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Copy pathSatTrakerBetaV5.py
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SatTrakerBetaV5.py
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from tkinter import *
from tkinter import filedialog
import ephem
import math
import os
import cv2
import numpy as np
import sys
import time
import datetime
import re
import json
import geocoder
import serial
import io
import threading
import win32com.client
import imutils
from PIL import Image as PILImage, ImageTk
from urllib.request import urlopen
class trackSettings:
objectfollow = False
telescopetype = 'LX200'
mounttype = 'AltAz'
tracking = False
boxSize = 50
mousecoords = (320,240)
degorhours = 'Degrees'
mainviewX = 320
mainviewY = 240
setcenter = False
imagescale = 1.0
orbitFile = ''
fileSelected = False
Lat = 0.0
Lon = 0.0
trackingsat = False
trackingtype = 'Features'
minbright = 50
clickpixel = 0
maxpixel = 255
flip = 'NoFlip'
foundtarget = False
rotate = 0
calibratestart = False
class videotrak:
def get_x_y(img, roibox, imageroi):
img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
if trackSettings.trackingtype == 'Features':
clahe = cv2.createCLAHE(clipLimit=2.0, tileGridSize=(2,2))
img = clahe.apply(img)
#remember how big the total image and ROI are
origheight, origwidth = img.shape[:2]
roiheight, roiwidth = imageroi.shape[:2]
#Set up the end of the maximum search time
searchend = time.time() + 0.2
finalroidiff = float('inf')
difflowered = False
keepgoing = True
#pull the latest searchx and searchy coordinates from the last known position
searchx1 = roibox[0][0]
searchy1 = roibox[0][1]
if trackSettings.trackingtype == 'Features':
while keepgoing is True:
for ycheck in range((searchy1-15),(searchy1+15)):
if time.time() > searchend:
break
for xcheck in range((searchx1-15),(searchx1+15)):
#check and make sure the new position of the region of interest won't put us over the border of the window, correct back to the edge of border if it would, otherwise take the new roi coordinates
if xcheck < 0:
xcheck = 0
elif xcheck > (origwidth - roiwidth):
xcheck = (origwidth - roiwidth)
if ycheck < 0:
ycheck = 0
elif ycheck > (origheight - roiheight):
ycheck = (origheight - roiheight)
#set up the roi to search within the original image
imagecomp = img[ycheck:int(ycheck+roiheight),xcheck:int(xcheck+roiwidth)]
#subtract the reference roi from the search area and get the difference of the arrays
imagecompforsub = imagecomp.astype(np.int8)
imageroiforsub = imageroi.astype(np.int8)
imagediff = imagecompforsub - imageroiforsub
imagediff = np.absolute(imagediff)
imagediff = np.sum(imagediff)
imagediff = (imagediff/(np.sum(imageroi)))*100
#if we dropped to a new minimum, save the new minimum diff and save the x and y coordinates we're at. Set diff lowered flag to true
if imagediff < finalroidiff:
finalroidiff = imagediff
searchx2 = xcheck
searchy2 = ycheck
difflowered = True
#check if we ran out of time
if time.time() > searchend:
break
#back on the keep going loop, check if the diff lowered in the last search run. If not, we found a local minimum and don't need to keep going. If we did, start a new search around the new location
if difflowered is True:
keepgoing = True
difflowered = False
else:
keepgoing = False
if time.time() > searchend:
print('outtatime')
break
#print(finalroidiff)
#figure out if the difference from roi is low enough to be acceptable
if finalroidiff < 20:
key = cv2.waitKey(1) & 0xFF
if key == ord('s'):
need_track_feature = True
searchx1last = searchx2
searchy1last = searchy2
learnimg = img[searchy1last:(searchy1last+roiheight),searchx1last:(searchx1last+roiwidth)]
imageroi = (imageroi * 0.9) + (learnimg * 0.1)
roibox = [(searchx1last,searchy1last), ((searchx1last+roiwidth),(searchy1last+roiheight))]
trackSettings.foundtarget = True
else:
#print("Didn't find it, keep looking at last known coordinates.")
searchx1last = roibox[0][0]
searchy1last = roibox[0][1]
trackSettings.foundtarget = False
if trackSettings.trackingtype == 'Bright':
blurred = cv2.GaussianBlur(img, (5, 5), 0)
blurred = blurred[searchy1:int(searchy1+roiheight),searchx1:int(searchx1+roiwidth)]
thresh = cv2.threshold(blurred, float(trackSettings.minbright), 255, cv2.THRESH_BINARY)[1]
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
#cnts = cnts[0]
cX = []
cY = []
#for c in cnts:
M = cv2.moments(cnts[0])
try:
cX.append(int(M["m10"] / M["m00"]))
cY.append(int(M["m01"] / M["m00"]))
framestabilized = True
trackSettings.foundtarget = True
except:
print('unable to track this frame')
trackSettings.foundtarget = False
if len(cX) > 0:
cXdiff = (roiwidth/2) - cX[0]
cYdiff = (roiheight/2) - cY[0]
searchx1 = int(searchx1 -cXdiff)
searchy1 = int(searchy1 -cYdiff)
if searchx1 < 0:
searchx1 = 0
if searchy1 < 0:
searchy1 = 0
roibox = [(searchx1,searchy1), ((searchx1+roiwidth),(searchy1+roiheight))]
imageroi = thresh.copy()
return(roibox, imageroi)
class buttons:
def __init__(self, master):
self.collect_images = False
self.topframe = Frame(master)
master.winfo_toplevel().title("SatTraker")
self.topframe.pack(side=TOP)
self.textframe = Frame(master)
self.textframe.pack(side=BOTTOM)
self.bottomframe = Frame(master)
self.bottomframe.pack(side=BOTTOM)
self.menu = Menu(master)
master.config(menu=self.menu)
master.bind("<Up>", self.goup)
master.bind("<Left>", self.goleft)
master.bind("<Down>", self.godown)
master.bind("<Right>", self.goright)
self.labelLat = Label(self.bottomframe, text='Latitude (N+)')
self.labelLat.grid(row=5, column = 0)
self.entryLat = Entry(self.bottomframe)
self.entryLat.grid(row = 5, column = 1)
self.labelLon = Label(self.bottomframe, text='Longitude (E+)')
self.labelLon.grid(row=6, column = 0)
self.entryLon = Entry(self.bottomframe)
self.entryLon.grid(row = 6, column = 1)
#self.labelBright = Label(self.bottomframe, text='Minimum Brightness')
#self.labelBright.grid(row=8, column = 0)
#self.entryBright = Entry(self.bottomframe)
#self.entryBright.grid(row = 8, column = 1)
try:
config = open('Satconfig.txt', 'r')
clines = [line.rstrip('\n') for line in config]
trackSettings.telescopetype = str(clines[0])
trackSettings.mainviewX = int(clines[3])
trackSettings.mainviewY = int(clines[4])
trackSettings.imagescale = float(clines[5])
trackSettings.Lat = float(clines[6])
trackSettings.Lon = float(clines[7])
trackSettings.trackingtype = str(clines[8])
trackSettings.minbright = float(clines[9])
trackSettings.flip = str(clines[10])
trackSettings.mounttype = str(clines[11])
trackSettings.rotate = int(clines[12])
config.close()
except:
print('Config file not present or corrupted.')
