scopesim_helper.cpp

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/*
 * scopesim_helper.cpp
 *
 * Copyright 2020 Chris Rowland <[email protected]>
 *
 * implementation of telescope simulator helper classes Angle, Axis and Alignment
 *
 * This program 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.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
 * MA 02110-1301, USA.
 */
 
#include "scopesim_helper.h"
 
#include "indilogger.h"
 
char device_str[64] = "Telescope Simulator";
 
 
// Angle implementation
 
Angle::Angle(double value, ANGLE_UNITS type)
{
    switch(type)
    {
        case DEGREES:
            angle = range(value);
            break;
        case HOURS:
            angle = range(value * 15.0);
            break;
        case RADIANS:
            angle = range(value * 180.0 / M_PI);
            break;
    }
}
 
double Angle::radians()
{
    return this->angle * M_PI / 180.0;
}
 
bool Angle::operator== (const Angle &a)
{
    return std::abs(difference(a)) < 10E-6;
}
 
bool Angle::operator!= (const Angle &a)
{
    return std::abs(difference(a)) >= 10E-6;
}
 
 
// Axis Implementation
 
void Axis::setDegrees(double degrees)
{
    this->position = degrees;
    this->target = degrees;
}
 
void Axis::setHours(double hours)
{
    this->position = hours * 15.0;
    this->target = hours * 15.0;
}
 
void Axis::StartSlew(Angle angle)
{
    LOGF_DEBUG("%s StartSlew to %f", axisName, angle.Degrees());
    target = angle;
    isSlewing = true;
}
 
void Axis::Tracking(bool enabled)
{
    tracking = enabled;
    LOGF_EXTRA1("%s Tracking enabled %s", axisName, enabled ? "true" : "false");
}
 
void Axis::TrackRate(AXIS_TRACK_RATE rate)
{
    trackingRate = rate;
    switch (trackingRate)
    {
        case AXIS_TRACK_RATE::OFF:
            TrackingRateDegSec = 0;
            break;
        case AXIS_TRACK_RATE::SIDEREAL:
            TrackingRateDegSec = siderealRate;
            break;
        case AXIS_TRACK_RATE::SOLAR:
            TrackingRateDegSec = solarRate;
            break;
        case AXIS_TRACK_RATE::LUNAR:
            TrackingRateDegSec = lunarRate;
            break;
    }
    LOGF_EXTRA1("%s: TrackRate %i, trackingRateDegSec %f arcsec", axisName, trackingRate, TrackingRateDegSec.Degrees() * 3600);
}
 
Axis::AXIS_TRACK_RATE Axis::TrackRate()
{
    return trackingRate;
}
 
double Axis::getTrackingRateDegSec()
{
    return TrackingRateDegSec.Degrees();
}
 
void Axis::StartGuide(double rate, uint32_t durationMs)
{
    // rate is fraction of sidereal, signed to give the direction
 
    guideRateDegSec = (360.0 / 86400) * rate;
    guideDuration = durationMs / 1000.0;
    LOGF_DEBUG("%s StartGuide rate %f=>%f, dur %d =>%f", axisName, rate, guideRateDegSec.Degrees(), durationMs, guideDuration);
}
 
void Axis::update()         // called about once a second to update the position and mode
{
    struct timeval currentTime
    {
        0, 0
    };
 
    /* update elapsed time since last poll, don't presume exactly POLLMS */
    gettimeofday(&currentTime, nullptr);
 
    if (lastTime.tv_sec == 0 && lastTime.tv_usec == 0)
        lastTime = currentTime;
 
    // Time diff in seconds
    double interval  = currentTime.tv_sec - lastTime.tv_sec + (currentTime.tv_usec - lastTime.tv_usec) / 1e6;
    lastTime = currentTime;
    double change = 0;
 
    //LOGF_DEBUG("%s: position %f, target %f, interval %f", axisName, position.Degrees(), target.Degrees(), interval);
 
