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[api]: Support Auto Focus
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@tiagohm
tiagohm committed May 26, 2024
1 parent b9dc8b3 commit 67e0cf4
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Showing 19 changed files with 266 additions and 115 deletions.
12 changes: 6 additions & 6 deletions api/src/main/kotlin/nebulosa/api/alignment/polar/tppa/TPPATask.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -114,14 +114,14 @@ data class TPPATask(

cancellationToken.listenToPause(this)

while (!cancellationToken.isDone) {
while (!cancellationToken.isCancelled) {
if (cancellationToken.isPaused) {
pausing.set(false)
sendEvent(TPPAState.PAUSED)
cancellationToken.waitForPause()
}

if (cancellationToken.isDone) break
if (cancellationToken.isCancelled) break

mount?.tracking(true)

Expand All @@ -134,7 +134,7 @@ data class TPPATask(
mountMoveState[alignment.state.ordinal] = true
}

if (cancellationToken.isDone) break
if (cancellationToken.isCancelled) break

rightAscension = mount.rightAscension
declination = mount.declination
Expand All @@ -146,14 +146,14 @@ data class TPPATask(
}
}

if (cancellationToken.isDone) break
if (cancellationToken.isCancelled) break

sendEvent(TPPAState.EXPOSURING)

// CAPTURE.
cameraCaptureTask.execute(cancellationToken)

if (cancellationToken.isDone || savedImage == null) {
if (cancellationToken.isCancelled || savedImage == null) {
break
}

Expand All @@ -177,7 +177,7 @@ data class TPPATask(

LOG.info("TPPA alignment completed. result=$result")

if (cancellationToken.isDone) break
if (cancellationToken.isCancelled) break

when (result) {
is ThreePointPolarAlignmentResult.NeedMoreMeasurement -> {
Expand Down
118 changes: 71 additions & 47 deletions api/src/main/kotlin/nebulosa/api/autofocus/AutoFocusTask.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@ import io.reactivex.rxjava3.functions.Consumer
import nebulosa.api.cameras.*
import nebulosa.api.focusers.FocuserEventAware
import nebulosa.api.focusers.FocuserMoveAbsoluteTask
import nebulosa.api.focusers.FocuserMoveRelativeTask
import nebulosa.api.focusers.FocuserMoveTask
import nebulosa.api.image.ImageBucket
import nebulosa.api.messages.MessageEvent
Expand Down Expand Up @@ -40,7 +41,13 @@ data class AutoFocusTask(
data class MeasuredStars(
@JvmField val averageHFD: Double = 0.0,
@JvmField var hfdStandardDeviation: Double = 0.0,
)
) {

companion object {

@JvmStatic val ZERO = MeasuredStars()
}
}

@JvmField val cameraRequest = request.capture.copy(
exposureAmount = 0, exposureDelay = Duration.ZERO,
Expand All @@ -54,7 +61,7 @@ data class AutoFocusTask(
private val cameraCaptureTask = CameraCaptureTask(camera, cameraRequest, exposureMaxRepeat = request.capture.exposureAmount)

@Volatile private var focuserMoveTask: FocuserMoveTask? = null
@Volatile private var trendLineCurve: Lazy<TrendLineFitting.Curve>? = null
@Volatile private var trendLineCurve: TrendLineFitting.Curve? = null
@Volatile private var parabolicCurve: Lazy<QuadraticFitting.Curve>? = null
@Volatile private var hyperbolicCurve: Lazy<HyperbolicFitting.Curve>? = null

Expand All @@ -77,69 +84,71 @@ data class AutoFocusTask(

// Get initial position information, as average of multiple exposures, if configured this way.
val initialHFD = if (request.rSquaredThreshold <= 0.0) takeExposure(cancellationToken).averageHFD else Double.NaN

val reverse = request.backlashCompensationMode == BacklashCompensationMode.OVERSHOOT && request.backlashIn > 0 && request.backlashOut == 0

