Add rotator support to Ekos

kstars/CMakeLists.txt

@@ -134,6 +134,7 @@ if (INDI_FOUND)
                     ekos/capture/capture.ui
                     ekos/capture/calibrationoptions.ui
                     ekos/capture/dslrinfo.ui
+                    ekos/capture/rotatorsettings.ui
                     # Align
                     ekos/align/align.ui
                     ekos/align/opsekos.ui
@@ -172,6 +173,7 @@ if (INDI_FOUND)
                        ekos/capture/capture.cpp
                        ekos/capture/sequencejob.cpp
                        ekos/capture/dslrinfodialog.cpp
+                       ekos/capture/rotatorsettings.cpp
 
                        # Scheduler
                        ekos/scheduler/schedulerjob.cpp

kstars/ekos/capture/capture.cpp

@@ -44,16 +44,16 @@
 #include "ui_calibrationoptions.h"
 
 #include "auxiliary/QProgressIndicator.h"
+#include "rotatorsettings.h"
 
-#define INVALID_TEMPERATURE 10000
-#define INVALID_HA          10000
+#define INVALID_VALUE -1e6
 #define MF_TIMER_TIMEOUT    90000
 #define GD_TIMER_TIMEOUT    60000
 #define MF_RA_DIFF_LIMIT    4
 #define MAX_CAPTURE_RETRIES 3
 
 // Current Sequence File Format:
-#define SQ_FORMAT_VERSION 1.7
+#define SQ_FORMAT_VERSION 1.8
 // We accept file formats with version back to:
 #define SQ_COMPAT_VERSION 1.6
 
@@ -119,6 +119,8 @@ Capture::Capture()
     //ADURaw1 = ADURaw2 = ExpRaw1 = ExpRaw2 = -1;
     //ADUSlope = 0;
 
+    rotatorSettings = new RotatorSettings(this);
+
     pi = new QProgressIndicator(this);
 
     progressLayout->addWidget(pi, 0, 4, 1, 1);
@@ -172,6 +174,7 @@ Capture::Capture()
     connect(frameTypeCombo, SIGNAL(currentIndexChanged(int)), this, SLOT(checkFrameType(int)));
     connect(resetFrameB, SIGNAL(clicked()), this, SLOT(resetFrame()));
     connect(calibrationB, SIGNAL(clicked()), this, SLOT(openCalibrationDialog()));
+    connect(rotatorB, SIGNAL(clicked()), rotatorSettings, SLOT(show()));
 
     addToQueueB->setIcon(QIcon::fromTheme("list-add", QIcon(":/icons/breeze/default/list-add.svg")));
     addToQueueB->setAttribute(Qt::WA_LayoutUsesWidgetRect);
@@ -250,6 +253,7 @@ Capture::Capture()
 Capture::~Capture()
 {
     qDeleteAll(jobs);
+    delete (rotatorSettings);
 }
 
 void Capture::setDefaultCCD(QString ccd)
@@ -1670,6 +1674,18 @@ void Capture::updateCCDTemperature(double value)
         activeJob->setCurrentTemperature(value);
 }
 
+void Capture::updateRotatorNumber(INumberVectorProperty *nvp)
+{
+    if (!strcmp(nvp->name, "ABS_ROTATOR_POSITION"))
+    {
+        // Update widget rotator position
+        rotatorSettings->setCurrentTicks(static_cast<int32_t>(nvp->np[0].value));
+
+        if (activeJob && (activeJob->getStatus() == SequenceJob::JOB_ABORTED || activeJob->getStatus() == SequenceJob::JOB_IDLE))
+            activeJob->setCurrentRotation(static_cast<int32_t>(nvp->np[0].value));
+    }
+}
+
 void Capture::addJob(bool preview)
 {
     SequenceJob *job = nullptr;
@@ -1754,6 +1770,13 @@ void Capture::addJob(bool preview)
     job->setActiveCCD(currentCCD);
     job->setActiveFilter(currentFilter);
 
