def worldAt(self, *pixel):
if not self._findWCS():
return Position.fromRaDec(0, 0)
world = self._valueAt(self._wcs.wcs_pix2world, *pixel)
return Position.fromRaDec(Coord.fromD(world[0]), Coord.fromD(world[1]))
def getOffset(self, position):
ret = {"X": 0.0, "Y": 0.0, "N": 0.0, "E": 0.0, "Status": self.state()}
try:
frame = self._takeImage()
fname = "/tmp/autoguider.fits"
if os.path.exists(fname):
os.remove(fname)
frame.save(fname)
img = fits.getdata(fname)
# Extract some backgroud
img -= np.mean(img) * 0.9
img[img < 0] = 0.0
pY, pX = centroid(img)
ret["X"] = pX - position["XWIN_IMAGE"]
ret["Y"] = pY - position["YWIN_IMAGE"]
centerPos = frame.worldAt([position["XWIN_IMAGE"], position["YWIN_IMAGE"]])
currPos = frame.worldAt([pX, pY])
# offset = centerPos.angsep(currPos)
ret["E"] = Coord.fromAS((centerPos.ra.AS - currPos.ra.AS) * np.cos(currPos.dec.R))
ret["N"] = Coord.fromAS(centerPos.dec.AS - currPos.dec.AS)
except:
if self.abort.isSet():
ret["Status"] = GuiderStatus.ABORTED
return ret
else:
raise
self.plot(frame, position, ret)
return ret
def syncWithTel(self):
self.syncBegin()
self.log.debug('[sync] Check if dome is in sync with telescope')
if self.getMode() == Mode.Track:
self.log.warning('Dome is in track mode... Slew is completely controled by AsTelOS...'
'Waiting for dome to reach expected position')
start_time = time.time()
tpl = self.getTPL()
ref_altitude = Coord.fromD(0.)
target_az = Coord.fromD(tpl.getobject('POSITION.INSTRUMENTAL.DOME[0].TARGETPOS'))
target_position = Position.fromAltAz(ref_altitude,
target_az)
while True:
current_az = self.getAz()
current_position = Position.fromAltAz(ref_altitude,
current_az)
self.log.debug('Current az: %s | Target az: %s' % (current_az.toDMS(), target_az.toDMS()))
if time.time() > (start_time + self._maxSlewTime):
if abs(target_position.angsep(current_position).D) < tpl.getobject(
'POINTING.SETUP.DOME.MAX_DEVIATION') * 4.0:
self.log.warning("[sync] Dome too far from target position!")
break
else:
self.syncComplete()
raise AstelcoDomeException("Dome synchronization timed-out")
elif abs(target_position.angsep(current_position).D) < tpl.getobject(
'POINTING.SETUP.DOME.MAX_DEVIATION') * 2.0:
break
self.syncComplete()
self.log.debug('[sync] Dome in sync')
def find (self, near=None, limit=9999, **conditions):
self.useCat("II/183A/")
if conditions.get("closest", False):
limit = 1
self.useColumns("*POS_EQ_RA_MAIN,*POS_EQ_DEC_MAIN,*ID_MAIN,Vmag,_r", sortBy="_r")
else:
self.useColumns("*POS_EQ_RA_MAIN,*POS_EQ_DEC_MAIN,*ID_MAIN,Vmag,_r", sortBy="*POS_EQ_RA_MAIN")
if near:
self.useTarget(near, radius=conditions.get("radius", 45))
x = super(Landolt,self).find(limit)
for i in x:
RA = i.pop("*POS_EQ_RA_MAIN")
i["RA"] = Coord.fromHMS(str(RA))
DEC = i.pop("*POS_EQ_DEC_MAIN")
i["DEC"] = Coord.fromDMS(str(DEC))
ID = i.pop("*ID_MAIN")
i["ID"] = str(ID)
V = i.pop("Vmag")
i["V"] = str(V)
i.pop("_r")
return x
def __init__(self):
TelescopeBase.__init__(self)
self.__slewing = False
self._az = Coord.fromDMS(0)
self._alt = Coord.fromDMS(70)
self._slewing = False
self._tracking = True
self._parked = False
self._abort = threading.Event()
self._epoch = Epoch.J2000
self._cover = False
self._pierside = TelescopePierSide.UNKNOWN
try:
self._site = self.getManager().getProxy("/Site/0")
self._gotSite = True
except:
self._site = Site()
self._gotSite = False
self._setRaDecFromAltAz()
def _valueAt(self, fn, *coords):
"""
Accepts a function callback and variable coords.
