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If focus motion command times out in 30 seconds, command it again. If…
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@knro
knro committed Jun 7, 2021
1 parent 42fd89e commit 15bc20a
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Showing 7 changed files with 297 additions and 238 deletions.
128 changes: 84 additions & 44 deletions kstars/ekos/focus/focus.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,6 @@

#include <cmath>

#define FOCUS_TIMEOUT_THRESHOLD 120000
#define MAXIMUM_ABS_ITERATIONS 30
#define MAXIMUM_RESET_ITERATIONS 3
#define AUTO_STAR_TIMEOUT 45000
Expand Down Expand Up @@ -95,6 +94,10 @@ Focus::Focus()

appendLogText(i18n("Idle."));

// Focus motion timeout
m_FocusMotionTimer.setInterval(Options::focusMotionTimeout() * 1000);
connect(&m_FocusMotionTimer, &QTimer::timeout, this, &Focus::handleFocusMotionTimeout);

// Create an autofocus CSV file, dated at startup time
QString dir = KSPaths::writableLocation(QStandardPaths::GenericDataLocation) + "focuslogs/";
m_FocusLogFileName = dir + "autofocus-" + QDateTime::currentDateTime().toString("yyyy-MM-ddThh-mm-ss") + ".txt";
Expand Down Expand Up @@ -869,7 +872,7 @@ void Focus::start()
}
else inAutoFocus = true;

lastFocusDirection = FOCUS_NONE;
m_LastFocusDirection = FOCUS_NONE;

polySolutionFound = 0;

Expand Down Expand Up @@ -1058,6 +1061,8 @@ void Focus::stop(bool aborted)
qCDebug(KSTARS_EKOS_FOCUS) << "Stopping Focus";

captureTimeout.stop();
m_FocusMotionTimer.stop();
m_FocusMotionTimerCounter = 0;

inAutoFocus = false;
focuserAdditionalMovement = 0;
Expand Down Expand Up @@ -1218,8 +1223,8 @@ void Focus::capture(double settleTime)
if (targetChip->capture(exposureIN->value()))
{
// Timeout is exposure duration + timeout threshold in seconds
long const timeout = lround(ceil(exposureIN->value() * 1000)) + FOCUS_TIMEOUT_THRESHOLD;
captureTimeout.start(timeout);
//long const timeout = lround(ceil(exposureIN->value() * 1000)) + FOCUS_TIMEOUT_THRESHOLD;
captureTimeout.start(Options::focusCaptureTimeout() * 1000);

if (inFocusLoop == false)
appendLogText(i18n("Capturing image..."));
Expand Down Expand Up @@ -1305,43 +1310,72 @@ bool Focus::changeFocus(int amount)
const int absAmount = abs(amount);
const bool focusingOut = amount > 0;
const QString dirStr = focusingOut ? i18n("outward") : i18n("inward");
lastFocusDirection = focusingOut ? FOCUS_OUT : FOCUS_IN;

qCDebug(KSTARS_EKOS_FOCUS) << "Focus " << dirStr << " (" << absAmount << ")";
m_LastFocusDirection = focusingOut ? FOCUS_OUT : FOCUS_IN;

if (focusingOut)
currentFocuser->focusOut();
else
currentFocuser->focusIn();

// Keep track of motion in case it gets stuck.
m_FocusMotionTimerCounter = 0;
m_FocusMotionTimer.start();

if (canAbsMove)
{
m_LastFocusSteps = currentPosition + amount;
currentFocuser->moveAbs(currentPosition + amount);
appendLogText(i18n("Focusing %2 by %1 steps...", absAmount, dirStr));
}
else if (canRelMove)
{
m_LastFocusSteps = absAmount;
currentFocuser->moveRel(absAmount);
appendLogText(i18np("Focusing %2 by %1 step...", "Focusing %2 by %1 steps...", absAmount, dirStr));
}
else
{
m_LastFocusSteps = absAmount;
currentFocuser->moveByTimer(absAmount);
appendLogText(i18n("Focusing %2 by %1 ms...", absAmount, dirStr));
}

return true;
}

void Focus::processData(const QSharedPointer<FITSData> &data)
///////////////////////////////////////////////////////////////////////////////////////////////////
///
///////////////////////////////////////////////////////////////////////////////////////////////////
void Focus::handleFocusMotionTimeout()
{
// if (data == nullptr)
// {
// capture();
// return;
// }
if (++m_FocusMotionTimerCounter > 3)
{
appendLogText(i18n("Focuser is not responding to commands. Aborting..."));
completeFocusProcedure(false);
}

