Update Cedar Detect / Solve and Solidify Align (#256)

* Starting cedar update, align code changed

* Cedar detect update

* Cedar detect update - RPI version

* Switching to selective migrations

* Add submodule migration

* switch check for files

* working on conditionals

* Recompile on rpi4

* Use cedar-solve 0.5.1

* Remove debug prints

* Working on mypy failure

* Update to proper tetra3

* Update for mypy

* Maybe working now?

* Remove symlink

* Update tetra3 version

* Simplify tetra3 update

* Simplify tetra3 update

* Ignore imu on alignment screen, adjust menu, clean up debug

* Fix reticle position after alignment

.gitmodules

@@ -1,4 +1,3 @@
 [submodule "python/PiFinder/tetra3"]
 	path = python/PiFinder/tetra3
-	url = https://github.com/esa/tetra3.git
-	branch = no_big_files
+	url = https://github.com/smroid/cedar-solve

README.md

@@ -3,6 +3,10 @@ A plate solving telescope finder based around a Raspberry PI, imx296 camera, and
 
 For an overview of what the PiFinder™ is and how it came to be visit the official project website at [PiFinder.io](https://www.pifinder.io/build-yours) 
 
+The PiFinder™ uses the [Ceder Detect](https://github.com/smroid/cedar-detect) and
+[Cedar Solve](https://github.com/smroid/cedar-solve) libraries with express permission.
+Thank you to [smroid] for all your support of the PiFinder project!
+
 ![Banner](./docs/source/images/PiFinder_v3_banner.png)
 The PiFinder™ is my attempt to improve my time at my telescope.  I don't get nearly enough of it and I want to enjoy it as much as possible.  So after years of observing with paper charts and, later, a Nexus DSC here is what I felt I was missing:
 * **Reliable telescope positioning:**  The Nexus DSC is great, but my scope just isn't built for solid encoder integration.  The slop in the way I have to couple the encoders means poor pointing accuracy.
@@ -45,4 +49,3 @@ If you'd like to learn more about how it works, and potentially build your own,
 ## Discord
 Join the  [PiFinder™ Discord server](https://discord.gg/Nk5fHcAtWD) for support with your build, usage questions, and suggestions for improvement.
 
-<a href='https://ko-fi.com/brickbots' target='_blank'><img height='35' style='border:0px;height:46px;' src='https://az743702.vo.msecnd.net/cdn/kofi3.png?v=0' border='0' alt='Buy Me a Coffee at ko-fi.com' />

migration_source/v1.x.x.sh

@@ -0,0 +1,48 @@
+# GPSD
+sudo apt install -y gpsd
+sudo dpkg-reconfigure -plow gpsd
+sudo cp ~/PiFinder/pi_config_files/gpsd.conf /etc/default/gpsd
+
+# PWM
+sudo sed -zi '/dtoverlay=pwm,pin=13,func=4\n/!s/$/\ndtoverlay=pwm,pin=13,func=4\n/' /boot/config.txt
+
+# Uart for GPS
+sudo sed -zi '/dtoverlay=uart3\n/!s/$/\ndtoverlay=uart3\n/' /boot/config.txt
+
+# Migrate DB
+if [ -f "/home/pifinder/PiFinder/astro_data/observations.db" ]
+then
+    echo "Migrating astro_data DB"
+    python -c "from PiFinder import setup;setup.create_logging_tables();"
+    sqlite3 < /home/pifinder/PiFinder/migrate_db.sql
+    rm /home/pifinder/PiFinder/astro_data/observations.db
+fi
+
+# Migrate Config files
+if ! [ -f "/home/pifinder/PiFinder_data/config.json" ]
+then
+    echo "Migrating config.json"
+    mv /home/pifinder/PiFinder/config.json /home/pifinder/PiFinder_data/config.json
+fi
+
+# Adjust service definition
+sudo systemctl disable pifinder
+sudo rm /etc/systemd/system/pifinder.service
+sudo cp /home/pifinder/PiFinder/pi_config_files/pifinder.service /lib/systemd/system/pifinder.service
+sudo systemctl daemon-reload
+sudo systemctl enable pifinder
+
+# add PiFinder_splash if not already in place
+if ! [ -f "/lib/systemd/system/pifinder_spash.service" ]
+then
+    sudo cp /home/pifinder/PiFinder/pi_config_files/pifinder_splash.service /lib/systemd/system/pifinder_splash.service
+    sudo systemctl daemon-reload
+    sudo systemctl enable pifinder_splash
+fi
+
+# open permissisons on wpa_supplicant file so we can adjust network config
+sudo chmod 666 /etc/wpa_supplicant/wpa_supplicant.conf
+
+# DONE
+echo "Post Update Complete"
+

