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sdrangel/plugins/feature/startracker/startrackerworker.cpp

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///////////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2021 Jon Beniston, M7RCE //
// Copyright (C) 2020 Edouard Griffiths, F4EXB //
// //
// 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 as version 3 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 V3 for more details. //
// //
// You should have received a copy of the GNU General Public License //
// along with this program. If not, see <http://www.gnu.org/licenses/>. //
///////////////////////////////////////////////////////////////////////////////////
#include <cmath>
#include <QDebug>
#include <QAbstractSocket>
#include <QTcpServer>
#include <QTcpSocket>
#include <QEventLoop>
#include <QTimer>
#include <QDateTime>
#include "SWGTargetAzimuthElevation.h"
#include "SWGMapItem.h"
#include "SWGStarTrackerTarget.h"
#include "webapi/webapiadapterinterface.h"
#include "webapi/webapiutils.h"
#include "util/units.h"
#include "maincore.h"
#include "startracker.h"
#include "startrackerworker.h"
#include "startrackerreport.h"
MESSAGE_CLASS_DEFINITION(StarTrackerWorker::MsgConfigureStarTrackerWorker, Message)
MESSAGE_CLASS_DEFINITION(StarTrackerReport::MsgReportAzAl, Message)
MESSAGE_CLASS_DEFINITION(StarTrackerReport::MsgReportRADec, Message)
MESSAGE_CLASS_DEFINITION(StarTrackerReport::MsgReportGalactic, Message)
StarTrackerWorker::StarTrackerWorker(StarTracker* starTracker, WebAPIAdapterInterface *webAPIAdapterInterface) :
m_starTracker(starTracker),
m_webAPIAdapterInterface(webAPIAdapterInterface),
m_msgQueueToFeature(nullptr),
m_msgQueueToGUI(nullptr),
m_pollTimer(this),
m_tcpServer(nullptr),
m_clientConnection(nullptr),
m_solarFlux(0.0f)
{
connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
}
StarTrackerWorker::~StarTrackerWorker()
{
stopWork();
m_inputMessageQueue.clear();
}
void StarTrackerWorker::startWork()
{
QMutexLocker mutexLocker(&m_mutex);
connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
m_pollTimer.start((int)round(m_settings.m_updatePeriod*1000.0));
// Handle any messages already on the queue
handleInputMessages();
}
void StarTrackerWorker::stopWork()
{
QMutexLocker mutexLocker(&m_mutex);
disconnect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
restartServer(false, 0);
m_pollTimer.stop();
}
void StarTrackerWorker::handleInputMessages()
{
Message* message;
while ((message = m_inputMessageQueue.pop()) != nullptr)
{
if (handleMessage(*message)) {
delete message;
}
}
}
bool StarTrackerWorker::handleMessage(const Message& cmd)
{
if (MsgConfigureStarTrackerWorker::match(cmd))
{
QMutexLocker mutexLocker(&m_mutex);
MsgConfigureStarTrackerWorker& cfg = (MsgConfigureStarTrackerWorker&) cmd;
applySettings(cfg.getSettings(), cfg.getSettingsKeys(), cfg.getForce());
return true;
}
else if (StarTracker::MsgSetSolarFlux::match(cmd))
{
StarTracker::MsgSetSolarFlux& msg = (StarTracker::MsgSetSolarFlux&) cmd;
m_solarFlux = msg.getFlux();
return true;
}
else
{
return false;
}
}
void StarTrackerWorker::applySettings(const StarTrackerSettings& settings, const QList<QString>& settingsKeys, bool force)
{
