[api][desktop]: Fix TPPA

api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPAEvent.kt

@@ -2,6 +2,7 @@ package nebulosa.api.alignment.polar.tppa
 
 import com.fasterxml.jackson.databind.annotation.JsonSerialize
 import nebulosa.api.beans.converters.angle.DeclinationSerializer
+import nebulosa.api.beans.converters.angle.RightAscensionSerializer
 import nebulosa.api.cameras.CameraCaptureEvent
 import nebulosa.api.messages.MessageEvent
 import nebulosa.indi.device.camera.Camera
@@ -10,6 +11,8 @@ import nebulosa.math.Angle
 data class TPPAEvent(
     @JvmField val camera: Camera,
     @JvmField val state: TPPAState = TPPAState.IDLE,
+    @JvmField @field:JsonSerialize(using = RightAscensionSerializer::class) val rightAscension: Angle = 0.0,
+    @JvmField @field:JsonSerialize(using = DeclinationSerializer::class) val declination: Angle = 0.0,
     @JvmField @field:JsonSerialize(using = DeclinationSerializer::class) val azimuthError: Angle = 0.0,
     @JvmField @field:JsonSerialize(using = DeclinationSerializer::class) val altitudeError: Angle = 0.0,
     @JvmField @JsonSerialize(using = DeclinationSerializer::class) val totalError: Angle = 0.0,

api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPAStartRequest.kt

@@ -19,4 +19,5 @@ data class TPPAStartRequest(
     @JvmField val stopTrackingWhenDone: Boolean = true,
     @field:DurationMin(seconds = 1L) @JvmField val stepDirection: GuideDirection = GuideDirection.EAST,
     @field:DurationUnit(ChronoUnit.SECONDS) @field:DurationMin(seconds = 1L) @JvmField val stepDuration: Duration = Duration.ZERO,
+    @JvmField val stepSpeed: String? = null,
 )

api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPAState.kt

@@ -3,6 +3,7 @@ package nebulosa.api.alignment.polar.tppa
 enum class TPPAState {
     IDLE,
     SLEWING,
+    SLEWED,
     SOLVING,
     SOLVED,
     COMPUTED,

api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPATask.kt

@@ -7,8 +7,8 @@ import nebulosa.api.cameras.AutoSubFolderMode
 import nebulosa.api.cameras.CameraCaptureEvent
 import nebulosa.api.cameras.CameraCaptureState
 import nebulosa.api.cameras.CameraCaptureTask
-import nebulosa.api.guiding.GuidePulseRequest
 import nebulosa.api.messages.MessageEvent
+import nebulosa.api.mounts.MountMoveRequest
 import nebulosa.api.mounts.MountMoveTask
 import nebulosa.api.tasks.Task
 import nebulosa.common.concurrency.cancel.CancellationToken
@@ -25,6 +25,8 @@ import nebulosa.plate.solving.PlateSolver
 import java.nio.file.Files
 import java.nio.file.Path
 import java.time.Duration
+import java.util.concurrent.atomic.AtomicBoolean
+import kotlin.math.hypot
 
 data class TPPATask(
     @JvmField val camera: Camera,
@@ -35,7 +37,7 @@ data class TPPATask(
     @JvmField val latitude: Angle = mount!!.latitude,
 ) : Task<MessageEvent>(), Consumer<CameraCaptureEvent> {
 
-    @JvmField val guideRequest = GuidePulseRequest(request.stepDirection, request.stepDuration)
+    @JvmField val mountMoveRequest = MountMoveRequest(request.stepDirection, request.stepDuration, request.stepSpeed)
     @JvmField val cameraRequest = request.capture.copy(
         savePath = Files.createTempDirectory("tppa"),
         exposureAmount = 0, exposureDelay = Duration.ZERO,
@@ -47,7 +49,10 @@ data class TPPATask(
     private val cameraCaptureTask = CameraCaptureTask(camera, cameraRequest, exposureMaxRepeat = 1)
     private val mountMoveState = BooleanArray(3)
     private val elapsedTime = Stopwatch()
+    private val finished = AtomicBoolean()
 
+    @Volatile private var rightAscension: Angle = 0.0
+    @Volatile private var declination: Angle = 0.0
     @Volatile private var azimuthError: Angle = 0.0
     @Volatile private var altitudeError: Angle = 0.0
     @Volatile private var totalError: Angle = 0.0
@@ -71,7 +76,9 @@ data class TPPATask(
             savedImage = event.savePath!!
         }
 