try:
geolocation = geocoder.ip('me')
#self.entryLat.insert(0, geolocation.latlng[0])
#self.entryLon.insert(0, geolocation.latlng[1])
self.entryLat.insert(0, trackSettings.Lat)
self.entryLon.insert(0, trackSettings.Lon)
except:
self.entryLat.insert(0, trackSettings.Lat)
self.entryLon.insert(0, trackSettings.Lon)
#self.entryBright.insert(0, trackSettings.minbright)
self.startButton = Button(self.bottomframe, text='Start Camera', command=self.set_img_collect)
self.startButton.grid(row=1, column = 0)
self.startButton2 = Button(self.bottomframe, text='Camera Calibration', command=self.start_calibration)
self.startButton2.grid(row=4, column = 0)
self.startButton3 = Button(self.bottomframe, text='Set Center Point', command=self.set_center)
self.startButton3.grid(row=4, column = 1)
self.startButton4 = Button(self.bottomframe, text='Start Tracking Satellite', command=self.start_sat_track)
self.startButton4.grid(row=7, column = 1)
self.startButton5 = Button(self.bottomframe, text='Connect Scope', command=self.set_tracking)
self.startButton5.grid(row=1, column = 1)
self.ComLabel = Label(self.bottomframe, text='COM Port')
self.ComLabel.grid(row = 2, column = 0)
self.entryCom = Entry(self.bottomframe)
self.entryCom.grid(row = 2, column = 1)
self.textbox = Text(self.textframe, height=4, width=100)
self.textbox.grid(row=1, column=0)
try:
self.entryCom.insert(0, clines[1])
except:
self.entryCom.insert(0, 0)
self.CameraLabel = Label(self.bottomframe, text='Camera Number')
self.CameraLabel.grid(row = 3, column = 0)
self.entryCam = Entry(self.bottomframe)
self.entryCam.grid(row = 3, column = 1)
try:
self.entryCam.insert(0, clines[2])
except:
self.entryCam.insert(0, 0)
self.fileMenu = Menu(self.menu)
self.menu.add_cascade(label='File', menu=self.fileMenu)
self.fileMenu.add_command(label='Select TLE File...', command=self.filePicker)
self.fileMenu.add_separator()
self.fileMenu.add_command(label='Exit and Save Configuration', command=self.exitProg)
self.telescopeMenu = Menu(self.menu)
self.menu.add_cascade(label='Telescope Type', menu=self.telescopeMenu)
self.telescopeMenu.add_command(label='LX200 Classic Alt/Az', command=self.setLX200AltAz)
self.telescopeMenu.add_command(label='LX200 Classic Equatorial', command=self.setLX200Eq)
self.telescopeMenu.add_command(label='ASCOM Alt/Az', command=self.setASCOMAltAz)
self.telescopeMenu.add_command(label='ASCOM Equatorial', command=self.setASCOMEq)
self.trackingMenu = Menu(self.menu)
self.menu.add_cascade(label='Tracking Type', menu=self.trackingMenu)
self.trackingMenu.add_command(label='Feature Tracking', command=self.setFeatureTrack)
self.trackingMenu.add_command(label='Brightness Tracking', command=self.setBrightTrack)
self.imageMenu = Menu(self.menu)
self.menu.add_cascade(label='Image Orientation', menu=self.imageMenu)
self.imageMenu.add_command(label='Normal Orientation', command=self.setNoFlip)
self.imageMenu.add_command(label='Vertical Flip', command=self.setVerticalFlip)
self.imageMenu.add_command(label='Horizontal Flip', command=self.setHorizontalFlip)
self.imageMenu.add_command(label='Vertical and Horizontal Flip', command=self.setVerticalHorizontalFlip)
self.imageMenu.add_command(label='Rotate Image 0 Degrees', command=self.set0Rotate)
self.imageMenu.add_command(label='Rotate Image 90 Degrees', command=self.setPos90Rotate)
self.imageMenu.add_command(label='Rotate Image -90 Degrees', command=self.setNeg90Rotate)
self.imageMenu.add_command(label='Rotate Image 180 Degrees', command=self.set180Rotate)
def setNoFlip(self):
trackSettings.flip = 'NoFlip'
def setVerticalFlip(self):
trackSettings.flip = 'VerticalFlip'
def setHorizontalFlip(self):
trackSettings.flip = 'HorizontalFlip'
def setVerticalHorizontalFlip(self):
trackSettings.flip = 'VerticalHorizontalFlip'
def set0Rotate(self):
trackSettings.rotate = 0
def setPos90Rotate(self):
trackSettings.rotate = 90
def setNeg90Rotate(self):
trackSettings.rotate = -90
def set180Rotate(self):
trackSettings.rotate = 180
def exitProg(self):
config = open('satconfig.txt','w')
config.write(str(trackSettings.telescopetype)+'\n')
config.write(str(self.entryCom.get()) + '\n')
config.write(str(self.entryCam.get()) + '\n')
config.write(str(trackSettings.mainviewX) + '\n')
config.write(str(trackSettings.mainviewY) + '\n')
config.write(str(trackSettings.imagescale) + '\n')