qDebug() << "StarTrackerWorker::applySettings:" << settings.getDebugString(settingsKeys, force) << " force: " << force;
if (settingsKeys.contains("ra")
|| settingsKeys.contains("dec")
|| settingsKeys.contains("latitude")
|| settingsKeys.contains("longitude")
|| settingsKeys.contains("target")
|| settingsKeys.contains("dateTime")
|| settingsKeys.contains("refraction")
|| settingsKeys.contains("pressure")
|| settingsKeys.contains("temperature")
|| settingsKeys.contains("humidity")
|| settingsKeys.contains("heightAboveSeaLevel")
|| settingsKeys.contains("temperatureLapseRate")
|| settingsKeys.contains("frequency")
|| settingsKeys.contains("beamwidth")
|| settingsKeys.contains("az")
|| settingsKeys.contains("el")
|| settingsKeys.contains("l")
|| settingsKeys.contains("b")
|| settingsKeys.contains("azOffset")
|| settingsKeys.contains("elOffset")
|| force)
{
// Recalculate immediately
QTimer::singleShot(1, this, &StarTrackerWorker::update);
m_pollTimer.start((int)round(settings.m_updatePeriod*1000.0));
}
else if (settingsKeys.contains("updatePeriod") || force)
{
m_pollTimer.start((int)round(settings.m_updatePeriod*1000.0));
}
if (settingsKeys.contains("drawSunOnMap")
|| settingsKeys.contains("drawMoonOnMap")
|| settingsKeys.contains("drawStarOnMap")
|| settingsKeys.contains("m_target"))
{
if (!settings.m_drawSunOnMap && m_settings.m_drawSunOnMap)
removeFromMap("Sun");
if (!settings.m_drawMoonOnMap && m_settings.m_drawMoonOnMap)
removeFromMap("Moon");
if ((!settings.m_drawStarOnMap && m_settings.m_drawStarOnMap)
|| (((settings.m_target == "Sun") || (settings.m_target == "Moon"))
&& ((m_settings.m_target != "Sun") && (m_settings.m_target != "Moon"))))
removeFromMap("Star");
}
if (settingsKeys.contains("serverPort") ||
settingsKeys.contains("enableServer") || force)
{
restartServer(settings.m_enableServer, settings.m_serverPort);
}
if (force) {
m_settings = settings;
} else {
m_settings.applySettings(settingsKeys, settings);
}
}
void StarTrackerWorker::restartServer(bool enabled, uint32_t port)
{
if (m_tcpServer)
{
if (m_clientConnection)
{
m_clientConnection->close();
delete m_clientConnection;
m_clientConnection = nullptr;
}
disconnect(m_tcpServer, &QTcpServer::newConnection, this, &StarTrackerWorker::acceptConnection);
m_tcpServer->close();
delete m_tcpServer;
m_tcpServer = nullptr;
}
if (enabled)
{
qDebug() << "StarTrackerWorker::restartServer: server enabled on port " << port;
m_tcpServer = new QTcpServer(this);
if (!m_tcpServer->listen(QHostAddress::Any, port)) {
qWarning("Star Tracker failed to listen on port %u. Check it is not already in use.", port);
} else {
connect(m_tcpServer, &QTcpServer::newConnection, this, &StarTrackerWorker::acceptConnection);
}
}
}
void StarTrackerWorker::acceptConnection()
{
QMutexLocker mutexLocker(&m_mutex);
m_clientConnection = m_tcpServer->nextPendingConnection();
if (!m_clientConnection) {
return;
}
connect(m_clientConnection, &QIODevice::readyRead, this, &StarTrackerWorker::readStellariumCommand);
connect(m_clientConnection, SIGNAL(disconnected()), this, SLOT(disconnected()));
#if QT_VERSION < QT_VERSION_CHECK(5, 15, 0)
connect(m_clientConnection, QOverload<QAbstractSocket::SocketError>::of(&QAbstractSocket::error), this, &StarTrackerWorker::errorOccurred);