LOG.info("Auto Focus started. initialHFD={}, reverse={}, camera={}, focuser={}", initialHFD, reverse, camera, focuser)

var exited = false
var numberOfAttempts = 0
var reattempt: Boolean
val maximumFocusPoints = request.capture.exposureAmount * request.initialOffsetSteps * 10

do {
reattempt = false
while (!exited && !cancellationToken.isCancelled) {
numberOfAttempts++

val offsetSteps = request.initialOffsetSteps
val numberOfSteps = offsetSteps + 1

LOG.info("attempt #{}. offsetSteps={}, numberOfSteps={}", numberOfAttempts, offsetSteps, numberOfSteps)

obtainFocusPoints(numberOfSteps, offsetSteps, reverse, cancellationToken)

var leftCount = trendLineCurve!!.value.left.points.size
var rightCount = trendLineCurve!!.value.right.points.size
var leftCount = trendLineCurve!!.left.points.size
var rightCount = trendLineCurve!!.right.points.size

// When datapoints are not sufficient analyze and take more.
// When data points are not sufficient analyze and take more.
do {
if (leftCount == 0 && rightCount == 0) {
// TODO: ERROR NotEnoughtSpreadedPoints
// Reattempting in this situation is very likely meaningless - just move back to initial focus position and call it a day.
moveFocuser(initialFocusPosition, cancellationToken)
return
LOG.warn("Not enought spreaded points")
exited = true
break
}

LOG.info("data points are not sufficient. attempt={}, numberOfSteps={}", numberOfAttempts, numberOfSteps)

// Let's keep moving in, one step at a time, until we have enough left trend points.
// Then we can think about moving out to fill in the right trend points.
if (trendLineCurve!!.value.left.points.size < offsetSteps
&& focusPoints.count { it.x < trendLineCurve!!.value.minimum.x && it.y == 0.0 } < offsetSteps
if (trendLineCurve!!.left.points.size < offsetSteps
&& focusPoints.count { it.x < trendLineCurve!!.minimum.x && it.y == 0.0 } < offsetSteps
) {
LOG.info("more data points needed to the left of the minimum")

// Move to the leftmost point - this should never be necessary since we're already there, but just in case
if (focuser.position != focusPoints.first().x.roundToInt()) {
moveFocuser(focusPoints.first().x.roundToInt(), cancellationToken)
moveFocuser(focusPoints.first().x.roundToInt(), cancellationToken, false)
}

// More points needed to the left.
obtainFocusPoints(1, -1, false, cancellationToken)
} else if (trendLineCurve!!.value.right.points.size < offsetSteps
&& focusPoints.count { it.x > trendLineCurve!!.value.minimum.x && it.y == 0.0 } < offsetSteps
} else if (trendLineCurve!!.right.points.size < offsetSteps
&& focusPoints.count { it.x > trendLineCurve!!.minimum.x && it.y == 0.0 } < offsetSteps
) {
// Now we can go to the right, if necessary.
LOG.info("more data points needed to the right of the minimum")

// More points needed to the right. Let's get to the rightmost point, and keep going right one point at a time.
if (focuser.position != focusPoints.last().x.roundToInt()) {
moveFocuser(focusPoints.last().x.roundToInt(), cancellationToken)
moveFocuser(focusPoints.last().x.roundToInt(), cancellationToken, false)
}

// More points needed to the right.
obtainFocusPoints(1, 1, false, cancellationToken)
}

leftCount = trendLineCurve!!.value.left.points.size
rightCount = trendLineCurve!!.value.right.points.size
leftCount = trendLineCurve!!.left.points.size
rightCount = trendLineCurve!!.right.points.size

if (maximumFocusPoints < focusPoints.size) {
// Break out when the maximum limit of focus points is reached
// TODO: ERROR
LOG.error("failed to complete. Maximum number of focus points exceeded ($maximumFocusPoints).")
break
}
Expand All @@ -149,26 +158,35 @@ data class AutoFocusTask(
LOG.error("failed to complete. position reached 0")
break
}
} while (rightCount + focusPoints.count { it.x > trendLineCurve!!.value.minimum.x && it.y == 0.0 } < offsetSteps || leftCount + focusPoints.count { it.x < trendLineCurve!!.value.minimum.x && it.y == 0.0 } < offsetSteps)
} while (!cancellationToken.isCancelled && (rightCount + focusPoints.count { it.x > trendLineCurve!!.minimum.x && it.y == 0.0 } < offsetSteps || leftCount + focusPoints.count { it.x < trendLineCurve!!.minimum.x && it.y == 0.0 } < offsetSteps))

if (exited) break

val finalFocusPoint = determineFinalFocusPoint()
val goodAutoFocus = validateCalculatedFocusPosition(finalFocusPoint, initialHFD, cancellationToken)