migration_source/v2.1.0.sh

@@ -0,0 +1,7 @@
+# swap tetra3 submodule
+git submodule sync
+git submodule update --init --recursive
+
+# Set up symlink
+ln -s /home/pifinder/PiFinder/python/PiFinder/tetra3/tetra3 /home/pifinder/PiFinder/python/tetra3
+

pifinder_post_update.sh

@@ -1,51 +1,28 @@
 git submodule update --init --recursive
 sudo pip install -r /home/pifinder/PiFinder/python/requirements.txt
 
-# GPSD
-sudo apt install -y gpsd
-sudo dpkg-reconfigure -plow gpsd
-sudo cp ~/PiFinder/pi_config_files/gpsd.conf /etc/default/gpsd
-
-# PWM
-sudo sed -zi '/dtoverlay=pwm,pin=13,func=4\n/!s/$/\ndtoverlay=pwm,pin=13,func=4\n/' /boot/config.txt
-
-# Uart for GPS
-sudo sed -zi '/dtoverlay=uart3\n/!s/$/\ndtoverlay=uart3\n/' /boot/config.txt
-
-# Migrate DB
-if [ -f "/home/pifinder/PiFinder/astro_data/observations.db" ]
+# Set up migrations folder if it does not exist
+if ! [ -d "/home/pifinder/PiFinder_data/migrations" ]
 then
-    echo "Migrating astro_data DB"
-    python -c "from PiFinder import setup;setup.create_logging_tables();"
-    sqlite3 < /home/pifinder/PiFinder/migrate_db.sql
-    rm /home/pifinder/PiFinder/astro_data/observations.db
+    mkdir /home/pifinder/PiFinder_data/migrations
 fi
 
-# Migrate Config files
-if ! [ -f "/home/pifinder/PiFinder_data/config.json" ]
+# v1.x.x
+# everying prior to selecitve migrations
+if ! [ -f "/home/pifinder/PiFinder_data/migrations/v1.x.x" ]
 then
-    echo "Migrating config.json"
-    mv /home/pifinder/PiFinder/config.json /home/pifinder/PiFinder_data/config.json
+    source /home/pifinder/PiFinder/migration_source/v1.x.x.sh
+    touch /home/pifinder/PiFinder_data/migrations/v1.x.x
 fi
 
-# Adjust service definition
-sudo systemctl disable pifinder
-sudo rm /etc/systemd/system/pifinder.service
-sudo cp /home/pifinder/PiFinder/pi_config_files/pifinder.service /lib/systemd/system/pifinder.service
-sudo systemctl daemon-reload
-sudo systemctl enable pifinder
-
-# add PiFinder_splash if not already in place
-if ! [ -f "/lib/systemd/system/pifinder_spash.service" ]
+# v2.1.0
+# Switch to Cedar
+if ! [ -f "/home/pifinder/PiFinder_data/migrations/v2.1.0" ]
 then
-    sudo cp /home/pifinder/PiFinder/pi_config_files/pifinder_splash.service /lib/systemd/system/pifinder_splash.service
-    sudo systemctl daemon-reload
-    sudo systemctl enable pifinder_splash
+    source /home/pifinder/PiFinder/migration_source/v2.1.0.sh
+    touch /home/pifinder/PiFinder_data/migrations/v2.1.0
 fi
 
