Add acquisition automation modes and fine-tune pipeline

Properly rebased against main, preserving all existing functionality
(can_expose wait, channel activate/deactivate, camerad ZMQ handler).

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Author: cfremling

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
 
@@ -155,11 +155,15 @@ 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 U G R I lampthar lampfear lampbluc lampredc lolamp hilamp mod1 mod2 ... mod6)

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;

common/message_keys.h

@@ -14,6 +14,7 @@ namespace Topic {
   inline const std::string TARGETINFO = "tcsd";
   inline const std::string SLITD      = "slitd";
   inline const std::string CAMERAD    = "camerad";
+  inline const std::string SEQ_PROGRESS = "seq_progress";
 }
 
 namespace Key {
@@ -23,4 +24,16 @@ namespace Key {
   namespace Camerad {
     inline const std::string READY = "ready";
   }
+
+  namespace SeqProgress {
+    inline const std::string ONTARGET = "ontarget";
+    inline const std::string FINE_TUNE_ACTIVE = "fine_tune_active";
+    inline const std::string OFFSET_ACTIVE = "offset_active";
+    inline const std::string OFFSET_SETTLE = "offset_settle";
+    inline const std::string OFFSET_RA = "offset_ra";
+    inline const std::string OFFSET_DEC = "offset_dec";
+    inline const std::string OBSID = "obsid";
+    inline const std::string TARGET_STATE = "target_state";
+    inline const std::string EVENT = "event";
+  }
 }

common/ngps_acq_embed.h

@@ -0,0 +1,39 @@
+/**
+ * @file    ngps_acq_embed.h
+ * @brief   in-process API for NGPS auto-acquire logic
+ */
+
+#pragma once
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct ngps_acq_hooks {
+  void *user;
+
+  int (*tcs_set_native_units)( void *user, int dry_run, int verbose );
+  int (*tcs_move_arcsec)( void *user, double dra_arcsec, double ddec_arcsec,
+                          int dry_run, int verbose );
+  int (*scam_putonslit_deg)( void *user,
+                             double slit_ra_deg, double slit_dec_deg,
+                             double cross_ra_deg, double cross_dec_deg,
+                             int dry_run, int verbose );
+  int (*acam_query_state)( void *user, char *state, size_t state_sz, int verbose );
+  int (*scam_framegrab_one)( void *user, const char *outpath, int verbose );
+  int (*scam_set_exptime)( void *user, double exptime_sec, int dry_run, int verbose );
+  int (*scam_set_avgframes)( void *user, int avgframes, int dry_run, int verbose );
+  int (*is_stop_requested)( void *user );
+  void (*log_message)( void *user, const char *line );
+} ngps_acq_hooks_t;
+
+void ngps_acq_set_hooks( const ngps_acq_hooks_t *hooks );
+void ngps_acq_clear_hooks( void );
+void ngps_acq_request_stop( int stop_requested );
+int ngps_acq_run_from_argv( int argc, char **argv );
+
+#ifdef __cplusplus
+}
+#endif

common/sequencerd_commands.h

@@ -8,6 +8,7 @@
 #ifndef SEQEUNCERD_COMMANDS_H
 #define SEQEUNCERD_COMMANDS_H
 const std::string SEQUENCERD_ABORT      = "abort";
+const std::string SEQUENCERD_ACQMODE    = "acqmode";
 const std::string SEQUENCERD_CONFIG     = "config";
 const std::string SEQUENCERD_DOTYPE     = "do";
 const std::string SEQUENCERD_EXIT       = "exit";
@@ -47,6 +48,7 @@ const std::vector<std::string> SEQUENCERD_SYNTAX = {
                                                      SEQUENCERD_TCS+" ...",
                                                      "",
                                                      SEQUENCERD_ABORT,
+                                                     SEQUENCERD_ACQMODE+" [ ? | <mode> ]",
                                                      SEQUENCERD_CONFIG,
                                                      SEQUENCERD_DOTYPE+" [ one | all ]",
                                                      SEQUENCERD_EXIT,

common/slicecamd_commands.h

@@ -10,6 +10,7 @@
 #pragma once
 
 const std::string SLICECAMD_AVGFRAMES= "avgframes"; ///< set/get camera binning
+const std::string SLICECAMD_AUTOACQ  = "autoacq";   ///< run/monitor in-process auto-acquire logic
 const std::string SLICECAMD_BIN      = "bin";       ///< set/get camera binning
 const std::string SLICECAMD_CLOSE    = "close";     ///< *** close connection to all devices
 const std::string SLICECAMD_CONFIG   = "config";    ///< reload configuration, apply what can be applied
@@ -69,6 +70,7 @@ const std::vector<std::string> SLICECAMD_SYNTAX = {
                                                 SLICECAMD_SPEED+" [ ? | <hori> <vert> ]",
                                                 SLICECAMD_TEMP+" [ ? | <setpoint> ]",
                                                 "  OTHER:",
+                                                SLICECAMD_AUTOACQ+" [ ? | start [--log-file <path>] [<args>] | stop | status ]",
                                                 SLICECAMD_PUTONSLIT+" [ ? | <slitra> <slitdec> <crossra> <crossdec> ]",
                                                 SLICECAMD_SAVEFRAMES+" [ ? | <nsave> <nskip> ]",
                                                 SLICECAMD_SHUTDOWN+" [ ? ]",

run/seq-progress

@@ -0,0 +1,10 @@
+#!/bin/bash
+#
+# Launch the sequencer progress popup GUI
+#
+
+SCRIPT_DIR="$(cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd)"
+export NGPS_ROOT="$(cd -- "${SCRIPT_DIR}/.." && pwd)"
+
+CONFIG="${NGPS_ROOT}/Config/sequencerd.cfg"
+exec "${NGPS_ROOT}/bin/seq_progress_gui" --config "${CONFIG}" --poll-ms 10000