sdrangel/plugins/feature/startracker/startrackerworker.cpp

///////////////////////////////////////////////////////////////////////////////////
// Copyright (C) 2021-2023 Jon Beniston, M7RCE <jon@beniston.com>                //
// Copyright (C) 2022 Edouard Griffiths, F4EXB <f4exb06@gmail.com>               //
// Copyright (C) 2022 Jiří Pinkava <jiri.pinkava@rossum.ai>                      //
//                                                                               //
// This program is free software; you can redistribute it and/or modify          //
// it under the terms of the GNU General Public License as published by          //
// the Free Software Foundation as version 3 of the License, or                  //
// (at your option) any later version.                                           //
//                                                                               //
// This program is distributed in the hope that it will be useful,               //
// but WITHOUT ANY WARRANTY; without even the implied warranty of                //
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the                  //
// GNU General Public License V3 for more details.                               //
//                                                                               //
// You should have received a copy of the GNU General Public License             //
// along with this program. If not, see <http://www.gnu.org/licenses/>.          //
///////////////////////////////////////////////////////////////////////////////////

#include <cmath>

#include <QDebug>
#include <QAbstractSocket>
#include <QTcpServer>
#include <QTcpSocket>
#include <QEventLoop>
#include <QTimer>
#include <QDateTime>

#include "SWGTargetAzimuthElevation.h"
#include "SWGMapItem.h"
#include "SWGStarTrackerTarget.h"
#include "SWGSkyMapTarget.h"

#include "webapi/webapiadapterinterface.h"
#include "channel/channelwebapiutils.h"

#include "util/units.h"
#include "maincore.h"

#include "startracker.h"
#include "startrackerworker.h"
#include "startrackerreport.h"

MESSAGE_CLASS_DEFINITION(StarTrackerWorker::MsgConfigureStarTrackerWorker, Message)
MESSAGE_CLASS_DEFINITION(StarTrackerReport::MsgReportAzAl, Message)
MESSAGE_CLASS_DEFINITION(StarTrackerReport::MsgReportRADec, Message)
MESSAGE_CLASS_DEFINITION(StarTrackerReport::MsgReportGalactic, Message)

StarTrackerWorker::StarTrackerWorker(StarTracker* starTracker, WebAPIAdapterInterface *webAPIAdapterInterface) :
    m_starTracker(starTracker),
    m_webAPIAdapterInterface(webAPIAdapterInterface),
    m_msgQueueToFeature(nullptr),
    m_msgQueueToGUI(nullptr),
    m_pollTimer(this),
    m_tcpServer(nullptr),
    m_clientConnection(nullptr),
    m_solarFlux(0.0f)
{
    connect(&m_pollTimer, SIGNAL(timeout()), this, SLOT(update()));
}

StarTrackerWorker::~StarTrackerWorker()
{
    stopWork();
    m_inputMessageQueue.clear();
}

void StarTrackerWorker::startWork()
{
    QMutexLocker mutexLocker(&m_mutex);
    connect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));
    m_pollTimer.start((int)round(m_settings.m_updatePeriod*1000.0));
    // Handle any messages already on the queue
    handleInputMessages();
}

void StarTrackerWorker::stopWork()
{
    QMutexLocker mutexLocker(&m_mutex);
    m_pollTimer.stop();
    disconnect(&m_inputMessageQueue, SIGNAL(messageEnqueued()), this, SLOT(handleInputMessages()));

    if (m_settings.m_drawSunOnMap)
        removeFromMap("Sun");
    if (m_settings.m_drawMoonOnMap)
        removeFromMap("Moon");
    if (m_settings.m_drawStarOnMap && (m_settings.m_target != "Sun") && (m_settings.m_target != "Moon"))
        removeFromMap("Star");

    restartServer(false, 0);
}

void StarTrackerWorker::handleInputMessages()
{
    Message* message;

    while ((message = m_inputMessageQueue.pop()) != nullptr)
    {
        if (handleMessage(*message)) {
            delete message;
        }
    }
}

bool StarTrackerWorker::handleMessage(const Message& cmd)
{
    if (MsgConfigureStarTrackerWorker::match(cmd))
    {
        QMutexLocker mutexLocker(&m_mutex);
        MsgConfigureStarTrackerWorker& cfg = (MsgConfigureStarTrackerWorker&) cmd;