const QString dirStr = m_LastFocusDirection == FOCUS_OUT ? i18n("outward") : i18n("inward");
if (canAbsMove)
{
currentFocuser->moveAbs(m_LastFocusSteps);
appendLogText(i18n("Focus motion timed out. Focusing to %1 steps...", m_LastFocusSteps));
}
else if (canRelMove)
{
currentFocuser->moveRel(m_LastFocusSteps);
appendLogText(i18n("Focus motion timed out. Focusing %2 by %1 steps...", m_LastFocusSteps,
dirStr));
}
else
{
currentFocuser->moveByTimer(m_LastFocusSteps);
appendLogText(i18n("Focus motion timed out. Focusing %2 by %1 ms...",
m_LastFocusSteps, dirStr));
}
}

void Focus::processData(const QSharedPointer<FITSData> &data)
{
// Ignore guide head if there is any.
if (data->property("chip").toInt() == ISD::CCDChip::GUIDE_CCD)
return;
Expand Down Expand Up @@ -2336,7 +2370,7 @@ void Focus::autoFocusAbs()

drawHFRPlot();

switch (lastFocusDirection)
switch (m_LastFocusDirection)
{
case FOCUS_NONE:
lastHFR = currentHFR;
Expand All @@ -2359,7 +2393,7 @@ void Focus::autoFocusAbs()
else
{
pulseDuration = 0;
lastFocusDirection = FOCUS_IN;
m_LastFocusDirection = FOCUS_IN;
}
}
else if (currentPosition + pulseDuration < absMotionMin)
Expand All @@ -2371,7 +2405,7 @@ void Focus::autoFocusAbs()
else
{
pulseDuration = 0;
lastFocusDirection = FOCUS_OUT;
m_LastFocusDirection = FOCUS_OUT;
}
}

Expand Down Expand Up @@ -2419,12 +2453,12 @@ void Focus::autoFocusAbs()
}

// Let's now limit the travel distance of the focuser
if (lastFocusDirection == FOCUS_OUT && lastHFRPos < focusInLimit && fabs(currentHFR - lastHFR) > 0.1)
if (m_LastFocusDirection == FOCUS_OUT && lastHFRPos < focusInLimit && fabs(currentHFR - lastHFR) > 0.1)
{
focusInLimit = lastHFRPos;
qCDebug(KSTARS_EKOS_FOCUS) << "New FocusInLimit " << focusInLimit;
}
else if (lastFocusDirection == FOCUS_IN && lastHFRPos > focusOutLimit &&
else if (m_LastFocusDirection == FOCUS_IN && lastHFRPos > focusOutLimit &&
fabs(currentHFR - lastHFR) > 0.1)
{
focusOutLimit = lastHFRPos;
Expand Down Expand Up @@ -2453,7 +2487,7 @@ void Focus::autoFocusAbs()
// Otherwise proceed iteratively
else
{
if (lastFocusDirection == FOCUS_IN)
if (m_LastFocusDirection == FOCUS_IN)
targetPosition = currentPosition - pulseDuration;
else
targetPosition = currentPosition + pulseDuration;
Expand Down Expand Up @@ -2505,7 +2539,7 @@ void Focus::autoFocusAbs()
qCDebug(KSTARS_EKOS_FOCUS) << "Focus is moving away from optimal HFR.";

// Let's set new limits
if (lastFocusDirection == FOCUS_IN)
if (m_LastFocusDirection == FOCUS_IN)
{
focusInLimit = currentPosition;
qCDebug(KSTARS_EKOS_FOCUS) << "Setting focus IN limit to " << focusInLimit;
Expand Down Expand Up @@ -2555,7 +2589,7 @@ void Focus::autoFocusAbs()
pulseDuration = pulseDuration * 0.75;

// Let's get close to the minimum HFR position so far detected
if (lastFocusDirection == FOCUS_OUT)
if (m_LastFocusDirection == FOCUS_OUT)
targetPosition = minHFRPos - pulseDuration / 2;
else
targetPosition = minHFRPos + pulseDuration / 2;
Expand All @@ -2565,12 +2599,12 @@ void Focus::autoFocusAbs()
}

