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sequencerd: auto-ontarget on by default; require the cass ring at the commanded angle #500

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sequencerd: auto-ontarget on by default; require the cass ring at the commanded angle #500

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3 changes: 2 additions & 1 deletion Config/sequencerd.cfg.in
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Expand Up @@ -150,8 +150,9 @@ TCS_OFFSET_RATE_RA=45 # TCS offset rate for RA ("MRATE") in arcse
TCS_OFFSET_RATE_DEC=45 # TCS offset rate for DEC ("MRATE") in arcsec per second
TCS_SETTLE_TIMEOUT=20 # seconds to wait for telescope to settle (for "TRACKING_STABLY")
TCS_SETTLE_STABLE=1.5 # time in fractional seconds (to 0.1) that TCS must report TRACKING before it is really stable
TCS_AUTO_ONTARGET=no # yes: TCS ?ONTARGET=1 + tracking + sep < TCS_AUTO_ONTARGET_SEP (2 consecutive 1 Hz reads) satisfies the ontarget wait; operator press always works
TCS_AUTO_ONTARGET=yes # yes: TCS ?ONTARGET=1 + tracking + sep < TCS_AUTO_ONTARGET_SEP + cass ring within TCS_AUTO_ONTARGET_CASS (2 consecutive 1 Hz reads) satisfies the ontarget wait; operator press always works
TCS_AUTO_ONTARGET_SEP=5.0 # arcsec: max |telescope-target| for auto-ontarget
TCS_AUTO_ONTARGET_CASS=0.05 # deg: max |TCS cass angle - commanded ring angle| for auto-ontarget
TCS_DOMEAZI_READY=10 # max degrees azimuth that dome and telescope can differ before ready to observe
TCS_PREAUTH_TIME=10 # seconds before end of exposure to notify TCS of next target's coords (0 to disable)

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57 changes: 43 additions & 14 deletions sequencerd/sequence.cpp
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Expand Up @@ -2368,11 +2368,15 @@ namespace Sequencer {
* lives only while that wait is open (auto_ontarget_active).
* Acknowledges when two consecutive 1 Hz reads show
* ?ONTARGET==1 AND motion tracking AND |telescope-commanded| <
* tcs_auto_ontarget_sep. All three predicates are required:
* the flag alone is position-agnostic, the separation alone
* cannot see a sub-threshold hop in progress, and motion alone
* says nothing about settling. The coords are the SCOPE-frame
* position move_to_target actually commanded. A wrong
* tcs_auto_ontarget_sep AND |TCS cass angle - commanded ring
* angle| < tcs_auto_ontarget_cass. All four are required: the
* flag alone is position-agnostic, the separation alone cannot
* see a sub-threshold hop in progress, motion alone says
* nothing about settling, and none of them covers the cass
* ring, which turns on its own after RINGGO (ACAM's goal is
* computed from the cass angle at the acquire, ~8.5" per
* degree of ring still to go). The coords and ring angle are
* what move_to_target actually commanded. A wrong
* acknowledgment is self-limiting -- ACAM cannot solve a field
* that is not there and the acquisition retry machinery
* handles the failure -- so the conditions make wrong acks
Expand All @@ -2382,16 +2386,18 @@ namespace Sequencer {
* cancel_flag, and a concurrent cancel must always win
* against this automatic path.
*/
void Sequence::dothread_auto_ontarget( double tgt_ra_deg, double tgt_dec_deg, unsigned gen ) {
void Sequence::dothread_auto_ontarget( double tgt_ra_deg, double tgt_dec_deg, double tgt_cass_deg, unsigned gen ) {
const std::string function("Sequencer::Sequence::dothread_auto_ontarget");
std::stringstream message;

if ( std::isnan(tgt_ra_deg) || std::isnan(tgt_dec_deg) ) {
logwrite( function, "ERROR invalid commanded coords; auto-ontarget sits this wait out" );
if ( std::isnan(tgt_ra_deg) || std::isnan(tgt_dec_deg) || std::isnan(tgt_cass_deg) ) {
logwrite( function, "ERROR invalid commanded coords or ring angle; auto-ontarget sits this wait out" );
return;
}

int consecutive = 0;
int64_t ring_wait_since_us = 0; // when everything but the ring first held
bool ring_warned = false;

// gen retires this watcher the moment a newer one is launched, so one
// still sleeping from an earlier move can never acknowledge a new one.
Expand All @@ -2412,6 +2418,8 @@ namespace Sequencer {
bool fresh = false;
bool tracking = false;
double sep_as = NAN;
double dcass_deg = NAN;
double cass_now = NAN;
{
std::lock_guard<std::mutex> lock( tcsd_mtx );
fresh = this->tcsinfo.is_fresh();
Expand All @@ -2422,11 +2430,31 @@ namespace Sequencer {
double dra_as = dra_deg * cos( tgt_dec_deg * M_PI / 180.0 ) * 3600.0;
double ddec_as = ( this->tcsinfo.dec_d - tgt_dec_deg ) * 3600.0;
sep_as = std::hypot( dra_as, ddec_as );
// the cass ring against the angle RINGGO was sent, either side of the wrap
cass_now = this->tcsinfo.cassangle;
dcass_deg = std::fabs( std::remainder( cass_now - tgt_cass_deg, 360.0 ) );
}
}

const bool all_but_ring = fresh && flag_on && tracking && ( sep_as < this->tcs_auto_ontarget_sep );
const bool ring_ok = ( dcass_deg < this->tcs_auto_ontarget_cass );

