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Query ACAM directly for guide state in "put on slit" routing #450

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Query ACAM directly for guide state in "put on slit" routing #450

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16 changes: 15 additions & 1 deletion slicecamd/slicecam_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2507,7 +2507,21 @@ namespace Slicecam {
// If ACAM is guiding then slicecam must not move the telescope,
// but must allow ACAM to perform the offset.
//
bool is_guiding = this->is_acam_guiding.load();
// Ask acamd directly for its guide state instead of trusting the cached
// pub/sub flag (is_acam_guiding). ACAM publishes its status only on change
// and skips frames between solves, so the cache can read "guiding" while
// stale or lag a state change. Routing on a wrong "not guiding" would send
// a PT offset and move the telescope while ACAM is actively guiding; a
// wrong "guiding" would send a no-op offsetgoal and never move. A direct
// query is authoritative and current. ACAMD_ACQUIRE with no args returns
// the mode string { stopped | acquiring | guiding }.
//
std::string acam_mode;
if ( this->acamd.command( ACAMD_ACQUIRE, acam_mode ) != NO_ERROR ) {
logwrite( function, "ERROR querying ACAM guide state" );
return ERROR;
}
bool is_guiding = ( acam_mode.find("guiding") != std::string::npos );

// send the offsets now
//
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