[api]: Support Auto Focus

api/src/main/kotlin/nebulosa/api/autofocus/AutoFocusController.kt

@@ -2,10 +2,7 @@ package nebulosa.api.autofocus
 
 import nebulosa.indi.device.camera.Camera
 import nebulosa.indi.device.focuser.Focuser
-import org.springframework.web.bind.annotation.PutMapping
-import org.springframework.web.bind.annotation.RequestBody
-import org.springframework.web.bind.annotation.RequestMapping
-import org.springframework.web.bind.annotation.RestController
+import org.springframework.web.bind.annotation.*
 
 @RestController
 @RequestMapping("auto-focus")
@@ -16,4 +13,10 @@ class AutoFocusController(private val autoFocusService: AutoFocusService) {
         camera: Camera, focuser: Focuser,
         @RequestBody body: AutoFocusRequest,
     ) = autoFocusService.start(camera, focuser, body)
+
+    @PutMapping("{camera}/stop")
+    fun stop(camera: Camera) = autoFocusService.stop(camera)
+
+    @GetMapping("{camera}/status")
+    fun status(camera: Camera) = autoFocusService.status(camera)
 }

api/src/main/kotlin/nebulosa/api/autofocus/AutoFocusEvent.kt

@@ -1,8 +1,14 @@
 package nebulosa.api.autofocus
 
+import nebulosa.api.cameras.CameraCaptureEvent
 import nebulosa.api.messages.MessageEvent
+import nebulosa.curve.fitting.CurvePoint
 
-class AutoFocusEvent : MessageEvent {
+data class AutoFocusEvent(
+    @JvmField val state: AutoFocusState = AutoFocusState.IDLE,
+    @JvmField val focusPoint: CurvePoint = CurvePoint.ZERO,
+    @JvmField val capture: CameraCaptureEvent? = null,
+) : MessageEvent {
 
     override val eventName = "AUTO_FOCUS.ELAPSED"
 }

api/src/main/kotlin/nebulosa/api/autofocus/AutoFocusService.kt

@@ -12,4 +12,12 @@ class AutoFocusService(
     fun start(camera: Camera, focuser: Focuser, body: AutoFocusRequest) {
         autoFocusExecutor.execute(camera, focuser, body)
     }
+
+    fun stop(camera: Camera) {
+        autoFocusExecutor.stop(camera)
+    }
+
+    fun status(camera: Camera): AutoFocusEvent? {
+        return autoFocusExecutor.status(camera)
+    }
 }

api/src/main/kotlin/nebulosa/api/autofocus/AutoFocusState.kt

@@ -0,0 +1,11 @@
+package nebulosa.api.autofocus
+
+enum class AutoFocusState {
+    IDLE,
+    MOVING,
+    EXPOSURING,
+    COMPUTING,
+    FOCUS_POINT_ADDED,
+    FAILED,
+    FINISHED,
+}

api/src/main/kotlin/nebulosa/api/autofocus/AutoFocusTask.kt

@@ -40,7 +40,7 @@ data class AutoFocusTask(
 
     data class MeasuredStars(
         @JvmField val averageHFD: Double = 0.0,
-        @JvmField var hfdStandardDeviation: Double = 0.0,
+        @JvmField val hfdStandardDeviation: Double = 0.0,
     ) {
 
         companion object {
@@ -58,13 +58,15 @@ data class AutoFocusTask(
 
     private val focusPoints = ArrayList<CurvePoint>()
     private val measurements = ArrayList<MeasuredStars>(request.capture.exposureAmount)
-    private val cameraCaptureTask = CameraCaptureTask(camera, cameraRequest, exposureMaxRepeat = request.capture.exposureAmount)
+    private val cameraCaptureTask = CameraCaptureTask(camera, cameraRequest, exposureMaxRepeat = max(1, request.capture.exposureAmount))
 
     @Volatile private var focuserMoveTask: FocuserMoveTask? = null
     @Volatile private var trendLineCurve: TrendLineFitting.Curve? = null
     @Volatile private var parabolicCurve: Lazy<QuadraticFitting.Curve>? = null
     @Volatile private var hyperbolicCurve: Lazy<HyperbolicFitting.Curve>? = null
 