// On target with only the ring missing for 20 s (a refused RINGGO, a ring
// parked off the command, an unreadable angle): say so once, so the
// operator knows the wait needs a press.
if ( all_but_ring && !ring_ok ) {
if ( ring_wait_since_us == 0 ) ring_wait_since_us = get_time_us();
else if ( !ring_warned && get_time_us() - ring_wait_since_us > 20000000 ) {
ring_warned = true;
message.str(""); message << "telescope on target but the cass ring reads " << cass_now
<< " deg, commanded " << tgt_cass_deg
<< " deg: press ontarget once the ring is in place";
this->broadcast.warning( function, message.str() );
}
}
}
else if ( !all_but_ring ) ring_wait_since_us = 0;

if ( !fresh || !flag_on || !tracking ||
!( sep_as < this->tcs_auto_ontarget_sep ) ) { consecutive=0; continue; }
if ( !all_but_ring || !ring_ok ) { consecutive=0; continue; }

if ( ++consecutive < 2 ) continue; // debounce: two reads in a row

Expand All @@ -2447,7 +2475,8 @@ namespace Sequencer {

message.str(""); message << "TCS reports on-target (?ONTARGET=1, tracking, sep="
<< std::fixed << std::setprecision(1) << sep_as
<< " arcsec x2) -- sending ontarget";
<< " arcsec, ring within " << std::setprecision(3) << dcass_deg
<< " deg x2) -- sending ontarget";
this->broadcast.notice( function, message.str() );
return;
}
Expand Down Expand Up @@ -2614,7 +2643,7 @@ namespace Sequencer {

this->broadcast.notice( function, "waiting for TCS operator to send \"ontarget\" signal" );

// AUTO-ONTARGET (config TCS_AUTO_ONTARGET, default no): the TCS itself can
// AUTO-ONTARGET (config TCS_AUTO_ONTARGET, default yes): the TCS itself can
// satisfy this wait through the same ontarget() the operator's press uses.
// The watcher lives exactly as long as this wait (auto_ontarget_active).
//
Expand All @@ -2625,7 +2654,7 @@ namespace Sequencer {
// database coordinates differ by the pointmode focal-plane offset.
// ontarget_gen was taken, retiring older watchers, before the COORDS.
std::thread( &Sequencer::Sequence::dothread_auto_ontarget, this,
ra_out, dec_out, ontarget_gen ).detach();
ra_out, dec_out, angle_out, ontarget_gen ).detach();
}

while ( !this->cancel_flag.load() && !this->is_ontarget.load() ) {
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5 changes: 3 additions & 2 deletions sequencerd/sequence.h
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Expand Up @@ -402,7 +402,7 @@ namespace Sequencer {
/** @brief satisfies the TCSOP wait when the TCS itself reports arrival
* (config TCS_AUTO_ONTARGET); coords are the commanded SCOPE
* frame position in degrees; see sequence.cpp */
void dothread_auto_ontarget( double tgt_ra_deg, double tgt_dec_deg, unsigned gen );
void dothread_auto_ontarget( double tgt_ra_deg, double tgt_dec_deg, double tgt_cass_deg, unsigned gen );
std::atomic<bool> auto_ontarget_active{false}; ///< true only while move_to_target's TCSOP wait is open
std::atomic<unsigned> auto_ontarget_gen{0}; ///< launch generation; a watcher retires when a newer one is launched
std::mutex ontarget_ack_mtx; ///< a watcher's acknowledgment vs a new move retiring watchers and clearing is_ontarget
Expand All @@ -429,8 +429,9 @@ namespace Sequencer {
double tcs_domeazi_ready; ///< max degrees azimuth that dome and telescope can differ before ready to observe
double tcs_preauth_time; ///< seconds before end of exposure to notify TCS of next target's coords (0 to disable)
double offset_settle_sec; ///< sec to wait after a target offset before exposing (config OFFSET_SETTLE_SEC; 0 disables)
bool tcs_auto_ontarget = false; ///< TCS ?ONTARGET may satisfy the TCSOP wait (config TCS_AUTO_ONTARGET; default no)
bool tcs_auto_ontarget = true; ///< TCS ?ONTARGET may satisfy the TCSOP wait (config TCS_AUTO_ONTARGET; default yes)
double tcs_auto_ontarget_sep = 5.0; ///< max |telescope-target| arcsec for auto-ontarget (config TCS_AUTO_ONTARGET_SEP)
double tcs_auto_ontarget_cass = 0.05; ///< max |TCS cass angle - commanded ring angle| deg for auto-ontarget (config TCS_AUTO_ONTARGET_CASS)

/// std::mutex tcs_ontarget_mtx;
/// std::condition_variable tcs_ontarget_cv;
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15 changes: 15 additions & 0 deletions sequencerd/sequencer_server.cpp
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Expand Up @@ -372,6 +372,21 @@ namespace Sequencer {
applied++;
}

// TCS_AUTO_ONTARGET_CASS
if (config.param[entry] == "TCS_AUTO_ONTARGET_CASS") {
try {
this->sequence.tcs_auto_ontarget_cass = std::stod( config.arg[entry] );
}
catch (const std::exception &e) {
message.str(""); message << "ERROR parsing TCS_AUTO_ONTARGET_CASS: " << e.what();
logwrite( function, message.str() );
return ERROR;
}
message.str(""); message << "SEQUENCERD:config:" << config.param[entry] << "=" << config.arg[entry];
logwrite( function, message.str() );
applied++;
}

// TCS_AUTO_ONTARGET_SEP
if (config.param[entry] == "TCS_AUTO_ONTARGET_SEP") {
try {
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