-# open permissisons on wpa_supplicant file so we can adjust network config
-sudo chmod 666 /etc/wpa_supplicant/wpa_supplicant.conf
-
 # DONE
 echo "Post Update Complete"
 

python/PiFinder/solver.py

@@ -20,71 +20,12 @@
 from PiFinder import utils
 
 sys.path.append(str(utils.tetra3_dir))
-import PiFinder.tetra3.tetra3 as tetra3
-from PiFinder.tetra3.tetra3 import cedar_detect_client
+import tetra3
+from tetra3 import cedar_detect_client
 
 logger = logging.getLogger("Solver")
 
 
-def find_target_pixel(t3, fov_estimate, centroids, ra, dec):
-    """
-    Searches the most recent solve for a pixel
-    that matches the requested RA/DEC the best
-    """
-    print(f"{len(centroids)=}")
-    search_center = (256, 256)
-    search_distance = 128
-    while search_distance >= 1:
-        # try 5 search points
-        search_points = [
-            [search_center[0] - search_distance, search_center[1] - search_distance],
-            [search_center[0] - search_distance, search_center[1] + search_distance],
-            [search_center[0] + search_distance, search_center[1] - search_distance],
-            [search_center[0] + search_distance, search_center[1] + search_distance],
-            [search_center[0], search_center[1]],
-        ]
-
-        # probe points
-        min_dist = 100000
-        for search_point in search_points:
-            solve_fails = 0
-            point_sol = {}
-            while point_sol.get("RA_target") is None:
-                solve_fails += 1
-                if solve_fails > 10:
-                    print("Too many fails")
-                    return (-1, -1)
-                try:
-                    point_sol = t3.solve_from_centroids(
-                        centroids,
-                        (512, 512),
-                        fov_estimate=fov_estimate,
-                        fov_max_error=0.2,
-                        return_matches=False,
-                        target_pixel=[search_point[0], search_point[1]],
-                        solve_timeout=1000,
-                    )
-                except Exception:
-                    return (-1, -1)
-
-            # distance...
-            p_dist = np.hypot(
-                point_sol["RA_target"] - ra, point_sol["Dec_target"] - dec
-            )
-            if p_dist < min_dist:
-                search_center = search_point
-                min_dist = p_dist
-
-        # cut search distance
-        search_distance = search_distance / 2
-
-    # Done?
-    if min_dist > 0.1:
-        # Didn't find a good pixel...
-        return (-1, -1)
-    return search_center
-
-
 def solver(
     shared_state,
     solver_queue,
@@ -101,6 +42,8 @@ def solver(
         str(utils.cwd_dir / "PiFinder/tetra3/tetra3/data/default_database.npz")
     )
     last_solve_time = 0
+    align_ra = 0
+    align_dec = 0
     solved = {
         # RA, Dec, Roll solved at the center of the camera FoV:
         "RA_camera": None,
@@ -150,15 +93,10 @@ def solver(
                             # for this RA/DEC and set it as alignment pixel
                             align_ra = command[1]
                             align_dec = command[2]
-                            align_target_pixel = find_target_pixel(
-                                t3=t3,
-                                fov_estimate=solved["FOV"],
-                                centroids=centroids,
-                                ra=align_ra,
-                                dec=align_dec,
-                            )
-                            logger.debug(f"Align {align_target_pixel=}")
-                            align_result_queue.put(["aligned", align_target_pixel])
+
+                        if command[0] == "align_cancel":
+                            align_ra = 0
+                            align_dec = 0
 
                 state_utils.sleep_for_framerate(shared_state)
 
@@ -192,15 +130,20 @@ def solver(
                         logger.warn("No stars found, skipping")
                         continue
                     else:
+                        _solver_args = {}
+                        if align_ra != 0 and align_dec != 0:
+                            _solver_args["target_sky_coord"] = [[align_ra, align_dec]]
+
                         solution = t3.solve_from_centroids(
                             centroids,
                             (512, 512),
                             fov_estimate=12.0,
                             fov_max_error=4.0,
                             match_max_error=0.005,
-                            return_matches=True,
+                            # return_matches=True,
                             target_pixel=shared_state.solve_pixel(),
                             solve_timeout=1000,
+                            **_solver_args,
                         )
 
