phd2.cpp

/*
    SPDX-FileCopyrightText: 2016 Jasem Mutlaq <mutlaqja@ikarustech.com>
 
    SPDX-License-Identifier: GPL-2.0-or-later
*/
 
#include "phd2.h"
 
#include "Options.h"
#include "kspaths.h"
#include "kstars.h"
 
#include "ekos/manager.h"
#include "fitsviewer/fitsdata.h"
#include "ekos/guide/guide.h"
#include "fitsviewer/fitsview.h"
 
#include <cassert>
#include <fitsio.h>
#include <KMessageBox>
#include <QImage>
 
#include <QJsonDocument>
#include <QNetworkReply>
 
#include <ekos_guide_debug.h>
 
#define MAX_SET_CONNECTED_RETRIES   3
 
namespace Ekos
{
PHD2::PHD2()
{
    tcpSocket = new QTcpSocket(this);
 
    //This list of available PHD Events is on https://github.com/OpenPHDGuiding/phd2/wiki/EventMonitoring
 
    events["Version"]                 = Version;
    events["LockPositionSet"]         = LockPositionSet;
    events["Calibrating"]             = Calibrating;
    events["CalibrationComplete"]     = CalibrationComplete;
    events["StarSelected"]            = StarSelected;
    events["StartGuiding"]            = StartGuiding;
    events["Paused"]                  = Paused;
    events["StartCalibration"]        = StartCalibration;
    events["AppState"]                = AppState;
    events["CalibrationFailed"]       = CalibrationFailed;
    events["CalibrationDataFlipped"]  = CalibrationDataFlipped;
    events["LoopingExposures"]        = LoopingExposures;
    events["LoopingExposuresStopped"] = LoopingExposuresStopped;
    events["SettleBegin"]             = SettleBegin;
    events["Settling"]                = Settling;
    events["SettleDone"]              = SettleDone;
    events["StarLost"]                = StarLost;
    events["GuidingStopped"]          = GuidingStopped;
    events["Resumed"]                 = Resumed;
    events["GuideStep"]               = GuideStep;
    events["GuidingDithered"]         = GuidingDithered;
    events["LockPositionLost"]        = LockPositionLost;
    events["Alert"]                   = Alert;
    events["GuideParamChange"]        = GuideParamChange;
    events["ConfigurationChange"]     = ConfigurationChange;
 
    //This list of available PHD Methods is on https://github.com/OpenPHDGuiding/phd2/wiki/EventMonitoring
    //Only some of the methods are implemented.  The ones that say COMMAND_RECEIVED simply return a 0 saying the command was received.
    methodResults["capture_single_frame"]   = CAPTURE_SINGLE_FRAME;
    methodResults["clear_calibration"]      = CLEAR_CALIBRATION_COMMAND_RECEIVED;
    methodResults["dither"]                 = DITHER_COMMAND_RECEIVED;
    //find_star
    //flip_calibration
    //get_algo_param_names
    //get_algo_param
    methodResults["get_app_state"]          = APP_STATE_RECEIVED;
    //get_calibrated
    //get_calibration_data
    methodResults["get_connected"]          = IS_EQUIPMENT_CONNECTED;
    //get_cooler_status
    methodResults["get_current_equipment"]  = GET_CURRENT_EQUIPMENT;
    methodResults["get_dec_guide_mode"]     = DEC_GUIDE_MODE;
    methodResults["get_exposure"]           = EXPOSURE_TIME;
    methodResults["get_exposure_durations"] = EXPOSURE_DURATIONS;
    methodResults["get_lock_position"]      = LOCK_POSITION;
    //get_lock_shift_enabled
    //get_lock_shift_params
    //get_paused
    methodResults["get_pixel_scale"]        = PIXEL_SCALE;
    //get_profile
    //get_profiles
    //get_search_region
    //get_sensor_temperature
    methodResults["get_star_image"]         = STAR_IMAGE;
    //get_use_subframes
    methodResults["guide"]                  = GUIDE_COMMAND_RECEIVED;
    //guide_pulse
    methodResults["loop"]                   = LOOP;
    //save_image
    //set_algo_param
    methodResults["set_connected"]          = CONNECTION_RESULT;
    methodResults["set_dec_guide_mode"]     = SET_DEC_GUIDE_MODE_COMMAND_RECEIVED;
    methodResults["set_exposure"]           = SET_EXPOSURE_COMMAND_RECEIVED;
    methodResults["set_lock_position"]      = SET_LOCK_POSITION;
    //set_lock_shift_enabled
    //set_lock_shift_params
    methodResults["set_paused"]             = SET_PAUSED_COMMAND_RECEIVED;
    //set_profile
    //shutdown
    methodResults["stop_capture"]           = STOP_CAPTURE_COMMAND_RECEIVED;
 
    abortTimer = new QTimer(this);
    connect(abortTimer, &QTimer::timeout, this, [ = ]
    {
        if (state == CALIBRATING)
            qCDebug(KSTARS_EKOS_GUIDE) << "Abort timeout expired while calibrating, retrying to guide.";
        else if (state == LOSTLOCK)
            qCDebug(KSTARS_EKOS_GUIDE) << "Abort timeout expired while reacquiring star, retrying to guide.";
        else
            qCDebug(KSTARS_EKOS_GUIDE) << "Abort timeout expired, stopping.";
        abort();
    });
 
    ditherTimer = new QTimer(this);
    connect(ditherTimer, &QTimer::timeout, this, [ = ]
    {
        qCDebug(KSTARS_EKOS_GUIDE) << "ditherTimer expired, state" << state << "dithering" << isDitherActive << "settling" << isSettling;
        ditherTimer->stop();
        isDitherActive = false;
        isSettling = false;
        if (Options::ditherFailAbortsAutoGuide())
        {
            abort();
            emit newStatus(GUIDE_DITHERING_ERROR);
        }
        else
        {
            emit newLog(i18n("PHD2: There was no dithering response from PHD2, but continue guiding."));
            emit newStatus(Ekos::GUIDE_DITHERING_SUCCESS);
        }
    });
 
    stateTimer = new QTimer(this);
    connect(stateTimer, &QTimer::timeout, this, [ = ]
    {
        QTcpSocket::SocketState socketstate = tcpSocket->state();
        switch (socketstate)
        {
            case QTcpSocket::UnconnectedState:
                m_PHD2ReconnectCounter++;
                if (m_PHD2ReconnectCounter > PHD2_RECONNECT_THRESHOLD)
                {
                    stateTimer->stop();
                    emit newLog(i18n("Giving up reconnecting."));
                }
                else
                {
                    emit newLog(i18n("Reconnecting to PHD2 Host: %1, on port %2. . .", Options::pHD2Host(), Options::pHD2Port()));
 