    // tracking
    if (isTracking())
    {
        position += TrackingRateDegSec * interval;
        target += TrackingRateDegSec * interval;
        LOGF_EXTRA1("%s: tracking, rate %f, position %f, target %f", axisName, TrackingRateDegSec.Degrees(), position.Degrees(), target.Degrees());
    }
 
    // handle the slew
    if (isSlewing)
    {
        // get positions relative to the rotate centre
        Angle trc = target - rotateCentre;
        Angle prc = position - rotateCentre;
        // get the change, don't use Angle so the change goes through the rotate centre
        double delta = trc.Degrees() - prc.Degrees();
        double fastChange = mcRates[4].Degrees() * interval;
        double slowChange = fastChange / 5;
        //LOGF_DEBUG("slew: trc %f prc %f, delta %f", trc.Degrees(), prc.Degrees(), delta);
        // apply the change to the relative position
        if (delta < -fastChange)
        {
            change = -fastChange;
        }
        else if (delta < -slowChange)
        {
            change = -slowChange;
        }
        else if (delta > fastChange)
        {
            change = fastChange;
        }
        else if (delta > slowChange)
        {
            change = slowChange;
        }
        else
        {
            position = target;
            isSlewing = false;
            //OnMoveFinished();
        }
        position += change;
        //LOGF_DEBUG("move %s: change %f, position %f", b, change, position.Degrees());
    }
 
    int rate = std::max(-4,std::min(4,mcRate));
    if(rate != mcRate) {
        LOGF_ERROR("Invalid mcRate Detected = %d",mcRate);
    }
 
    // handle the motion control
    if (rate < 0)
    {
        change = -mcRates[-rate].Degrees() * interval;
        //LOGF_DEBUG("mcRate %d, rate %f, change %f", mcRate, mcRates[-mcRate].Degrees(), change);
        position += change;
    }
    else if (rate > 0)
    {
        change = mcRates[rate].Degrees() * interval;
        //LOGF_DEBUG("mcRate %d, rate %f, change %f", mcRate, mcRates[mcRate].Degrees(), change);
        position += change;
    }
 
    // handle guiding
    if (guideDuration > 0)
    {
        change = guideRateDegSec.Degrees() * (guideDuration > interval ? interval : guideDuration);
        guideDuration -= interval;
        LOGF_DEBUG("guide rate %f, remaining duration %f, change %f", guideRateDegSec.Degrees(), guideDuration, change);
        position += change;
    }
}
 
 
// Alignment methods
 
Angle Alignment::lst()
{
    return Angle(get_local_sidereal_time(longitude.Degrees360()) * 15.0);
}
 
void Alignment::mountToApparentHaDec(Angle primary, Angle secondary, Angle * apparentHa, Angle* apparentDec)
{
 
    Angle prio, seco;
    // get instrument place
    switch (mountType)
    {
        case MOUNT_TYPE::ALTAZ:
            // Primary instrument axis: Negative PA-system looking down from Zenith:Nadir, origin "HA-like"!!!
            // Secondary instrument axis: Positive PA-system looking at E, origin "DEC-like"
        case MOUNT_TYPE::EQ_FORK:
            // Primary instrument axis: ??
            // Secondary instrument axis: ??
            seco = (latitude >= 0) ? secondary : -secondary;
            prio = primary;
            break;
        case MOUNT_TYPE::EQ_GEM:
            seco = (latitude >= 0) ? secondary : -secondary; // northern : southern hemisphere
            prio = primary;
            if (seco > 90 || seco < -90) // pierside west/looking east (cf. apparentHaDecToMount())
            {
                // Primary instrument axis: Negative PA-system looking down from NCP:SCP, origin opposite HA-like
                // Secondary instrument axis: Negative PA-system looking at E, origin opposite DEC-like
                prio = primary + Angle(180.0); // Primary to Ha transformation to get negative PA-system with origin HA-like
                seco = Angle(180.0) - seco;    // Secondary to Dec transformation to get positive PA-system origin DEC-like
            }
            break;
    }
    // instrument to observed, ignore apparent
    instrumentToObserved(prio, seco, apparentHa, apparentDec);
    // finally rotate an AltAzm mount to the Ha/Dec coordinates
    if (mountType == MOUNT_TYPE::ALTAZ)
    {
        Angle rot = latitude - Angle(90);
        // apparentHa and apparentDec hold corrected INDI Az and Altitude.
        // Vector uses scopesim Az (0=South); subtract 180 deg to convert from INDI Az.
        Vector trueAzAlt(*apparentHa - Angle(180.0), *apparentDec);
        Vector haDec = trueAzAlt.rotateY(rot);
        // Primary instrument axis: Negative PA-system looking down from Zenith:Nadir, origin "HA-like" ...
        *apparentHa = haDec.primary(); // ... so there is no transformation needed!
        // Secondary instrument axis: Positive PA-system looking east, origin "DEC-like" ...
        *apparentDec = haDec.secondary(); // ... so there is no transformation needed!
        LOGF_EXTRA1("ALTAZ to apparent HaDec: pri %f, sec %f to ha %f, dec %f  rot %f", prio.Degrees(), seco.Degrees(), apparentHa->Degrees(),
                    apparentDec->Degrees(), rot.Degrees());
    }
    else
        LOGF_EXTRA1("EQ to apparent HaDec: pri %f, sec %f to ha %f, dec %f", prio.Degrees(), seco.Degrees(), apparentHa->Degrees(),
                    apparentDec->Degrees());
}
 