config.write(str(self.entryLat.get())+'\n')
config.write(str(self.entryLon.get())+'\n')
config.write(str(trackSettings.trackingtype) + '\n')
config.write(str(trackSettings.minbright)+'\n')
config.write(str(trackSettings.flip)+'\n')
config.write(str(trackSettings.mounttype)+'\n')
config.write(str(trackSettings.rotate)+'\n')
config.close()
sys.exit()
def filePicker(self):
trackSettings.orbitFile = filedialog.askopenfilename(initialdir = ".",title = "Select TLE file",filetypes = (("text files","*.txt"),("tle files","*.tle"),("all files","*.*")))
trackSettings.fileSelected = True
print(trackSettings.orbitFile)
self.textbox.insert(END, str(str(trackSettings.orbitFile)+'\n'))
self.textbox.see('end')
def start_sat_track(self):
if trackSettings.trackingsat is False:
trackSettings.trackingsat = True
else:
trackSettings.trackingsat = False
self.startButton4.configure(text='Start Tracking Satellite')
if trackSettings.telescopetype == 'ASCOM' and trackSettings.trackingsat is False:
self.tel.MoveAxis(0, 0.0)
self.tel.MoveAxis(1, 0.0)
self.tel.AbortSlew()
if trackSettings.tracking is False:
print('Connect the Scope First!')
self.textbox.insert(END, 'Connect the Scope First!\n')
self.textbox.see('end')
if self.collect_images is False:
print('Start Camera First!')
self.textbox.insert(END, 'Start Camera First!\n')
self.textbox.see('end')
if trackSettings.fileSelected is False:
print('Select TLE File First!')
self.textbox.insert(END, 'Select TLE File First!\n')
self.textbox.see('end')
if trackSettings.tracking is True and self.collect_images is True and trackSettings.trackingsat is True and trackSettings.fileSelected is True:
with open(trackSettings.orbitFile) as f:
lines = [line.rstrip('\n') for line in f]
for idx, line in enumerate(lines):
line1 = lines[0]
line2 = lines[1]
line3 = lines[2]
self.observer = ephem.Observer()
self.observer.lat = str(self.entryLat.get())
self.observer.lon = str(self.entryLon.get())
self.observer.elevation = 0
self.observer.pressure = 1013
self.sat = ephem.readtle(line1,line2,line3)
self.sattrackthread = threading.Thread(target=self.sat_track)
self.startButton4.configure(text='Stop Tracking Satellite')
self.sattrackthread.start()
def sat_track(self):
firstslew = True
altcorrect = 0
azcorrect = 0
deccorrect = 0
racorrect = 0
i = 0
while trackSettings.trackingsat is True:
if firstslew is True:
self.diffazlast = 0
self.diffaltlast = 0
self.diffralast = 0
self.diffdeclast = 0
self.lasttotaldiff = 0.0
self.sat.compute(self.observer)
self.radalt = self.sat.alt
self.radaz = self.sat.az
if trackSettings.telescopetype == 'LX200':
if trackSettings.mounttype == 'AltAz':
sataz = math.degrees(self.sat.az) + 180
if sataz > 360:
sataz = sataz - 360
sataz = math.radians(sataz)
self.radaz = sataz
self.rad_to_sexagesimal_alt()
targetcoordaz = str(':Sz ' + str(self.az_d)+'*'+str(self.az_m)+':'+str(int(self.az_s))+'#')
targetcoordalt = str(':Sa ' + str(self.alt_d)+'*'+str(self.alt_m)+':'+str(int(self.alt_s))+'#')
self.ser.write(str.encode(targetcoordaz))
self.ser.write(str.encode(targetcoordalt))
self.ser.write(str.encode(':MA#'))
print(targetcoordaz, targetcoordalt)
self.textbox.insert(END, str('Az: ' + str(targetcoordaz) + 'Alt: ' + str(targetcoordalt)+ '\n'))
self.textbox.see('end')
if trackSettings.mounttype == 'Eq':
satra = self.sat.ra
self.radra = self.sat.ra
self.raddec = self.sat.dec
self.rad_to_sexagesimal_ra()
targetcoordra = str(':Sr ' + str(self.ra_h)+'*'+str(self.ra_m)+':'+str(int(self.ra_s))+'#')
targetcoorddec = str(':Sd ' + str(self.dec_d)+'*'+str(self.dec_m)+':'+str(int(self.dec_s))+'#')
self.ser.write(str.encode(targetcoordra))
self.ser.write(str.encode(targetcoorddec))
self.ser.write(str.encode(':MS#'))
print(targetcoordra, targetcoorddec)
self.textbox.insert(END, str('RA: '+str(targetcoordra) + 'Dec: ' + str(targetcoorddec)+ '\n'))
self.textbox.see('end')
time.sleep(1)
#Do alt degrees twice to clear the buffer cause I'm too lazy to clear the buffer properly
self.LX200_alt_degrees()
self.LX200_alt_degrees()
currentalt = self.telalt
self.LX200_az_degrees()
currentaz = self.telaz
altdiff = math.degrees(self.radalt) - currentalt
azdiff = math.degrees(self.radaz) - currentaz
totaldiff = math.sqrt(altdiff**2 + azdiff**2)
self.lasttotaldiff = totaldiff
self.dlast = self.dnow
while totaldiff > 1:
self.LX200_alt_degrees()
self.LX200_alt_degrees()