                    connect(tcpSocket, &QTcpSocket::readyRead, this, &PHD2::readPHD2, Qt::UniqueConnection);
#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
                    connect(tcpSocket, &QTcpSocket::errorOccurred, this, &PHD2::displayError, Qt::UniqueConnection);
#else
                    connect(tcpSocket, SIGNAL(error(QAbstractSocket::SocketError)), this,
                            SLOT(displayError(QAbstractSocket::SocketError)));
#endif
                    tcpSocket->connectToHost(Options::pHD2Host(), Options::pHD2Port());
                }
                break;
            case QTcpSocket::ConnectedState:
                m_PHD2ReconnectCounter = 0;
                checkIfEquipmentConnected();
                requestAppState();
                break;
            default:
                qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: TCP connection state:" << socketstate;
                break;
        }
    });
}
 
PHD2::~PHD2()
{
    delete abortTimer;
    delete ditherTimer;
}
 
bool PHD2::Connect()
{
    switch (connection)
    {
        case DISCONNECTED:
            // Not yet connected, let's connect server
            connection = CONNECTING;
            emit newLog(i18n("Connecting to PHD2 Host: %1, on port %2. . .", Options::pHD2Host(), Options::pHD2Port()));
 
            connect(tcpSocket, &QTcpSocket::readyRead, this, &PHD2::readPHD2, Qt::UniqueConnection);
#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
            connect(tcpSocket, &QTcpSocket::errorOccurred, this, &PHD2::displayError, Qt::UniqueConnection);
#else
            connect(tcpSocket, SIGNAL(error(QAbstractSocket::SocketError)), this,
                    SLOT(displayError(QAbstractSocket::SocketError)));
#endif
 
            tcpSocket->connectToHost(Options::pHD2Host(), Options::pHD2Port());
 
            m_PHD2ReconnectCounter = 0;
            stateTimer->start(PHD2_RECONNECT_TIMEOUT);
            return true;
 
        case EQUIPMENT_DISCONNECTED:
            // Equipment disconnected from PHD2, request reconnection
            connectEquipment(true);
            return true;
 
        case DISCONNECTING:
            // Not supposed to interrupt a running disconnection
            return false;
 
        default:
            return false;
    }
}
 
void PHD2::ResetConnectionState()
{
    connection = DISCONNECTED;
 
    // clear the outstanding and queued RPC requests
    pendingRpcResultType = NO_RESULT;
    rpcRequestQueue.clear();
 
    starImageRequested = false;
    isSettling = false;
    isDitherActive = false;
 
    ditherTimer->stop();
    abortTimer->stop();
 
    tcpSocket->disconnect(this);
 
    emit newStatus(GUIDE_DISCONNECTED);
}
 
bool PHD2::Disconnect()
{
    switch (connection)
    {
        case EQUIPMENT_CONNECTED:
            emit newLog(i18n("Aborting any capture before disconnecting equipment..."));
            abort();
            connection = DISCONNECTING;
            break;
 
        case CONNECTED:
        case CONNECTING:
        case EQUIPMENT_DISCONNECTED:
            stateTimer->stop();
            tcpSocket->disconnectFromHost();
            ResetConnectionState();
            if (tcpSocket->state() != QAbstractSocket::UnconnectedState)
                tcpSocket->waitForDisconnected(5000);
            emit newLog(i18n("Disconnected from PHD2 Host: %1, on port %2.", Options::pHD2Host(), Options::pHD2Port()));
            break;
 
        case DISCONNECTING:
        case DISCONNECTED:
            break;
    }
 
    return true;
}
 
void PHD2::displayError(QAbstractSocket::SocketError socketError)
{
    switch (socketError)
    {
        case QAbstractSocket::RemoteHostClosedError:
            emit newLog(i18n("The host disconnected."));
            break;
        case QAbstractSocket::HostNotFoundError:
            emit newLog(i18n("The host was not found. Please check the host name and port settings in Guide options."));
            break;
        case QAbstractSocket::ConnectionRefusedError:
            emit newLog(i18n("The connection was refused by the peer. Make sure the PHD2 is running, and check that "
                             "the host name and port settings are correct."));
            break;
        default:
            emit newLog(i18n("The following error occurred: %1.", tcpSocket->errorString()));
    }
 
    ResetConnectionState();
 
    emit newStatus(GUIDE_DISCONNECTED);
}
 
void PHD2::readPHD2()
{
    while (!tcpSocket->atEnd() && tcpSocket->canReadLine())
    {
        QByteArray line = tcpSocket->readLine();
        if (line.isEmpty())
            continue;
 
        QJsonParseError qjsonError;
 
        QJsonDocument jdoc = QJsonDocument::fromJson(line, &qjsonError);
 
        if (qjsonError.error != QJsonParseError::NoError)
        {
            emit newLog(i18n("PHD2: invalid response received: %1", QString(line)));
            emit newLog(i18n("PHD2: JSON error: %1", qjsonError.errorString()));
            continue;
        }
 
        QJsonObject jsonObj = jdoc.object();
 
        if (jsonObj.contains("Event"))
            processPHD2Event(jsonObj, line);
        else if (jsonObj.contains("error"))
            processPHD2Error(jsonObj, line);
        else if (jsonObj.contains("result"))
            processPHD2Result(jsonObj, line);
    }
}
 
void PHD2::processPHD2Event(const QJsonObject &jsonEvent, const QByteArray &line)
{
    if (Options::verboseLogging())
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: event:" << line;
 