void Alignment::mountToApparentRaDec(Angle primary, Angle secondary, Angle * apparentRa, Angle* apparentDec)
{
    Angle ha;
    mountToApparentHaDec(primary, secondary, &ha, apparentDec);
    *apparentRa = lst() - ha;
    LOGF_EXTRA1("mount to apparent RaDec: pri %f, sec %f to ha %f, ra %f, dec %f", primary.Degrees(), secondary.Degrees(), ha.Degrees(),
                apparentRa->Degrees(), apparentDec->Degrees());
}
 
void Alignment::mountToInstrumentHaDec(Angle primary, Angle secondary, Angle *instrumentHa, Angle *instrumentDec)
{
    // Convert axis positions to equatorial HA/Dec without any Wallace pointing-model correction.
    // For EQ mounts the axes are already in HA/Dec space; for ALTAZ we must apply the inverse
    // spherical rotation (Az/Alt → HA/Dec) to match what apparentHaDecToMount does, but skip
    // the instrumentToObserved step (which applies IH/ID/CH/NP).
    switch (mountType)
    {
        case MOUNT_TYPE::ALTAZ:
        {
            // primary = INDI Az (0=North), secondary = Alt.
            // Vector uses scopesim Az (0=South); subtract 180 deg before rotating to HA/Dec.
            Angle rot = latitude - Angle(90);  // inverse of rotateY(90 - lat)
            Vector haDec = Vector(primary - Angle(180.0), secondary).rotateY(rot);
            *instrumentHa  = haDec.primary();
            *instrumentDec = haDec.secondary();
            break;
        }
        case MOUNT_TYPE::EQ_FORK:
            *instrumentDec = (latitude >= 0) ? secondary : -secondary;
            *instrumentHa  = primary;
            break;
        case MOUNT_TYPE::EQ_GEM:
        {
            Angle seco = (latitude >= 0) ? secondary : -secondary;
            if (seco.Degrees() > 90 || seco.Degrees() < -90)
            {
                *instrumentHa  = primary + Angle(180.0);
                *instrumentDec = Angle(180.0) - seco;
            }
            else
            {
                *instrumentHa  = primary;
                *instrumentDec = seco;
            }
            break;
        }
    }
}
 