+    if (currentRotator && rotatorSettings->isRotationEnforced())
+    {
+        job->setActiveRotator(currentRotator);
+        job->setTargetRotation(rotatorSettings->getTargetRotationTicks());
+        job->setCurrentRotation(rotatorSettings->getCurrentRotationTicks());
+    }
+
     job->setFrame(frameXIN->value(), frameYIN->value(), frameWIN->value(), frameHIN->value());
 
     job->setRootFITSDir(fitsDir->text());
@@ -2081,10 +2104,10 @@ void Capture::prepareJob(SequenceJob *job)
         }
     }
 
-    prepareFilterTemperature();
+    preparePreCaptureActions();
 }
 
-void Capture::prepareFilterTemperature()
+void Capture::preparePreCaptureActions()
 {
     if (currentFilterPosition > 0)
     {
@@ -2107,7 +2130,7 @@ void Capture::prepareFilterTemperature()
 
     if (currentCCD->hasCooler() && activeJob->getEnforceTemperature())
     {
-        if (activeJob->getCurrentTemperature() != INVALID_TEMPERATURE &&
+        if (activeJob->getCurrentTemperature() != INVALID_VALUE &&
             fabs(activeJob->getCurrentTemperature() - activeJob->getTargetTemperature()) >
                 Options::maxTemperatureDiff())
         {
@@ -2124,6 +2147,25 @@ void Capture::prepareFilterTemperature()
         }
     }
 
+    if (activeJob->getTargetRotation() != INVALID_VALUE)
+    {
+        activeJob->setCurrentRotation(rotatorSettings->getCurrentRotationTicks());
+
+        if (rotatorSettings->getCurrentRotationTicks() != activeJob->getTargetRotation())
+        {
+            appendLogText(i18n("Setting rotation to %1 ticks...", activeJob->getTargetRotation()));
+            secondsLabel->setText(i18n("Set Rotator %1...", activeJob->getTargetRotation()));
+
+            if (activeJob->isPreview() == false)
+            {
+                state = CAPTURE_SETTING_ROTATOR;
+                emit newStatus(Ekos::CAPTURE_SETTING_ROTATOR);
+            }
+
+            setBusy(true);
+        }
+    }
+
     connect(activeJob, SIGNAL(prepareComplete()), this, SLOT(executeJob()));
 
     activeJob->prepareCapture();
@@ -2378,7 +2420,14 @@ void Capture::setFocusStatus(FocusState state)
 void Capture::setRotator(ISD::GDInterface *newRotator)
 {
     currentRotator = newRotator;
+    connect(currentRotator, SIGNAL(numberUpdated(INumberVectorProperty*)), this, SLOT(updateRotatorNumber(INumberVectorProperty*)));
     rotatorB->setEnabled(true);
+
+    rotatorSettings->setRotator(newRotator);
+
+    INumberVectorProperty *nvp = newRotator->getBaseDevice()->getNumber("ABS_ROTATOR_POSITION");
+    rotatorSettings->setTicksMinMaxStep(static_cast<int32_t>(nvp->np[0].min), static_cast<int32_t>(nvp->np[0].max), static_cast<int32_t>(nvp->np[0].step));
+    rotatorSettings->setCurrentTicks(static_cast<int32_t>(nvp->np[0].value));
 }
 
 void Capture::setTelescope(ISD::GDInterface *newTelescope)
@@ -2553,6 +2602,7 @@ bool Capture::processJobInfo(XMLEle *root)
 {
     XMLEle *ep;
     XMLEle *subEP;
+    rotatorSettings->setRotationEnforced(false);
 