        applySettings(cfg.getSettings(), cfg.getSettingsKeys(), cfg.getForce());
        return true;
    }
    else if (StarTracker::MsgSetSolarFlux::match(cmd))
    {
        StarTracker::MsgSetSolarFlux& msg = (StarTracker::MsgSetSolarFlux&) cmd;
        m_solarFlux = msg.getFlux();
        return true;
    }
    else
    {
        return false;
    }
}

void StarTrackerWorker::applySettings(const StarTrackerSettings& settings, const QList<QString>& settingsKeys, bool force)
{
    qDebug() << "StarTrackerWorker::applySettings:" << settings.getDebugString(settingsKeys, force) << " force: " << force;

    if (settingsKeys.contains("ra")
        || settingsKeys.contains("dec")
        || settingsKeys.contains("latitude")
        || settingsKeys.contains("longitude")
        || settingsKeys.contains("target")
        || settingsKeys.contains("dateTime")
        || settingsKeys.contains("refraction")
        || settingsKeys.contains("pressure")
        || settingsKeys.contains("temperature")
        || settingsKeys.contains("humidity")
        || settingsKeys.contains("heightAboveSeaLevel")
        || settingsKeys.contains("temperatureLapseRate")
        || settingsKeys.contains("frequency")
        || settingsKeys.contains("beamwidth")
        || settingsKeys.contains("azimuth")
        || settingsKeys.contains("elevation")
        || settingsKeys.contains("l")
        || settingsKeys.contains("b")
        || settingsKeys.contains("azimuthOffset")
        || settingsKeys.contains("elevationOffset")
        || force)
    {
        // Recalculate immediately
        QTimer::singleShot(1, this, &StarTrackerWorker::update);
        m_pollTimer.start((int)round(settings.m_updatePeriod*1000.0));
    }
    else if (settingsKeys.contains("updatePeriod") || force)
    {
        m_pollTimer.start((int)round(settings.m_updatePeriod*1000.0));
    }

    if (settingsKeys.contains("drawSunOnMap")
     || settingsKeys.contains("drawMoonOnMap")
     || settingsKeys.contains("drawStarOnMap")
     || settingsKeys.contains("m_target"))
    {
        if (!settings.m_drawSunOnMap && m_settings.m_drawSunOnMap)
            removeFromMap("Sun");
        if (!settings.m_drawMoonOnMap && m_settings.m_drawMoonOnMap)
            removeFromMap("Moon");
        if ((!settings.m_drawStarOnMap && m_settings.m_drawStarOnMap)
            || (((settings.m_target == "Sun") || (settings.m_target == "Moon"))
                && ((m_settings.m_target != "Sun") && (m_settings.m_target != "Moon"))))
            removeFromMap("Star");
    }


    if (settingsKeys.contains("serverPort") ||
        settingsKeys.contains("enableServer") || force)
    {
        restartServer(settings.m_enableServer, settings.m_serverPort);
    }

    if (force) {
        m_settings = settings;
    } else {
        m_settings.applySettings(settingsKeys, settings);
    }
}

void StarTrackerWorker::restartServer(bool enabled, uint32_t port)
{
    if (m_tcpServer)
    {
        if (m_clientConnection)
        {
            m_clientConnection->close();
            delete m_clientConnection;
            m_clientConnection = nullptr;
        }

        disconnect(m_tcpServer, &QTcpServer::newConnection, this, &StarTrackerWorker::acceptConnection);
        m_tcpServer->close();
        delete m_tcpServer;
        m_tcpServer = nullptr;
    }

    if (enabled)
    {
        qDebug() << "StarTrackerWorker::restartServer: server enabled on port " << port;
        m_tcpServer = new QTcpServer(this);

        if (!m_tcpServer->listen(QHostAddress::Any, port)) {
            qWarning("Star Tracker failed to listen on port %u. Check it is not already in use.", port);
        } else {
            connect(m_tcpServer, &QTcpServer::newConnection, this, &StarTrackerWorker::acceptConnection);
        }
    }
}

void StarTrackerWorker::acceptConnection()
{
    QMutexLocker mutexLocker(&m_mutex);
    m_clientConnection = m_tcpServer->nextPendingConnection();