-        sendEvent(TPPAState.SOLVING, event)
+        if (!finished.get()) {
+            sendEvent(TPPAState.SOLVING, event)
+        }
     }
 
     override fun execute(cancellationToken: CancellationToken) {
@@ -81,8 +88,12 @@ data class TPPATask(
             camera, mount, request
         )
 
+        finished.set(false)
         elapsedTime.start()
 
+        rightAscension = mount?.rightAscension ?: 0.0
+        declination = mount?.declination ?: 0.0
+
         while (!cancellationToken.isDone) {
             cancellationToken.waitForPause()
 
@@ -91,12 +102,16 @@ data class TPPATask(
             // SLEWING.
             if (mount != null) {
                 if (alignment.state in 1..2 && !mountMoveState[alignment.state]) {
-                    MountMoveTask(mount, guideRequest).use {
+                    MountMoveTask(mount, mountMoveRequest).use {
                         sendEvent(TPPAState.SLEWING)
                         it.execute(cancellationToken)
                         mountMoveState[alignment.state] = true
                     }
 
+                    rightAscension = mount.rightAscension
+                    declination = mount.declination
+                    sendEvent(TPPAState.SLEWED)
+
                     LOG.info("TPPA slewed. rightAscension={}, declination={}", mount.rightAscension.formatHMS(), mount.declination.formatSignedDMS())
                 }
             }
@@ -135,6 +150,8 @@ data class TPPATask(
             when (result) {
                 is ThreePointPolarAlignmentResult.NeedMoreMeasurement -> {
                     noSolutionAttempts = 0
+                    rightAscension = result.rightAscension
+                    declination = result.declination
                     sendEvent(TPPAState.SOLVED)
                     continue
                 }
@@ -153,8 +170,11 @@ data class TPPATask(
                 is ThreePointPolarAlignmentResult.Measured -> {
                     noSolutionAttempts = 0
 
+                    rightAscension = result.rightAscension
+                    declination = result.declination
                     azimuthError = result.azimuth
                     altitudeError = result.altitude
+                    totalError = hypot(azimuthError, altitudeError)
 
                     azimuthErrorDirection = when {
                         azimuthError > 0 -> if (latitude > 0) "🠔 Move LEFT/WEST" else "🠔 Move LEFT/EAST"
@@ -181,14 +201,15 @@ data class TPPATask(
             }
         }
 
+        finished.set(true)
+        elapsedTime.stop()
+
         if (request.stopTrackingWhenDone) {
             mount?.tracking(false)
         }
 
         sendEvent(TPPAState.FINISHED)
 
-        elapsedTime.stop()
-
         LOG.info("TPPA finished. camera={}, mount={}, request={}", camera, mount, request)
     }
 
@@ -199,7 +220,7 @@ data class TPPATask(
 
     private fun sendEvent(state: TPPAState, capture: CameraCaptureEvent? = null) {
         val event = TPPAEvent(
-            camera, state,
+            camera, state, rightAscension, declination,
             azimuthError, altitudeError, totalError,
             azimuthErrorDirection, altitudeErrorDirection,
             processCameraCaptureEvent(capture),

api/src/main/kotlin/nebulosa/api/mounts/MountMoveRequest.kt

@@ -0,0 +1,10 @@
+package nebulosa.api.mounts
+
+import nebulosa.guiding.GuideDirection
+import java.time.Duration
+
+data class MountMoveRequest(
+    @JvmField val direction: GuideDirection,
+    @JvmField val duration: Duration,
+    @JvmField val speed: String? = null,
+)

api/src/main/kotlin/nebulosa/api/mounts/MountMoveTask.kt

@@ -1,7 +1,6 @@
 package nebulosa.api.mounts
 
 import io.reactivex.rxjava3.functions.Consumer
-import nebulosa.api.guiding.GuidePulseRequest
 import nebulosa.api.tasks.Task
 import nebulosa.api.tasks.delay.DelayEvent
 import nebulosa.api.tasks.delay.DelayTask
@@ -14,7 +13,7 @@ import nebulosa.log.loggerFor
 