    QString eventName = jsonEvent["Event"].toString();
 
    if (!events.contains(eventName))
    {
        emit newLog(i18n("Unknown PHD2 event: %1", eventName));
        return;
    }
 
    event = events.value(eventName);
 
    switch (event)
    {
        case Version:
            emit newLog(i18n("PHD2: Version %1", jsonEvent["PHDVersion"].toString()));
            break;
 
        case CalibrationComplete:
            emit newLog(i18n("PHD2: Calibration Complete."));
            emit newStatus(Ekos::GUIDE_CALIBRATION_SUCCESS);
            break;
 
        case StartGuiding:
            updateGuideParameters();
            requestCurrentEquipmentUpdate();
            // Do not report guiding as started because it will start scheduled capture before guiding is settled
            // just print the log message and GUIDE_STARTED status will be set in SettleDone
            // phd2 will always send SettleDone event
            emit newLog(i18n("PHD2: Waiting for guiding to settle."));
            break;
 
        case Paused:
            handlePHD2AppState(PAUSED);
            break;
 
        case StartCalibration:
            handlePHD2AppState(CALIBRATING);
            break;
 
        case AppState:
            // AppState is the last of the initial messages received when we first connect to PHD2
            processPHD2State(jsonEvent["State"].toString());
            // if the equipment is not already connected, then try to connect it.
            if (connection == CONNECTING)
            {
                emit newLog("PHD2: Connecting equipment and external guider...");
                connectEquipment(true);
            }
            break;
 
        case CalibrationFailed:
            emit newLog(i18n("PHD2: Calibration Failed (%1).", jsonEvent["Reason"].toString()));
            handlePHD2AppState(STOPPED);
            break;
 
        case CalibrationDataFlipped:
            emit newLog(i18n("Calibration Data Flipped."));
            break;
 
        case LoopingExposures:
            handlePHD2AppState(LOOPING);
            break;
 
        case LoopingExposuresStopped:
            handlePHD2AppState(STOPPED);
            break;
 
        case Calibrating:
        case Settling:
        case SettleBegin:
            //This can happen for guiding or for dithering.  A Settle done event will arrive when it finishes.
            break;
 
        case SettleDone:
        {
            emit newLog(i18n("PHD2: SettleDone."));
 
            // guiding stopped during dithering
            if (state == PHD2::STOPPED)
                return;
 
            bool error = false;
 
            if (jsonEvent["Status"].toInt() != 0)
            {
                error = true;
                emit newLog(i18n("PHD2: Settling failed (%1).", jsonEvent["Error"].toString()));
            }
 
            bool wasDithering = isDitherActive;
 
            isDitherActive = false;
            isSettling = false;
 
            if (wasDithering)
            {
                ditherTimer->stop();
                if (error && Options::ditherFailAbortsAutoGuide())
                {
                    abort();
                    emit newStatus(GUIDE_DITHERING_ERROR);
                }
                else
                {
                    if (error)
                        emit newLog(i18n("PHD2: There was a dithering error, but continue guiding."));
 
                    emit newStatus(Ekos::GUIDE_DITHERING_SUCCESS);
                }
            }
            else
            {
                if (error)
                {
                    emit newLog(i18n("PHD2: Settling failed, aborted."));
                    emit newStatus(GUIDE_ABORTED);
                }
                else
                {
                    // settle completed after "guide" command
                    emit newLog(i18n("PHD2: Settling complete, Guiding Started."));
                    emit newStatus(GUIDE_GUIDING);
                }
            }
        }
        break;
 
        case StarSelected:
            handlePHD2AppState(SELECTED);
            break;
 
        case StarLost:
            // If we lost the guide star, let the state and abort timers update our state
            handlePHD2AppState(LOSTLOCK);
            break;
 
        case GuidingStopped:
            handlePHD2AppState(STOPPED);
            break;
 
        case Resumed:
            handlePHD2AppState(GUIDING);
            break;
 
        case GuideStep:
        {
            // If we lost the guide star, let the state timer update our state
            // Sometimes PHD2 is actually not guiding at that time, so we'll either resume or abort
            if (state == LOSTLOCK)
                emit newLog(i18n("PHD2: Star found, guiding is resuming..."));
 
            if (isDitherActive)
                return;
 
            double diff_ra_pixels, diff_de_pixels, diff_ra_arcsecs, diff_de_arcsecs, pulse_ra, pulse_dec, snr;
            QString RADirection, DECDirection;
            diff_ra_pixels = jsonEvent["RADistanceRaw"].toDouble();
            diff_de_pixels = jsonEvent["DECDistanceRaw"].toDouble();
            pulse_ra = jsonEvent["RADuration"].toDouble();
            pulse_dec = jsonEvent["DECDuration"].toDouble();
            RADirection = jsonEvent["RADirection"].toString();
            DECDirection = jsonEvent["DECDirection"].toString();
            snr = jsonEvent["SNR"].toDouble();
 
            if (RADirection == "East")
                //If the pulse was to the east, it should have a negative sign.
                //(Tracking pulse has to be decreased.)
                pulse_ra = -pulse_ra;
            if (DECDirection == "South")
                //If the pulse was to the south, it should have a negative sign.
                pulse_dec = -pulse_dec;
 
            //If the pixelScale is properly set from PHD2, the second block of code is not needed,
            //but if not, we will attempt to calculate the ra and dec error without it.
            if (pixelScale != 0)
            {
                diff_ra_arcsecs = diff_ra_pixels * pixelScale;
                diff_de_arcsecs = diff_de_pixels * pixelScale;
            }
            else
            {
                diff_ra_arcsecs = 206.26480624709 * diff_ra_pixels * ccdPixelSizeX / mountFocalLength;
                diff_de_arcsecs = 206.26480624709 * diff_de_pixels * ccdPixelSizeY / mountFocalLength;
            }
 
            if (std::isfinite(snr))
                emit newSNR(snr);
 
            if (std::isfinite(diff_ra_arcsecs) && std::isfinite(diff_de_arcsecs))
            {
                // Always add to error log
                errorLog.append(QPointF(diff_ra_arcsecs, diff_de_arcsecs));
                if(errorLog.size() > 100)
                    errorLog.remove(0);
 
                qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: Error log size:" << errorLog.size();
 
                // diff_xx_arcsecs is saved as STAR drift in the camera sensor coordinate system.
                // To get these values in the RADEC system they have to be negated.
                // But PHD2 displays the MOUNT drift and hence the values have to be negated once more!
                // Guide graph in EKOS handles the reversed direction of RA-coordinate.
                emit newAxisDelta(diff_ra_arcsecs, diff_de_arcsecs);
                emit newAxisPulse(pulse_ra, pulse_dec);
 
                // Does PHD2 real a sky background or num-stars measure?
                // analyze.cpp uses only one RA/DEC-axis (up:+, down:-), hence RA is negated
                // to handle the reversed direction of RA-coordinate.
                emit guideStats(-diff_ra_arcsecs, diff_de_arcsecs, pulse_ra, pulse_dec,
                                std::isfinite(snr) ? snr : 0, 0, 0);
 
                // Calculate population standard deviation (sigma) like PHD2 does
                // PHD2 uses the formula: sqrt((n * sum(y²) - sum(y)²) / (n * n))
 