    if (!m_clientConnection) {
        return;
    }

    connect(m_clientConnection, &QIODevice::readyRead, this, &StarTrackerWorker::readStellariumCommand);
    connect(m_clientConnection, SIGNAL(disconnected()), this, SLOT(disconnected()));
#if QT_VERSION < QT_VERSION_CHECK(5, 15, 0)
    connect(m_clientConnection, QOverload<QAbstractSocket::SocketError>::of(&QAbstractSocket::error), this, &StarTrackerWorker::errorOccurred);
#else
    connect(m_clientConnection, &QAbstractSocket::errorOccurred, this, &StarTrackerWorker::errorOccurred);
#endif
    qDebug() << "StarTrackerWorker::acceptConnection: client connected";
}

void StarTrackerWorker::disconnected()
{
    QMutexLocker mutexLocker(&m_mutex);
    qDebug() << "StarTrackerWorker::disconnected";
    m_clientConnection->deleteLater();
    m_clientConnection = nullptr;
    /*if (m_msgQueueToFeature)
    {
        StarTrackerWorker::MsgReportWorker *msg = StarTrackerWorker::MsgReportWorker::create("Disconnected");
        m_msgQueueToFeature->push(msg);
    }*/
}

void StarTrackerWorker::errorOccurred(QAbstractSocket::SocketError socketError)
{
    qDebug() << "StarTrackerWorker::errorOccurred: " << socketError;
    /*if (m_msgQueueToFeature)
    {
        StarTrackerWorker::MsgReportWorker *msg = StarTrackerWorker::MsgReportWorker::create(m_socket.errorString() + " " + socketError);
        m_msgQueueToFeature->push(msg);
    }*/
}

// Get RA & Dec from Stellarium
// Protocol described here:
// http://svn.code.sf.net/p/stellarium/code/trunk/telescope_server/stellarium_telescope_protocol.txt
void StarTrackerWorker::readStellariumCommand()
{
    QMutexLocker mutexLocker(&m_mutex);

    unsigned char buf[64];
    qint64 len;

    len = m_clientConnection->read((char *)buf, sizeof(buf));
    if (len != -1)
    {
        int msg_len;
        int msg_type;
        unsigned char *msg;

        // Extract length and message type
        msg_len = buf[0] | (buf[1] << 8);
        msg_type = buf[2] | (buf[3] << 8);
        msg = &buf[4];

        if (msg_type == 0)  // MessageGoto
        {
            unsigned ra;
            int dec;

            if (msg_len == 20)
            {
                // Skip time
                msg += 8;
                // Extract RA LSB first
                ra = msg[0] | (msg[1] << 8) | (msg[2] << 16) | (msg[3] << 24);
                msg += 4;
                // Extract DEC LSB first
                dec = msg[0] | (msg[1] << 8) | (msg[2] << 16) | (msg[3] << 24);
                msg += 4;

                // Convert from integer to floating point
                double raDeg = ra*(24.0/4294967296.0);    // Convert to decimal hours
                double decDeg = dec*(360.0/4294967296.0);  // Convert to decimal degrees

                // Set as current target
                m_settings.m_ra = Units::decimalHoursToHoursMinutesAndSeconds(raDeg);
                m_settings.m_dec = Units::decimalDegreesToDegreeMinutesAndSeconds(decDeg);

                qDebug() << "StarTrackerWorker: New target from Stellarum: " << m_settings.m_ra << " " << m_settings.m_dec;

                // Forward to GUI for display
                if (getMessageQueueToGUI()) {
                    getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(raDeg, decDeg, "target"));
                }
            }
            else
            {
                qDebug() << "StarTrackerWorker: Unexpected number of bytes received (" << len << ") for message type: " <<  msg_type;
            }
        }
        else
        {
            qDebug() << "StarTrackerWorker: Unsupported Stellarium message type: " << msg_type;
        }
    }
}

// Send our target to Stellarium (J2000 epoch)
void StarTrackerWorker::writeStellariumTarget(double ra, double dec)
{
    QMutexLocker mutexLocker(&m_mutex);

    if (m_clientConnection != nullptr)
    {
        unsigned char buf[24];