void Alignment::instrumentHaDecToMount(Angle instrumentHa, Angle instrumentDec, Angle *primary, Angle *secondary)
{
    switch (mountType)
    {
        case MOUNT_TYPE::ALTAZ:
        {
            // Convert equatorial HA/Dec to Az/Alt via spherical rotation (no Wallace errors),
            // mirroring apparentHaDecToMount but skipping the observedToInstrument step.
            // Vector.primary() returns scopesim Az (0=South); add 180 deg to yield INDI Az (0=North).
            Vector altAzm = Vector(instrumentHa, instrumentDec).rotateY(Angle(90) - latitude);
            *primary   = altAzm.primary() + Angle(180.0);  // INDI Az (0=North)
            *secondary = altAzm.secondary();
            break;
        }
        case MOUNT_TYPE::EQ_FORK:
            // Primary instrument axis: HA (negative PA-system looking down to NCP:SCP)
            // Secondary instrument axis: Dec (positive PA-system looking E)
            *primary   = instrumentHa;
            *secondary = (latitude >= 0) ? instrumentDec : -instrumentDec;
            break;
        case MOUNT_TYPE::EQ_GEM:
            if (instrumentHa < flipHourAngle)  // pierside west (looking east)
            {
                // Ha axis: Negative PA-system looking down from NCP:SCP, origin HA-like
                // Dec axis: Positive PA-system looking at E, origin DEC-like
                *primary   = instrumentHa + Angle(180);    // Ha to Primary: negative PA-system with origin opposite HA-like
                *secondary = Angle(180) - instrumentDec;   // Dec to Secondary: positive PA-system with origin DEC-like
            }
            else
            {
                *primary   = instrumentHa;    // Ha already rotated by 180
                *secondary = instrumentDec;   // Dec already rotated by 180
            }
            if (latitude < 0)  // southern hemisphere
                *secondary = -*secondary;
            break;
    }
}
 
void Alignment::apparentHaDecToMount(Angle apparentHa, Angle apparentDec, Angle* primary, Angle* secondary)
{
    // convert to Alt Azm first
    if (mountType == MOUNT_TYPE::ALTAZ)
    {
        // rotate the apparent HaDec vector to the vertical
        // TODO sort out Southern Hemisphere
        Vector altAzm = Vector(apparentHa, apparentDec).rotateY(Angle(90) - latitude);
        // azimuth in scopesim convention is 0 deg = South, increasing clockwise West->North->East
        // INDI's IHorizontalCoordinates uses 0 deg = North.
        Angle apparentAz = altAzm.primary() + Angle(180.0);
        Angle apparentAlt = altAzm.secondary();
 
        Angle instrumentAz, instrumentAlt;
        observedToInstrument(apparentAz, apparentAlt, &instrumentAz, &instrumentAlt);
 
        *primary = instrumentAz;
        *secondary = instrumentAlt;
        LOGF_EXTRA1("apparent HaDec to ALTAZ: ha %f, dec %f  to pri %f, sec %f", apparentHa.Degrees(), apparentDec.Degrees(), primary->Degrees(),
                    secondary->Degrees() );
        return; // Prevent fallthrough to equatorial override
    }
    // EQ: apply Wallace pointing-model correction in HA/Dec space, then delegate axis mapping.
    // (For ALTAZ the correction is applied in Az/Alt space above, before the early return.)
    Angle instrumentHa, instrumentDec;
    observedToInstrument(apparentHa, apparentDec, &instrumentHa, &instrumentDec);
    instrumentHaDecToMount(instrumentHa, instrumentDec, primary, secondary);
    LOGF_EXTRA1("apparent HaDec to EQ: ha %f, dec %f to pri %f, sec %f", apparentHa.Degrees(), apparentDec.Degrees(), primary->Degrees(),
                secondary->Degrees() );
}
 
void Alignment::apparentRaDecToMount(Angle apparentRa, Angle apparentDec, Angle* primary, Angle* secondary)
{
    Angle ha = lst() - apparentRa;
    apparentHaDecToMount(ha, apparentDec, primary, secondary);
    LOGF_EXTRA1("apparent RaDec to mount: ra %f, ha %f, dec %f to pri %f, sec %f", apparentRa.Degrees(), ha.Degrees(), apparentDec.Degrees(),
                primary->Degrees(), secondary->Degrees());
}
 
#define NEW
 
void Alignment::instrumentToObserved(Angle instrumentHa, Angle instrumentDec, Angle * observedHa, Angle* observedDec)
{
    static Angle maxDec = Angle(89);
 