if (!goodAutoFocus) {
if (numberOfAttempts < request.totalNumberOfAttempts) {
moveFocuser(initialFocusPosition, cancellationToken)
moveFocuser(initialFocusPosition, cancellationToken, false)
LOG.warn("potentially bad auto-focus. reattempting")
reset()
reattempt = true
continue
} else {
LOG.warn("potentially bad auto-focus. Restoring original focus position")
reattempt = false
moveFocuser(initialFocusPosition, cancellationToken)
moveFocuser(initialFocusPosition, cancellationToken, false)
break
}
}
} while (reattempt)
}

if (exited || cancellationToken.isCancelled) {
LOG.warn("did not complete successfully, so restoring the focuser position to $initialFocusPosition")
moveFocuser(initialFocusPosition, CancellationToken.NONE, false)
}

reset()

LOG.info("Auto Focus finished. camera={}, focuser={}", camera, focuser)
}

private fun determineFinalFocusPoint(): CurvePoint {
Expand Down Expand Up @@ -201,8 +219,11 @@ data class AutoFocusTask(
if (event.state == CameraCaptureState.EXPOSURE_FINISHED) {
val image = imageBucket.open(event.savePath!!)
val detectedStars = starDetection.detect(image)
LOG.info("detected ${detectedStars.size} stars")
val measure = detectedStars.measureDetectedStars()
LOG.info("HFD measurement. mean={}, stdDev={}", measure.averageHFD, measure.hfdStandardDeviation)
measurements.add(measure)
onNext(event)
}
}

Expand All @@ -216,23 +237,21 @@ data class AutoFocusTask(
val stepSize = request.stepSize
val direction = if (reverse) -1 else 1

LOG.info("retrieving focus points. numberOfSteps={}, offset={}, reverse={}", numberOfSteps, offset, reverse)

var focusPosition = 0

if (offset != 0) {
focuserMoveTask = FocuserMoveAbsoluteTask(focuser, direction * offset * stepSize)
focuserMoveTask!!.execute(cancellationToken)
focusPosition = focuser.position
focusPosition = moveFocuser(direction * offset * stepSize, cancellationToken, true)
}

var remainingSteps = numberOfSteps

while (!cancellationToken.isDone && remainingSteps > 0) {
while (!cancellationToken.isCancelled && remainingSteps > 0) {
val currentFocusPosition = focusPosition

if (remainingSteps > 1) {
focuserMoveTask = FocuserMoveAbsoluteTask(focuser, direction * -stepSize)
focuserMoveTask!!.execute(cancellationToken)
focusPosition = focuser.position
focusPosition = moveFocuser(direction * -stepSize, cancellationToken, true)
}

val measurement = takeExposure(cancellationToken)
Expand All @@ -246,18 +265,21 @@ data class AutoFocusTask(
}

val weight = max(0.001, measurement.hfdStandardDeviation)
focusPoints.add(CurvePoint(currentFocusPosition.toDouble(), measurement.averageHFD, weight))
val point = CurvePoint(currentFocusPosition.toDouble(), measurement.averageHFD, weight)
focusPoints.add(point)
focusPoints.sortBy { it.x }

computeCurveFittings()

remainingSteps--

LOG.info("focus point added. remainingSteps={}, x={}, y={}, weight={}", remainingSteps, point.x, point.y, point.weight)

computeCurveFittings()
}
}

private fun computeCurveFittings() {
with(focusPoints.toList()) {
trendLineCurve = lazy { TrendLineFitting.calculate(this) }
trendLineCurve = TrendLineFitting.calculate(this)

if (size >= 3) {
if (request.fittingMode == AutoFocusFittingMode.PARABOLIC || request.fittingMode == AutoFocusFittingMode.TREND_PARABOLIC) {
Expand All @@ -273,22 +295,20 @@ data class AutoFocusTask(
private fun validateCalculatedFocusPosition(focusPoint: CurvePoint, initialHFD: Double, cancellationToken: CancellationToken): Boolean {
val threshold = request.rSquaredThreshold

fun isTrendLineBad() = trendLineCurve?.value?.let { it.left.rSquared < threshold || it.right.rSquared < threshold } ?: false

fun isTrendLineBad() = trendLineCurve?.let { it.left.rSquared < threshold || it.right.rSquared < threshold } ?: false
fun isParabolicBad() = parabolicCurve?.value?.let { it.rSquared < threshold } ?: false