If len(coords) == 1 convert (from tuple or Position) to decimal degress.
If len(coords) == 2, convert (from number or Coord) to decimal degress
"""
assert len(coords) >= 1
assert self._wcs is not None
if len(coords) == 2:
c1 = Coord.fromH(coords[0]).D
c2 = Coord.fromD(coords[1]).D
else:
if isinstance(coords[0], Position):
c1, c2 = coords[0].dd()
else: # assumes as tuple
c1, c2 = coords[0]
value = fn(N.array([[c1, c2]]), 1)
if len(value) >= 1:
return tuple(value[0])
else:
raise WCSNotFoundException("Couldn't convert coordinates.")
def _moveScope(self, tracking=False, pierSide=None):
"""
Moves the scope, usually to zenith
"""
tel = self._getTel()
site = self._getSite()
self.log.debug('Moving scope to alt %s az %s.' % (self["flat_alt"], self["flat_az"]))
if tel.getPositionAltAz().angsep(
Position.fromAltAz(Coord.fromD(self["flat_alt"]), Coord.fromD(self["flat_az"]))).D < self[
"flat_position_max"]:
self.log.debug(
'Telescope is less than {} degrees from flat position. Not moving!'.format(self["flat_position_max"]))
if tracking and not tel.isTracking():
tel.startTracking()
elif not tracking and tel.isTracking():
tel.stopTracking()
if pierSide is not None and tel.features(TelescopePier):
self.log.debug("Setting telescope pier side to %s." % tel.getPierSide().__str__().lower())
tel.setSideOfPier(self['pier_side'])
return
try:
self.log.debug("Skyflat Slewing scope to alt {} az {}".format(self["flat_alt"], self["flat_az"]))
tel.slewToRaDec(Position.altAzToRaDec(Position.fromAltAz(Coord.fromD(self["flat_alt"]),
Coord.fromD(self["flat_az"])),
site['latitude'], site.LST()))
if tracking:
self._startTracking()
else:
self._stopTracking()
except:
self.log.debug("Error moving the telescope")
def test_distances(self):
p1 = Position.fromRaDec("10:00:00", "0:0:0")
p2 = Position.fromRaDec("12:00:00", "0:0:0")
d = p1.angsep(p2)
assert p1.within(p2, Coord.fromD(29.99)) == False
assert p1.within(p2, Coord.fromD(30.01)) == True
def raDecToAltAz(raDec, latitude, lst):
decR = CoordUtil.coordToR(raDec.dec)
latR = CoordUtil.coordToR(latitude)
ha = CoordUtil.raToHa(raDec.ra, lst)
haR = CoordUtil.coordToR(ha)
altR,azR = CoordUtil.coordRotate(decR, latR, haR)
return Position.fromAltAz(Coord.fromR(CoordUtil.makeValid180to180(altR)), Coord.fromR(CoordUtil.makeValid0to360(azR)))
def __init__(self, buffer):
# discard time
buffer.recv(8)
self.ra = struct.unpack("<1I", buffer.recv(4))[0]
self.ra *= (math.pi / 0x80000000)
self.ra = Coord.fromR(self.ra).toHMS()
self.dec = struct.unpack("<1i", buffer.recv(4))[0]
self.dec *= (math.pi / 0x80000000)
self.dec = Coord.fromR(self.dec).toDMS()
self.position = Position.fromRaDec(self.ra, self.dec)
def precess(self, epoch=Epoch.NOW):
if str(epoch).lower() == str(Epoch.J2000).lower():
epoch = ephem.J2000
elif str(epoch).lower() == str(Epoch.B1950).lower():
epoch = ephem.B1950
elif str(epoch).lower() == str(Epoch.NOW).lower():
epoch = ephem.now()
j2000 = self.toEphem()
now = ephem.Equatorial(j2000, epoch=epoch)
return Position.fromRaDec(Coord.fromR(now.ra), Coord.fromR(now.dec), epoch=Epoch.NOW)
def moveNorth(self, offset, rate=SlewRate.MAX):