currentalt = self.telalt
self.LX200_az_degrees()
currentaz = self.telaz
altdiff = math.degrees(self.radalt) - currentalt
azdiff = math.degrees(self.radaz) - currentaz
totaldiff = math.sqrt(altdiff**2 + azdiff**2)
time.sleep(1)
firstslew = False
if trackSettings.telescopetype == 'ASCOM':
self.dlast = self.dnow
d = datetime.datetime.utcnow()
self.observer.date = (d + datetime.timedelta(seconds=0))
self.sat.compute(self.observer)
if trackSettings.mounttype == 'AltAz' and trackSettings.trackingsat is True:
self.radalt = self.sat.alt
self.radaz = self.sat.az
self.observer.date = (d + datetime.timedelta(seconds=1))
self.sat.compute(self.observer)
self.radalt2 = self.sat.alt
self.radaz2 = self.sat.az
print(math.degrees(self.radaz), math.degrees(self.radalt))
self.textbox.insert(END, str('Target Az: '+str(self.radaz) + ' Target Alt: ' + str(self.radalt)+ '\n'))
self.textbox.see('end')
azrate = (math.degrees(self.radaz2 - self.radaz))
altrate = math.degrees(self.radalt2 - self.radalt)
#self.tel.Tracking = False
self.tel.SlewToAltAz(math.degrees(self.radaz2),math.degrees(self.radalt2))
print(azrate, altrate)
if azrate > self.axis0rate:
azrate = self.axis0rate
if azrate < (-1*self.axis0rate):
azrate = (-1*self.axis0rate)
if altrate > self.axis1rate:
altrate = self.axis1rate
if altrate < (-1*self.axis1rate):
altrate = (-1*self.axis1rate)
self.tel.MoveAxis(0, azrate)
self.tel.MoveAxis(1, altrate)
if trackSettings.mounttype == 'Eq' and trackSettings.trackingsat is True:
self.raddec = self.sat.dec
self.radra = self.sat.ra
self.observer.date = (d + datetime.timedelta(seconds=1))
self.sat.compute(self.observer)
self.raddec2 = self.sat.dec
self.radra2 = self.sat.ra
print(math.degrees(self.radra), math.degrees(self.raddec))
self.textbox.insert(END, str('Target RA: '+str(self.radra) + 'Target Dec: ' + str(self.raddec)+ '\n'))
self.textbox.see('end')
rarate = -1*(math.degrees(self.radra2 - self.radra))*math.cos(self.raddec2)
decrate = math.degrees(self.raddec2 - self.raddec)
#self.tel.Tracking = False
self.tel.SlewToCoordinates((math.degrees(self.radra2)/15),math.degrees(self.raddec2))
print(rarate, decrate)
if rarate > self.axis0rate:
rarate = self.axis0rate
if rarate < (-1*self.axis0rate):
rarate = (-1*self.axis0rate)
if decrate > self.axis1rate:
decrate = self.axis1rate
if decrate < (-1*self.axis1rate):
decrate = (-1*self.axis1rate)
self.tel.MoveAxis(0, rarate)
self.tel.MoveAxis(1, decrate)
time.sleep(0.001)
firstslew = False
if trackSettings.objectfollow is False:
i = i + 1
self.observer.date = datetime.datetime.utcnow()
self.sat.compute(self.observer)
self.radalt = self.sat.alt
self.radaz = self.sat.az
if trackSettings.telescopetype == 'ASCOM':
self.observer.date = datetime.datetime.utcnow()
d = datetime.datetime.utcnow()
self.sat.compute(self.observer)
if trackSettings.mounttype == 'AltAz' and trackSettings.trackingsat is True:
self.radalt = self.sat.alt
self.radaz = self.sat.az
currentaz = self.tel.Azimuth
currentalt = self.tel.Altitude
diffaz = math.degrees(self.radaz) - currentaz
diffalt = math.degrees(self.radalt) - currentalt
self.observer.date = (d + datetime.timedelta(seconds=1))
self.sat.compute(self.observer)
self.radalt2 = self.sat.alt
self.radaz2 = self.sat.az
trueazrate = (math.degrees(self.radaz2 - self.radaz))
truealtrate = math.degrees(self.radalt2 - self.radalt)
azrate = trueazrate+(diffaz*0.75)
altrate = truealtrate+(diffalt*0.75)
print('diffaz, diffalt, azrate, altrate', diffaz, diffalt, azrate, altrate, end='\r')
self.textbox.insert(END, str('Delta Az: ' + str(diffaz) + ' Delta Alt: ' + str(diffalt) + '\n'))
self.textbox.see('end')
if azrate > self.axis0rate:
azrate = self.axis0rate
if azrate < (-1*self.axis0rate):
azrate = (-1*self.axis0rate)
if altrate > self.axis1rate:
altrate = self.axis1rate
if altrate < (-1*self.axis1rate):
altrate = (-1*self.axis1rate)
self.tel.MoveAxis(0, azrate)
self.tel.MoveAxis(1, altrate)
self.diffazlast = diffaz
self.diffaltlast = diffalt
altcorrect = 0
azcorrect = 0
if trackSettings.mounttype == 'Eq' and trackSettings.trackingsat is True:
self.raddec = self.sat.dec
self.radra = self.sat.ra
rahours = math.degrees(self.radra)/15
currentra = self.tel.RightAscension*15
currentrahours = currentra/15
directhours = self.tel.RightAscension
currentdec = self.tel.Declination
diffra = math.degrees(self.radra) - currentra