        // Length
        buf[0] = sizeof(buf);
        buf[1] = 0;
        // Type (MessageCurrentPosition)
        buf[2] = 0;
        buf[3] = 0;
        // Time (unused)
        buf[4] = 0;
        buf[5] = 0;
        buf[6] = 0;
        buf[7] = 0;
        buf[8] = 0;
        buf[9] = 0;
        buf[10] = 0;
        buf[11] = 0;
        // RA
        unsigned raInt = ra * (4294967296.0/24.0);
        buf[12] = raInt & 0xff;
        buf[13] = (raInt >> 8) & 0xff;
        buf[14] = (raInt >> 16) & 0xff;
        buf[15] = (raInt >> 24) & 0xff;
        // Dec
        int decInt = dec * (4294967296.0/360.0);
        buf[16] = decInt & 0xff;
        buf[17] = (decInt >> 8) & 0xff;
        buf[18] = (decInt >> 16) & 0xff;
        buf[19] = (decInt >> 24) & 0xff;
        // Status (OK)
        buf[20] = 0;
        buf[21] = 0;
        buf[22] = 0;
        buf[23] = 0;

        m_clientConnection->write((char *)buf, sizeof(buf));
    }
}


void StarTrackerWorker::updateRaDec(RADec rd, QDateTime dt, bool lbTarget)
{
    RADec rdJ2000;
    double jd;

    jd = Astronomy::julianDate(dt);
    // Precess to J2000
    rdJ2000 = Astronomy::precess(rd, jd, Astronomy::jd_j2000());
    // Send to Stellarium
    writeStellariumTarget(rdJ2000.ra, rdJ2000.dec);
    // Send to GUI
    if (m_settings.m_target == "Sun" || m_settings.m_target == "Moon" || (m_settings.m_target == "Custom Az/El") || lbTarget || m_settings.m_target.contains("SatelliteTracker") || m_settings.m_target.contains("SkyMap"))
    {
        if (getMessageQueueToGUI())
        {
            if (m_settings.m_jnow) {
                getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(rd.ra, rd.dec, "target"));
            } else {
                getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(rdJ2000.ra, rdJ2000.dec, "target"));
            }
        }
    }
}

void StarTrackerWorker::removeFromMap(QString id)
{
    QList<ObjectPipe*> mapMessagePipes;
    MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "mapitems", mapMessagePipes);

    if (mapMessagePipes.size() > 0) {
        sendToMap(mapMessagePipes, id, "", "", 0.0, 0.0);
    }
}

void StarTrackerWorker::sendToMap(
    const QList<ObjectPipe*>& mapMessagePipes,
    QString name,
    QString image,
    QString text,
    double lat,
    double lon,
    double rotation
)
{
    for (const auto& pipe : mapMessagePipes)
    {
        MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
        SWGSDRangel::SWGMapItem *swgMapItem = new SWGSDRangel::SWGMapItem();
        swgMapItem->setName(new QString(name));
        swgMapItem->setLatitude(lat);
        swgMapItem->setLongitude(lon);
        swgMapItem->setImage(new QString(image));
        swgMapItem->setImageRotation(rotation);
        swgMapItem->setText(new QString(text));

        MainCore::MsgMapItem *msg = MainCore::MsgMapItem::create(m_starTracker, swgMapItem);
        messageQueue->push(msg);
    }
}

QString moonPhase(double sunLongitude, double moonLongitude, double observationLatitude, double &rotation)
{
    double difference = sunLongitude - moonLongitude;
    if (difference < -180.0)
        difference += 360.0;
    else if (difference > 180.0)
        difference -= 360.0;

    if (difference >= 0.0)
        rotation = observationLatitude - 90.0;
    else
        rotation = 90.0 - observationLatitude;

    // These probably shouldn't be divided equally
    if (difference < -157.5)
        return "full";
    else if (difference < -112.5)
        return "waxing-gibbous";
    else if (difference < -67.5)
        return "first-quarter";
    else if (difference < -22.5)
        return "waxing-crescent";
    else if (difference < 22.5)
        return "new";
    else if (difference < 67.5)
        return "waning-crescent";
    else if (difference < 112.5)
        return "third-quarter";
    else if (difference < 157.5)
        return "waning-gibbous";
    else if (difference < 202.5)
        return "full";
    else
        return "full";
}

void StarTrackerWorker::update()
{
    AzAlt aa, sunAA, moonAA;
    RADec rd, sunRD, moonRD;
    double l, b;
    bool lbTarget = false;