    // do the corrections consecutively
    // apply Ha and Dec zero offsets
    *observedHa = instrumentHa + IH;
    *observedDec = instrumentDec + ID;
 
    // apply collimation (cone) error, limited to CH * 10
    double cosDec = *observedDec < maxDec ? std::cos(observedDec->radians()) : std::cos(maxDec.radians());
    double tanDec = *observedDec < maxDec ? std::tan(observedDec->radians()) : std::tan(maxDec.radians());
 
    *observedHa += (CH / cosDec);
    // apply Ha and Dec axis non perpendiculary, limited to NP * 10
    *observedHa += (NP * tanDec);
 
    // Use rotations so the corrections work at the pole
    // apply polar axis Azimuth error using rotation in the East, West, Pole plane (X)
    Vector vMa = Vector(*observedHa, *observedDec).rotateX(MA);
 
    // apply polar axis elevation error using rotation in the North, South, Pole plane (Y)
    Vector vMe = vMa.rotateY(Angle(ME));
 
    *observedHa = vMe.primary();
    *observedDec = vMe.secondary();
}
 
void Alignment::observedToInstrument(Angle observedHa, Angle observedDec, Angle * instrumentHa, Angle *instrumentDec)
{
#ifdef NEW
 
    // avoid errors near dec 90 by limiting sec and tan dec to 57
    static Angle maxDec = Angle(89);
 
    // do the corrections consecutively
    // use vector rotations for MA and ME so they work close to the pole
    // rotate about the EW axis (Y)
    Vector vMe = Vector(observedHa, observedDec).rotateY(Angle(-ME));
 
    // apply polar axis Azimuth error
    Vector vMa = vMe.rotateX(-MA);
 
    *instrumentHa = vMa.primary();
    *instrumentDec = vMa.secondary();
 
    // apply Ha and Dec axis non perpendiculary, limited to maxDec
    double tanDec = *instrumentDec < maxDec ? std::tan(instrumentDec->radians()) : std::tan(maxDec.radians());
    *instrumentHa -= (NP * tanDec);
    // apply collimation (cone) error, limited to maxDec
    double cosDec = *instrumentDec < maxDec ? std::cos(instrumentDec->radians()) : std::cos(maxDec.radians());
    *instrumentHa -= (CH / cosDec);
 
    // apply Ha and Dec zero offsets
    *instrumentHa -= IH;
    *instrumentDec -= ID;
 
#else
 
 
    Angle correctionHa, correctionDec;
    correction(observedHa, observedDec, &correctionHa, &correctionDec);
    // subtract the correction to get a first pass at the instrument
    *instrumentHa = observedHa - correctionHa;
    *instrumentDec = observedDec - correctionDec;
 
    static const Angle minDelta(1.0 / 3600.0);   // 1.0 arc seconds
    Angle dHa(180);
    Angle dDec(180);
    int num = 0;
    while ( num < 10)
    {
        // use the previously calculated instrument to get a new position
        Angle newHa, newDec;
        correction(*instrumentHa, *instrumentDec, &correctionHa, &correctionDec);
        newHa = *instrumentHa + correctionHa;
        newDec = *instrumentDec + correctionDec;
        // get the deltas
        dHa = observedHa - newHa;
        dDec = observedDec - newDec;
        //            LOGF_DEBUG("observedToInstrument %i: observed %f, %f, new %f, %f, delta %f, %f", num,
        //                       observedHa.Degrees(), observedDec.Degrees(),
        //                       newHa.Degrees(), newDec.Degrees(), dHa.Degrees(), dDec.Degrees());
        if (Angle(fabs(dHa.Degrees())) < minDelta && Angle(fabs(dDec.Degrees())) < minDelta)
        {
            return;
        }
        // apply the delta
        *instrumentHa += dHa;
        *instrumentDec += dDec;
        num++;
    }
    LOGF_DEBUG("mountToObserved iterations %i, delta %f, %f", num, dHa.Degrees(), dDec.Degrees());
#endif
}
 
