void Focus::processFocusProperties(INumberVectorProperty *nvp)
{
if (!strcmp(nvp->name, "ABS_FOCUS_POSITION"))
{
INumber *pos = IUFindNumber(nvp, "FOCUS_ABSOLUTE_POSITION");
if (pos)
pulseStep = pos->value;
if (canAbsMove && inAutoFocus)
{
if (nvp->s == IPS_OK)
capture();
else if (nvp->s == IPS_ALERT)
{
appendLogText(i18n("Focuser error, check INDI panel."));
stopFocus();
}
}
return;
}
if (!strcmp(nvp->name, "FOCUS_TIMER"))
{
if (canAbsMove == false && inAutoFocus)
{
if (nvp->s == IPS_OK)
capture();
else if (nvp->s == IPS_ALERT)
{
appendLogText(i18n("Focuser error, check INDI panel."));
stopFocus();
}
}
return;
}
}
void Focus::toggleAutofocus(bool enable)
{
if (enable)
focusType = FOCUS_AUTO;
else
focusType = FOCUS_MANUAL;
if (inFocusLoop || inAutoFocus)
stopFocus();
else
resetButtons();
}
Focus::Focus()
{
setupUi(this);
currentFocuser = NULL;
currentCCD = NULL;
canAbsMove = false;
inAutoFocus = false;
inFocusLoop = false;
HFRInc =0;
reverseDir = false;
pulseDuration = 1000;
connect(startFocusB, SIGNAL(clicked()), this, SLOT(startFocus()));
connect(stopFocusB, SIGNAL(clicked()), this, SLOT(stopFocus()));
connect(focusOutB, SIGNAL(clicked()), this, SLOT(FocusOut()));
connect(focusInB, SIGNAL(clicked()), this, SLOT(FocusIn()));
connect(captureB, SIGNAL(clicked()), this, SLOT(capture()));
connect(AutoModeR, SIGNAL(toggled(bool)), this, SLOT(toggleAutofocus(bool)));
connect(startLoopB, SIGNAL(clicked()), this, SLOT(startLooping()));
connect(CCDCaptureCombo, SIGNAL(activated(int)), this, SLOT(checkCCD(int)));
lastFocusDirection = FOCUS_NONE;
focusType = FOCUS_MANUAL;
HFRPlot->axis( KPlotWidget::LeftAxis )->setLabel( i18nc("Half Flux Radius", "HFR") );
HFRPlot->axis( KPlotWidget::BottomAxis )->setLabel( i18n("Absolute Position") );
resetButtons();
appendLogText(i18n("Idle."));
foreach(QString filter, FITSViewer::filterTypes)
filterCombo->addItem(filter);
exposureIN->setValue(Options::focusExposure());
toleranceIN->setValue(Options::focusTolerance());
stepIN->setValue(Options::focusTicks());
}
void Focus::autoFocusRel(double currentHFR)
{
QString deltaTxt = QString("%1").arg(fabs(currentHFR-HFR)*100.0, 0,'g', 2);
QString HFRText = QString("%1").arg(currentHFR, 0,'g', 3);
appendLogText(i18n("FITS received. HFR %1. Delta (%2%)", HFRText, deltaTxt));
if (pulseDuration <= 32)
{
appendLogText(i18n("Autofocus failed to reach proper focus. Try adjusting the tolerance value."));
stopFocus();
return;
}
if (currentHFR == -1)
{
appendLogText(i18n("No stars detected, capturing again..."));
capture();
return;
}
switch (lastFocusDirection)
{
case FOCUS_NONE:
HFR = currentHFR;
FocusIn(pulseDuration);
break;
case FOCUS_IN:
if (fabs(currentHFR - HFR) < (toleranceIN->value()/100.0) && HFRInc == 0)
{
appendLogText(i18n("Autofocus complete."));
stopFocus();
break;
}
else if (currentHFR < HFR)
{
HFR = currentHFR;
FocusIn(pulseDuration);
HFRInc=0;
}
else
{
HFRInc++;
if (HFRInc < 1)
{
capture();
return;
}
else
{
HFR = currentHFR;
HFRInc=0;
if (reverseDir)
pulseDuration /= 2;
if (canAbsMove)
{
if (reverseDir)
FocusOut(pulseDuration*3);
else
{
reverseDir = true;
FocusOut(pulseDuration*2);
}
}
else