self._slewing = True
pos = self.getPositionRaDec()
pos = Position.fromRaDec(pos.ra, pos.dec + Coord.fromAS(offset))
self.slewBegin(pos)
self._dec += Coord.fromAS(offset)
self._setAltAzFromRaDec()
self._slewing = False
self.slewComplete(self.getPositionRaDec(), TelescopeStatus.OK)
def moveSouth(self, offset, rate=SlewRate.MAX):
self._slewing = True
pos = self.getPositionRaDec()
pos = Position.fromRaDec(pos.ra, pos.dec + Coord.fromAS(-offset))
self.slewBegin(pos)
self._dec += Coord.fromAS(-offset)
self._setAltAzFromRaDec()
self._slewing = False
self.slewComplete(self.getPositionRaDec(), TelescopeStatus.OK)
def test_parsing_conversion_hipparcos(self):
"""Parsing and comparing a subset of the Hipparcos and Tycho Catalog"""
hipp = ascii.read(os.path.abspath(
os.path.join(os.path.dirname(__file__), 'hipparcos-tycho.dat')),
format="tab")
expected_ra = []
expected_ra_str = []
expected_dec = []
expected_dec_str = []
ra = []
ra_hms = []
dec = []
dec_dms = []
for row in hipp:
expected_ra_str.append(row[0].strip())
expected_dec_str.append(row[1].strip())
expected_ra.append(float(row[2]))
expected_dec.append(float(row[3]))
ra.append(Coord.fromD(str(row[2])))
dec.append(Coord.fromD(str(row[3])))
ra_hms.append(Coord.fromHMS(str(row[0])))
dec_dms.append(Coord.fromDMS(str(row[1])))
for i in range(len(hipp)):
assert expected_ra_str[i] == ra_hms[i].strfcoord("%(h)02d %(m)02d %(s)05.2f"), \
"ra: %s != coord ra: %s" % (expected_ra_str[i], ra_hms[i].strfcoord("%(h)02d %(m)02d %(s)05.2f"))
assert expected_dec_str[i] == dec_dms[i].strfcoord("%(d)02d %(m)02d %(s)04.1f"), \
"dec: %s != coord dec: %s" % (expected_dec_str[i], dec_dms[i].strfcoord("%(d)02d %(m)02d %(s)04.1f"))
# test conversion from D to D
assert TestCoord.equal(ra[i].D, expected_ra[i], e=1e-8), \
"ra: %.6f != coord ra: %.6f (%.6f)" % (expected_ra[i], ra[i].D, expected_ra[i]-ra[i].D)
assert TestCoord.equal(dec[i].D, expected_dec[i], e=1e-8), \
"dec: %.6f != coord dec: %.64f (%.6f)" % (expected_dec[i], dec[i].D, expected_dec[i]-dec[i].D)
# test conversion from DMS HMS to D
assert TestCoord.equal(ra_hms[i].D, expected_ra[i], e=1e-4), \
"ra: %.6f != coord ra: %.6f (%.6f)" % (expected_ra[i], ra_hms[i].D, expected_ra[i]-ra_hms[i].D)
assert TestCoord.equal(dec_dms[i].D, expected_dec[i], e=1e-4), \
"dec: %.6f != coord dec: %.64f (%.6f)" % (expected_dec[i], dec_dms[i].D, expected_dec[i]-dec_dms[i].D)
def chimera_handler(self, payload, root):
t0 = time.time()
# Check if it is a real GRB
ra, dec = float(
root.find(
"./WhereWhen/ObsDataLocation/ObservationLocation/AstroCoords/Position2D/Value2/C1"
).text
), float(
root.find(
"./WhereWhen/ObsDataLocation/ObservationLocation/AstroCoords/Position2D/Value2/C2"
).text)
packet_type = int(
root.find("./What/Param[@name='Packet_Type']").attrib['value'])
site = self.getSite()
ephem_site = site.getEphemSite(site.ut())
grb = ephem.FixedBody()
grb._ra, grb._dec = ra, dec
grb.compute(ephem_site)