     for (ep = nextXMLEle(root, 1); ep != nullptr; ep = nextXMLEle(root, 0))
     {
@@ -2655,6 +2705,11 @@ bool Capture::processJobInfo(XMLEle *root)
         {
             transferFormatCombo->setCurrentIndex(atoi(pcdataXMLEle(ep)));
         }
+        else if (!strcmp(tagXMLEle(ep), "Rotation"))
+        {
+            rotatorSettings->setRotationEnforced(true);
+            rotatorSettings->setTargetRotationTicks(atoi(pcdataXMLEle(ep)));
+        }
         else if (!strcmp(tagXMLEle(ep), "Calibration"))
         {
             subEP = findXMLEle(ep, "FlatSource");
@@ -2844,7 +2899,7 @@ bool Capture::saveSequenceQueue(const QString &path)
         outstream << "<W>" << job->getSubW() << "</W>" << endl;
         outstream << "<H>" << job->getSubH() << "</H>" << endl;
         outstream << "</Frame>" << endl;
-        if (job->getTargetTemperature() != INVALID_TEMPERATURE)
+        if (job->getTargetTemperature() != INVALID_VALUE)
             outstream << "<Temperature force='" << (job->getEnforceTemperature() ? "true" : "false") << "'>"
                       << job->getTargetTemperature() << "</Temperature>" << endl;
         if (job->getTargetFilter() >= 0)
@@ -2873,6 +2928,8 @@ bool Capture::saveSequenceQueue(const QString &path)
         if (job->getGain() != -1)
             outstream << "<Gain>" << (job->getGain()) << "</Gain>" << endl;
         outstream << "<FormatIndex>" << (job->getTransforFormat()) << "</FormatIndex>" << endl;
+        if (job->getTargetRotation() != INVALID_VALUE)
+            outstream << "<Rotation>" << (job->getTargetRotation()) << "</Rotation>" << endl;
 
         outstream << "<Calibration>" << endl;
         outstream << "<FlatSource>" << endl;
@@ -2991,6 +3048,14 @@ void Capture::syncGUIToJob(SequenceJob *job)
         gainIN->setValue(job->getGain());
 
     transferFormatCombo->setCurrentIndex(job->getTransforFormat());
+
+    if (job->getTargetRotation() != INVALID_VALUE)
+    {
+        rotatorSettings->setRotationEnforced(true);
+        rotatorSettings->setTargetRotationTicks(job->getTargetRotation());
+    }
+    else
+        rotatorSettings->setRotationEnforced(false);
 }
 
 void Capture::editJob(QModelIndex i)
@@ -3370,12 +3435,12 @@ double Capture::getCurrentHA()
     double currentRA, currentDEC;
 
     if (currentTelescope == nullptr)
-        return INVALID_HA;
+        return INVALID_VALUE;
 
     if (currentTelescope->getEqCoords(&currentRA, &currentDEC) == false)
     {
         appendLogText(i18n("Failed to retrieve telescope coordinates. Unable to calculate telescope's hour angle."));
-        return INVALID_HA;
+        return INVALID_VALUE;
     }
 
     dms lst = KStarsData::Instance()->geo()->GSTtoLST(KStarsData::Instance()->clock()->utc().gst());
@@ -3399,7 +3464,7 @@ bool Capture::checkMeridianFlip()
 
     //appendLogText(i18n("Current hour angle %1", currentHA));
 
-    if (currentHA == INVALID_HA)
+    if (currentHA == INVALID_VALUE)
         return false;
 
     if (currentHA > meridianHours->value())

kstars/ekos/capture/capture.h

@@ -30,6 +30,7 @@
 class QProgressIndicator;
 class QTableWidgetItem;
 class KDirWatch;
+class RotatorSettings;
 
 /**
  *@namespace Ekos
@@ -391,9 +392,9 @@ class Capture : public QWidget, public Ui::Capture
     void setTemperature();
 
     /**
-         * @brief prepareFilterTemperature Check if we need to update filter position or CCD temperature before starting capture process
+         * @brief preparePreCaptureActions Check if we need to update filter position or CCD temperature before starting capture process
          */
-    void prepareFilterTemperature();
+    void preparePreCaptureActions();
 
     // Pause Sequence Queue
     void pause();
@@ -478,6 +479,9 @@ class Capture : public QWidget, public Ui::Capture
     // Observer
     void showObserverDialog();
 
+    // Rotator
+    void updateRotatorNumber(INumberVectorProperty *nvp);
+
   signals:
     void newLog();
     void checkFocus(double);
@@ -614,6 +618,9 @@ class Capture : public QWidget, public Ui::Capture
     // Post capture script
     QProcess postCaptureScript;
 