// corrections based on the instrument position, add to instrument to get observed
// see Patrick Wallace's white paper for details
void Alignment::correction(Angle instrumentHa, Angle instrumentDec, Angle * correctionHa, Angle * correctionDec)
{
    // apply Ha and Dec zero offsets
    *correctionHa = IH;
    *correctionDec = ID;
 
    // avoid errors near dec 90 by limiting sec and tan dec to 100
    static const double minCos = 0.01;
    static const double maxTan = 100.0;
 
    double cosDec = std::cos(instrumentDec.radians());
    if (cosDec >= 0 && cosDec < minCos) cosDec = minCos;
    else if (cosDec <= 0 && cosDec > -minCos) cosDec = -minCos;
 
    double tanDec = std::tan(instrumentDec.radians());
    if (tanDec > maxTan) tanDec = maxTan;
    if (tanDec < -maxTan) tanDec = -maxTan;
 
    double cosHa = std::cos(instrumentHa.radians());
    double sinHa = std::sin(instrumentHa.radians());
 
    // apply collimation (cone) error, limited to CH * 10
    *correctionHa += (CH / cosDec);
    // apply Ha and Dec axis non perpendiculary, limited to NP * 10
    *correctionHa += (NP * tanDec);
 
    // apply polar axis Azimuth error
    *correctionHa += (-MA * cosHa * tanDec);
    *correctionDec += (MA * sinHa);
 
    // apply polar axis elevation error
    *correctionHa += (ME * sinHa * tanDec);
    *correctionDec += (ME * cosHa);
 
    LOGF_EXTRA1("correction %f, %f", correctionHa->Degrees(), correctionDec->Degrees());
}
 
#ifdef FALSE
Alignment::apparentHaDecToMount(Vector HaDec, Vector *mount)
{
    // rotate by IH and ID
    Vector vIh = HaDec.rotateZ(Angle(IH));
    Vector vId = vIh.rotateX(Angle(ID));
}
#endif
 
void Alignment::setCorrections(double ih, double id, double ch, double np, double ma, double me)
{
    IH = ih;
    ID = id;
    CH = ch;
    NP = np;
    MA = ma;
    ME = me;
    LOGF_DEBUG("setCorrections IH %f, ID %f, CH %f, NP %f, MA %f, ME %f", IH, ID, CH, NP, MA, ME);
}
 
 
// Vector methods
 
Vector::Vector(double x, double y, double z)
{
    double len = std::sqrt(x * x + y * y + z * z);
    L = x / len;
    M = y / len;
    N = z / len;
}
 
Vector::Vector(Angle primary, Angle secondary)
{
    double sp = std::sin(primary.radians());
    double cp = std::cos(primary.radians());
    double ss = std::sin(secondary.radians());
    double cs = std::cos(secondary.radians());
 
    L = cs * cp;
    M = cs * sp;
    N = ss;
}
 
void Vector::normalise()
{
    double len = length();
    L /= len;
    M /= len;
    N /= len;
}
 
Angle Vector::primary()
{
    Angle a = Angle(atan2(M, L), Angle::RADIANS);
    //IDLog("primary %f", a.Degrees());
    return a;
}
 
Angle Vector::secondary()
{
    Angle a = Angle(std::asin(N), Angle::RADIANS);
    //IDLog("secondary %f", a.Degrees());
    return a;
}
 
Vector Vector::rotateX(Angle angle)
{
    double ca = std::cos(angle.radians());
    double sa = std::sin(angle.radians());
    return Vector(L, M * ca + N * sa, N * ca - M * sa);
}
 
Vector Vector::rotateY(Angle angle)
{
    double ca = std::cos(angle.radians());
    double sa = std::sin(angle.radians());
    return Vector(L * ca - N * sa, M, L * sa + N * ca);
}
 
Vector Vector::rotateZ(Angle angle)
{
    double ca = std::cos(angle.radians());
    double sa = std::sin(angle.radians());
    return Vector(L * ca + M * sa, M * ca - L * sa, N);
}