diffdec = math.degrees(self.raddec) - currentdec
self.observer.date = (d + datetime.timedelta(seconds=1))
self.sat.compute(self.observer)
self.raddec2 = self.sat.dec
self.radra2 = self.sat.ra
#rarate = (math.degrees(self.radra2 - self.radra))
#decrate = math.degrees(self.raddec2 - self.raddec)
#print('Current az, current alt, azrate, altrate', currentaz, currentalt, azrate, altrate)
truerarate = -1*math.degrees(self.radra2 - self.radra)
truedecrate = math.degrees(self.raddec2 - self.raddec)
rarate = truerarate-(diffra*0.3)
decrate = truedecrate+(diffdec*0.3)
if rarate > self.axis0rate:
rarate = self.axis0rate
if rarate < (-1*self.axis0rate):
rarate = (-1*self.axis0rate)
if decrate > self.axis1rate:
decrate = self.axis1rate
if decrate < (-1*self.axis1rate):
decrate = (-1*self.axis1rate)
print('diffra, diffdec, rarate, decrate', diffra, diffdec, rarate, decrate, end='\r')
self.textbox.insert(END, str('Delta RA: ' + str(diffra) + ' Delta Dec: ' + str(diffdec) + '\n'))
self.textbox.see('end')
self.tel.MoveAxis(0, rarate)
self.tel.MoveAxis(1, decrate)
self.diffralast = diffra
self.diffdeclast = diffdec
deccorrect = 0
racorrect = 0
time.sleep(0.001)
if trackSettings.telescopetype == 'LX200':
if trackSettings.mounttype == 'AltAz':
sataz = math.degrees(self.sat.az) + 180
if sataz > 360:
sataz = sataz - 360
sataz = math.radians(sataz)
self.radaz = sataz
if i > 100:
self.LX200_alt_degrees()
self.LX200_alt_degrees()
currentalt = math.radians(self.telalt)
self.LX200_az_degrees()
currentaz = math.radians(self.telaz)
altdiff = self.radalt - currentalt
azdiff = self.radaz - currentaz
altcorrect = altcorrect + (altdiff)
azcorrect = azcorrect + (azdiff)
totaldiff = math.sqrt(altdiff**2 + azdiff**2)
i = 0
print(math.degrees(totaldiff))
self.textbox.insert(END, str('Distance from target: ' + str(totaldiff) + '\n'))
self.textbox.see('end')
self.lasttotaldiff = totaldiff
self.radaz = self.radaz + azcorrect
self.radalt = self.radalt + altcorrect
self.rad_to_sexagesimal_alt()
targetcoordaz = str(':Sz ' + str(self.az_d)+'*'+str(self.az_m)+':'+str(int(self.az_s))+'#')
targetcoordalt = str(':Sa ' + str(self.alt_d)+'*'+str(self.alt_m)+':'+str(int(self.alt_s))+'#')
self.ser.write(str.encode(targetcoordaz))
self.ser.write(str.encode(targetcoordalt))
self.ser.write(str.encode(':MA#'))
if trackSettings.mounttype == 'Eq':
satra = self.sat.ra
self.radra = self.sat.ra
self.raddec = self.sat.dec
self.LX200_dec_degrees()
self.LX200_dec_degrees()
currentdec = math.radians(self.teldec)
self.LX200_ra_degrees()
currentra = math.radians(self.telra)
decdiff = self.raddec - currentdec
radiff = self.radra - currentra
totaldiff = math.sqrt(decdiff**2 + radiff**2)
i = 0
print(math.degrees(totaldiff))
self.textbox.insert(END, str('Distance from target: ' + str(totaldiff) + '\n'))
self.textbox.see('end')
if self.lasttotaldiff < totaldiff:
deccorrect = deccorrect + (decdiff)
racorrect = racorrect + (radiff)
self.lasttotaldiff = totaldiff
self.radra = self.radra + racorrect
self.raddec = self.raddec + deccorrect
self.rad_to_sexagesimal_ra()
targetcoordra = str(':Sr ' + str(self.ra_h)+'*'+str(self.ra_m)+':'+str(int(self.ra_s))+'#')
targetcoorddec = str(':Sd ' + str(self.dec_d)+'*'+str(self.dec_m)+':'+str(int(self.dec_s))+'#')
self.ser.write(str.encode(targetcoordra))
self.ser.write(str.encode(targetcoorddec))
self.ser.write(str.encode(':MS#'))
print(targetcoordra, targetcoorddec)
if trackSettings.objectfollow is True:
self.observer.date = datetime.datetime.utcnow()
self.sat.compute(self.observer)
self.radalt = self.sat.alt
self.radaz = self.sat.az
self.raddec = self.sat.dec
self.radra = self.sat.ra
if trackSettings.telescopetype == 'ASCOM':
time.sleep(0.1)
self.observer.date = datetime.datetime.utcnow()
d = datetime.datetime.utcnow()
self.sat.compute(self.observer)
if trackSettings.mounttype == 'AltAz' and trackSettings.trackingsat is True:
self.radalt = self.sat.alt
self.radaz = self.sat.az
currentaz = self.tel.Azimuth
currentalt = self.tel.Altitude
currentaltdegrees = currentalt
if self.dnow > self.dlast:
currentalt = math.radians(currentalt)
currentaz = math.radians(currentaz)
objectvertical = -1 * ((self.targetY - trackSettings.mainviewY) * trackSettings.imagescale)
objecthorizontal = (self.targetX - trackSettings.mainviewX) * trackSettings.imagescale