+    @Volatile private var focusPoint = CurvePoint.ZERO
+
     init {
         cameraCaptureTask.subscribe(this)
     }
@@ -80,6 +82,8 @@ data class AutoFocusTask(
     override fun canUseAsLastEvent(event: MessageEvent) = event is AutoFocusEvent
 
     override fun execute(cancellationToken: CancellationToken) {
+        reset()
+
         val initialFocusPosition = focuser.position
 
         // Get initial position information, as average of multiple exposures, if configured this way.
@@ -92,6 +96,8 @@ data class AutoFocusTask(
         var numberOfAttempts = 0
         val maximumFocusPoints = request.capture.exposureAmount * request.initialOffsetSteps * 10
 
+        camera.snoop(listOf(focuser))
+
         while (!exited && !cancellationToken.isCancelled) {
             numberOfAttempts++
 
@@ -153,9 +159,9 @@ data class AutoFocusTask(
                     break
                 }
 
-                if (focuser.position == 0) {
-                    // Break out when the focuser hits the zero position. It can't continue from there.
-                    LOG.error("failed to complete. position reached 0")
+                if (focuser.position <= 0 || focuser.position >= focuser.maxPosition) {
+                    // Break out when the focuser hits the min/max position. It can't continue from there.
+                    LOG.error("failed to complete. position reached ${focuser.position}")
                     break
                 }
             } 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))
@@ -173,18 +179,22 @@ data class AutoFocusTask(
                     continue
                 } else {
                     LOG.warn("potentially bad auto-focus. Restoring original focus position")
-                    moveFocuser(initialFocusPosition, cancellationToken, false)
-                    break
                 }
+            } else {
+                LOG.info("Auto Focus completed. x={}, y={}", finalFocusPoint.x, finalFocusPoint.y)
             }
+
+            exited = true
         }
 
-        if (exited || cancellationToken.isCancelled) {
-            LOG.warn("did not complete successfully, so restoring the focuser position to $initialFocusPosition")
+        if (exited) {
+            sendEvent(AutoFocusState.FAILED)
+            LOG.warn("Auto Focus did not complete successfully, so restoring the focuser position to $initialFocusPosition")
             moveFocuser(initialFocusPosition, CancellationToken.NONE, false)
         }
 
         reset()
+        sendEvent(AutoFocusState.FINISHED)
 
         LOG.info("Auto Focus finished. camera={}, focuser={}", camera, focuser)
     }
@@ -212,25 +222,33 @@ data class AutoFocusTask(
             sumVariances += hfdStandardDeviation * hfdStandardDeviation
         }
 
-        return MeasuredStars(sumHFD / request.capture.exposureAmount, sqrt(sumVariances / request.capture.exposureAmount))
+        return MeasuredStars(sumHFD / measurements.size, sqrt(sumVariances / measurements.size))
     }
 
     override fun accept(event: CameraCaptureEvent) {
         if (event.state == CameraCaptureState.EXPOSURE_FINISHED) {
+            sendEvent(AutoFocusState.COMPUTING, capture = event)
             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)
+        } else {
+            sendEvent(AutoFocusState.EXPOSURING, capture = event)
         }
     }
 
     private fun takeExposure(cancellationToken: CancellationToken): MeasuredStars {
-        measurements.clear()
-        cameraCaptureTask.execute(cancellationToken)
-        return evaluateAllMeasurements()
+        return if (!cancellationToken.isCancelled) {
+            measurements.clear()
+            sendEvent(AutoFocusState.EXPOSURING)
+            cameraCaptureTask.execute(cancellationToken)
+            evaluateAllMeasurements()
+        } else {
+            MeasuredStars.ZERO
+        }
     }
 
     private fun obtainFocusPoints(numberOfSteps: Int, offset: Int, reverse: Boolean, cancellationToken: CancellationToken) {
@@ -258,22 +276,22 @@ data class AutoFocusTask(
 