    QDateTime dt;

    // Get date and time to calculate position at
    if (m_settings.m_dateTime == "") {
        dt = QDateTime::currentDateTime();
    } else {
        dt = QDateTime::fromString(m_settings.m_dateTime, Qt::ISODateWithMs);
    }

    // Calculate position
    if ((m_settings.m_target == "Sun") || m_settings.m_drawSunOnMap || m_settings.m_drawSunOnSkyTempChart)
    {
        Astronomy::sunPosition(sunAA, sunRD, m_settings.m_latitude, m_settings.m_longitude, dt);
        getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(sunRD.ra, sunRD.dec, "sun"));
    }
    if ((m_settings.m_target == "Moon") || m_settings.m_drawMoonOnMap || m_settings.m_drawMoonOnSkyTempChart)
    {
        Astronomy::moonPosition(moonAA, moonRD, m_settings.m_latitude, m_settings.m_longitude, dt);
        getMessageQueueToGUI()->push(StarTrackerReport::MsgReportRADec::create(moonRD.ra, moonRD.dec, "moon"));
    }

    if (m_settings.m_target.contains("SatelliteTracker"))
    {
        // Get Az/El from Satellite Tracker
        double azimuth, elevation;
        unsigned int satelliteTrackerFeatureSetIndex,satelliteTrackerFeatureIndex;

        if (MainCore::getFeatureIndexFromId(m_settings.m_target, satelliteTrackerFeatureSetIndex, satelliteTrackerFeatureIndex))
        {
            if (ChannelWebAPIUtils::getFeatureReportValue(satelliteTrackerFeatureSetIndex, satelliteTrackerFeatureIndex, "targetAzimuth", azimuth)
                && ChannelWebAPIUtils::getFeatureReportValue(satelliteTrackerFeatureSetIndex, satelliteTrackerFeatureIndex, "targetElevation", elevation))
            {
                m_settings.m_el = elevation;
                m_settings.m_az = azimuth;
            }
            else
                qDebug() << "StarTrackerWorker::update - Failed to target from feature " << m_settings.m_target;
        }
        else
            qDebug() << "StarTrackerWorker::update - Failed to parse feature name " << m_settings.m_target;
    }
    if (m_settings.m_target.contains("SkyMap"))
    {
        // Get RA/Dec from Sky Map
        double ra, dec;
        unsigned int featureSetIndex,featureIndex;

        if (MainCore::getFeatureIndexFromId(m_settings.m_target, featureSetIndex, featureIndex))
        {
            if (ChannelWebAPIUtils::getFeatureReportValue(featureSetIndex, featureIndex, "ra", ra)
                && ChannelWebAPIUtils::getFeatureReportValue(featureSetIndex, featureIndex, "dec", dec))
            {
                m_settings.m_ra = QString::number(ra, 'f', 10);
                m_settings.m_dec = QString::number(dec, 'f', 10);
            }
            else
                qDebug() << "StarTrackerWorker::update - Failed to target from feature " << m_settings.m_target;
        }
        else
            qDebug() << "StarTrackerWorker::update - Failed to parse feature name " << m_settings.m_target;
    }

    if (m_settings.m_target == "Sun")
    {
        rd = sunRD;
        aa = sunAA;
        Astronomy::equatorialToGalactic(rd.ra, rd.dec, l, b);
    }
    else if (m_settings.m_target == "Moon")
    {
        rd = moonRD;
        aa = moonAA;
        Astronomy::equatorialToGalactic(rd.ra, rd.dec, l, b);
    }
    else if ((m_settings.m_target == "Custom Az/El") || m_settings.m_target.contains("SatelliteTracker"))
    {
        // Convert Alt/Az to RA/Dec
        aa.alt = m_settings.m_el;
        aa.az = m_settings.m_az;
        rd = Astronomy::azAltToRaDec(aa, m_settings.m_latitude, m_settings.m_longitude, dt);
        // Precess RA/DEC from Jnow to J2000
        RADec rd2000 = Astronomy::precess(rd, Astronomy::julianDate(dt), Astronomy::jd_j2000());
        // Convert to l/b
        Astronomy::equatorialToGalactic(rd2000.ra, rd2000.dec, l, b);
        if (!m_settings.m_jnow) {
            rd = rd2000;
        }
    }
    else if (   (m_settings.m_target == "Custom l/b")
             || (m_settings.m_target == "S7")
             || (m_settings.m_target == "S8")
             || (m_settings.m_target == "S9")
            )
    {
        // Convert l/b to RA/Dec, then Alt/Az
        l = m_settings.m_l;
        b = m_settings.m_b;
        Astronomy::galacticToEquatorial(l, b, rd.ra, rd.dec);
        aa = Astronomy::raDecToAzAlt(rd, m_settings.m_latitude, m_settings.m_longitude, dt, !m_settings.m_jnow);
        lbTarget = true;
    }
    else
    {
        // Convert RA/Dec to Alt/Az
        rd.ra = Units::raToDecimal(m_settings.m_ra);
        rd.dec = Units::decToDecimal(m_settings.m_dec);
        aa = Astronomy::raDecToAzAlt(rd, m_settings.m_latitude, m_settings.m_longitude, dt, !m_settings.m_jnow);
        Astronomy::equatorialToGalactic(rd.ra, rd.dec, l, b);
    }
    updateRaDec(rd, dt, lbTarget);