                // Convert to pixels first if we have a valid pixel scale
                QVector<QPointF> pixelErrorLog;
                if (pixelScale > 0)
                {
                    for (auto &point : errorLog)
                    {
                        // Convert from arcseconds to pixels
                        pixelErrorLog.append(QPointF(point.x() / pixelScale, point.y() / pixelScale));
                    }
                }
                else
                {
                    // If no pixel scale, just use the original values
                    pixelErrorLog = errorLog;
                }
 
                // Calculate using the same formula as PHD2's GetPopulationSigma()
                double n = pixelErrorLog.size();
 
                // Calculate sums for RA
                double sumY_RA = 0.0;
                double sumYSq_RA = 0.0;
                for (auto &point : pixelErrorLog)
                {
                    sumY_RA += point.x();
                    sumYSq_RA += point.x() * point.x();
                }
 
                // Calculate sums for DEC
                double sumY_DEC = 0.0;
                double sumYSq_DEC = 0.0;
                for (auto &point : pixelErrorLog)
                {
                    sumY_DEC += point.y();
                    sumYSq_DEC += point.y() * point.y();
                }
 
                // Calculate population sigma using PHD2's formula
                double ra_sigma_pixels = 0.0;
                double de_sigma_pixels = 0.0;
 
                if (n > 1)
                {
                    double variance_RA = (n * sumYSq_RA - sumY_RA * sumY_RA) / (n * n);
                    double variance_DEC = (n * sumYSq_DEC - sumY_DEC * sumY_DEC) / (n * n);
 
                    if (variance_RA >= 0.0)
                        ra_sigma_pixels = sqrt(variance_RA);
 
                    if (variance_DEC >= 0.0)
                        de_sigma_pixels = sqrt(variance_DEC);
                }
 
                // Convert back to arcseconds for display
                double ra_sigma_arcsec = (pixelScale > 0) ? ra_sigma_pixels * pixelScale : ra_sigma_pixels;
                double de_sigma_arcsec = (pixelScale > 0) ? de_sigma_pixels * pixelScale : de_sigma_pixels;
 
                // Emit the values in arcseconds
                emit newAxisSigma(ra_sigma_arcsec, de_sigma_arcsec);
            }
            //Note that if it is receiving full size remote images, it should not get the guide star image.
            //But if it is not getting the full size images, or if the current camera is not in Ekos, it should get the guide star image
            //If we are getting the full size image, we will want to know the lock position for the image that loads in the viewer.
            if ( Options::guideSubframe() || currentCameraIsNotInEkos )
                requestStarImage(32); //This requests a star image for the guide view.  32 x 32 pixels
            else
                requestLockPosition();
        }
        break;
 
        case GuidingDithered:
            break;
 
        case LockPositionSet:
            handlePHD2AppState(SELECTED);
            break;
 
        case LockPositionLost:
            handlePHD2AppState(LOSTLOCK);
            break;
 
        case Alert:
            emit newLog(i18n("PHD2 %1: %2", jsonEvent["Type"].toString(), jsonEvent["Msg"].toString()));
            break;
 
        case GuideParamChange:
        case ConfigurationChange:
            //Don't do anything for now, might change this later.
            //Some Possible Parameter Names:
            //Backlash comp enabled, Backlash comp amount,
            //For Each Axis: MinMove, Max Duration,
            //PPEC aggressiveness, PPEC prediction weight,
            //Resist switch minimum motion, Resist switch aggression,
            //Low-pass minimum move, Low-pass slope weight,
            //Low-pass2 minimum move, Low-pass2 aggressiveness,
            //Hysteresis hysteresis, Hysteresis aggression
            break;
 
    }
}
 
void PHD2::processPHD2State(const QString &phd2State)
{
    if (phd2State == "Stopped")
        handlePHD2AppState(STOPPED);
    else if (phd2State == "Selected")
        handlePHD2AppState(SELECTED);
    else if (phd2State == "Calibrating")
        handlePHD2AppState(CALIBRATING);
    else if (phd2State == "Guiding")
        handlePHD2AppState(GUIDING);
    else if (phd2State == "LostLock")
        handlePHD2AppState(LOSTLOCK);
    else if (phd2State == "Paused")
        handlePHD2AppState(PAUSED);
    else if (phd2State == "Looping")
        handlePHD2AppState(LOOPING);
    else emit newLog(QString("PHD2: Unsupported app state ") + phd2State + ".");
}
 
void PHD2::handlePHD2AppState(PHD2State newstate)
{
    // do not handle the same state twice
    if (state == newstate)
        return;
 
    switch (newstate)
    {
        case STOPPED:
            switch (state)
            {
                case CALIBRATING:
                    //emit newLog(i18n("PHD2: Calibration Failed (%1).", jsonEvent["Reason"].toString()));
                    emit newStatus(Ekos::GUIDE_CALIBRATION_ERROR);
                    break;
                case LOOPING:
                    emit newLog(i18n("PHD2: Looping Exposures Stopped."));
                    emit newStatus(Ekos::GUIDE_IDLE);
                    break;
                case GUIDING:
                case LOSTLOCK:
                    emit newLog(i18n("PHD2: Guiding Stopped."));
                    emit newStatus(Ekos::GUIDE_ABORTED);
                    break;
                default:
                    if (connection == DISCONNECTING)
                    {
                        emit newLog("PHD2: Disconnecting equipment and external guider...");
                        connectEquipment(false);
                    }
                    break;
            }
            break;
 
        case SELECTED:
            switch (state)
            {
                case STOPPED:
                case CALIBRATING:
                case GUIDING:
                    emit newLog(i18n("PHD2: Lock Position Set."));
                    if (isSettling)
                    {
                        newstate = CALIBRATING;
                        emit newStatus(Ekos::GUIDE_CALIBRATING);
                    }
                    break;
                case DITHERING:
                    // do nothing, this is the initial step in PHD2 for dithering
                    break;
                default:
                    emit newLog(i18n("PHD2: Star Selected."));
                    emit newStatus(GUIDE_STAR_SELECT);
            }
            break;
 
        case GUIDING:
            switch (state)
            {
                case DITHERING:
                    emit newLog(i18n("PHD2: Guiding...waiting for settle..."));
                    break;
 
                case PAUSED:
                    emit newLog(i18n("PHD2: Dithering successful."));
                    abortTimer->stop();
                    ditherTimer->stop(); // stop immediately, since pausing could interrupt settling
                    emit newStatus(Ekos::GUIDE_DITHERING_SUCCESS);
                    break;
                default:
                    emit newLog(i18n("PHD2: Guiding started."));
                    abortTimer->stop();
                    emit newStatus(Ekos::GUIDE_GUIDING);
                    break;
            }
            break;
 