             // If star measurement is 0, we didn't detect any stars or shapes,
             // and want this point to be ignored by the fitting as much as possible.
-            // Setting a very high Stdev will do the trick.
             if (measurement.averageHFD == 0.0) {
-                LOG.warn("No stars detected in step. Setting a high standard deviation to ignore the point.")
-                measurement.hfdStandardDeviation = 1000.0
-            }
+                LOG.warn("No stars detected in step")
+                sendEvent(AutoFocusState.FAILED)
+            } else {
+                focusPoint = CurvePoint(currentFocusPosition.toDouble(), measurement.averageHFD)
+                focusPoints.add(focusPoint)
+                focusPoints.sortBy { it.x }
 
-            val weight = max(0.001, measurement.hfdStandardDeviation)
-            val point = CurvePoint(currentFocusPosition.toDouble(), measurement.averageHFD, weight)
-            focusPoints.add(point)
-            focusPoints.sortBy { it.x }
+                LOG.info("focus point added. remainingSteps={}, point={}", remainingSteps, focusPoint)
 
-            remainingSteps--
+                computeCurveFittings()
 
-            LOG.info("focus point added. remainingSteps={}, x={}, y={}, weight={}", remainingSteps, point.x, point.y, point.weight)
+                sendEvent(AutoFocusState.FOCUS_POINT_ADDED)
+            }
 
-            computeCurveFittings()
+            remainingSteps--
         }
     }
 
@@ -295,9 +313,9 @@ data class AutoFocusTask(
     private fun validateCalculatedFocusPosition(focusPoint: CurvePoint, initialHFD: Double, cancellationToken: CancellationToken): Boolean {
         val threshold = request.rSquaredThreshold
 
-        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
+        fun isTrendLineBad() = trendLineCurve?.let { it.left.rSquared < threshold || it.right.rSquared < threshold } ?: true
+        fun isParabolicBad() = parabolicCurve?.value?.let { it.rSquared < threshold } ?: true
+        fun isHyperbolicBad() = hyperbolicCurve?.value?.let { it.rSquared < threshold } ?: true
 
         if (threshold > 0.0) {
             val isBad = when (request.fittingMode) {
@@ -338,10 +356,16 @@ data class AutoFocusTask(
     private fun moveFocuser(position: Int, cancellationToken: CancellationToken, relative: Boolean): Int {
         focuserMoveTask = if (relative) FocuserMoveRelativeTask(focuser, position)
         else FocuserMoveAbsoluteTask(focuser, position)
+        sendEvent(AutoFocusState.MOVING)
         focuserMoveTask!!.execute(cancellationToken)
         return focuser.position
     }
 
+    @Suppress("NOTHING_TO_INLINE")
+    private inline fun sendEvent(state: AutoFocusState, capture: CameraCaptureEvent? = null) {
+        onNext(AutoFocusEvent(state, focusPoint, capture))
+    }
+
     override fun reset() {
         cameraCaptureTask.reset()
         focusPoints.clear()

api/src/test/kotlin/APITest.kt

@@ -18,7 +18,6 @@ import okhttp3.RequestBody.Companion.toRequestBody
 import okhttp3.logging.HttpLoggingInterceptor
 import java.nio.file.Path
 import java.time.Duration
-import java.time.temporal.ChronoUnit
 
 @EnabledIf(NonGitHubOnlyCondition::class)
 class APITest : StringSpec() {
@@ -59,12 +58,15 @@ class APITest : StringSpec() {
 
         "Auto Focus Start" {
             connect()
-            delay(2000)
+            delay(1000)
             cameraConnect()
             focuserConnect()
             delay(1000)
+            focuserMoveTo(position = 36000)
+            delay(2000)
             autoFocusStart()
         }
+        "Auto Focus Stop" { autoFocusStop() }
     }
 
     private fun connect(host: String = "0.0.0.0", port: Int = 7624) {
@@ -143,10 +145,18 @@ class APITest : StringSpec() {
         get("focusers/$focuser")
     }
 
+    private fun focuserMoveTo(focuser: String = FOCUSER_NAME, position: Int) {
+        put("focusers/$focuser/move-to?steps=$position")
+    }
+
     private fun autoFocusStart(camera: String = CAMERA_NAME, focuser: String = FOCUSER_NAME) {
         putJson("auto-focus/$camera/$focuser/start", AUTO_FOCUS_REQUEST)
     }
 
