[api][desktop]: Improve TPPA

tiagohm · May 18, 2024 · ce45d0c · ce45d0c
1 parent d88986d
commit ce45d0c
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Showing 5 changed files with 60 additions and 29 deletions.
diff --git a/api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPAState.kt b/api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPAState.kt
@@ -5,6 +5,7 @@ enum class TPPAState {
     SLEWING,
     SLEWED,
     SETTLING,
+    EXPOSURING,
     SOLVING,
     SOLVED,
     COMPUTED,

diff --git a/api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPATask.kt b/api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPATask.kt
@@ -130,13 +130,15 @@ data class TPPATask(
 
             // SLEWING.
             if (mount != null) {
-                if (alignment.state in 1..2 && !mountMoveState[alignment.state]) {
+                if (alignment.state.ordinal in 1..2 && !mountMoveState[alignment.state.ordinal]) {
                     MountMoveTask(mount, mountMoveRequest).use {
                         sendEvent(TPPAState.SLEWING)
                         it.execute(cancellationToken)
-                        mountMoveState[alignment.state] = true
+                        mountMoveState[alignment.state.ordinal] = true
                     }
 
+                    if (cancellationToken.isDone) break
+
                     rightAscension = mount.rightAscension
                     declination = mount.declination
                     sendEvent(TPPAState.SLEWED)
@@ -149,7 +151,7 @@ data class TPPATask(
 
             if (cancellationToken.isDone) break
 
-            sendEvent(TPPAState.SOLVING)
+            sendEvent(TPPAState.EXPOSURING)
 
             // CAPTURE.
             cameraCaptureTask.execute(cancellationToken)
@@ -158,6 +160,8 @@ data class TPPATask(
                 break
             }
 
+            sendEvent(TPPAState.SOLVING)
+
             // ALIGNMENT.
             val radius = if (mount == null) 0.0 else ATTEMPT_RADIUS * (noSolutionAttempts + 1)
 
@@ -229,6 +233,9 @@ data class TPPATask(
 
                     continue
                 }
+                is ThreePointPolarAlignmentResult.Cancelled -> {
+                    break
+                }
             }
         }
 

diff --git a/desktop/src/shared/types/alignment.types.ts b/desktop/src/shared/types/alignment.types.ts
@@ -7,7 +7,7 @@ export type Hemisphere = 'NORTHERN' | 'SOUTHERN'
 
 export type DARVState = 'IDLE' | 'INITIAL_PAUSE' | 'FORWARD' | 'BACKWARD'
 
-export type TPPAState = 'IDLE' | 'SLEWING' | 'SLEWED' | 'SETTLING' | 'SOLVING' | 'SOLVED' | 'COMPUTED' | 'PAUSING' | 'PAUSED' | 'FINISHED' | 'FAILED'
+export type TPPAState = 'IDLE' | 'SLEWING' | 'SLEWED' | 'SETTLING' | 'EXPOSURING' | 'SOLVING' | 'SOLVED' | 'COMPUTED' | 'PAUSING' | 'PAUSED' | 'FINISHED' | 'FAILED'
 
 export type AlignmentMethod = 'DARV' | 'TPPA'
 

diff --git a/...lignment/src/main/kotlin/nebulosa/alignment/polar/point/three/ThreePointPolarAlignment.kt b/...lignment/src/main/kotlin/nebulosa/alignment/polar/point/three/ThreePointPolarAlignment.kt
@@ -1,5 +1,6 @@
 package nebulosa.alignment.polar.point.three
 
+import nebulosa.alignment.polar.point.three.ThreePointPolarAlignmentResult.*
 import nebulosa.common.Resettable
 import nebulosa.common.concurrency.cancel.CancellationToken
 import nebulosa.constants.DEG2RAD
@@ -23,9 +24,14 @@ data class ThreePointPolarAlignment(
     private val latitude: Angle,
 ) : Resettable {
 
-    private val positions = arrayOfNulls<Position>(2)
+    enum class State {
+        FIRST_POSITION,
+        SECOND_POSITION,
+        THIRD_POSITION,
+        CONTINUOUS_SOLVE,
+    }
 
-    @Volatile var state = 0
+    @Volatile var state = State.FIRST_POSITION
         private set
 
     @Volatile var initialAzimuthError: Angle = 0.0
@@ -40,6 +46,8 @@ data class ThreePointPolarAlignment(
     @Volatile var currentAltitudeError: Angle = 0.0
         private set
 