// Limit target Pulse to algorithm limits
if (focusInLimit != 0 && lastFocusDirection == FOCUS_IN && targetPosition < focusInLimit)
if (focusInLimit != 0 && m_LastFocusDirection == FOCUS_IN && targetPosition < focusInLimit)
{
targetPosition = focusInLimit;
qCDebug(KSTARS_EKOS_FOCUS) << "Limiting target pulse to focus in limit " << targetPosition;
}
else if (focusOutLimit != 0 && lastFocusDirection == FOCUS_OUT && targetPosition > focusOutLimit)
else if (focusOutLimit != 0 && m_LastFocusDirection == FOCUS_OUT && targetPosition > focusOutLimit)
{
targetPosition = focusOutLimit;
qCDebug(KSTARS_EKOS_FOCUS) << "Limiting target pulse to focus out limit " << targetPosition;
Expand Down Expand Up @@ -2709,7 +2743,7 @@ void Focus::autoFocusRel()
else
noStarCount = 0;

switch (lastFocusDirection)
switch (m_LastFocusDirection)
{
case FOCUS_NONE:
lastHFR = currentHFR;
Expand All @@ -2729,7 +2763,7 @@ void Focus::autoFocusRel()
minHFR = currentHFR;

lastHFR = currentHFR;
changeFocus(lastFocusDirection == FOCUS_IN ? -pulseDuration : pulseDuration);
changeFocus(m_LastFocusDirection == FOCUS_IN ? -pulseDuration : pulseDuration);
HFRInc = 0;
}
else
Expand All @@ -2742,7 +2776,7 @@ void Focus::autoFocusRel()

pulseDuration *= 0.75;

if (!changeFocus(lastFocusDirection == FOCUS_IN ? pulseDuration : -pulseDuration))
if (!changeFocus(m_LastFocusDirection == FOCUS_IN ? pulseDuration : -pulseDuration))
completeFocusProcedure(false);
}
break;
Expand Down Expand Up @@ -2826,23 +2860,15 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)
if (QString(nvp->name).contains("focus", Qt::CaseInsensitive) == false)
return;

// qCDebug(KSTARS_EKOS_FOCUS) << QString("processFocusNumber %1 state: %2")
// .arg(nvp->name).arg(nvp->s);

if (!strcmp(nvp->name, "FOCUS_BACKLASH_STEPS"))
{
focusBacklashSpin->setValue(nvp->np[0].value);
return;
}

// if (!strcmp(nvp->name, "FOCUS_TEMPERATURE"))
// {
// updateTemperature(FOCUSER_TEMPERATURE, nvp->np[0].value);
// return;
// }

if (!strcmp(nvp->name, "ABS_FOCUS_POSITION"))
{
m_FocusMotionTimer.stop();
INumber *pos = IUFindNumber(nvp, "FOCUS_ABSOLUTE_POSITION");

// FIXME: We should check state validity, but some focusers do not care - make ignore an option!
Expand All @@ -2861,8 +2887,8 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)
if (currentPosition != newPosition)
{
currentPosition = newPosition;
qCDebug(KSTARS_EKOS_FOCUS) << "Abs Focuser position changed to " << currentPosition << " (state = " << currentPositionState
<< ")";
qCDebug(KSTARS_EKOS_FOCUS) << "Abs Focuser position changed to " << currentPosition << "State:" << pstateStr(
currentPositionState);
absTicksLabel->setText(QString::number(currentPosition));
emit absolutePositionChanged(currentPosition);
}
Expand All @@ -2876,7 +2902,7 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)
if (adjustFocus)
{
adjustFocus = false;
lastFocusDirection = FOCUS_NONE;
m_LastFocusDirection = FOCUS_NONE;
emit focusPositionAdjusted();
return;
}
Expand Down Expand Up @@ -2904,6 +2930,8 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)

if (!strcmp(nvp->name, "manualfocusdrive"))
{
m_FocusMotionTimer.stop();

INumber *pos = IUFindNumber(nvp, "manualfocusdrive");
if (pos && nvp->s == IPS_OK)
{
Expand All @@ -2915,7 +2943,7 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)
if (adjustFocus && nvp->s == IPS_OK)
{
adjustFocus = false;
lastFocusDirection = FOCUS_NONE;
m_LastFocusDirection = FOCUS_NONE;
emit focusPositionAdjusted();
return;
}
Expand All @@ -2940,10 +2968,12 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)

if (!strcmp(nvp->name, "REL_FOCUS_POSITION"))
{
m_FocusMotionTimer.stop();