#else
connect(m_clientConnection, &QAbstractSocket::errorOccurred, this, &StarTrackerWorker::errorOccurred);
#endif
qDebug() << "StarTrackerWorker::acceptConnection: client connected";
}
void StarTrackerWorker::disconnected()
{
QMutexLocker mutexLocker(&m_mutex);
qDebug() << "StarTrackerWorker::disconnected";
m_clientConnection->deleteLater();
m_clientConnection = nullptr;
/*if (m_msgQueueToFeature)
{
StarTrackerWorker::MsgReportWorker *msg = StarTrackerWorker::MsgReportWorker::create("Disconnected");
m_msgQueueToFeature->push(msg);
}*/
}
void StarTrackerWorker::errorOccurred(QAbstractSocket::SocketError socketError)
{
qDebug() << "StarTrackerWorker::errorOccurred: " << socketError;
/*if (m_msgQueueToFeature)
{
StarTrackerWorker::MsgReportWorker *msg = StarTrackerWorker::MsgReportWorker::create(m_socket.errorString() + " " + socketError);
m_msgQueueToFeature->push(msg);
}*/
}
// Get RA & Dec from Stellarium
// Protocol described here:
// http://svn.code.sf.net/p/stellarium/code/trunk/telescope_server/stellarium_telescope_protocol.txt
void StarTrackerWorker::readStellariumCommand()
{
QMutexLocker mutexLocker(&m_mutex);
unsigned char buf[64];
qint64 len;
len = m_clientConnection->read((char *)buf, sizeof(buf));
if (len != -1)
{
int msg_len;
int msg_type;
unsigned char *msg;
// Extract length and message type
msg_len = buf[0] | (buf[1] << 8);
msg_type = buf[2] | (buf[3] << 8);
msg = &buf[4];
if (msg_type == 0) // MessageGoto
{
unsigned ra;
int dec;
if (msg_len == 20)
{
// Skip time
msg += 8;
// Extract RA LSB first
ra = msg[0] | (msg[1] << 8) | (msg[2] << 16) | (msg[3] << 24);
msg += 4;
// Extract DEC LSB first
dec = msg[0] | (msg[1] << 8) | (msg[2] << 16) | (msg[3] << 24);
msg += 4;
// Convert from integer to floating point
double raDeg = ra*(24.0/4294967296.0); // Convert to decimal hours
double decDeg = dec*(360.0/4294967296.0); // Convert to decimal degrees
// Set as current target
m_settings.m_ra = Units::decimalHoursToHoursMinutesAndSeconds(raDeg);
m_settings.m_dec = Units::decimalDegreesToDegreeMinutesAndSeconds(decDeg);
qDebug() << "StarTrackerWorker: New target from Stellarum: " << m_settings.m_ra << " " << m_settings.m_dec;
// Forward to GUI for display
if (getMessageQueueToGUI()) {
getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(raDeg, decDeg, "target"));
}
}
else
{
qDebug() << "StarTrackerWorker: Unexpected number of bytes received (" << len << ") for message type: " << msg_type;
}
}
else
{
qDebug() << "StarTrackerWorker: Unsupported Stellarium message type: " << msg_type;
}
}
}
// Send our target to Stellarium (J2000 epoch)
void StarTrackerWorker::writeStellariumTarget(double ra, double dec)
{
QMutexLocker mutexLocker(&m_mutex);
if (m_clientConnection != nullptr)
{
unsigned char buf[24];
// Length
buf[0] = sizeof(buf);
buf[1] = 0;
// Type (MessageCurrentPosition)
buf[2] = 0;
buf[3] = 0;
// Time (unused)
buf[4] = 0;
buf[5] = 0;
buf[6] = 0;
buf[7] = 0;
buf[8] = 0;
buf[9] = 0;
buf[10] = 0;
buf[11] = 0;
// RA
unsigned raInt = ra * (4294967296.0/24.0);
buf[12] = raInt & 0xff;
buf[13] = (raInt >> 8) & 0xff;
buf[14] = (raInt >> 16) & 0xff;
buf[15] = (raInt >> 24) & 0xff;
// Dec
int decInt = dec * (4294967296.0/360.0);
buf[16] = decInt & 0xff;