        case LOSTLOCK:
            switch (state)
            {
                case CALIBRATING:
                    emit newLog(i18n("PHD2: Lock Position Lost, continuing calibration."));
                    // Don't be paranoid, accept star-lost events during calibration and trust PHD2 to complete
                    //newstate = STOPPED;
                    //emit newStatus(Ekos::GUIDE_CALIBRATION_ERROR);
                    break;
                case GUIDING:
                    emit newLog(i18n("PHD2: Star Lost. Trying to reacquire for %1s.", Options::guideLostStarTimeout()));
                    abortTimer->start(static_cast<int>(Options::guideLostStarTimeout()) * 1000);
                    qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: Lost star timeout started (" << Options::guideLostStarTimeout() << " sec)";
                    emit newStatus(Ekos::GUIDE_REACQUIRE);
                    break;
                default:
                    emit newLog(i18n("PHD2: Lock Position Lost."));
                    break;
            }
            break;
 
        case PAUSED:
            emit newLog(i18n("PHD2: Guiding paused."));
            emit newStatus(GUIDE_SUSPENDED);
            break;
 
        case CALIBRATING:
            emit newLog(i18n("PHD2: Calibrating, timing out in %1s.", Options::guideCalibrationTimeout()));
            abortTimer->start(static_cast<int>(Options::guideCalibrationTimeout()) * 1000);
            emit newStatus(GUIDE_CALIBRATING);
            break;
 
        case LOOPING:
            switch (state)
            {
                case CALIBRATING:
                    emit newLog(i18n("PHD2: Calibration turned to looping, failed."));
                    emit newStatus(GUIDE_CALIBRATION_ERROR);
                    break;
                default:
                    emit newLog(i18n("PHD2: Looping Exposures."));
                    emit newStatus(GUIDE_LOOPING);
                    break;
            }
            break;
        case DITHERING:
            emit newLog(i18n("PHD2: Dithering started."));
            emit newStatus(GUIDE_DITHERING);
            break;
    }
 
    state = newstate;
}
 
void PHD2::processPHD2Result(const QJsonObject &jsonObj, const QByteArray &line)
{
    PHD2ResultType resultType = takeRequestFromList(jsonObj);
 
    if (resultType == STAR_IMAGE)
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: received star image response, id" <<
                                   jsonObj["id"].toInt();   // don't spam the log with image data
    else
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: response:" << line;
 
    switch (resultType)
    {
        case NO_RESULT:
            //Ekos didn't ask for this result?
            break;
 
        case CAPTURE_SINGLE_FRAME:                  //capture_single_frame
            break;
 
        case CLEAR_CALIBRATION_COMMAND_RECEIVED:    //clear_calibration
            emit newLog(i18n("PHD2: Calibration is cleared"));
            break;
 
        case DITHER_COMMAND_RECEIVED:               //dither
            handlePHD2AppState(DITHERING);
            break;
 
        //find_star
        //flip_calibration
        //get_algo_param_names
        //get_algo_param
 
        case APP_STATE_RECEIVED:                    //get_app_state
        {
            QString state = jsonObj["State"].toString();
            if (state.isEmpty())
                state = jsonObj["result"].toString();
            if (state.isEmpty())
                qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: received unsupported app state";
            else
                processPHD2State(state);
        }
        break;
 
        //get_calibrated
        //get_calibration_data
 
        case IS_EQUIPMENT_CONNECTED:                //get_connected
        {
            bool isConnected = jsonObj["result"].toBool();
            switch (connection)
            {
                case CONNECTING:
                    // We just plugged in server, request equipment connection if needed
                    if (isConnected)
                    {
                        connection = CONNECTED;
                        setEquipmentConnected();
                    }
                    else connectEquipment(true);
                    break;
 
                case CONNECTED:
                    // We were waiting for equipment to be connected after plugging in server
                    if (isConnected)
                        setEquipmentConnected();
                    break;
 
                case DISCONNECTING:
                    // We were waiting for equipment to be disconnected before unplugging from server
                    if (!isConnected)
                    {
                        connection = EQUIPMENT_DISCONNECTED;
                        Disconnect();
                    }
                    else connectEquipment(false);
                    break;
 
                case EQUIPMENT_CONNECTED:
                    // Equipment was disconnected from PHD2 side, so notify clients and wait.
                    if (!isConnected)
                    {
                        // TODO: setEquipmentDisconnected()
                        connection = EQUIPMENT_DISCONNECTED;
                        emit newStatus(Ekos::GUIDE_DISCONNECTED);
                    }
                    break;
 
                case DISCONNECTED:
                case EQUIPMENT_DISCONNECTED:
                    // Equipment was connected from PHD2 side, so notify clients and wait.
                    if (isConnected)
                        setEquipmentConnected();
                    break;
            }
        }
        break;
 
        //get_cooler_status
        case GET_CURRENT_EQUIPMENT:                 //get_current_equipment
        {
            QJsonObject equipObject = jsonObj["result"].toObject();
            currentCamera = equipObject["camera"].toObject()["name"].toString();
            currentMount = equipObject["mount"].toObject()["name"].toString();
            currentAuxMount = equipObject["aux_mount"].toObject()["name"].toString();
 
            emit guideEquipmentUpdated();
 
            break;
        }
 
 
        case DEC_GUIDE_MODE:                        //get_dec_guide_mode
        {
            QString mode = jsonObj["result"].toString();
            Ekos::Manager::Instance()->guideModule()->updateDirectionsFromPHD2(mode);
            emit newLog(i18n("PHD2: DEC Guide Mode is Set to: %1", mode));
        }
        break;
 
 
        case EXPOSURE_TIME:                         //get_exposure
        {
            int exposurems = jsonObj["result"].toInt();
            double exposureTime = exposurems / 1000.0;
            Ekos::Manager::Instance()->guideModule()->setExposure(exposureTime);
            emit newLog(i18n("PHD2: Exposure Time set to: ") + QString::number(exposureTime, 'f', 2));
            break;
        }
 
 
        case EXPOSURE_DURATIONS:                    //get_exposure_durations
        {
            QVariantList exposureListArray = jsonObj["result"].toArray().toVariantList();
            logValidExposureTimes = i18n("PHD2: Valid Exposure Times: Auto, ");
            QList<double> values;
            for(int i = 1; i < exposureListArray.size();
                    i ++) //For some reason PHD2 has a negative exposure time of 1 at the start of the array?
                values << exposureListArray.at(i).toDouble() / 1000.0; //PHD2 reports in ms.
            logValidExposureTimes += Ekos::Manager::Instance()->guideModule()->setRecommendedExposureValues(values);
            emit newLog(logValidExposureTimes);
            break;
        }
        case LOCK_POSITION:                         //get_lock_position
        {
            if(jsonObj["result"].toArray().count() == 2)
            {
                double x  = jsonObj["result"].toArray().at(0).toDouble();
                double y  = jsonObj["result"].toArray().at(1).toDouble();
                QVector3D newStarCenter(x, y, 0);
                emit newStarPosition(newStarCenter, true);
 
