Add acquisition automation modes and acqmode command

Config/camerad.cfg.in

@@ -15,6 +15,13 @@ ASYNCGROUP=239.1.1.234            # or set to NONE if not using ASYNC messaging
 DAEMON=no                        # run as a daemon? {yes,no}
 PUBLISHER_PORT="tcp://127.0.0.1:@CAMERAD_PUB_PORT@"  # my zeromq pub port
 
+# Message pub/sub
+# PUB_ENDPOINT=tcp://127.0.0.1:<PORT>
+# SUB_ENDPOINT=tcp://127.0.0.1:<PORT>
+#
+PUB_ENDPOINT="tcp://127.0.0.1:@MESSAGE_BROKER_SUB_PORT@"
+SUB_ENDPOINT="tcp://127.0.0.1:@MESSAGE_BROKER_PUB_PORT@"
+
 # -----------------------------------------------------------------------------
 # The following are for simulated ARC controllers
 ARCSIM_NUMDEV=0
@@ -136,6 +143,17 @@ CONSTKEY_EXT=(SPECTPART WHOLE)  # fixed only because we're writing single-channe
 #
 USERKEYS_PERSIST=yes
 
+# ACTIVATE_COMMANDS=(CHAN CMD [, CMD, CMD ...])
+# commands sent to activate channel after de-activation
+# CHAN is space-delimited from a comma-delimited list of one or more commands
+# and must have been first configured by CONTROLER=
+# commands that contain a space must be enclosed by double quotes
+#
+ACTIVATE_COMMANDS=(I PON, ERS 1000 1000, EPG 500, CLR)
+ACTIVATE_COMMANDS=(R PON, ERS 1000 1000, EPG 500, CLR)
+ACTIVATE_COMMANDS=(G PON, ERS 1000 1000, EPG 500, CLR)
+ACTIVATE_COMMANDS=(U PON, CLR)
+
 # -----------------------------------------------------------------------------
 # TELEM_PROVIDER=( <name> <port> )
 #

Config/sequencerd.cfg.in

@@ -107,7 +107,7 @@ CALIB_DOOR__SHUTDOWN=close
 # Virtual Slit Mode slit offset positions
 # units are arcseconds
 #
-VIRTUAL_SLITW_ACQUIRE=0.5   # slit width during acquire
+VIRTUAL_SLITW_ACQUIRE=0.4   # slit width during acquire
 VIRTUAL_SLITO_ACQUIRE=-3.0  # slit offset for acquiring target
 VIRTUAL_SLITO_EXPOSE=3.0    # slit offset for science exposure
 
@@ -155,33 +155,40 @@ TCS_PREAUTH_TIME=10                  # seconds before end of exposure to notify
 
 # ACAM Target acquisition
 #
-ACQUIRE_TIMEOUT=90                   # seconds before ACAM acquisition sequence aborts on failure to acquire (REQUIRED!)
+ACQUIRE_TIMEOUT=120                  # seconds before ACAM acquisition sequence aborts on failure to acquire (REQUIRED!)
 ACQUIRE_RETRYS=5                     # max number of retrys before acquisition fails (optional, can be left blank to disable)
 ACQUIRE_OFFSET_THRESHOLD=0.5         # computed offset below this threshold (in arcsec) defines successful acquisition
 ACQUIRE_MIN_REPEAT=2                 # minimum number of sequential successful acquires
 ACQUIRE_TCS_MAX_OFFSET=60            # the maximum allowable offset sent to the TCS, in arcsec
+ACQ_AUTOMATIC_MODE=1                 # 1=legacy, 2=semi-auto, 3=auto
+ACQ_FINE_TUNE_CMD=ngps_acq           # command to run after guiding for final fine tune
+ACQ_FINE_TUNE_LOG=1                  # log fine tune output to /data/<datedir>/logs/ngps_acq_<datedir>.log (0/1)
+ACQ_OFFSET_SETTLE=3                  # seconds to wait after automatic offset
 