                         if "matched_centroids" in solution:
@@ -238,6 +181,20 @@ def solver(
                         solved["cam_solve_time"] = solved["solve_time"]
                         solver_queue.put(solved)
 
+                        # See if we are waiting for alignment
+                        if align_ra != 0 and align_dec != 0:
+                            if solved.get("x_target") is not None:
+                                align_target_pixel = (
+                                    solved["y_target"],
+                                    solved["x_target"],
+                                )
+                                logger.debug(f"Align {align_target_pixel=}")
+                                align_result_queue.put(["aligned", align_target_pixel])
+                                align_ra = 0
+                                align_dec = 0
+                                solved["x_target"] = None
+                                solved["y_target"] = None
+
                     last_solve_time = last_image_metadata["exposure_end"]
         except EOFError:
             logger.error("Main no longer running for solver")

python/PiFinder/ui/align.py

@@ -24,6 +24,14 @@ def align_on_radec(ra, dec, command_queues, config_object, shared_state) -> bool
     * Set the config item and the shared state
     * return the pixel or -1/-1 for error
     """
+
+    # Clear out any pending responses
+    while True:
+        try:
+            command = command_queues["align_response"].get(block=False)
+        except queue.Empty:
+            break
+
     # Send command to solver to work out the camera pixel for this target
     command_queues["align_command"].put(
         [
@@ -36,8 +44,16 @@ def align_on_radec(ra, dec, command_queues, config_object, shared_state) -> bool
     received_response = False
     start_time = time.time()
     while not received_response:
-        # only wait a second
-        if time.time() - start_time > 1:
+        # only wait two seconds
+        if time.time() - start_time > 2:
+            command_queues["align_command"].put(
+                [
+                    "align_cancel",
+                    ra,
+                    dec,
+                ]
+            )
+            command_queues["console"].put("Align Timeout")
             return False
 
         try:
@@ -55,6 +71,7 @@ def align_on_radec(ra, dec, command_queues, config_object, shared_state) -> bool
         return False
 
     # success, set all the things...
+    command_queues["console"].put("Alignment Set")
     shared_state.set_solve_pixel(target_pixel)
     config_object.set_option("solve_pixel", target_pixel)
     return True
@@ -81,17 +98,14 @@ def __init__(self, *args, **kwargs):
         self.star_list = np.empty((0, 2))
         self.alignment_star = None
         self.reticle_position = (
-            self.config_object.get_option("solve_pixel", (256, 256))[0] / 4,
             self.config_object.get_option("solve_pixel", (256, 256))[1] / 4,
+            self.config_object.get_option("solve_pixel", (256, 256))[0] / 4,
         )
 
         # Marking menu definition
         self.marking_menu = MarkingMenu(
             left=MarkingMenuOption(),
-            down=MarkingMenuOption(
-                label="Options",
-                menu_jump="chart_settings",
-            ),
+            down=MarkingMenuOption(),
             right=MarkingMenuOption(),
         )
 
@@ -104,7 +118,7 @@ def draw_reticle(self):
 
         if not self.align_mode:
             self.reticle_position = self.starfield.radec_to_xy(
-                self.solution["RA"], self.solution["Dec"]
+                self.solution["RA_target"], self.solution["Dec_target"]
             )
 
         x_pos = round(self.reticle_position[0])
@@ -163,9 +177,7 @@ def update(self, force=False):
 
         if self.shared_state.solve_state():
             self.animate_fov()
-            constellation_brightness = self.config_object.get_option(
-                "chart_constellations", 64
-            )
+            constellation_brightness = 64
             self.solution = self.shared_state.solution()
             last_solve_time = self.solution["solve_time"]
             if (
@@ -190,7 +202,7 @@ def update(self, force=False):
                 self.screen.paste(image_obj)
 
                 self.last_update = last_solve_time
-            self.draw_reticle()
+                self.draw_reticle()
 
         else:
             self.draw.rectangle(