objectangle = math.degrees(math.atan2(objectvertical, objecthorizontal)) - 90
objectangle2 = math.degrees(math.atan2(objectvertical, objecthorizontal))
objectdistance = math.sqrt((objecthorizontal**2) + (objectvertical**2) - 2 * (objectvertical * objecthorizontal * math.cos(math.radians(objectangle))))
try:
objectalt = 90 - math.degrees(math.acos(math.cos(math.radians(objectdistance)) * math.cos(math.radians(90 - currentaltdegrees)) + math.sin(math.radians(objectdistance)) * math.sin(math.radians(90 - currentaltdegrees)) * math.cos(math.radians(objectangle))))
diffinaz = math.degrees(math.acos((math.cos(math.radians(objectdistance)) - math.cos(math.radians(90 - currentaltdegrees)) * math.cos(math.radians(90 - objectalt))) / (math.sin(math.radians(90 - currentaltdegrees)) * math.sin(math.radians(90 - objectalt)))))
if math.fabs(objectangle2) > 90:
diffinaz = -1 * diffinaz
altdiff = math.degrees(math.radians(objectalt) - currentalt)
azdiff = diffinaz
totaldiff = math.sqrt(altdiff**2 + azdiff**2)
self.observer.date = (d + datetime.timedelta(seconds=1))
self.sat.compute(self.observer)
self.radalt2 = self.sat.alt
self.radaz2 = self.sat.az
azrate = (math.degrees(self.radaz2 - self.radaz))
altrate = math.degrees(self.radalt2 - self.radalt)
#if math.fabs(self.diffazlast) < math.fabs(azdiff):
azrate = azrate + azdiff
#if math.fabs(self.diffaltlast) < math.fabs(altdiff):
altrate = altrate + altdiff
if azrate > self.axis0rate:
azrate = self.axis0rate
if azrate < (-1*self.axis0rate):
azrate = (-1*self.axis0rate)
if altrate > self.axis1rate:
altrate = self.axis1rate
if altrate < (-1*self.axis1rate):
altrate = (-1*self.axis1rate)
print('azdiff, altdiff, azrate, altrate', azdiff, altdiff, azrate, altrate, end='\r')
self.textbox.insert(END, str('Delta Az: ' + str(azdiff) + ' Delta Alt: ' + str(altdiff) + '\n'))
self.textbox.see('end')
self.tel.MoveAxis(0, azrate)
self.tel.MoveAxis(1, altrate)
self.diffazlast = azdiff
self.diffallast = altdiff
except:
print('Failed to do the math.')
if trackSettings.mounttype == 'Eq' and trackSettings.trackingsat is True:
self.raddec = self.sat.dec
self.radra = self.sat.ra
currentra = float(self.tel.RightAscension)*15
currentdec = self.tel.Declination
currentdecdegrees = currentdec
if self.dnow > self.dlast:
currentdec = math.radians(currentdec)
currentra = math.radians(currentra)
objectvertical = -1 * ((self.targetY - trackSettings.mainviewY) * trackSettings.imagescale)
objecthorizontal = (self.targetX - trackSettings.mainviewX) * trackSettings.imagescale
objectangle = math.degrees(math.atan2(objectvertical, objecthorizontal)) - 90
objectangle2 = math.degrees(math.atan2(objectvertical, objecthorizontal))
objectdistance = math.sqrt((objecthorizontal**2) + (objectvertical**2) - 2 * (objectvertical * objecthorizontal * math.cos(math.radians(objectangle))))
try:
objectdec = 90 - math.degrees(math.acos(math.cos(math.radians(objectdistance)) * math.cos(math.radians(90 - currentdecdegrees)) + math.sin(math.radians(objectdistance)) * math.sin(math.radians(90 - currentdecdegrees)) * math.cos(math.radians(objectangle))))
diffinra = math.degrees(math.acos((math.cos(math.radians(objectdistance)) - math.cos(math.radians(90 - currentdecdegrees)) * math.cos(math.radians(90 - objectdec))) / (math.sin(math.radians(90 - currentdecdegrees)) * math.sin(math.radians(90 - objectdec)))))
if math.fabs(objectangle2) > 90:
diffinra = -1 * diffinra
decdiff = math.radians(objectdec) - currentdec
radiff = math.radians(diffinra)
totaldiff = math.sqrt(decdiff**2 + radiff**2)
self.observer.date = (d + datetime.timedelta(seconds=1))
self.sat.compute(self.observer)
self.raddec2 = self.sat.dec
self.radra2 = self.sat.ra
rarate = (math.degrees(self.radra2 - self.radra))
decrate = math.degrees(self.raddec2 - self.raddec)
#if math.fabs(self.diffralast) < math.fabs(radiff):
rarate = rarate + math.degrees(radiff)
#if math.fabs(self.diffdeclast) < math.fabs(decdiff):
decrate = decrate + math.degrees(decdiff)
if rarate > self.axis0rate:
rarate = self.axis0rate
if rarate < (-1*self.axis0rate):
rarate = (-1*self.axis0rate)
if decrate > self.axis1rate:
decrate = self.axis1rate
if decrate < (-1*self.axis1rate):
decrate = (-1*self.axis1rate)
self.tel.MoveAxis(0, rarate)
self.tel.MoveAxis(1, decrate)
self.diffralast = radiff
self.diffdeclast = decdiff
except:
print('Failed to do the math.')