    // Adjust for refraction
    if (m_settings.m_refraction == "Positional Astronomy Library")
    {
        aa.alt += Astronomy::refractionPAL(aa.alt, m_settings.m_pressure, m_settings.m_temperature, m_settings.m_humidity,
                                            m_settings.m_frequency, m_settings.m_latitude, m_settings.m_heightAboveSeaLevel,
                                            m_settings.m_temperatureLapseRate);
        if (aa.alt > 90.0) {
            aa.alt = 90.0f;
        }
    }
    else if (m_settings.m_refraction == "Saemundsson")
    {
        aa.alt += Astronomy::refractionSaemundsson(aa.alt, m_settings.m_pressure, m_settings.m_temperature);
        if (aa.alt > 90.0) {
            aa.alt = 90.0f;
        }
    }

    // Add user-adjustment
    aa.alt += m_settings.m_elevationOffset;
    aa.az += m_settings.m_azimuthOffset;

    // Send to GUI
    if (getMessageQueueToGUI())
    {
        // MsgReportRADec sent in updateRaDec()
        if (m_settings.m_target != "Custom Az/El") {
            getMessageQueueToGUI()->push(StarTrackerReport::MsgReportAzAl::create(aa.az, aa.alt));
        }
        if (!lbTarget) {
            getMessageQueueToGUI()->push(StarTrackerReport::MsgReportGalactic::create(l, b));
        }
    }

    // Send Az/El to Rotator Controllers
    // Unless we're receiving settings to display from a Radio Astronomy plugins
    if (!m_settings.m_link)
    {
        QList<ObjectPipe*> rotatorPipes;
        MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "target", rotatorPipes);

        for (const auto& pipe : rotatorPipes)
        {
            MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
            SWGSDRangel::SWGTargetAzimuthElevation *swgTarget = new SWGSDRangel::SWGTargetAzimuthElevation();
            swgTarget->setName(new QString(m_settings.m_target));
            swgTarget->setAzimuth(aa.az);
            swgTarget->setElevation(aa.alt);
            messageQueue->push(MainCore::MsgTargetAzimuthElevation::create(m_starTracker, swgTarget));
        }
    }

    // Send Az/El, RA/Dec and Galactic b/l to Radio Astronomy plugins
    // Unless we're receiving settings to display from a Radio Astronomy plugins
    if (!m_settings.m_link)
    {
        QList<ObjectPipe*> starTrackerPipes;
        MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "startracker.target", starTrackerPipes);