buf[17] = (decInt >> 8) & 0xff;
buf[18] = (decInt >> 16) & 0xff;
buf[19] = (decInt >> 24) & 0xff;
// Status (OK)
buf[20] = 0;
buf[21] = 0;
buf[22] = 0;
buf[23] = 0;
m_clientConnection->write((char *)buf, sizeof(buf));
}
}
void StarTrackerWorker::updateRaDec(RADec rd, QDateTime dt, bool lbTarget)
{
RADec rdJ2000;
double jd;
jd = Astronomy::julianDate(dt);
// Precess to J2000
rdJ2000 = Astronomy::precess(rd, jd, Astronomy::jd_j2000());
// Send to Stellarium
writeStellariumTarget(rdJ2000.ra, rdJ2000.dec);
// Send to GUI
if (m_settings.m_target == "Sun" || m_settings.m_target == "Moon" || (m_settings.m_target == "Custom Az/El") || lbTarget)
{
if (getMessageQueueToGUI())
{
if (m_settings.m_jnow) {
getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(rd.ra, rd.dec, "target"));
} else {
getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(rdJ2000.ra, rdJ2000.dec, "target"));
}
}
}
}
void StarTrackerWorker::removeFromMap(QString id)
{
QList<ObjectPipe*> mapMessagePipes;
MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "mapitems", mapMessagePipes);
if (mapMessagePipes.size() > 0) {
sendToMap(mapMessagePipes, id, "", "", 0.0, 0.0);
}
}
void StarTrackerWorker::sendToMap(
const QList<ObjectPipe*>& mapMessagePipes,
QString name,
QString image,
QString text,
double lat,
double lon,
double rotation
)
{
for (const auto& pipe : mapMessagePipes)
{
MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
SWGSDRangel::SWGMapItem *swgMapItem = new SWGSDRangel::SWGMapItem();
swgMapItem->setName(new QString(name));
swgMapItem->setLatitude(lat);
swgMapItem->setLongitude(lon);
swgMapItem->setImage(new QString(image));
swgMapItem->setImageRotation(rotation);
swgMapItem->setText(new QString(text));
MainCore::MsgMapItem *msg = MainCore::MsgMapItem::create(m_starTracker, swgMapItem);
messageQueue->push(msg);
}
}
QString moonPhase(double sunLongitude, double moonLongitude, double observationLatitude, double &rotation)
{
double difference = sunLongitude - moonLongitude;
if (difference < -180.0)
difference += 360.0;
else if (difference > 180.0)
difference -= 360.0;
if (difference >= 0.0)
rotation = observationLatitude - 90.0;
else
rotation = 90.0 - observationLatitude;
// These probably shouldn't be divided equally
if (difference < -157.5)
return "full";
else if (difference < -112.5)
return "waxing-gibbous";
else if (difference < -67.5)
return "first-quarter";
else if (difference < -22.5)
return "waxing-crescent";
else if (difference < 22.5)
return "new";
else if (difference < 67.5)
return "waning-crescent";
else if (difference < 112.5)
return "third-quarter";
else if (difference < 157.5)
return "waning-gibbous";
else if (difference < 202.5)
return "full";
else
return "full";
}
void StarTrackerWorker::update()
{
AzAlt aa, sunAA, moonAA;
RADec rd, sunRD, moonRD;
double l, b;
bool lbTarget = false;
QDateTime dt;
// Get date and time to calculate position at
if (m_settings.m_dateTime == "") {
dt = QDateTime::currentDateTime();
} else {
dt = QDateTime::fromString(m_settings.m_dateTime, Qt::ISODateWithMs);
}
// Calculate position
if ((m_settings.m_target == "Sun") || m_settings.m_drawSunOnMap || m_settings.m_drawSunOnSkyTempChart)
{
Astronomy::sunPosition(sunAA, sunRD, m_settings.m_latitude, m_settings.m_longitude, dt);
getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(sunRD.ra, sunRD.dec, "sun"));
}
if ((m_settings.m_target == "Moon") || m_settings.m_drawMoonOnMap || m_settings.m_drawMoonOnSkyTempChart)
{
Astronomy::moonPosition(moonAA, moonRD, m_settings.m_latitude, m_settings.m_longitude, dt);
getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(moonRD.ra, moonRD.dec, "moon"));
}
if (m_settings.m_target == "Sun")
{
rd = sunRD;
aa = sunAA;
Astronomy::equatorialToGalactic(rd.ra, rd.dec, l, b);
}
else if (m_settings.m_target == "Moon")
{
rd = moonRD;
aa = moonAA;
Astronomy::equatorialToGalactic(rd.ra, rd.dec, l, b);
}
else if (m_settings.m_target == "Custom Az/El")
{
// Convert Alt/Az to RA/Dec
aa.alt = m_settings.m_el;
aa.az = m_settings.m_az;
rd = Astronomy::azAltToRaDec(aa, m_settings.m_latitude, m_settings.m_longitude, dt);
// Precess RA/DEC from Jnow to J2000
RADec rd2000 = Astronomy::precess(rd, Astronomy::julianDate(dt), Astronomy::jd_j2000());
// Convert to l/b
Astronomy::equatorialToGalactic(rd2000.ra, rd2000.dec, l, b);
if (!m_settings.m_jnow) {
rd = rd2000;
}
}
else if ( (m_settings.m_target == "Custom l/b")
|| (m_settings.m_target == "S7")
|| (m_settings.m_target == "S8")
|| (m_settings.m_target == "S9")
)
{
// Convert l/b to RA/Dec, then Alt/Az
l = m_settings.m_l;
b = m_settings.m_b;
Astronomy::galacticToEquatorial(l, b, rd.ra, rd.dec);
aa = Astronomy::raDecToAzAlt(rd, m_settings.m_latitude, m_settings.m_longitude, dt, !m_settings.m_jnow);
lbTarget = true;
}
else
{
// Convert RA/Dec to Alt/Az
rd.ra = Astronomy::raToDecimal(m_settings.m_ra);
rd.dec = Astronomy::decToDecimal(m_settings.m_dec);
aa = Astronomy::raDecToAzAlt(rd, m_settings.m_latitude, m_settings.m_longitude, dt, !m_settings.m_jnow);
Astronomy::equatorialToGalactic(rd.ra, rd.dec, l, b);
}
updateRaDec(rd, dt, lbTarget);
// Adjust for refraction
if (m_settings.m_refraction == "Positional Astronomy Library")
{
aa.alt += Astronomy::refractionPAL(aa.alt, m_settings.m_pressure, m_settings.m_temperature, m_settings.m_humidity,
m_settings.m_frequency, m_settings.m_latitude, m_settings.m_heightAboveSeaLevel,
m_settings.m_temperatureLapseRate);
if (aa.alt > 90.0) {
aa.alt = 90.0f;
}
}
else if (m_settings.m_refraction == "Saemundsson")
{
aa.alt += Astronomy::refractionSaemundsson(aa.alt, m_settings.m_pressure, m_settings.m_temperature);
if (aa.alt > 90.0) {
aa.alt = 90.0f;
}
}
// Add user-adjustment
aa.alt += m_settings.m_elOffset;
aa.az += m_settings.m_azOffset;
// Send to GUI
if (getMessageQueueToGUI())
{
// MsgReportRADec sent in updateRaDec()
if (m_settings.m_target != "Custom Az/El") {
getMessageQueueToGUI()->push(StarTrackerReport::MsgReportAzAl::create(aa.az, aa.alt));
}
if (!lbTarget) {
getMessageQueueToGUI()->push(StarTrackerReport::MsgReportGalactic::create(l, b));
}
}
// Send Az/El to Rotator Controllers
// Unless we're receiving settings to display from a Radio Astronomy plugins
if (!m_settings.m_link)
{
QList<ObjectPipe*> rotatorPipes;
MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "target", rotatorPipes);
for (const auto& pipe : rotatorPipes)
{
MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
SWGSDRangel::SWGTargetAzimuthElevation *swgTarget = new SWGSDRangel::SWGTargetAzimuthElevation();