                //This is needed so that PHD2 sends the new star pixmap when
                //remote images are enabled.
                emit newStarPixmap(m_GuideFrame->getTrackingBoxPixmap());
            }
            break;
        }
        //get_lock_shift_enabled
        //get_lock_shift_params
        //get_paused
 
        case PIXEL_SCALE:                           //get_pixel_scale
            pixelScale = jsonObj["result"].toDouble();
            if (pixelScale == 0)
                emit newLog(i18n("PHD2: Please set CCD and telescope parameters in PHD2, Pixel Scale is invalid."));
            else
                emit newLog(i18n("PHD2: Pixel Scale is %1 arcsec per pixel", QString::number(pixelScale, 'f', 2)));
            break;
 
        //get_profile
        //get_profiles
        //get_search_region
        //get_sensor_temperature
 
        case STAR_IMAGE:                            //get_star_image
        {
            starImageRequested = false;
            QJsonObject jsonResult = jsonObj["result"].toObject();
            processStarImage(jsonResult);
            break;
        }
 
        //get_use_subframes
 
        case GUIDE_COMMAND_RECEIVED:                //guide
            if (0 != jsonObj["result"].toInt(0))
            {
                emit newLog("PHD2: Guide command was rejected.");
                handlePHD2AppState(STOPPED);
            }
            break;
 
        //guide_pulse
 
        case LOOP:                                  //loop
            handlePHD2AppState(jsonObj["result"].toBool() ? LOOPING : STOPPED);
            break;
 
        //save_image
        //set_algo_param
 
        case CONNECTION_RESULT:                     //set_connected
            checkIfEquipmentConnected();
            break;
 
        case SET_DEC_GUIDE_MODE_COMMAND_RECEIVED:   //set_dec_guide_mode
            checkDEGuideMode();
            break;
 
        case SET_EXPOSURE_COMMAND_RECEIVED:         //set_exposure
            requestExposureTime(); //This will check what it was set to and print a message as to what it is.
            break;
 
        case SET_LOCK_POSITION:                     //set_lock_position
            handlePHD2AppState(SELECTED);
            break;
 
        //set_lock_shift_enabled
        //set_lock_shift_params
 
        case SET_PAUSED_COMMAND_RECEIVED:           //set_paused
            handlePHD2AppState(PAUSED);
            break;
        //set_profile
        //shutdown
 
        case STOP_CAPTURE_COMMAND_RECEIVED:         //stop_capture
            handlePHD2AppState(STOPPED);
            //emit newStatus(GUIDE_ABORTED);
            break;
    }
 
    // send the next pending call
    sendNextRpcCall();
}
 
void PHD2::processPHD2Error(const QJsonObject &jsonError, const QByteArray &line)
{
    qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: error:" << line;
 
    QJsonObject jsonErrorObject = jsonError["error"].toObject();
 
    PHD2ResultType resultType = takeRequestFromList(jsonError);
 
    // This means the user mistakenly entered an invalid exposure time.
    switch (resultType)
    {
        case SET_EXPOSURE_COMMAND_RECEIVED:
            emit newLog(logValidExposureTimes);  //This will let the user know the valid exposure durations
            QTimer::singleShot(300, [ = ] {requestExposureTime();}); //This will reset the Exposure time in Ekos to PHD2's current exposure time after a third of a second.
            break;
 
        case CONNECTION_RESULT:
            connection = EQUIPMENT_DISCONNECTED;
            emit newStatus(Ekos::GUIDE_DISCONNECTED);
            break;
 
        case DITHER_COMMAND_RECEIVED:
            ditherTimer->stop();
            isSettling = false;
            isDitherActive = false;
            emit newStatus(GUIDE_DITHERING_ERROR);
 
            if (Options::ditherFailAbortsAutoGuide())
            {
                abort();
                emit newLog("PHD2: failing after dithering aborts.");
                emit newStatus(GUIDE_ABORTED);
            }
            else
            {
                // !FIXME-ag why is this trying to resume (un-pause)?
                resume();
            }
            break;
 
        case GUIDE_COMMAND_RECEIVED:
            isSettling = false;
            break;
 
        default:
            emit newLog(i18n("PHD2 Error: unhandled '%1'", jsonErrorObject["message"].toString()));
            break;
    }
 
    // send the next pending call
    sendNextRpcCall();
}
 
//These methods process the Star Images the PHD2 provides
 
void PHD2::setGuideView(const QSharedPointer<FITSView> &guideView)
{
    m_GuideFrame = guideView;
}
 
void PHD2::processStarImage(const QJsonObject &jsonStarFrame)
{
    //The width and height of the received PHD2 Star Image
    int width =  jsonStarFrame["width"].toInt();
    int height = jsonStarFrame["height"].toInt();
 
    //This section sets up the FITS File
    fitsfile *fptr = nullptr;
    int status = 0;
    long fpixel = 1, naxis = 2, nelements, exposure;
    long naxes[2] = { width, height };
    char error_status[512] = {0};
 
    void* fits_buffer = nullptr;
    size_t fits_buffer_size = 0;
    if (fits_create_memfile(&fptr, &fits_buffer, &fits_buffer_size, 4096, realloc, &status))
    {
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_create_file failed:" << error_status;
        return;
    }
 
    if (fits_create_img(fptr, USHORT_IMG, naxis, naxes, &status))
    {
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_create_img failed:" << error_status;
        status = 0;
        fits_close_file(fptr, &status);
        free(fits_buffer);
        return;
    }
 
    //Note, this is made up.  If you want the actual exposure time, you have to request it from PHD2
    exposure = 1;
    fits_update_key(fptr, TLONG, "EXPOSURE", &exposure, "Total Exposure Time", &status);
 
    //This section takes the Pixels from the JSON Document
    //Then it converts from base64 to a QByteArray
    //Then it creates a datastream from the QByteArray to the pixel array for the FITS File
    QByteArray converted = QByteArray::fromBase64(jsonStarFrame["pixels"].toString().toLocal8Bit());
 