+    private lateinit var firstPosition: Position
+    private lateinit var secondPosition: Position
     private lateinit var polarErrorDetermination: PolarErrorDetermination
 
     fun align(
@@ -48,43 +56,56 @@ data class ThreePointPolarAlignment(
         compensateRefraction: Boolean = false,
         cancellationToken: CancellationToken = CancellationToken.NONE,
     ): ThreePointPolarAlignmentResult {
+        if (cancellationToken.isDone) {
+            return Cancelled
+        }
+
         val solution = try {
             solver.solve(path, null, rightAscension, declination, radius, cancellationToken = cancellationToken)
         } catch (e: PlateSolvingException) {
-            return ThreePointPolarAlignmentResult.NoPlateSolution(e)
+            return NoPlateSolution(e)
         }
 
-        if (!solution.solved || cancellationToken.isDone) {
-            return ThreePointPolarAlignmentResult.NoPlateSolution(null)
+        if (cancellationToken.isDone) {
+            return Cancelled
+        } else if (!solution.solved) {
+            return NoPlateSolution(null)
         } else {
             val time = UTC.now()
 
-            if (state > 2) {
-                val (azimuth, altitude) = polarErrorDetermination
-                    .update(time, initialAzimuthError, initialAltitudeError, solution, compensateRefraction)
-                currentAzimuthError = azimuth
-                currentAltitudeError = altitude
-                return ThreePointPolarAlignmentResult.Measured(solution.rightAscension, solution.declination, azimuth, altitude)
-            } else if (state == 2) {
-                state++
-                val position = solution.position(time, compensateRefraction)
-                polarErrorDetermination = PolarErrorDetermination(solution, positions[0]!!, positions[1]!!, position, longitude, latitude)
-                val (azimuth, altitude) = polarErrorDetermination.compute()
-                initialAzimuthError = azimuth
-                initialAltitudeError = altitude
-                return ThreePointPolarAlignmentResult.Measured(solution.rightAscension, solution.declination, azimuth, altitude)
-            } else {
-                positions[state] = solution.position(time, compensateRefraction)
-                state++
+            when (state) {
+                State.CONTINUOUS_SOLVE -> {
+                    val (azimuth, altitude) = polarErrorDetermination
+                        .update(time, initialAzimuthError, initialAltitudeError, solution, compensateRefraction)
+                    currentAzimuthError = azimuth
+                    currentAltitudeError = altitude
+                    return Measured(solution.rightAscension, solution.declination, azimuth, altitude)
+                }
+                State.THIRD_POSITION -> {
+                    val position = solution.position(time, compensateRefraction)
+                    polarErrorDetermination = PolarErrorDetermination(solution, firstPosition, secondPosition, position, longitude, latitude)
+                    val (azimuth, altitude) = polarErrorDetermination.compute()
+                    state = State.CONTINUOUS_SOLVE
+                    initialAzimuthError = azimuth
+                    initialAltitudeError = altitude
+                    return Measured(solution.rightAscension, solution.declination, azimuth, altitude)
+                }
+                State.SECOND_POSITION -> {
+                    secondPosition = solution.position(time, compensateRefraction)
+                    state = State.THIRD_POSITION
+                }
+                State.FIRST_POSITION -> {
+                    firstPosition = solution.position(time, compensateRefraction)
+                    state = State.SECOND_POSITION
+                }
             }
 
-            return ThreePointPolarAlignmentResult.NeedMoreMeasurement(solution.rightAscension, solution.declination)
+            return NeedMoreMeasurement(solution.rightAscension, solution.declination)
         }
     }
 
     override fun reset() {
-        state = 0
-        positions.fill(null)
+        state = State.FIRST_POSITION
     }
 
     private fun PlateSolution.position(time: UTC, compensateRefraction: Boolean): Position {

diff --git a/...nt/src/main/kotlin/nebulosa/alignment/polar/point/three/ThreePointPolarAlignmentResult.kt b/...nt/src/main/kotlin/nebulosa/alignment/polar/point/three/ThreePointPolarAlignmentResult.kt
@@ -13,4 +13,6 @@ sealed interface ThreePointPolarAlignmentResult {
     ) : ThreePointPolarAlignmentResult
 
     data class NoPlateSolution(@JvmField val exception: PlateSolvingException?) : ThreePointPolarAlignmentResult
+
+    data object Cancelled : ThreePointPolarAlignmentResult
 }