# Conditions to pull the observation trigger
# TODO: implement min_moon_distance -> Position(coord.fromD(grb.alt), coord.fromD(grb.az)) - site.moonpos()
# In[8]: a = Position.fromAltAz(Coord.fromD(10), Coord.fromD(10))
#
# In[9]: b = Position.fromAltAz(Coord.fromD(10), Coord.fromD(20))
#
# In[11]: a.angsep(b).D
# Out[11]: 10.0
moondist = Position.fromAltAz(Coord.fromD(float(grb.alt)),
Coord.fromD(float(grb.az))).angsep(
site.moonpos())
if moondist > self['obs-min_moondist']:
self.log.debug("Moon is OK! Moon distance = %.2f deg" % moondist)
else:
self.log.debug("Moon is NOT OK! Moon distance = %.2f deg" %
moondist)
# TODO: check if Test_Notice != True (for INTEGRAL)
if grb.alt >= self['obs-min_alt'] and packet_type in range(
1000): # self['obs-packets']:
gal_coord = ephem.Galactic(grb)
ebv = get_SFD_dust([gal_coord.long], [gal_coord.lat],
dustmap=self.dust_file,
interpolate=False)
if ebv < self['obs-ebv_max']:
self.log.debug('Total analysis time: %6.3f secs' %
(time.time() - t0))
self.trigger_observation(ra, dec)
else:
self.log.debug(
"Reject alert type %i. ALT = %.2f, RA = %.2f DEC = %.2f. Config: %d, %s"
% (packet_type, grb.alt, ra, dec, self['obs-min_alt'],
str(self['obs-packets'])))
def test_coord(self):
c = Config({"DMS": Coord.fromDMS(10), "HMS": Coord.fromHMS(10)})
assert c["DMS"].state == State.DMS
assert c["HMS"].state == State.HMS
c["DMS"] = 20
assert c["DMS"] == Coord.fromDMS(20)
c["HMS"] = 20
assert c["HMS"] == Coord.fromHMS(20)
assert c["HMS"] == Coord.fromDMS(20 * 15)
def test_parsing_conversion_hipparcos (self):
"""Parsing and comparing a subset of the Hipparcos and Tycho Catalog"""
hipp = ascii.read(os.path.abspath(os.path.join(os.path.dirname(__file__), 'hipparcos-tycho.dat')), format="tab")
expected_ra = []
expected_ra_str = []
expected_dec = []
expected_dec_str = []
ra = []
ra_hms = []
dec = []
dec_dms = []
for row in hipp:
expected_ra_str.append(row[0].strip())
expected_dec_str.append(row[1].strip())
expected_ra.append(float(row[2]))
expected_dec.append(float(row[3]))
ra.append(Coord.fromD(str(row[2])))
dec.append(Coord.fromD(str(row[3])))
ra_hms.append(Coord.fromHMS(str(row[0])))
dec_dms.append(Coord.fromDMS(str(row[1])))
for i in range(len(hipp)):
assert expected_ra_str[i] == ra_hms[i].strfcoord("%(h)02d %(m)02d %(s)05.2f"), \
"ra: %s != coord ra: %s" % (expected_ra_str[i], ra_hms[i].strfcoord("%(h)02d %(m)02d %(s)05.2f"))
assert expected_dec_str[i] == dec_dms[i].strfcoord("%(d)02d %(m)02d %(s)04.1f"), \
"dec: %s != coord dec: %s" % (expected_dec_str[i], dec_dms[i].strfcoord("%(d)02d %(m)02d %(s)04.1f"))
# test conversion from D to D
assert TestCoord.equal(ra[i].D, expected_ra[i], e=1e-8), \
"ra: %.6f != coord ra: %.6f (%.6f)" % (expected_ra[i], ra[i].D, expected_ra[i]-ra[i].D)
assert TestCoord.equal(dec[i].D, expected_dec[i], e=1e-8), \
"dec: %.6f != coord dec: %.64f (%.6f)" % (expected_dec[i], dec[i].D, expected_dec[i]-dec[i].D)
# test conversion from DMS HMS to D
assert TestCoord.equal(ra_hms[i].D, expected_ra[i], e=1e-4), \
"ra: %.6f != coord ra: %.6f (%.6f)" % (expected_ra[i], ra_hms[i].D, expected_ra[i]-ra_hms[i].D)
assert TestCoord.equal(dec_dms[i].D, expected_dec[i], e=1e-4), \
"dec: %.6f != coord dec: %.64f (%.6f)" % (expected_dec[i], dec_dms[i].D, expected_dec[i]-dec_dms[i].D)