    //This finishes up and closes the FITS file
    nelements = naxes[0] * naxes[1];
    if (fits_write_img(fptr, TUSHORT, fpixel, nelements, converted.data(), &status))
    {
        fits_get_errstatus(status, error_status);
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_write_img failed:" << error_status;
        status = 0;
        fits_close_file(fptr, &status);
        free(fits_buffer);
        return;
    }
 
    if (fits_flush_file(fptr, &status))
    {
        fits_get_errstatus(status, error_status);
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_flush_file failed:" << error_status;
        status = 0;
        fits_close_file(fptr, &status);
        free(fits_buffer);
        return;
    }
 
    if (fits_close_file(fptr, &status))
    {
        fits_get_errstatus(status, error_status);
        qCWarning(KSTARS_EKOS_GUIDE) << "fits_close_file failed:" << error_status;
        free(fits_buffer);
        return;
    }
 
    //This loads the FITS file in the Guide FITSView
    //Then it updates the Summary Screen
    QSharedPointer<FITSData> fdata;
    QByteArray buffer = QByteArray::fromRawData(reinterpret_cast<char *>(fits_buffer), fits_buffer_size);
    fdata.reset(new FITSData(), &QObject::deleteLater);
    fdata->setExtension(QString("fits"));
    fdata->loadFromBuffer(buffer);
    free(fits_buffer);
    m_GuideFrame->loadData(fdata);
 
    m_GuideFrame->updateFrame();
    m_GuideFrame->setTrackingBox(QRect(0, 0, width, height));
    emit newStarPixmap(m_GuideFrame->getTrackingBoxPixmap());
}
 
void PHD2::setEquipmentConnected()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        setConnectedRetries = 0;
        connection = EQUIPMENT_CONNECTED;
        emit newStatus(Ekos::GUIDE_CONNECTED);
        updateGuideParameters();
        requestExposureDurations();
        requestCurrentEquipmentUpdate();
    }
}
 
void PHD2::updateGuideParameters()
{
    if (pixelScale == 0)
        requestPixelScale();
    requestExposureTime();
    checkDEGuideMode();
}
 
//This section handles the methods/requests sent to PHD2, some are not implemented.
 
//capture_single_frame
void PHD2::captureSingleFrame()
{
    sendPHD2Request("capture_single_frame");
}
 
//clear_calibration
bool PHD2::clearCalibration()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    QJsonArray args;
    //This instructs PHD2 which calibration to clear.
    args << "mount";
    sendPHD2Request("clear_calibration", args);
 
    return true;
}
 
//dither
bool PHD2::dither(double pixels)
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    if (isSettling)
    {
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: ignoring dither requested while already settling";
 
        if (!isDitherActive)
        {
            // act like we just dithered so we get the appropriate
            // effects after the settling completes
            handlePHD2AppState(DITHERING);
            isDitherActive = true;
        }
        return true;
    }
 
    QJsonArray args;
    QJsonObject settle;
 
    int ditherTimeout = static_cast<int>(Options::ditherTimeout());
 
    settle.insert("pixels", static_cast<double>(Options::ditherThreshold()));
    settle.insert("time", static_cast<int>(Options::ditherSettle()));
    settle.insert("timeout", ditherTimeout);
 
    // Pixels
    args << pixels;
    // RA Only?
    args << false;
    // Settle
    args << settle;
 
    isSettling = true;
    isDitherActive = true;
 
    // PHD2 will send a SettleDone event shortly after the settling
    // timeout in PHD2. We don't really need a timer here, but we'll
    // set one anyway (belt and suspenders). Make sure to give an
    // extra time allowance since PHD2 won't report its timeout until
    // the completion of the next guide exposure after the timeout
    // period expires.
    enum { TIMEOUT_EXTRA_SECONDS = 60 };  // at least as long as any reasonable guide exposure
    int millis = (ditherTimeout + TIMEOUT_EXTRA_SECONDS) * 1000;
    ditherTimer->start(millis);
 
    sendPHD2Request("dither", args);
 
    handlePHD2AppState(DITHERING);
 
    return true;
}
 
//find_star
//flip_calibration
//get_algo_param_names
//get_algo_param
 
//get_app_state
void PHD2::requestAppState()
{
    sendPHD2Request("get_app_state");
}
 
//get_calibrated
//get_calibration_data
 
//get_connected
void PHD2::checkIfEquipmentConnected()
{
    sendPHD2Request("get_connected");
}
 
//get_cooler_status
//get_current_equipment
void PHD2::requestCurrentEquipmentUpdate()
{
    sendPHD2Request("get_current_equipment");
}
 
//get_dec_guide_mode
void PHD2::checkDEGuideMode()
{
    sendPHD2Request("get_dec_guide_mode");
}
 
//get_exposure
void PHD2::requestExposureTime()
{
    sendPHD2Request("get_exposure");
}
 
//get_exposure_durations
void PHD2::requestExposureDurations()
{
    sendPHD2Request("get_exposure_durations");
}
 
//get_lock_position
void PHD2::requestLockPosition()
{
    sendPHD2Request("get_lock_position");
}
//get_lock_shift_enabled
//get_lock_shift_params
//get_paused
 
//get_pixel_scale
void PHD2::requestPixelScale()
{
    sendPHD2Request("get_pixel_scale");
}
 
//get_profile
//get_profiles
//get_search_region
//get_sensor_temperature
 
//get_star_image
void PHD2::requestStarImage(int size)
{
    if (starImageRequested)
    {
        if (Options::verboseLogging())
            qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: skip extra star image request";
        return;
    }
 
    QJsonArray args2;
    args2 << size; // This is both the width and height.
    sendPHD2Request("get_star_image", args2);
 
    starImageRequested = true;
}
 
//get_use_subframes
 
//guide
bool PHD2::guide()
{
    if (state == GUIDING)
    {
        emit newLog(i18n("PHD2: Guiding is already running."));
        emit newStatus(Ekos::GUIDE_GUIDING);
        return true;
    }
 
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    QJsonArray args;
    QJsonObject settle;
 
    settle.insert("pixels", static_cast<double>(Options::ditherThreshold()));
    settle.insert("time", static_cast<int>(Options::ditherSettle()));
    settle.insert("timeout", static_cast<int>(Options::ditherTimeout()));
 