swgTarget->setName(new QString(m_settings.m_target));
swgTarget->setAzimuth(aa.az);
swgTarget->setElevation(aa.alt);
messageQueue->push(MainCore::MsgTargetAzimuthElevation::create(m_starTracker, swgTarget));
}
}
// Send Az/El, RA/Dec and Galactic b/l to Radio Astronomy plugins
// Unless we're receiving settings to display from a Radio Astronomy plugins
if (!m_settings.m_link)
{
QList<ObjectPipe*> starTrackerPipes;
MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "startracker.target", starTrackerPipes);
for (const auto& pipe : starTrackerPipes)
{
MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
SWGSDRangel::SWGStarTrackerTarget *swgTarget = new SWGSDRangel::SWGStarTrackerTarget();
swgTarget->setName(new QString(m_settings.m_target));
swgTarget->setAzimuth(aa.az);
swgTarget->setElevation(aa.alt);
swgTarget->setRa(rd.ra);
swgTarget->setDec(rd.dec);
swgTarget->setB(b);
swgTarget->setL(l);
swgTarget->setSolarFlux(m_solarFlux);
swgTarget->setAirTemperature(m_settings.m_temperature);
double temp;
m_starTracker->calcSkyTemperature(m_settings.m_frequency, m_settings.m_beamwidth, rd.ra, rd.dec, temp);
swgTarget->setSkyTemperature(temp);
swgTarget->setHpbw(m_settings.m_beamwidth);
// Calculate velocities
double vRot = Astronomy::earthRotationVelocity(rd, m_settings.m_latitude, m_settings.m_longitude, dt);
swgTarget->setEarthRotationVelocity(vRot);
double vOrbit = Astronomy::earthOrbitVelocityBCRS(rd,dt);
swgTarget->setEarthOrbitVelocityBcrs(vOrbit);
double vLSRK = Astronomy::sunVelocityLSRK(rd);
swgTarget->setSunVelocityLsr(vLSRK);
messageQueue->push(MainCore::MsgStarTrackerTarget::create(m_starTracker, swgTarget));
}
}
// Send to Map
if (m_settings.m_drawSunOnMap || m_settings.m_drawMoonOnMap || m_settings.m_drawStarOnMap)
{
QList<ObjectPipe*> mapMessagePipes;
MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "mapitems", mapMessagePipes);
if (mapMessagePipes.size() > 0)
{
// Different between GMST(Lst at Greenwich) and RA
double lst = Astronomy::localSiderealTime(dt, 0.0);
double sunLongitude;
double sunLatitude;
if (m_settings.m_drawSunOnMap || m_settings.m_drawMoonOnMap)
{
sunLongitude = Astronomy::lstAndRAToLongitude(lst, sunRD.ra);
sunLatitude = sunRD.dec;
sendToMap(mapMessagePipes, "Sun", "qrc:///startracker/startracker/sun-40.png", "Sun", sunLatitude, sunLongitude);
}
if (m_settings.m_drawMoonOnMap)
{
double moonLongitude = Astronomy::lstAndRAToLongitude(lst, moonRD.ra);
double moonLatitude = moonRD.dec;
double moonRotation;
QString phase = moonPhase(sunLongitude, moonLongitude, m_settings.m_latitude, moonRotation);
sendToMap(mapMessagePipes, "Moon", QString("qrc:///startracker/startracker/moon-%1-32").arg(phase), "Moon",
moonLatitude, moonLongitude, moonRotation);
}
if ((m_settings.m_drawStarOnMap) && (m_settings.m_target != "Sun") && (m_settings.m_target != "Moon"))
{
double starLongitude = Astronomy::lstAndRAToLongitude(lst, rd.ra);
double starLatitude = rd.dec;
QString text = m_settings.m_target.startsWith("Custom") ? "Star" : m_settings.m_target;
sendToMap(mapMessagePipes, "Star", "qrc:///startracker/startracker/pulsar-32.png", text, starLatitude, starLongitude);
}
}
}
}
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