if trackSettings.telescopetype == 'LX200':
if trackSettings.mounttype == 'AltAz':
sataz = math.degrees(self.sat.az) + 180
if sataz > 360:
sataz = sataz - 360
sataz = math.radians(sataz)
self.radaz = sataz
#check if it's time to correct and that we have a newer frame than last time
if self.dnow > self.dlast:
self.LX200_alt_degrees()
self.LX200_alt_degrees()
currentalt = math.radians(self.telalt)
self.LX200_az_degrees()
currentaz = math.radians(self.telaz)
objectvertical = -1 * ((self.targetY - trackSettings.mainviewY) * trackSettings.imagescale)
objecthorizontal = (self.targetX - trackSettings.mainviewX) * trackSettings.imagescale
objectangle = math.degrees(math.atan2(objectvertical, objecthorizontal)) - 90
objectangle2 = math.degrees(math.atan2(objectvertical, objecthorizontal))
objectdistance = math.sqrt((objecthorizontal**2) + (objectvertical**2) - 2 * (objectvertical * objecthorizontal * math.cos(math.radians(objectangle))))
try:
objectalt = 90 - math.degrees(math.acos(math.cos(math.radians(objectdistance)) * math.cos(math.radians(90 - self.telalt)) + math.sin(math.radians(objectdistance)) * math.sin(math.radians(90 - self.telalt)) * math.cos(math.radians(objectangle))))
diffinaz = math.degrees(math.acos((math.cos(math.radians(objectdistance)) - math.cos(math.radians(90 - self.telalt)) * math.cos(math.radians(90 - objectalt))) / (math.sin(math.radians(90 - self.telalt)) * math.sin(math.radians(90 - objectalt)))))
if math.fabs(objectangle2) > 90:
diffinaz = -1 * diffinaz
altdiff = math.radians(objectalt) - currentalt
azdiff = math.radians(diffinaz)
totaldiff = math.sqrt(altdiff**2 + azdiff**2)
#if total dist to target is increasing since last frame we need to correct!
if self.lasttotaldiff < totaldiff:
altcorrect = altcorrect + (altdiff)
azcorrect = azcorrect + (azdiff)
print(math.degrees(totaldiff))
self.textbox.insert(END, str('Distance from target: ' + str(totaldiff) + '\n'))
self.textbox.see('end')
self.lasttotaldiff = totaldiff
except:
print('Failed to do the math.')
#print(math.degrees(altcorrect), math.degrees(azcorrect), math.degrees(altdiff), math.degrees(azdiff), math.degrees(currentalt), math.degrees(currentaz))
self.dlast = self.dnow
self.radaz = self.radaz + azcorrect
self.radalt = self.radalt + altcorrect
self.rad_to_sexagesimal_alt()
targetcoordaz = str(':Sz ' + str(self.az_d)+'*'+str(self.az_m)+':'+str(int(self.az_s))+'#')
targetcoordalt = str(':Sa ' + str(self.alt_d)+'*'+str(self.alt_m)+':'+str(int(self.alt_s))+'#')
self.ser.write(str.encode(targetcoordaz))
self.ser.write(str.encode(targetcoordalt))
self.ser.write(str.encode(':MA#'))
if trackSettings.mounttype == 'EQ':
self.raddec = self.sat.dec
self.radra = self.sat.ra
#check if it's time to correct and that we have a newer frame than last time
if self.dnow > self.dlast:
self.LX200_dec_degrees()
self.LX200_dec_degrees()
currentdec = math.radians(self.teldec)
self.LX200_ra_degrees()
currentra = math.radians(self.telra)
objectvertical = -1 * ((self.targetY - trackSettings.mainviewY) * trackSettings.imagescale)
objecthorizontal = (self.targetX - trackSettings.mainviewX) * trackSettings.imagescale
objectangle = math.degrees(math.atan2(objectvertical, objecthorizontal)) - 90
objectangle2 = math.degrees(math.atan2(objectvertical, objecthorizontal))
objectdistance = math.sqrt((objecthorizontal**2) + (objectvertical**2) - 2 * (objectvertical * objecthorizontal * math.cos(math.radians(objectangle))))
try:
objectalt = 90 - math.degrees(math.acos(math.cos(math.radians(objectdistance)) * math.cos(math.radians(90 - self.teldec)) + math.sin(math.radians(objectdistance)) * math.sin(math.radians(90 - self.teldec)) * math.cos(math.radians(objectangle))))
diffinaz = math.degrees(math.acos((math.cos(math.radians(objectdistance)) - math.cos(math.radians(90 - self.teldec)) * math.cos(math.radians(90 - objectalt))) / (math.sin(math.radians(90 - self.teldec)) * math.sin(math.radians(90 - objectalt)))))
if math.fabs(objectangle2) > 90:
diffinra = -1 * diffinra
decdiff = math.radians(objectdec) - currentdec
radiff = math.radians(diffinra)
totaldiff = math.sqrt(decdiff**2 + radiff**2)
#if total dist to target is increasing since last frame we need to correct!
if self.lasttotaldiff < totaldiff:
deccorrect = deccorrect + (decdiff)
racorrect = racorrect + (radiff)
print(math.degrees(totaldiff))
self.textbox.insert(END, str('Distance from Target: ' + str(totaldiff) + '\n'))
self.textbox.see('end')
self.lasttotaldiff = totaldiff
except:
print('Failed to do the math.')
#print(math.degrees(altcorrect), math.degrees(azcorrect), math.degrees(altdiff), math.degrees(azdiff), math.degrees(currentalt), math.degrees(currentaz))
self.dlast = self.dnow
self.radra = self.radra + racorrect
self.raddec = self.raddec + deccorrect
self.rad_to_sexagesimal_ra()
targetcoordra = str(':Sr ' + str(self.ra_h)+'*'+str(self.ra_m)+':'+str(int(self.ra_s))+'#')
targetcoorddec = str(':Sd ' + str(self.dec_d)+'*'+str(self.dec_m)+':'+str(int(self.dec_s))+'#')
self.ser.write(str.encode(targetcoordra))
self.ser.write(str.encode(targetcoorddec))
self.ser.write(str.encode(':MS#'))
time.sleep(0.005)
#stop moving the telescope if the user is on ASCOM and requested stop tracking.
if trackSettings.telescopetype == 'ASCOM' and trackSettings.trackingsat is False:
self.tel.AbortSlew()
def set_center(self):
trackSettings.setcenter = True
def setLX200AltAz(self):
trackSettings.telescopetype = 'LX200'
trackSettings.mounttype = 'AltAz'
def setLX200Eq(self):
trackSettings.telescopetype = 'LX200'
trackSettings.mounttype = 'Eq'
def setFeatureTrack(self):
trackSettings.trackingtype = 'Features'
def setBrightTrack(self):
trackSettings.trackingtype = 'Bright'
def setASCOMAltAz(self):
trackSettings.telescopetype = 'ASCOM'
trackSettings.mounttype = 'AltAz'
def setASCOMEq(self):
trackSettings.telescopetype = 'ASCOM'
trackSettings.mounttype = 'Eq'
def set_img_collect(self):
if self.collect_images is False:
self.collect_images = True
print('Starting Camera.')