def test_parsing_conversion_bsc(self):
"""Parsing and comparing to Vizier calculated values the entire 5th Bright Star Catalogue"""
bsc = asciidata.open(os.path.abspath(
os.path.join(os.path.dirname(__file__), 'bsc.dat')),
comment_char='#',
delimiter='\t')
expected_ra = []
expected_ra_str = []
expected_dec = []
expected_dec_str = []
ra = []
dec = []
for i in range(bsc.nrows):
expected_ra.append(bsc[0][i])
expected_dec.append(bsc[1][i])
expected_ra_str.append(bsc[2][i].strip())
expected_dec_str.append(bsc[3][i].strip())
ra.append(Coord.fromHMS(bsc[2][i]))
dec.append(Coord.fromDMS(bsc[3][i]))
for i in range(bsc.nrows):
# use e=0.0001 'cause its the maximum we can get with Vizier data (4 decimal places only)
# test conversion from HMS DMS to decimal
assert TestCoord.equal(
ra[i].D, expected_ra[i],
e=1e-4), "ra: %.6f != coord ra: %.6f (%.6f)" % (
expected_ra[i], ra[i].D, expected_ra[i] - ra[i].D)
assert TestCoord.equal(
dec[i].D, expected_dec[i],
e=1e-4), "dec: %.6f != coord dec: %.64f (%.6f)" % (
expected_dec[i], dec[i].D, expected_dec[i] - dec[i].D)
# test strfcoord implementation
assert expected_ra_str[i] == ra[i].strfcoord(
"%(h)02d %(m)02d %(s)04.1f"), "ra: %s != coord ra: %s" % (
expected_ra_str[i],
ra[i].strfcoord("%(h)02d %(m)02d %(s)04.1f"))
assert expected_dec_str[i] == dec[i].strfcoord(
"%(d)02d %(m)02d %(s)02.0f"), "dec: %s != coord dec: %s" % (
expected_dec_str[i],
dec[i].strfcoord("%(d)02d %(m)02d %(s)02.0f"))
def getAz(self):
self._write(":GZ#")
ret = self._readline()
ret = ret.replace('\xdf', ':')
c = Coord.fromDMS(ret[:-1])
if self['azimuth180Correct']:
if c.toD() >= 180:
c = c - Coord.fromD(180)
else:
c = c + Coord.fromD(180)
return c
def test_coord (self):
c = Config({"DMS": Coord.fromDMS(10),
"HMS": Coord.fromHMS(10)})
assert c["DMS"].state == State.DMS
assert c["HMS"].state == State.HMS
c["DMS"] = 20
assert c["DMS"] == Coord.fromDMS(20)
c["HMS"] = 20
assert c["HMS"] == Coord.fromHMS(20)
assert c["HMS"] == Coord.fromDMS(20*15)
def getAz(self):
self._write(":GZ#")
ret = self._readline()
ret = ret.replace('\xdf', ':')
c = Coord.fromDMS(ret[:-1])
if self['azimuth180Correct']:
if c.toD() >= 180:
c = c - Coord.fromD(180)
else:
c = c + Coord.fromD(180)
return c
def fromRaDec(ra, dec, epoch=Epoch.J2000):
try:
if type(ra) is str:
ra = Coord.fromHMS(ra)
elif isinstance(ra, Coord):
ra = ra.toHMS()
else:
try:
ra = Coord.fromH(float(ra))
ra = ra.toHMS()
except ValueError:
raise ValueError(
"Invalid RA coordinate type %s. Expected numbers, strings or Coords."
% str(type(ra)))
Position._checkRange(float(ra), 0, 360)
except ValueError as e:
raise ValueError("Invalid RA coordinate %s" % str(ra))
except PositionOutsideLimitsError:
raise ValueError(
"Invalid RA range %s. Must be between 0-24 hours or 0-360 deg."
% str(ra))
try:
if type(dec) is str:
dec = Coord.fromDMS(dec)
elif isinstance(dec, Coord):
dec = dec.toDMS()
else:
try:
dec = Coord.fromD(float(dec))
dec = dec.toDMS()
except ValueError:
raise ValueError(
"Invalid DEC coordinate type %s. Expected numbers, strings or Coords."
