File indexing completed on 2024-05-12 15:23:41

 /*
     SPDX-FileCopyrightText: 2020 Hy Murveit <hy@murveit.com>
 
     SPDX-License-Identifier: GPL-2.0-or-later
 */
 
 #pragma once
 
 #include "vect.h"
 #include "indi/indicommon.h"
 #include "MPI_IS_gaussian_process/src/gaussian_process_guider.h"
 #include "ekos_guide_debug.h"
 class GuideStars;
 class GaussianProcessGuider;
 class Calibration;
 
 // This is a wrapper class around the GaussianProcessGuider contributed class
 // to make integration with EKos easier.
 class GPG
 {
     public:
         GPG();
         ~GPG() {}
 
         // Reads parameters from Options, and updates the GPG.
         void updateParameters();
 
         // Restarts the gpg.
         void reset();
 
         // Should be called when dithering starts.
         // Inputs are pixel offsets in camera coordinates.
         void startDithering(double dx, double dy, const Calibration &cal);
 
         // Should be called after dithering is done.
         // Indicated whether dithering settled or not.
         void ditheringSettled(bool success);
 
         // Should be called while suspended, at the point when
         // guiding would normally occur. GPG gets updated but does not
         // emit a pulse.
         void suspended(const GuiderUtils::Vector &guideStarPosition,
                        const GuiderUtils::Vector &reticlePosition,
                        GuideStars *guideStars,
                        const Calibration &cal);
 
         // Compute the RA pulse for guiding.
         // Returns false if it chooses not to compute a pulse.
         bool computePulse(double raArcsecError, GuideStars *guideStars,
                           int *pulseLength, GuideDirection *pulseDir,
                           const Calibration &cal, Seconds timeStep);
 
         double predictionContribution();
 
 
         // Compute dark guiding RA pulse.
         // Returns false if it chooses not to compute a pulse.
         bool darkGuiding(int *pulseLength, GuideDirection *pulseDir,
                          const Calibration &cal, Seconds timeStep);
 
     private:
         std::unique_ptr<GaussianProcessGuider> gpg;
         int gpgSamples = 0;
         int gpgSkippedSamples = 0;
         // Converts the gpg output to pulse milliseconds
         double convertCorrectionToPulseMilliseconds(const Calibration &cal, int *pulseLength, GuideDirection *pulseDir, const double gpgResult);
 };