 data class MountMoveTask(
     @JvmField val mount: Mount,
-    @JvmField val request: GuidePulseRequest,
+    @JvmField val request: MountMoveRequest,
 ) : Task<MountMoveEvent>(), CancellationListener, Consumer<DelayEvent> {
 
     private val delayTask = DelayTask(request.duration)
@@ -25,9 +24,13 @@ data class MountMoveTask(
 
     override fun execute(cancellationToken: CancellationToken) {
         if (!cancellationToken.isDone && request.duration.toMillis() > 0) {
+            mount.slewRates.takeIf { !request.speed.isNullOrBlank() }
+                ?.find { it.name == request.speed || it.label == request.speed }
+                ?.also { mount.slewRate(it) }
+
             mount.move(request.direction, true)
 
-            LOG.info("Mount Move started. mount={}, duration={}, direction={}", mount, request.duration.toMillis(), request.direction)
+            LOG.info("Mount Move started. mount={}, request={}", mount, request)
 
             try {
                 cancellationToken.listen(this)
@@ -37,7 +40,7 @@ data class MountMoveTask(
                 cancellationToken.unlisten(this)
             }
 
-            LOG.info("Mount Move finished. mount={}, duration={}, direction={}", mount, request.duration.toMillis(), request.direction)
+            LOG.info("Mount Move finished. mount={}, request={}", mount, request)
         }
     }
 

desktop/src/app/alignment/alignment.component.html

@@ -19,8 +19,13 @@
                       icon="mdi mdi-connection" size="small" severity="info" pTooltip="Connect" tooltipPosition="bottom" [text]="true" />
             }
         </div>
-        <div class="col-12 pt-0 text-sm text-gray-400 flex align-items-center mt-1 gap-1 text-sm" style="min-height: 25px;">
+        <div class="col-12 relative pt-0 text-sm text-gray-400 flex align-items-center mt-1 gap-1 text-sm" style="min-height: 25px;">
             <neb-camera-exposure #cameraExposure [info]="status" />
+
+            <div *ngIf="alignmentMethod === 'TPPA'" class="absolute flex flex-row align-items-center gap-1" style="right: 8px; top: -2px">
+                <p-tag value="RA: {{ tppaRightAscension }}" [severity]="tppaFailed ? 'danger' : 'info'" />
+                <p-tag value="DEC: {{ tppaDeclination }}" [severity]="tppaFailed ? 'danger' : 'info'" />
+            </div>
         </div>
     </div>
     <div class="grid">

desktop/src/app/alignment/alignment.component.ts

@@ -47,6 +47,9 @@ export class AlignmentComponent implements AfterViewInit, OnDestroy {
     }
 
     readonly plateSolverTypes = Array.from(DEFAULT_SOLVER_TYPES)
+    tppaFailed = false
+    tppaRightAscension: Angle = `00h00m00s`
+    tppaDeclination: Angle = `00°00'00"`
     tppaAzimuthError: Angle = `00°00'00"`
     tppaAzimuthErrorDirection = ''
     tppaAltitudeError: Angle = `00°00'00"`
@@ -177,6 +180,9 @@ export class AlignmentComponent implements AfterViewInit, OnDestroy {
                     this.running = event.state !== 'FINISHED'
 
                     if (event.state === 'COMPUTED') {
+                        this.tppaFailed = false
+                        this.tppaRightAscension = event.rightAscension
+                        this.tppaDeclination = event.declination
                         this.tppaAzimuthError = event.azimuthError
                         this.tppaAltitudeError = event.altitudeError
                         this.tppaAzimuthErrorDirection = event.azimuthErrorDirection
@@ -189,6 +195,12 @@ export class AlignmentComponent implements AfterViewInit, OnDestroy {
                         electron.autoResizeWindow()
                     } else if (event.state === 'SOLVING' && event.capture && event.capture.state !== 'CAPTURE_FINISHED') {
                         this.cameraExposure.handleCameraCaptureEvent(event.capture, true)
+                    } else if (event.state === 'SOLVED' || event.state === 'SLEWED') {
+                        this.tppaFailed = false
+                        this.tppaRightAscension = event.rightAscension
+                        this.tppaDeclination = event.declination
+                    } else if (event.state === 'FAILED') {
+                        this.tppaFailed = true
                     }
                 })
             }