 # Calibration Settings
-# CAL_TARGET=(name caldoor calcover lampthar lampfear lampbluc lampredc lolamp hilamp mod1 mod2 ... mod6)
+# CAL_TARGET=(name caldoor calcover U G R I lampthar lampfear lampbluc lampredc lolamp hilamp mod1 mod2 ... mod6)
 #
 # where name must be "DEFAULT" or start with "CAL_"
 #       caldoor  = open | close
 #       calcover = open | close
-#       lamp* = on | off
-#       mod*  = on | off
-# for a total of 15 required parameters
+#       U,G,R,I = on | off        # indicates which channels to enable/disable
+#       lamp* = on | off          # lamp power
+#       mod*  = on | off          # lamp modulator
+# for a total of 19 required parameters
 # name=SCIENCE defines science target operation
 #
-#           name        door  cover thar fear bluc redc llmp hlmp mod1 mod2 mod3 mod4 mod5 mod6
-CAL_TARGET=(CAL_THAR    open  close on   off  off  off  off  off  off  off  off  off  off  on )
-CAL_TARGET=(CAL_FEAR    open  close off  on   off  off  off  off  on   off  off  off  off  off)
-CAL_TARGET=(CAL_REDCONT open  close off  off  off  on   off  off  off  off  off  on   off  off)
-CAL_TARGET=(CAL_BLUCONT open  close off  off  on   off  off  off  off  off  off  off  on   off)
-CAL_TARGET=(CAL_ETALON  open  close off  off  off  on   off  off  off  off  on   off  off  off)
-CAL_TARGET=(CAL_DOME    close open  off  off  off  off  off  on   off  off  off  off  off  off)
-CAL_TARGET=(CAL_BIAS    close close off  off  off  off  off  off  off  off  off  off  off  off)
-CAL_TARGET=(CAL_DARK    close close off  off  off  off  off  off  off  off  off  off  off  off)
-CAL_TARGET=(SCIENCE     close open  off  off  off  off  off  off  off  off  off  off  off  off)
+#           name        door  cover U   G   R   I   thar fear bluc redc llmp hlmp mod1 mod2 mod3 mod4 mod5 mod6
+CAL_TARGET=(CAL_THAR    open  close on  on  on  on  on   on   on   on   off  off  off  off  off  off  off  on )
+CAL_TARGET=(CAL_FEAR    open  close on  on  on  on  on   on   on   on   off  off  on   off  off  off  off  off)
+CAL_TARGET=(CAL_THAR_UG open  close on  on  off off on   on   on   on   off  off  off  off  off  off  off  on )
+CAL_TARGET=(CAL_FEAR_UG open  close on  on  off off on   on   on   on   off  off  on   off  off  off  off  off)
+CAL_TARGET=(CAL_CONTR   open  close on  on  on  on  on   on   on   on   off  off  off  off  off  on   off  off)
+CAL_TARGET=(CAL_CONTB   open  close on  on  on  on  on   on   on   on   off  off  off  off  off  off  on   off)
+CAL_TARGET=(CAL_DOME    close open  on  on  on  on  off  off  off  off  off  on   off  off  off  off  off  off)
+CAL_TARGET=(CAL_DOME_UG close open  on  on  off off off  off  off  off  off  on   off  off  off  off  off  off)
+CAL_TARGET=(CAL_BIAS    close close on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off)
+CAL_TARGET=(CAL_DARK    close close on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off)
+CAL_TARGET=(SCIENCE     close open  on  on  on  on  off  off  off  off  off  off  off  off  off  off  off  off)
 
 # miscellaneous
 #

Config/slicecamd.cfg.in

@@ -22,6 +22,9 @@ SUB_ENDPOINT="tcp://127.0.0.1:@MESSAGE_BROKER_PUB_PORT@"
 #
 TCSD_PORT=@TCSD_BLK_PORT@
 ACAMD_PORT=@ACAMD_BLK_PORT@
+# AUTOACQ_ARGS defines defaults for slicecamd in-process ngps_acq.
+# This line intentionally includes all supported ngps_acq options.
+AUTOACQ_ARGS="--frame-mode stream --input /tmp/slicecam.fits --goal-x 150.0 --goal-y 115.5 --bg-x1 80 --bg-x2 165 --bg-y1 30 --bg-y2 210 --pixel-origin 1 --max-dist 40 --snr 3 --min-adj 4 --centroid-hw 4 --centroid-sigma 1.2 --loop 1 --cadence-sec 4 --prec-arcsec 0.4 --goal-arcsec 0.3 --gain 1.0 --dry-run 0 --tcs-set-units 0 --verbose 1 --debug 1 --use-putonslit 1 --adaptive 1 --adaptive-bright 40000 --adaptive-bright-goal 10000"
 
 # ANDOR=( <name> [emulate] <sn> <scale> <hflip> <vflip> <rot> <temp> <hbin> <vbin> )
 # For each slice camera specify:

acamd/acam_interface.cpp

@@ -1453,6 +1453,11 @@ namespace Acam {
                                     this->motion.get_current_coverpos() :
                                     "not_connected" );
 
+    std::string mode = this->target.acquire_mode_string();
+    jmessage_out["ACAM_ACQUIRE_MODE"] = mode;
+    jmessage_out["ACAM_GUIDING"] = ( mode == "guiding" );
+    jmessage_out["ACAM_ACQUIRING"] = ( mode == "acquiring" );
+
     try {
       this->publisher->publish( jmessage_out );
     }
@@ -5522,12 +5527,8 @@ logwrite( function, message.str() );
     retstring = message.str();
 
     if ( this->target.acquire_mode == Acam::TARGET_GUIDE ) {
-      this->target.acquire_mode = Acam::TARGET_ACQUIRE;
-      this->target.nacquired = 0;
-      this->target.attempts = 0;
-      this->target.sequential_failures = 0;
-      this->target.timeout_time = std::chrono::steady_clock::now()
-                                + std::chrono::duration<double>(this->target.timeout);
+      // Keep GUIDE mode; just reset filtering so the new goal takes effect quickly.
+      this->target.reset_offset_params();
     }
 
     return NO_ERROR;

camerad/CMakeLists.txt

@@ -99,6 +99,11 @@ target_include_directories(${INTERFACE_TARGET} PUBLIC ${INTERFACE_INCLUDES})
 find_library(CCFITS_LIB CCfits NAMES libCCfits PATHS /usr/local/lib)
 find_library(CFITS_LIB cfitsio NAMES libcfitsio  PATHS /usr/local/lib)
 
+# ZeroMQ
+#
+find_library( ZMQPP_LIB zmqpp NAMES libzmqpp PATHS /usr/local/lib )
+find_library( ZMQ_LIB zmq NAMES libzmq PATHS /usr/local/lib )
+
 find_package(Threads)
 
 add_library(camera STATIC
@@ -124,6 +129,8 @@ target_link_libraries(camerad
         ${CMAKE_THREAD_LIBS_INIT}
         ${CCFITS_LIB}
         ${CFITS_LIB}
+        ${ZMQPP_LIB}
+        ${ZMQ_LIB}
         )
 
 # ----------------------------------------------------------------------------