fun isHyperbolicBad() = hyperbolicCurve?.value?.let { it.rSquared < threshold } ?: false

if (threshold > 0.0) {
val bad = when (request.fittingMode) {
val isBad = when (request.fittingMode) {
AutoFocusFittingMode.TRENDLINES -> isTrendLineBad()
AutoFocusFittingMode.PARABOLIC -> isParabolicBad()
AutoFocusFittingMode.TREND_PARABOLIC -> isParabolicBad() || isTrendLineBad()
AutoFocusFittingMode.HYPERBOLIC -> isHyperbolicBad()
AutoFocusFittingMode.TREND_HYPERBOLIC -> isHyperbolicBad() || isTrendLineBad()
}

if (bad) {
if (isBad) {
LOG.error("coefficient of determination is below threshold")
return false
}
Expand All @@ -302,7 +322,7 @@ data class AutoFocusTask(
return false
}

moveFocuser(focusPoint.x.roundToInt(), cancellationToken)
moveFocuser(focusPoint.x.roundToInt(), cancellationToken, false)
val hfd = takeExposure(cancellationToken).averageHFD

if (threshold <= 0) {
Expand All @@ -315,9 +335,11 @@ data class AutoFocusTask(
return true
}

private fun moveFocuser(position: Int, cancellationToken: CancellationToken) {
focuserMoveTask = FocuserMoveAbsoluteTask(focuser, position)
private fun moveFocuser(position: Int, cancellationToken: CancellationToken, relative: Boolean): Int {
focuserMoveTask = if (relative) FocuserMoveRelativeTask(focuser, position)
else FocuserMoveAbsoluteTask(focuser, position)
focuserMoveTask!!.execute(cancellationToken)
return focuser.position
}

override fun reset() {
Expand All @@ -341,6 +363,8 @@ data class AutoFocusTask(

@JvmStatic
private fun List<ImageStar>.measureDetectedStars(): MeasuredStars {
if (isEmpty()) return MeasuredStars.ZERO

val mean = sumOf { it.hfd } / size

var stdDev = 0.0
Expand Down
4 changes: 2 additions & 2 deletions api/src/main/kotlin/nebulosa/api/cameras/CameraCaptureTask.kt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ data class CameraCaptureTask(

cameraExposureTask.reset()

while (!cancellationToken.isDone &&
while (!cancellationToken.isCancelled &&
!cameraExposureTask.isAborted &&
((exposureMaxRepeat > 0 && exposureRepeatCount < exposureMaxRepeat)
|| (exposureMaxRepeat <= 0 && (request.isLoop || exposureCount < request.exposureAmount)))
Expand Down Expand Up @@ -100,7 +100,7 @@ data class CameraCaptureTask(
cameraExposureTask.execute(cancellationToken)

// DITHER.
if (!cancellationToken.isDone && !cameraExposureTask.isAborted && guider != null
if (!cancellationToken.isCancelled && !cameraExposureTask.isAborted && guider != null
&& exposureCount >= 1 && exposureCount % request.dither.afterExposures == 0
) {
ditherAfterExposureTask.execute(cancellationToken)
Expand Down
8 changes: 5 additions & 3 deletions api/src/main/kotlin/nebulosa/api/focusers/FocuserMoveAbsoluteTask.kt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,13 +28,15 @@ data class FocuserMoveAbsoluteTask(
}

override fun execute(cancellationToken: CancellationToken) {
if (!cancellationToken.isDone && focuser.connected
if (!cancellationToken.isCancelled && focuser.connected
&& !focuser.moving && position != focuser.position
) {
try {
cancellationToken.listen(this)

LOG.info("Focuser move started. focuser={}, position={}", focuser, position)
LOG.info("Focuser move started. position={}, focuser={}", position, focuser)

latch.countUp()

if (focuser.canAbsoluteMove) focuser.moveFocusTo(position)
else if (focuser.position - position < 0) focuser.moveFocusIn(abs(focuser.position - position))
Expand All @@ -45,7 +47,7 @@ data class FocuserMoveAbsoluteTask(
cancellationToken.unlisten(this)
}

LOG.info("Focuser move finished. focuser={}, position={}", focuser, position)
LOG.info("Focuser move finished. position={}, focuser={}", position, focuser)
}
}

Expand Down
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