def startup(self, median_path, config_path, db_path, sample_dir=None):
if (DEBUG_ENABLED):
global STACK_LAYERS
print(f"{STACK_LAYERS * ' '}Inside StarTracker.startup")
STACK_LAYERS = STACK_LAYERS + 1
# Set the sample directory
logger.info("Beginning startup sequence...")
self.SAMPLE_DIR = sample_dir
# Prepare star tracker
self.MEDIAN_IMAGE = cv2.imread(median_path)
logger.info("Loaded median image from {}".format(median_path))
beast.load_config(config_path)
logger.info("Loaded configuration from {}".format(config_path))
self.S_DB = beast.star_db()
self.S_DB.load_catalog(db_path, self.YEAR)
logger.info("Loaded star database from {}".format(db_path))
self.SQ_RESULTS = beast.star_query(self.S_DB)
self.SQ_RESULTS.kdmask_filter_catalog()
self.SQ_RESULTS.kdmask_uniform_density(beast.cvar.REQUIRED_STARS)
self.S_FILTERED = self.SQ_RESULTS.from_kdmask()
logger.info("Filtered stars")
self.C_DB = beast.constellation_db(self.S_FILTERED,
2 + beast.cvar.DB_REDUNDANCY, 0)
logger.info("Startup sequence complete!")
if (DEBUG_ENABLED):
STACK_LAYERS = STACK_LAYERS - 1
print(f"{STACK_LAYERS * ' '}End StarTracker.startup")
def main():
"""Main Function."""
args = parse_args()
P_MATCH_THRESH = 0.99
SIMULATE = 0
if 'WATCHDOG_USEC' not in os.environ:
os.environ['WATCHDOG_USEC'] = "30000000"
CONFIGFILE = args.config
YEAR = args.year
MEDIAN_FILE = args.median
# set up server before we do anything else
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
try:
server.bind(('127.0.0.1', 8010))
except:
print("server socket already open: try terminal command: sudo kill $(sudo lsof -t -i:8010)")
exit()
server.listen(5)
server.setblocking(0)
print("Loading config")
print(CONFIGFILE)
beast.load_config(CONFIGFILE)
print("Loading hip_main.dat")
S_DB = beast.star_db()
S_DB.load_catalog("hip_main.dat", YEAR)
print("Filtering stars")
SQ_RESULTS = beast.star_query(S_DB)
SQ_RESULTS.kdmask_filter_catalog()
SQ_RESULTS.kdmask_uniform_density(beast.cvar.REQUIRED_STARS)
S_FILTERED = SQ_RESULTS.from_kdmask()
print("Generating DB")
C_DB = beast.constellation_db(S_FILTERED, 2 + beast.cvar.DB_REDUNDANCY, 0)
print("Ready")
# Note: SWIG's policy is to garbage collect objects created with
# constructors, but not objects created by returning from a function
NONSTARS = {}
NONSTAR_NEXT_ID = 0
NONSTAR_DATAFILENAME = "/dev/null"
NONSTAR_DATAFILE = open(NONSTAR_DATAFILENAME,"w")
rgb = StarCamera(MEDIAN_FILE)
# commented below out because there is not yet data for
# IR (but once there is, we can uncomment it and add another
# argument for the script)
#ir = ScienceCamera(sys.argv[3])
CONNECTIONS = {}
epoll = select.epoll()
epoll.register(server.fileno(), select.EPOLLIN)
try:
Connection(sys.stdin, epoll)
except IOError:
pass
# unsure what the loop here is doing exactly, will look into
# daemon, socket, etc. packages
daemon.notify("WATCHDOG=1")
last_ping = time.time()
while True:
#systemd watchdog
events = epoll.poll(float(os.environ['WATCHDOG_USEC']) / 2.0e6 - (time.time() - last_ping))
if len(events) == 0 or time.time() >= (last_ping + float(os.environ['WATCHDOG_USEC']) / 2.0e6):
daemon.notify("WATCHDOG=1")
last_ping = time.time()
#events = epoll.poll()
for fd, event_type in events:
# Activity on the master socket means a new connection.
if fd == server.fileno():
conn, addr = server.accept()
Connection(conn, epoll)
elif fd in CONNECTIONS:
w = CONNECTIONS[fd]
data = w.read()
print(data.decode(encoding='UTF-8'), file=sys.stderr)
if len(data) > 0:
if sys.version_info[0] > 2:
stdout_redir = StringIO()
else:
stdout_redir = BytesIO()
stdout_old = sys.stdout
sys.stdout = stdout_redir
try:
exec(data)
except SystemExit:
w.close()
raise
except:
traceback.print_exc(file=sys.stdout)
sys.stdout = stdout_old
data_out = stdout_redir.getvalue()
print(data_out, file=sys.stderr)
w.write(data_out)
else:
w.close()
configFileName = args.configFile
year = args.year
medianImage = args.medianImage
solveImage = args.solveImage
print("Loading config file {}".format(configFileName))
beast.load_config(configFileName)
print("Loading him_main.dat for year {}".format(year))
S_DB = beast.star_db()
S_DB.load_catalog("hip_main.dat", year)
print("S_DB type: ", type(S_DB))
print("Filtering stars")
SQ_RESULTS = beast.star_query(S_DB)
SQ_RESULTS.kdmask_filter_catalog()
SQ_RESULTS.kdmask_uniform_density(beast.cvar.REQUIRED_STARS)
S_FILTERED = SQ_RESULTS.from_kdmask()
print("SQ_RESULTS type: ", type(SQ_RESULTS))
print("S_FILTERED: ", type(S_FILTERED))
print("Generating DB")
C_DB = beast.constellation_db(S_FILTERED, 2 + beast.cvar.DB_REDUNDANCY, 0)
print("C_DB type: ", type(C_DB))
print("Ready")
rgb = star_camera(medianImage)