+    // Rotator Settings
+    RotatorSettings *rotatorSettings=nullptr;
+
     // How many images to capture before dithering operation is executed?
     uint8_t ditherCounter;
 

kstars/ekos/capture/rotatorsettings.cpp

+/*  Rotator Settings
+    Copyright (C) 2017 Jasem Mutlaq <mutlaqja@ikarustech.com>
+
+    This application is free software; you can redistribute it and/or
+    modify it under the terms of the GNU General Public
+    License as published by the Free Software Foundation; either
+    version 2 of the License, or (at your option) any later version.
+ */
+
+#include "rotatorsettings.h"
+#include <indicom.h>
+
+RotatorSettings::RotatorSettings(QWidget *parent) : QDialog(parent)
+{
+    setupUi(this);
+
+    rotatorGauge->setFormat("%v");
+    rotatorGauge->setMinimum(0);
+    rotatorGauge->setMaximum(360);
+
+    connect(ticksSlider, SIGNAL(valueChanged(int)), ticksSpin, SLOT(setValue(int)));
+    connect(angleSlider, &QSlider::valueChanged, this, [this](int angle){angleSpin->setValue(angle);});
+
+    connect(setTickB, SIGNAL(clicked()), this, SLOT(gotoTicks()));
+    connect(setAngleB, SIGNAL(clicked()), this, SLOT(gotoAngle()));
+
+    connect(plannedTicksSpin, &QSpinBox::editingFinished, this, [this]() { enforceRotationCheck->setChecked(true);});
+}
+
+void RotatorSettings::setRotator(ISD::GDInterface *rotator)
+{
+    currentRotator = rotator;
+}
+
+void RotatorSettings::setTicksMinMaxStep(int32_t min, int32_t max, int32_t step)
+{
+    ticksSlider->setMinimum(min);
+    ticksSlider->setMaximum(max);
+    ticksSlider->setSingleStep(step);
+
+    ticksSpin->setMinimum(min);
+    ticksSpin->setMaximum(max);
+    ticksSpin->setSingleStep(step);
+
+    plannedTicksSpin->setMinimum(min);
+    plannedTicksSpin->setMaximum(max);
+    plannedTicksSpin->setSingleStep(step);
+
+    ticksPerDegree = max/360.0;
+}
+
+void RotatorSettings::gotoTicks()
+{
+    int32_t ticks = ticksSpin->value();
+    currentRotator->runCommand(INDI_SET_ROTATOR, &ticks);
+}
+
+void RotatorSettings::gotoAngle()
+{
+    double a=angleSpin->value();
+    double b=rotatorGauge->value();
+    double d=fabs(a-b);
+    double r=(d > 180) ? 360 - d : d;
+    int sign = (a - b >= 0 && a - b <= 180) || (a - b <=-180 && a- b>= -360) ? 1 : -1;
+    r *= sign;
+
+    double newTarget = (r+b) * ticksPerDegree;
+    if (newTarget < ticksSpin->minimum())
+        newTarget -= ticksSpin->minimum();
+    else if (newTarget > ticksSpin->maximum())
+        newTarget -= ticksSpin->maximum();
+
+    ticksSpin->setValue(newTarget);
+
+    gotoTicks();
+}
+
+void RotatorSettings::setCurrentTicks(int32_t ticks)
+{
+    ticksEdit->setText(QString::number(ticks));
+    double angle = range360(ticks / ticksPerDegree);
+    angleEdit->setText(QString::number(angle, 'f', 2));
+
+    rotatorGauge->setValue(angle);
+}