% str(type(dec)))
Position._checkRange(float(dec), -90, 360)
except ValueError as e:
raise ValueError("Invalid DEC coordinate %s" % str(dec))
except PositionOutsideLimitsError:
raise ValueError(
"Invalid DEC range %s. Must be between 0-360 deg or -90 - +90 deg."
% str(dec))
return Position((ra, dec), system=System.CELESTIAL, epoch=epoch)
def getAz(self): # converted to Astelco
ret = self._tpl.getobject('POSITION.HORIZONTAL.AZ')
if ret:
self._az = Coord.fromD(ret)
self.log.debug('Az: %9.5f'%float(ret))
c = self._az #Coord.fromD(ret)
if self['azimuth180Correct']:
if c.toD() >= 180:
c = c - Coord.fromD(180)
else:
c = c + Coord.fromD(180)
return c
def test_park(self):
# FIXME: make a real test.
raise SkipTest()
def printPosition():
print self.tel.getPositionRaDec(), self.tel.getPositionAltAz()
sys.stdout.flush()
print
ra = self.tel.getRa()
dec = self.tel.getDec()
print "current position:", self.tel.getPositionRaDec()
print "moving to:", (ra - "01 00 00"), (dec - "01 00 00")
self.tel.slewToRaDec(
Position.fromRaDec(ra - Coord.fromH(1), dec - Coord.fromD(1)))
for i in range(10):
printPosition()
time.sleep(0.5)
print "parking..."
sys.stdout.flush()
self.tel.park()
t0 = time.time()
wait = 30
for i in range(10):
printPosition()
time.sleep(0.5)
while time.time() < t0 + wait:
print "\rwaiting ... ",
sys.stdout.flush()
time.sleep(1)
print "unparking..."
sys.stdout.flush()
self.tel.unpark()
for i in range(10):
printPosition()
time.sleep(0.5)
def getTargetDec(self):
self._write(":Gd#")
ret = self._readline()
ret = ret.replace('\xdf', ':')
return Coord.fromDMS(ret[:-1])
class Dome(Interface):
"""
A Roll-off or classic dome.
"""
__config__ = {
"device": None,
"telescope": "/Telescope/0",
"mode": Mode.Stand,
"model": "Fake Domes Inc.",
"style": Style.Classic,
'park_position': Coord.fromD(155),
'park_on_shutdown': False,
'close_on_shutdown': False,
"az_resolution": 2, # dome position resolution in degrees
"slew_timeout": 120,
"abort_timeout": 60,
"init_timeout": 5,
"open_timeout": 20,
"close_timeout": 20,
"fans":
[], # list of fans of the dome, i.e.: fans: ['/FakeFan/fake1', '/FakeFan/fake2']
"lamps":
[], # list of lamps of the dome, i.e.: lamps: ['/FakeLamp/fake1']
}
def test_parse_dms (self):
coords = []
t_parse = 0
t_check = 0
for dd in range(-23, 24):
for mm in range(0, 60):
for ss in range(0, 60):
s = '%+03d:%02d:%06.3f' % (dd,mm,ss)
t = time.clock()
c = Coord.fromDMS(s)
t_parse += time.clock()-t
coords.append((s,c))
for coord in coords:
t = time.clock()
assert coord[0] == str(coord[1]), (coord[0], "!=", str(coord[1]))
t_check += time.clock()-t
print "#%d coords parsed in %.3fs (%.3f/s) and checked in %.3fs (%.3f/s) ..." % (len(coords), t_parse, len(coords)/t_parse,
t_check, len(coords)/t_check)
def _waitSlew (self, start_time, target, local=False):
self.slewBegin(target)
while True:
# check slew abort event
if self._abort.isSet ():
self._slewing = False
return TelescopeStatus.ABORTED
# check timeout
if time.time () >= (start_time + self["max_slew_time"]):
self.abortSlew ()
self._slewing = False
raise MeadeException("Slew aborted. Max slew time reached.")