+    private fun autoFocusStop(camera: String = CAMERA_NAME) {
+        put("auto-focus/$camera/stop")
+    }
+
     companion object {
 
         private const val BASE_URL = "http://localhost:7000"
@@ -159,10 +169,10 @@ class APITest : StringSpec() {
 
         @JvmStatic private val CAMERA_START_CAPTURE_REQUEST = CameraStartCaptureRequest(
             exposureTime = EXPOSURE_TIME, width = 1280, height = 1024, frameFormat = "INDI_MONO",
-            savePath = CAPTURES_PATH, exposureAmount = 2
+            savePath = CAPTURES_PATH, exposureAmount = 1
         )
 
-        @JvmStatic private val AUTO_FOCUS_REQUEST = AutoFocusRequest(capture = CAMERA_START_CAPTURE_REQUEST)
+        @JvmStatic private val AUTO_FOCUS_REQUEST = AutoFocusRequest(capture = CAMERA_START_CAPTURE_REQUEST, stepSize = 11000)
 
         @JvmStatic private val CLIENT = OkHttpClient.Builder()
             .addInterceptor(HttpLoggingInterceptor().setLevel(HttpLoggingInterceptor.Level.BODY))

nebulosa-common/src/test/kotlin/CancellationTokenTest.kt

@@ -1,4 +1,5 @@
 import io.kotest.core.spec.style.StringSpec
+import io.kotest.matchers.booleans.shouldBeFalse
 import io.kotest.matchers.booleans.shouldBeTrue
 import io.kotest.matchers.nulls.shouldBeNull
 import io.kotest.matchers.shouldBe
@@ -16,6 +17,7 @@ class CancellationTokenTest : StringSpec() {
             token.get() shouldBe source
             source shouldBe CancellationSource.Cancel(false)
             token.isCancelled.shouldBeTrue()
+            token.isDone.shouldBeTrue()
         }
         "cancel may interrupt if running" {
             var source: CancellationSource? = null
@@ -25,6 +27,7 @@ class CancellationTokenTest : StringSpec() {
             token.get() shouldBe source
             source shouldBe CancellationSource.Cancel(true)
             token.isCancelled.shouldBeTrue()
+            token.isDone.shouldBeTrue()
         }
         "close" {
             var source: CancellationSource? = null
@@ -34,24 +37,27 @@ class CancellationTokenTest : StringSpec() {
             token.get() shouldBe source
             source shouldBe CancellationSource.Close
             token.isCancelled.shouldBeTrue()
+            token.isDone.shouldBeTrue()
         }
-        "listen" {
+        "listen after cancel" {
             var source: CancellationSource? = null
             val token = CancellationToken()
             token.cancel()
             token.listen { source = it }
             token.get() shouldBe CancellationSource.Cancel(true)
             source shouldBe CancellationSource.Listen
             token.isCancelled.shouldBeTrue()
+            token.isDone.shouldBeTrue()
         }
         "none" {
             var source: CancellationSource? = null
             val token = CancellationToken.NONE
-            token.isCancelled.shouldBeTrue()
             token.listen { source = it }
             token.cancel()
             token.get() shouldBe CancellationSource.None
             source.shouldBeNull()
+            token.isCancelled.shouldBeFalse()
+            token.isDone.shouldBeTrue()
         }
     }
 }

nebulosa-curve-fitting/src/main/kotlin/nebulosa/curve/fitting/CurvePoint.kt

@@ -2,22 +2,20 @@ package nebulosa.curve.fitting
 
 import org.apache.commons.math3.fitting.WeightedObservedPoint
 
-class CurvePoint(x: Double, y: Double, weight: Double = 1.0) : WeightedObservedPoint(weight, x, y) {
+class CurvePoint(x: Double, y: Double) : WeightedObservedPoint(1.0, x, y) {
 
     override fun equals(other: Any?): Boolean {
         if (this === other) return true
         if (other !is CurvePoint) return false
 
         if (x != other.x) return false
-        if (y != other.y) return false
 
-        return weight == other.weight
+        return y == other.y
     }
 
     override fun hashCode(): Int {
         var result = x.hashCode()
         result = 31 * result + y.hashCode()
-        result = 31 * result + weight.hashCode()
         return result
     }