INumber *pos = IUFindNumber(nvp, "FOCUS_RELATIVE_POSITION");
if (pos && nvp->s == IPS_OK)
{
currentPosition += pos->value * (lastFocusDirection == FOCUS_IN ? -1 : 1);
currentPosition += pos->value * (m_LastFocusDirection == FOCUS_IN ? -1 : 1);
qCDebug(KSTARS_EKOS_FOCUS)
<< QString("Rel Focuser position changed by %1 to %2")
.arg(pos->value).arg(currentPosition);
Expand All @@ -2954,7 +2984,7 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)
if (adjustFocus && nvp->s == IPS_OK)
{
adjustFocus = false;
lastFocusDirection = FOCUS_NONE;
m_LastFocusDirection = FOCUS_NONE;
emit focusPositionAdjusted();
return;
}
Expand Down Expand Up @@ -2982,6 +3012,7 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)

if (!strcmp(nvp->name, "FOCUS_TIMER"))
{
m_FocusMotionTimer.stop();
if (resetFocus && nvp->s == IPS_OK)
{
resetFocus = false;
Expand All @@ -2996,7 +3027,7 @@ void Focus::processFocusNumber(INumberVectorProperty *nvp)
INumber *pos = IUFindNumber(nvp, "FOCUS_TIMER_VALUE");
if (pos)
{
currentPosition += pos->value * (lastFocusDirection == FOCUS_IN ? -1 : 1);
currentPosition += pos->value * (m_LastFocusDirection == FOCUS_IN ? -1 : 1);
qCDebug(KSTARS_EKOS_FOCUS)
<< QString("Timer Focuser position changed by %1 to %2")
.arg(pos->value).arg(currentPosition);
Expand Down Expand Up @@ -3801,8 +3832,8 @@ void Focus::processCaptureTimeout()
if (targetChip->capture(exposureIN->value()))
{
// Timeout is exposure duration + timeout threshold in seconds
long const timeout = lround(ceil(exposureIN->value() * 1000)) + FOCUS_TIMEOUT_THRESHOLD;
captureTimeout.start(timeout);
//long const timeout = lround(ceil(exposureIN->value() * 1000)) + FOCUS_TIMEOUT_THRESHOLD;
captureTimeout.start(Options::focusCaptureTimeout() * 1000);

if (inFocusLoop == false)
appendLogText(i18n("Capturing image again..."));
Expand Down Expand Up @@ -3892,6 +3923,10 @@ void Focus::syncSettings()
Options::setFocusGaussianKernelSize(sb->value());
else if (sb == multiRowAverageSpin)
Options::setFocusMultiRowAverage(sb->value());
else if (sb == captureTimeoutSpin)
Options::setFocusCaptureTimeout(sb->value());
else if (sb == motionTimeoutSpin)
Options::setFocusMotionTimeout(sb->value());
}
else if ( (cb = qobject_cast<QCheckBox*>(sender())))
{
Expand Down Expand Up @@ -4011,6 +4046,9 @@ void Focus::loadSettings()
// Hough algorithm multi row average
multiRowAverageSpin->setValue(Options::focusMultiRowAverage());
multiRowAverageSpin->setEnabled(focusDetection == ALGORITHM_BAHTINOV);
// Timeouts
captureTimeoutSpin->setValue(Options::focusCaptureTimeout());
motionTimeoutSpin->setValue(Options::focusMotionTimeout());

// Increase focus box size in case of Bahtinov mask focus
// Disable auto star in case of Bahtinov mask focus
Expand Down Expand Up @@ -4080,6 +4118,8 @@ void Focus::initSettingsConnections()
connect(gaussianSigmaSpin, &QDoubleSpinBox::editingFinished, this, &Focus::syncSettings);
connect(gaussianKernelSizeSpin, static_cast<void (QSpinBox::*)(int)>(&QSpinBox::valueChanged), this, &Focus::syncSettings);
connect(multiRowAverageSpin, static_cast<void (QSpinBox::*)(int)>(&QSpinBox::valueChanged), this, &Focus::syncSettings);
connect(captureTimeoutSpin, static_cast<void (QSpinBox::*)(int)>(&QSpinBox::valueChanged), this, &Focus::syncSettings);
connect(motionTimeoutSpin, static_cast<void (QSpinBox::*)(int)>(&QSpinBox::valueChanged), this, &Focus::syncSettings);

connect(focusAlgorithmCombo, static_cast<void(QComboBox::*)(const QString &)>(&QComboBox::activated), this,
&Ekos::Focus::syncSettings);
Expand Down
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