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' | 'SOLVING' | 'SOLVED' | 'COMPUTED' | 'FINISHED' | 'FAILED'
+export type TPPAState = 'IDLE' | 'SLEWING' | 'SLEWED' | 'SOLVING' | 'SOLVED' | 'COMPUTED' | 'FINISHED' | 'FAILED'
 
 export type AlignmentMethod = 'DARV' | 'TPPA'
 
@@ -63,6 +63,8 @@ export interface TPPAStart {
 export interface TPPAEvent extends MessageEvent {
     camera: Camera
     state: TPPAState
+    rightAscension: Angle
+    declination: Angle
     azimuthError: Angle
     altitudeError: Angle
     totalError: Angle

nebulosa-alignment/src/main/kotlin/nebulosa/alignment/polar/point/three/PolarErrorDetermination.kt

@@ -22,7 +22,7 @@ internal data class PolarErrorDetermination(
         if (isNorthern && x < 0 || !isNorthern && x > 0) -normalized else normalized
     }
 
-    @JvmField val errorPosition = Position(plane, longitude, latitude)
+    @JvmField val errorPosition = Position(plane)
 
     fun compute(): DoubleArray {
         val altitudeError: Double

nebulosa-alignment/src/main/kotlin/nebulosa/alignment/polar/point/three/Position.kt

@@ -5,7 +5,6 @@ import nebulosa.erfa.eraAtco13
 import nebulosa.math.Angle
 import nebulosa.math.ONE_ATM
 import nebulosa.math.Vector3D
-import nebulosa.time.CurrentTime
 import nebulosa.time.IERS
 import nebulosa.time.InstantOfTime
 import kotlin.math.cos
@@ -21,7 +20,7 @@ internal data class Position(
         operator fun invoke(
             rightAscension: Angle, declination: Angle,
             longitude: Angle, latitude: Angle,
-            time: InstantOfTime = CurrentTime,
+            time: InstantOfTime,
             compensateRefraction: Boolean = false,
         ): Position {
             // SOFA.CelestialToTopocentric.
@@ -31,25 +30,20 @@ internal data class Position(
             // @formatter:off
             val (b) = eraAtco13(rightAscension, declination, 0.0, 0.0, 0.0, 0.0, time.utc.whole, time.utc.fraction, dut1, longitude, latitude, 0.0, xp, yp, pressure, 15.0, 0.5, 0.55)
             // @formatter:on
-            val topocentric = Topocentric(b[0], PIOVERTWO - b[1], longitude, latitude)
+            val topocentric = Topocentric(b[0], PIOVERTWO - b[1])
             // val vector = CartesianCoordinate.of(-b[0], b[1], 1.0)
             val theta = -b[0]
             val phi = b[1]
-            val x = cos(theta) * sin(phi)
-            val y = sin(theta) * sin(phi)
+            val sp = sin(phi)
+            val x = cos(theta) * sp
+            val y = sin(theta) * sp
             val z = cos(phi)
             return Position(topocentric, Vector3D(x, y, z))
         }
 
-        operator fun invoke(
-            vector: Vector3D, longitude: Angle, latitude: Angle,
-        ): Position {
-            val topocentric = if (vector.x == 0.0 && vector.y == 0.0) {
-                Topocentric(0.0, PIOVERTWO, longitude, latitude)
-            } else {
-                Topocentric(-vector.longitude, PIOVERTWO - vector.latitude, longitude, latitude)
-            }
-
+        operator fun invoke(vector: Vector3D): Position {
+            val topocentric = if (vector.x == 0.0 && vector.y == 0.0) Topocentric.ZERO
+            else Topocentric(-vector.longitude, PIOVERTWO - vector.latitude)
             return Position(topocentric, vector)
         }
     }

nebulosa-alignment/src/main/kotlin/nebulosa/alignment/polar/point/three/Topocentric.kt

@@ -1,8 +1,12 @@
 package nebulosa.alignment.polar.point.three
 
+import nebulosa.constants.PIOVERTWO
 import nebulosa.math.Angle
 
-data class Topocentric(
-    @JvmField val azimuth: Angle, @JvmField val altitude: Angle,
-    @JvmField val longitude: Angle, @JvmField val latitude: Angle,
-)
+data class Topocentric(@JvmField val azimuth: Angle, @JvmField val altitude: Angle) {
+
+    companion object {
+
+        @JvmStatic val ZERO = Topocentric(0.0, PIOVERTWO)
+    }
+}