FocusOut(pulseDuration);
}
}
break;
case FOCUS_OUT:
if (fabs(currentHFR - HFR) < (toleranceIN->value()/100.0) && HFRInc == 0)
{
appendLogText(i18n("Autofocus complete."));
stopFocus();
break;
}
else if (currentHFR < HFR)
{
HFR = currentHFR;
FocusOut(pulseDuration);
HFRInc=0;
}
else
{
HFRInc++;
if (HFRInc < 1)
capture();
else
{
HFR = currentHFR;
HFRInc=0;
if (reverseDir)
pulseDuration /= 2;
if (canAbsMove)
{
if (reverseDir)
FocusIn(pulseDuration*3);
else
{
reverseDir = true;
FocusIn(pulseDuration*2);
}
}
else
FocusIn(pulseDuration);
}
}
break;
}
}
void Focus::autoFocusAbs(double currentHFR)
{
static int initHFRPos=0, lastHFRPos=0, minHFRPos=0, initSlopePos=0, initPulseDuration=0, focusOutLimit=0, focusInLimit=0, minPos=1e6, maxPos=0;
static double initHFR=0, minHFR=0, maxHFR=1,initSlopeHFR=0;
double targetPulse=0, delta=0;
QString deltaTxt = QString("%1").arg(fabs(currentHFR-minHFR)*100.0, 0,'g', 2);
QString HFRText = QString("%1").arg(currentHFR, 0,'g', 3);
//qDebug() << "Current HFR: " << currentHFR << " Current Position: " << pulseStep << endl;
//qDebug() << "minHFR: " << minHFR << " MinHFR Pos: " << minHFRPos << endl;
//qDebug() << "Delta: " << deltaTxt << endl;
if (minHFR)
appendLogText(i18n("FITS received. HFR %1 @ %2. Delta (%3%)", HFRText, pulseStep, deltaTxt));
else
appendLogText(i18n("FITS received. HFR %1 @ %2.", HFRText, pulseStep));
if (++absIterations > MAXIMUM_ABS_ITERATIONS)
{
appendLogText(i18n("Autofocus failed to reach proper focus. Try increasing tolerance value."));
stopFocus();
return;
}
// No stars detected, try to capture again
if (currentHFR == -1)
{
appendLogText(i18n("No stars detected, capturing again..."));
capture();
return;
}
if (currentHFR > maxHFR || HFRPoints.empty())
{
maxHFR = currentHFR;
if (HFRPoints.empty())
{
maxPos=1;
minPos=1e6;
}
}
if (pulseStep > maxPos)
maxPos = pulseStep;
if (pulseStep < minPos)
minPos = pulseStep;
HFRPoint *p = new HFRPoint();
p->HFR = currentHFR;
p->pos = pulseStep;
HFRPoints.append(p);
HFRPlot->removeAllPlotObjects();
//HFRPlot->setLimits(pulseStep-pulseDuration*5, pulseStep+pulseDuration*5, currentHFR/1.5, currentHFR*1.5 );
HFRPlot->setLimits(minPos-pulseDuration, maxPos+pulseDuration, currentHFR/1.5, maxHFR );
KPlotObject *hfrObj = new KPlotObject( Qt::red, KPlotObject::Points, 2 );
foreach(HFRPoint *p, HFRPoints)
hfrObj->addPoint(p->pos, p->HFR);
HFRPlot->addPlotObject(hfrObj);
HFRPlot->update();
switch (lastFocusDirection)
{
case FOCUS_NONE:
HFR = currentHFR;
initHFRPos = pulseStep;
initHFR=HFR;
minHFR=currentHFR;
minHFRPos=pulseStep;
HFRDec=0;
HFRInc=0;
focusOutLimit=0;
focusInLimit=0;
initPulseDuration=pulseDuration;
FocusIn(pulseDuration);
break;
case FOCUS_IN:
case FOCUS_OUT:
if (reverseDir && focusInLimit && focusOutLimit && fabs(currentHFR - minHFR) < (toleranceIN->value()/100.0) && HFRInc == 0 )
{
if (absIterations <= 2)
appendLogText(i18n("Change in HFR is too small. Try increasing the step size or decreasing the tolerance."));
else
appendLogText(i18n("Autofocus complete."));
stopFocus();
break;
}
else if (currentHFR < HFR)
{
double slope=0;
// Let's try to calculate slope of the V curve.