if local:
position = self.getPositionAltAz()
else:
position = self.getPositionRaDec()
if target.within (position, eps=Coord.fromAS(60)):
time.sleep (self["stabilization_time"])
self._slewing = False
return TelescopeStatus.OK
time.sleep (self["slew_idle_time"])
return TelescoopeStatus.ERROR
def GST(self):
"""
Mean Greenwhich Sidereal Time
"""
lst = self.LST()
gst = (lst - self["longitude"].toH()) % Coord.fromH(24)
return gst
def getAlt(self): # converted to Astelco
ret = self._tpl.getobject('POSITION.HORIZONTAL.ALT')
if ret:
self._alt = Coord.fromD(ret)
self.log.debug('Alt: %9.5f'%float(ret))
return self._alt
def getTargetDec(self):
self._write(":Gd#")
ret = self._readline()
ret = ret.replace('\xdf', ':')
return Coord.fromDMS(ret[:-1])
def getAz(self):
self._checkQuirk()
self.tty.setTimeout(10)
cmd = "POSICAO?"
self._write(cmd)
ack = self._readline()
# check timeout
if not ack:
raise IOError("Couldn't get azimuth after %d seconds." % 10)
# uC is going crazy
if ack == "INVALIDO":
raise IOError("Error getting dome azimuth (ack=INVALIDO).")
# get ack return
if ack.startswith("CUPULA="):
ack = ack[ack.find("=") + 1:]
if ack == "ERRO":
# FIXME: restart and try again
raise ChimeraException(
"Dome is in invalid state. Hard restart needed.")
# correct dome/telescope phase difference
az = int(math.ceil(int(ack) * self["az_resolution"]))
az -= self._az_shift
az = az % 360
return Coord.fromDMS(az)
def GST(self):
"""
Mean Greenwhich Sidereal Time
"""
lst = self.LST()
gst = (lst - self["longitude"].toH()) % Coord.fromH(24)
return gst
def getRa(self): # converted to Astelco
ret = self._tpl.getobject('POSITION.EQUATORIAL.RA_J2000')
if ret:
self._ra = Coord.fromH(ret)
self.log.debug('Ra: %9.5f'%float(ret))
return self._ra
def _waitSlew(self, start_time, target, local=False):
self.slewBegin(target)
while True:
# check slew abort event
if self._abort.isSet():
self._slewing = False
return TelescopeStatus.ABORTED
# check timeout
if time.time() >= (start_time + self["max_slew_time"]):
self.abortSlew()
self._slewing = False
raise MeadeException("Slew aborted. Max slew time reached.")
if local:
position = self.getPositionAltAz()
else:
position = self.getPositionRaDec()
if target.within(position, eps=Coord.fromAS(60)):
time.sleep(self["stabilization_time"])
self._slewing = False
return TelescopeStatus.OK
time.sleep(self["slew_idle_time"])
return TelescoopeStatus.ERROR
def test_parse_dms(self):
coords = []
t_parse = 0
t_check = 0
for dd in range(-23, 24):
for mm in range(0, 60):
for ss in range(0, 60):
s = '%+03d:%02d:%06.3f' % (dd, mm, ss)
t = time.clock()
c = Coord.fromDMS(s)
t_parse += time.clock() - t
coords.append((s, c))
for coord in coords:
t = time.clock()
assert coord[0] == str(coord[1]), (coord[0], "!=", str(coord[1]))
t_check += time.clock() - t
print "#%d coords parsed in %.3fs (%.3f/s) and checked in %.3fs (%.3f/s) ..." % (
len(coords), t_parse, len(coords) / t_parse, t_check,
len(coords) / t_check)
def test_park (self):
# FIXME: make a real test.
raise SkipTest()
def printPosition():
print self.tel.getPositionRaDec(), self.tel.getPositionAltAz()
sys.stdout.flush()
print
ra = self.tel.getRa()
dec = self.tel.getDec()
print "current position:", self.tel.getPositionRaDec()
print "moving to:", (ra-"01 00 00"), (dec-"01 00 00")
self.tel.slewToRaDec(Position.fromRaDec(ra-Coord.fromH(1), dec-Coord.fromD(1)))
for i in range(10):
printPosition()
time.sleep(0.5)
print "parking..."
sys.stdout.flush()
self.tel.park()
t0 = time.time()
wait = 30
for i in range(10):
printPosition()
time.sleep(0.5)
while time.time() < t0+wait:
print "\rwaiting ... ",
sys.stdout.flush()
time.sleep(1)
print "unparking..."
