
};
MonitorLog.LogToMonitor(monitorItem);
while (SkyServer.IsSlewing)
{
//Console.WriteLine(@"slewing");
Thread.Sleep(300);
}
var _ = new SkyAxisStop(0, axis);
//Thread.Sleep(1500);
return(0);
}
/// <summary>
/// Start auto home process per axis with max degrees default at 90
/// </summary>
/// <param name="axis"></param>
/// <param name="offSetDec"></param>
/// <param name="maxMove"></param>
/// <returns></returns>
public int StartAutoHome(AxisId axis, int maxMove = 100, int offSetDec = 0)
{
var _ = new SkyAxisStop(0, axis);
if (SkyServer.Tracking)
{
SkyServer.Tracking = false;
}
//StartCount = GetEncoderCount(axis);
var totalmove = 0.0;
// ReSharper disable once RedundantAssignment
var clockwise = false;
var startovers = 0;
bool?status;
bool?loopstatus = null;
SkyServer.AutoHomeProgressBar += 5;
// slew away from those that start at home position
var slew = SlewAxis(3.3, axis);
totalmove += 3.3;
if (slew != 0)
{
return(slew);
}
#region 5 degree loops to look for sensor
for (var i = 0; i <= (maxMove / 5); i++)
{
if (SkyServer.AutoHomeStop)
{
return(-3); //stop requested
}
if (totalmove >= maxMove)
{
return(-2); // home not found
}
if (startovers >= 2)
{
return(-4); // too many restarts
}
status = GetValidStatus(axis);
var laststatus = status;
// check status last loop vs this loop and see if status changed
if (status != null && loopstatus != null) // home not found and not first loop
{
if (status != loopstatus) // status changed but no detection of home
{
slew = SlewAxis(2.7, axis, clockwise); //slew 5 degrees
if (slew != 0)
{
return(slew);
}
status = GetHomeSensorStatus(axis); // check sensor
if (status != null)
{
i = 0;
//total move = 0.0;
startovers++;
continue; //start over
}
break; //found home
}
if (totalmove >= maxMove)
{
return(-2); // home not found
}
}
switch (status)
{
case null:
return(SkyServer.AutoHomeStop ? -3 : -1);
case true:
clockwise = true;
break;
case false:
clockwise = false;
break;
}
SkyServer.AutoHomeProgressBar += 1;
slew = SlewAxis(5.0, axis, clockwise); //slew 5 degrees
if (slew != 0)
{
return(slew);
}
totalmove += 5.0; // keep track of how far moved
status = GetHomeSensorStatus(axis); // check sensor
loopstatus = status;
if (status != null) // home not found
{
if (status == laststatus)
{
continue;
}
slew = SlewAxis(2.5, axis, clockwise); //slew 5 degrees
if (slew != 0)
{
return(slew);
}
status = GetHomeSensorStatus(axis); // check sensor
loopstatus = status;
if (status != null)
{
i = 0;
//total move = 0.0;
startovers++;
continue; //start over
}
}
break;//found home
}
if (SkyServer.AutoHomeStop)
{
return(-3); //stop requested
}
if (totalmove >= maxMove)
{
return(-2); // home not found
}
if (startovers >= 2)
{
return(-4); // too many restarts
}
#endregion
#region slew to detected home
slew = SlewToHome(axis);
if (slew != 0)
{
return(slew);
}
#endregion
SkyServer.AutoHomeProgressBar += 5;
#region 3.7 degree slew away from home for a validation move
slew = SlewAxis(3.7, axis); // slew away from home
if (slew != 0)
{
return(slew);
}
status = GetValidStatus(axis);
switch (status)
{
case null:
return(SkyServer.AutoHomeStop ? -3 : -1);
case true:
clockwise = true;
break;
case false:
clockwise = false;
break;
}
#endregion
SkyServer.AutoHomeProgressBar += 5;
#region slew back over home to validate home position
slew = SlewAxis(5, axis, clockwise); // slew over home
if (slew != 0)
{
return(slew);
}
status = GetHomeSensorStatus(axis); // check sensor
switch (status)
{
case null:
// home found
break;
case true:
return(-2); // home not found
case false:
return(-2); // home not found
}
#endregion
SkyServer.AutoHomeProgressBar += 5;
#region slew back to remove backlash
slew = SlewAxis(3, axis, !clockwise); // slew over home
if (slew != 0)
{
return(slew);
}
#endregion
SkyServer.AutoHomeProgressBar += 5;
//slew to home
slew = SlewToHome(axis);
// Dec offset for side saddles
if (Math.Abs(offSetDec) > 0 && axis == AxisId.Axis2)
{
slew = SlewAxis(Math.Abs(offSetDec), axis, offSetDec < 0);
if (slew != 0)
{
return(slew);
}
}
return(slew != 0 ? slew : 0);
}