if (initSlopeHFR == 0 && HFRInc == 0 && HFRDec >= 1)
{
initSlopeHFR = HFR;
initSlopePos = lastHFRPos;
}
// Let's now limit the travel distance of the focuser
if (lastFocusDirection == FOCUS_OUT && lastHFRPos < focusInLimit)
focusInLimit = lastHFRPos;
else if (lastFocusDirection == FOCUS_IN && lastHFRPos > focusOutLimit)
focusOutLimit = lastHFRPos;
// If we have slope, get next target position
if (initSlopeHFR)
{
slope = (currentHFR - initSlopeHFR) / (pulseStep - initSlopePos);
targetPulse = pulseStep + (currentHFR*0.5 - currentHFR)/slope;
}
// Otherwise proceed iteratively
else
{
if (lastFocusDirection == FOCUS_IN)
targetPulse = pulseStep + pulseDuration;
else
targetPulse = pulseStep - pulseDuration;
}
HFR = currentHFR;
// Let's keep track of the minimum HFR
if (HFR < minHFR)
{
minHFR = HFR;
minHFRPos = pulseStep;
}
lastHFRPos = pulseStep;
// HFR is decreasing, we are on the right direction
HFRDec++;
HFRInc=0;
}
else
{
// HFR increased, let's deal with it.
HFRInc++;
HFRDec=0;
reverseDir = true;
// Reality Check: If it's first time, let's capture again and see if it changes.
if (HFRInc <= 1)
{
capture();
return;
}
// Looks like we're going away from optimal HFR
else
{
HFR = currentHFR;
lastHFRPos = pulseStep;
initSlopeHFR=0;
HFRInc=0;
// Let's set new limits
if (lastFocusDirection == FOCUS_IN)
focusInLimit = pulseStep;
else
focusOutLimit = pulseStep;
// Decrease pulse
pulseDuration = pulseDuration * 0.75;
// Let's get close to the minimum HFR position so far detected
if (lastFocusDirection == FOCUS_OUT)
targetPulse = minHFRPos+pulseDuration/2;
else
targetPulse = minHFRPos-pulseDuration/2;
}
}
// Limit target Pulse to algorithm limits
if (focusInLimit != 0 && lastFocusDirection == FOCUS_IN && targetPulse > focusInLimit)
targetPulse = focusInLimit;
else if (focusOutLimit != 0 && lastFocusDirection == FOCUS_OUT && targetPulse < focusOutLimit)
targetPulse = focusOutLimit;
// Limit target pulse to focuser limits
if (targetPulse < absMotionMin)
targetPulse = absMotionMin;
else if (targetPulse > absMotionMax)
targetPulse = absMotionMax;
// Ops, we can't go any further, we're done.
if (targetPulse == pulseStep)
{
appendLogText(i18n("Autofocus complete."));
stopFocus();
return;
}
// Ops, deadlock
if (focusOutLimit && focusOutLimit == focusInLimit)
{
appendLogText(i18n("Deadlock reached. Please try again with different settings."));
stopFocus();
return;
}
// Get delta for next move
delta = (targetPulse - pulseStep);
// Now cross your fingers and wait
if (delta > 0)
FocusIn(delta);
else
FocusOut(fabs(delta));
break;
}
}