    // Settle param
    args << settle;
    // Recalibrate param
    args << false;
 
    errorLog.clear();
 
    isSettling = true;
    sendPHD2Request("guide", args);
 
    return true;
}
 
//guide_pulse
//loop
void PHD2::loop()
{
    sendPHD2Request("loop");
}
//save_image
//set_algo_param
 
//set_connected
void PHD2::connectEquipment(bool enable)
{
    if (connection == EQUIPMENT_CONNECTED && enable == true)
        return;
 
    if (connection == EQUIPMENT_DISCONNECTED && enable == false)
        return;
 
    if (setConnectedRetries++ > MAX_SET_CONNECTED_RETRIES)
    {
        setConnectedRetries = 0;
        connection = EQUIPMENT_DISCONNECTED;
        emit newStatus(Ekos::GUIDE_DISCONNECTED);
        return;
    }
 
    pixelScale = 0 ;
 
    QJsonArray args;
 
    // connected = enable
    args << enable;
 
    if (enable)
        emit newLog(i18n("PHD2: Connecting Equipment. . ."));
    else
        emit newLog(i18n("PHD2: Disconnecting Equipment. . ."));
 
    sendPHD2Request("set_connected", args);
}
 
//set_dec_guide_mode
void PHD2::requestSetDEGuideMode(bool deEnabled, bool nEnabled,
                                 bool sEnabled) //Possible Settings Off, Auto, North, and South
{
    QJsonArray args;
 
    if(deEnabled)
    {
        if(nEnabled && sEnabled)
            args << "Auto";
        else if(nEnabled)
            args << "North";
        else if(sEnabled)
            args << "South";
        else
            args << "Off";
    }
    else
    {
        args << "Off";
    }
 
    sendPHD2Request("set_dec_guide_mode", args);
}
 
//set_exposure
void PHD2::requestSetExposureTime(int time) //Note: time is in milliseconds
{
    QJsonArray args;
    args << time;
    sendPHD2Request("set_exposure", args);
}
 
//set_lock_position
void PHD2::setLockPosition(double x, double y)
{
    // Note: false will mean if a guide star is near the coordinates, it will use that.
    QJsonArray args;
    args << x << y << false;
    sendPHD2Request("set_lock_position", args);
}
//set_lock_shift_enabled
//set_lock_shift_params
 
//set_paused
bool PHD2::suspend()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    QJsonArray args;
 
    // Paused param
    args << true;
    // FULL param
    args << "full";
 
    sendPHD2Request("set_paused", args);
 
    if (abortTimer->isActive())
    {
        // Avoid that the a preceding lost star event leads to an abort while guiding is suspended.
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: Lost star timeout cancelled.";
        abortTimer->stop();
    }
 
    return true;
}
 
//set_paused (also)
bool PHD2::resume()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    QJsonArray args;
 
    // Paused param
    args << false;
 
    sendPHD2Request("set_paused", args);
 
    if (state == LOSTLOCK)
    {
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: Lost star timeout restarted.";
        abortTimer->start(static_cast<int>(Options::guideLostStarTimeout()) * 1000);
    }
 
    return true;
}
 
//set_profile
//shutdown
 
//stop_capture
bool PHD2::abort()
{
    if (connection != EQUIPMENT_CONNECTED)
    {
        emit newLog(i18n("PHD2 Error: Equipment not connected."));
        emit newStatus(Ekos::GUIDE_ABORTED);
        return false;
    }
 
    abortTimer->stop();
 
    sendPHD2Request("stop_capture");
    return true;
}
 
//This method is not handled by PHD2
bool PHD2::calibrate()
{
    // We don't explicitly do calibration since it is done in the guide step by PHD2 anyway
    //emit newStatus(Ekos::GUIDE_CALIBRATION_SUCCESS);
    return true;
}
 
//This is how information requests and commands for PHD2 are handled
 
void PHD2::sendRpcCall(QJsonObject &call, PHD2ResultType resultType)
{
    assert(resultType != NO_RESULT); // should be a real request
    assert(pendingRpcResultType == NO_RESULT);  // only one pending RPC call at a time
 
    if (tcpSocket->state() == QTcpSocket::ConnectedState)
    {
        int rpcId = nextRpcId++;
        call.insert("id", rpcId);
 
        QByteArray request = QJsonDocument(call).toJson(QJsonDocument::Compact);
 
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: request:" << request;
 
        request.append("\r\n");
 
        qint64 const n = tcpSocket->write(request);
 
        if ((int) n == request.size())
        {
            // RPC call succeeded, remember ID and expected result type
            pendingRpcId = rpcId;
            pendingRpcResultType = resultType;
        }
        else
        {
            qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: unexpected short write:" << n << "bytes of" << request.size();
        }
    }
}
 
void PHD2::sendNextRpcCall()
{
    if (pendingRpcResultType != NO_RESULT)
        return; // a request is currently outstanding
 
    if (rpcRequestQueue.empty())
        return; // no queued requests
 
    RpcCall &call = rpcRequestQueue.front();
    sendRpcCall(call.call, call.resultType);
    rpcRequestQueue.pop_front();
}
 
void PHD2::sendPHD2Request(const QString &method, const QJsonArray &args)
{
    assert(methodResults.contains(method));
 
    PHD2ResultType resultType = methodResults[method];
 
    QJsonObject jsonRPC;
 
    jsonRPC.insert("jsonrpc", "2.0");
    jsonRPC.insert("method", method);
 
    if (!args.empty())
        jsonRPC.insert("params", args);
 
    if (pendingRpcResultType == NO_RESULT)
    {
        // no outstanding rpc call, send it right off
        sendRpcCall(jsonRPC, resultType);
    }
    else
    {
        // there is already an outstanding call, enqueue this call
        // until the prior call completes
 
        if (Options::verboseLogging())
            qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: defer call" << method;
 
        rpcRequestQueue.push_back(RpcCall(jsonRPC, resultType));
    }
}
 
PHD2::PHD2ResultType PHD2::takeRequestFromList(const QJsonObject &response)
{
    if (Q_UNLIKELY(!response.contains("id")))
    {
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: ignoring unexpected response with no id";
        return NO_RESULT;
    }
 
    int id = response["id"].toInt();
 
    if (Q_UNLIKELY(id != pendingRpcId))
    {
        // RPC id mismatch -- this should never happen, something is
        // seriously wrong
        qCDebug(KSTARS_EKOS_GUIDE) << "PHD2: ignoring unexpected response with id" << id;
        return NO_RESULT;
    }
 
    PHD2ResultType val = pendingRpcResultType;
    pendingRpcResultType = NO_RESULT;
    return val;
}
 
}