        for (const auto& pipe : starTrackerPipes)
        {
            MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
            SWGSDRangel::SWGStarTrackerTarget *swgTarget = new SWGSDRangel::SWGStarTrackerTarget();
            swgTarget->setName(new QString(m_settings.m_target));
            swgTarget->setAzimuth(aa.az);
            swgTarget->setElevation(aa.alt);
            swgTarget->setRa(rd.ra);
            swgTarget->setDec(rd.dec);
            swgTarget->setB(b);
            swgTarget->setL(l);
            swgTarget->setSolarFlux(m_solarFlux);
            swgTarget->setAirTemperature(m_settings.m_temperature);
            double temp;
            m_starTracker->calcSkyTemperature(m_settings.m_frequency, m_settings.m_beamwidth, rd.ra, rd.dec, temp);
            swgTarget->setSkyTemperature(temp);
            swgTarget->setHpbw(m_settings.m_beamwidth);
            // Calculate velocities
            double vRot = Astronomy::earthRotationVelocity(rd, m_settings.m_latitude, m_settings.m_longitude, dt);
            swgTarget->setEarthRotationVelocity(vRot);
            double vOrbit = Astronomy::earthOrbitVelocityBCRS(rd,dt);
            swgTarget->setEarthOrbitVelocityBcrs(vOrbit);
            double vLSRK = Astronomy::sunVelocityLSRK(rd);
            swgTarget->setSunVelocityLsr(vLSRK);
            messageQueue->push(MainCore::MsgStarTrackerTarget::create(m_starTracker, swgTarget));
        }
    }

    // Send RA/Dec, position, beamwidth and date to Sky Map
    QList<ObjectPipe*> skyMapPipes;
    MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "skymap.target", skyMapPipes);
    for (const auto& pipe : skyMapPipes)
    {
        MessageQueue *messageQueue = qobject_cast<MessageQueue*>(pipe->m_element);
        SWGSDRangel::SWGSkyMapTarget *swgTarget = new SWGSDRangel::SWGSkyMapTarget();
        if (m_settings.m_jnow)
        {
            double jd = Astronomy::julianDate(dt);
            RADec rdJ2000 = Astronomy::precess(rd, jd, Astronomy::jd_j2000());
            swgTarget->setRa(rdJ2000.ra);
            swgTarget->setDec(rdJ2000.dec);
        }
        else
        {
            swgTarget->setRa(rd.ra);
            swgTarget->setDec(rd.dec);
        }
        swgTarget->setLatitude(m_settings.m_latitude);
        swgTarget->setLongitude(m_settings.m_longitude);
        swgTarget->setAltitude(m_settings.m_heightAboveSeaLevel);
        swgTarget->setDateTime(new QString(dt.toString(Qt::ISODateWithMs)));
        swgTarget->setHpbw(m_settings.m_beamwidth);
        messageQueue->push(MainCore::MsgSkyMapTarget::create(m_starTracker, swgTarget));
    }

    // Send to Map
    if (m_settings.m_drawSunOnMap || m_settings.m_drawMoonOnMap || m_settings.m_drawStarOnMap)
    {
        QList<ObjectPipe*> mapMessagePipes;
        MainCore::instance()->getMessagePipes().getMessagePipes(m_starTracker, "mapitems", mapMessagePipes);

        if (mapMessagePipes.size() > 0)
        {
            // Different between GMST(Lst at Greenwich) and RA
            double lst = Astronomy::localSiderealTime(dt, 0.0);
            double sunLongitude;
            double sunLatitude;

            if (m_settings.m_drawSunOnMap || m_settings.m_drawMoonOnMap)
            {
                sunLongitude = Astronomy::lstAndRAToLongitude(lst, sunRD.ra);
                sunLatitude = sunRD.dec;
                sendToMap(mapMessagePipes, "Sun", "qrc:///startracker/startracker/sun-40.png", "Sun", sunLatitude, sunLongitude);
            }
            if (m_settings.m_drawMoonOnMap)
            {
                double moonLongitude = Astronomy::lstAndRAToLongitude(lst, moonRD.ra);
                double moonLatitude = moonRD.dec;
                double moonRotation;
                QString phase = moonPhase(sunLongitude, moonLongitude, m_settings.m_latitude, moonRotation);
                sendToMap(mapMessagePipes, "Moon", QString("qrc:///startracker/startracker/moon-%1-32").arg(phase), "Moon",
                                moonLatitude, moonLongitude, moonRotation);
            }
            if ((m_settings.m_drawStarOnMap) && (m_settings.m_target != "Sun") && (m_settings.m_target != "Moon"))
            {
                double starLongitude = Astronomy::lstAndRAToLongitude(lst, rd.ra);
                double starLatitude = rd.dec;
                QString text = m_settings.m_target.startsWith("Custom") ? "Star" : m_settings.m_target;
                sendToMap(mapMessagePipes, "Star", "qrc:///startracker/startracker/pulsar-32.png", text, starLatitude, starLongitude);
            }
        }
    }

}