kstars/ekos/capture/rotatorsettings.h

+/*  Rotator Settings
+    Copyright (C) 2017 Jasem Mutlaq <mutlaqja@ikarustech.com>
+
+    This application is free software; you can redistribute it and/or
+    modify it under the terms of the GNU General Public
+    License as published by the Free Software Foundation; either
+    version 2 of the License, or (at your option) any later version.
+ */
+
+
+#ifndef ROTATORSETTINGS_H
+#define ROTATORSETTINGS_H
+
+#include <QDialog>
+#include "indi/indistd.h"
+#include "ui_rotatorsettings.h"
+
+class RotatorSettings : public QDialog, public Ui::RotatorDialog
+{
+    Q_OBJECT
+public:
+    RotatorSettings(QWidget *parent);
+
+    void setRotator(ISD::GDInterface *rotator);
+
+    void setTicksMinMaxStep(int32_t min, int32_t max, int32_t step);
+
+    void setCurrentTicks(int32_t ticks);
+
+    bool isRotationEnforced() { return enforceRotationCheck->isChecked(); }
+    void setRotationEnforced(bool enabled) { enforceRotationCheck->setChecked(enabled); }
+
+    int32_t getTargetRotationTicks() { return plannedTicksSpin->value(); }
+    void setTargetRotationTicks(int32_t value) { plannedTicksSpin->setValue(value); }
+    double getTargetAngle() { return angleSpin->value(); }
+
+    int32_t getCurrentRotationTicks() { return ticksEdit->text().toInt(); }
+
+
+protected slots:
+    void gotoTicks();
+    void gotoAngle();
+
+private:
+    ISD::GDInterface *currentRotator=nullptr;
+    double ticksPerDegree=0;
+};
+
+#endif // ROTATORSETTINGS_H

kstars/ekos/capture/rotatorsettings.ui

+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>RotatorDialog</class>
+ <widget class="QDialog" name="RotatorDialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>383</width>
+    <height>362</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Rotator Settings</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>3</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QRoundProgressBar" name="rotatorGauge" native="true">
+       <property name="enabled">
+        <bool>false</bool>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>200</width>
+         <height>200</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>200</width>
+         <height>200</height>
+        </size>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_14">
+        <property name="spacing">
+         <number>1</number>
+        </property>
+        <property name="leftMargin">
+         <number>3</number>
+        </property>
+        <property name="topMargin">
+         <number>3</number>
+        </property>
+        <property name="rightMargin">
+         <number>3</number>
+        </property>
+        <property name="bottomMargin">
+         <number>3</number>
+        </property>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <widget class="QLabel" name="label_3">
+       <property name="text">
+        <string>&lt;b&gt;Control&lt;/b&gt;:</string>
+       </property>
+       <property name="textFormat">
+        <enum>Qt::AutoText</enum>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="Line" name="line">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QGridLayout" name="gridLayout" columnstretch="1,2,5,2,1">
+     <property name="spacing">
+      <number>3</number>
+     </property>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label">
+       <property name="text">
+        <string>Ticks:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLineEdit" name="ticksEdit">
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QSlider" name="ticksSlider">
+       <property name="minimum">
+        <number>-500000</number>
+       </property>
+       <property name="maximum">
+        <number>500000</number>
+       </property>
+       <property name="singleStep">
+        <number>5000</number>
+       </property>
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="3">
+      <widget class="QSpinBox" name="ticksSpin">
+       <property name="maximum">
+        <number>100000</number>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="4">
+      <widget class="QPushButton" name="setTickB">
+       <property name="text">
+        <string>Set</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_2">
+       <property name="text">
+        <string>Angle:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLineEdit" name="angleEdit">
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QSlider" name="angleSlider">
+       <property name="maximum">
+        <number>360</number>
+       </property>
+       <property name="singleStep">
+        <number>10</number>
+       </property>
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="3">
+      <widget class="QDoubleSpinBox" name="angleSpin">
+       <property name="maximum">
+        <double>360.000000000000000</double>
+       </property>
+       <property name="singleStep">
+        <double>1.000000000000000</double>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="4">
+      <widget class="QPushButton" name="setAngleB">
+       <property name="text">
+        <string>Set</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <widget class="QLabel" name="label_4">
+       <property name="text">
+        <string>&lt;b&gt;Planning&lt;/b&gt;:</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="Line" name="line_2">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_4">
+     <item>
+      <widget class="QLabel" name="label_5">
+       <property name="toolTip">
+        <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Set desired rotator ticks position before capture sequence is started.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>