self.textbox.insert(END, 'Starting Camera.\n')
self.textbox.see('end')
self.cap = cv2.VideoCapture(int(self.entryCam.get()))
self.displayimg = Label(self.topframe, bg="black")
self.startButton.configure(text='Stop Camera')
imagethread = threading.Thread(target=self.prepare_img_for_tkinter)
imagethread.start()
else:
self.cap.release()
self.collect_images = False
self.startButton.configure(text='Start Camera')
def read_to_hash(self):
self.resp = self.ser.read()
self.resp = self.resp.decode("utf-8", errors="ignore")
try:
while self.resp[-1] != '#':
self.resp += self.ser.read().decode("utf-8", errors="ignore")
except:
print('Unable to read line')
self.textbox.insert(END, 'Unable to read line.\n')
self.textbox.see('end')
#print(self.resp)
if trackSettings.degorhours == 'Degrees':
self.deg = int(self.resp[0:3])
self.min = int(self.resp[3:5])
self.sec = int(self.resp[6:8])
self.respdegrees = ((((self.sec/60)+self.min)/60)+self.deg)
#print(self.resp, self.respdegrees)
if trackSettings.degorhours == 'Hours':
self.hr = int(self.resp[0:2])
self.min = int(self.resp[3:5])
self.sec = int(self.resp[6:8])
self.resphours = ((((self.sec/60)+self.min)/60)+self.hr)*15
return
def set_tracking(self):
if trackSettings.tracking is False:
trackSettings.tracking = True
print('Connecting to Scope.')
self.textbox.insert(END, 'Connecting to Scope.\n')
self.textbox.see('end')
if trackSettings.telescopetype == 'LX200':
try:
self.comport = str('COM'+str(self.entryCom.get()))
self.ser = serial.Serial(self.comport, baudrate=9600, timeout=1, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, xonxoff=False, rtscts=False)
self.ser.write(str.encode(':U#'))
self.serialconnected = True
self.startButton5.configure(text='Disconnect Scope')
except:
print('Failed to connect on ' + self.comport)
self.textbox.insert(END, str('Failed to connect on ' + str(self.comport) + '\n'))
self.textbox.see('end')
trackSettings.tracking = False
return
elif trackSettings.telescopetype == 'ASCOM':
self.x = win32com.client.Dispatch("ASCOM.Utilities.Chooser")
self.x.DeviceType = 'Telescope'
driverName=self.x.Choose("None")
self.tel=win32com.client.Dispatch(driverName)
if self.tel.Connected:
print("Telescope was already connected")
self.textbox.insert(END, str('Telescope was already connected.\n'))
self.textbox.see('end')
self.startButton5.configure(text='Disconnect Scope')
else:
self.tel.Connected = True
if self.tel.Connected:
print("Connected to telescope now")
self.textbox.insert(END, str('Connected to telescope now.\n'))
self.textbox.see('end')
axis = self.tel.CanMoveAxis(0)
axis2 = self.tel.CanMoveAxis(1)
if axis is False or axis2 is False:
print('This scope cannot use the MoveAxis method, aborting.')
self.textbox.insert(END, str('This scope cannot use the MoveAxis method, aborting.\n'))
self.textbox.see('end')
self.tel.Connected = False
else:
self.axis0rate = float(self.tel.AxisRates(0).Item(1).Maximum)
self.axis1rate = float(self.tel.AxisRates(1).Item(1).Maximum)
print(self.axis0rate)
print(self.axis1rate)
self.textbox.insert(END, str('Axis 0 max rate: '+str(self.axis0rate)+' Axis 1 max rate: '+ str(self.axis1rate)+'\n'))
self.textbox.see('end')
self.startButton5.configure(text='Disconnect Scope')
else:
print("Unable to connect to telescope, expect exception")
self.textbox.insert(END, str('Unable to connect to telescope, expect exception.\n'))
self.textbox.see('end')
else:
print('Disconnecting the Scope.')
self.textbox.insert(END, str('Disconnecting the scope.\n'))
self.textbox.see('end')
if trackSettings.telescopetype == 'LX200' and self.serialconnected is True:
self.ser.write(str.encode(':Q#'))
self.ser.write(str.encode(':U#'))
self.ser.close()
self.serialconnected = False
elif trackSettings.telescopetype == 'ASCOM':
self.tel.AbortSlew()
self.tel.Connected = False
trackSettings.tracking = False
self.startButton5.configure(text='Connect Scope')
def rad_to_sexagesimal_alt(self):
self.azdeg = math.degrees(self.radaz)
self.altdeg = math.degrees(self.radalt)
self.az_d = math.trunc((self.azdeg))
self.az_m = math.trunc((((self.azdeg)) - self.az_d)*60)
self.az_s = (((((self.azdeg)) - self.az_d)*60) - self.az_m)*60
self.alt_d = math.trunc(self.altdeg)
self.alt_m = math.trunc((abs(self.altdeg) - abs(self.alt_d))*60)
self.alt_s = (((abs(self.altdeg) - abs(self.alt_d))*60) - abs(self.alt_m))*60
def rad_to_sexagesimal_ra(self):
self.rahour = math.degrees(self.radra)/15
self.decdeg = math.degrees(self.raddec)
self.ra_h = math.trunc((self.rahour))
self.ra_m = math.trunc((((self.rahour)) - self.ra_h)*60)
self.ra_s = (((((self.rahour)) - self.ra_h)*60) - self.ra_m)*60
self.dec_d = math.trunc(self.decdeg)