sys.stdout.flush()
self.tel.unpark()
for i in range(10):
printPosition()
time.sleep(0.5)
def test_slew_abort(self):
site = self.manager.getProxy("/Site/0")
# go to know position
self.tel.slewToRaDec(Position.fromRaDec(site.LST(), site["latitude"]))
last = self.tel.getPositionRaDec()
# clear event checkings
FiredEvents = {}
# drift it
dest = Position.fromRaDec(last.ra + Coord.fromH(1),
last.dec + Coord.fromD(10))
real_dest = None
@callback(self.manager)
def slewBeginClbk(target):
global real_dest
real_dest = target
@callback(self.manager)
def slewCompleteClbk(position, status):
assert last.ra < position.ra < real_dest.ra
assert last.dec < position.dec < real_dest.dec
self.tel.slewBegin += slewBeginClbk
self.tel.slewComplete += slewCompleteClbk
# async slew
def slew():
tel = self.manager.getProxy(self.TELESCOPE)
tel.slewToRaDec(dest)
pool = ThreadPool()
pool.queueTask(slew)
# wait thread to be scheduled
time.sleep(2)
# abort and test
self.tel.abortSlew()
pool.joinAll()
# event checkings
self.assertEvents(TelescopeStatus.ABORTED)
def test_slew_abort (self):
site = self.manager.getProxy("/Site/0")
# go to know position
self.tel.slewToRaDec(Position.fromRaDec(site.LST(), site["latitude"]))
last = self.tel.getPositionRaDec()
# clear event checkings
FiredEvents = {}
# drift it
dest = Position.fromRaDec(last.ra+Coord.fromH(1), last.dec+Coord.fromD(10))
real_dest = None
@callback(self.manager)
def slewBeginClbk(target):
global real_dest
real_dest = target
@callback(self.manager)
def slewCompleteClbk(position, status):
assert last.ra < position.ra < real_dest.ra
assert last.dec < position.dec < real_dest.dec
self.tel.slewBegin += slewBeginClbk
self.tel.slewComplete += slewCompleteClbk
# async slew
def slew():
tel = self.manager.getProxy(self.TELESCOPE)
tel.slewToRaDec(dest)
pool = ThreadPool()
pool.queueTask(slew)
# wait thread to be scheduled
time.sleep(2)
# abort and test
self.tel.abortSlew()
pool.joinAll()
# event checkings
self.assertEvents(TelescopeStatus.ABORTED)
def LST (self):
"""
Mean Local Sidereal Time
"""
#lst = self._getEphem(self.ut()).sidereal_time()
#required since a Coord cannot be constructed from an Ephem.Angle
lst_c = Coord.fromR(self.LST_inRads())
return lst_c.toHMS()
def _watchTrackingStopped(self, position, status):
self.setFlag("telescope",InstrumentOperationFlag.READY)
self.broadCast('Telescope tracking stopped with status %s.' % status)
if status == TelescopeStatus.OBJECT_TOO_LOW:
# Todo: Make this an action on the checklist database, so user can configure what to do
robobs = self.getRobObs()
sched = self.getSched()
robobs.stop()
sched.stop()
tel = self.getTel()
from chimera.util.position import Position
from chimera.util.coord import Coord
park_position = Position.fromAltAz(Coord.fromD(80),Coord.fromD(89))
tel.slewToAltAz(park_position)
robobs.reset_scheduler()
robobs.start()
robobs.wake()
def LST(self):
"""
Mean Local Sidereal Time
"""
#lst = self._getEphem(self.ut()).sidereal_time()
#required since a Coord cannot be constructed from an Ephem.Angle
lst_c = Coord.fromR(self.LST_inRads())
return lst_c.toHMS()
def getAz(self):
self._write(":GZ#")
ret = self._readline()
ret = ret.replace('\xdf', ':')
c = Coord.fromDMS(ret[:-1])
if self['azimuth180Correct']:
self.log.debug('Initial azimuth: %s' % str(c.toDMS()))
if c.toD() > 180:
c = c - Coord.fromD(180)
else:
c = c + Coord.fromD(180)
self.log.debug('Final azimuth: %s' % str(c.toDMS()))
return c
def setLong(self, coord): # converted to Astelco
if not isinstance(coord, Coord):
coord = Coord.fromDMS(coord)
cmdid = self._tpl.set(
'POINTING.SETUP.LOCAL.LONGITUDE', coord.D, wait=True)
ret = self._tpl.succeeded(cmdid)
if not ret:
raise AstelcoException("Invalid Longitude '%s'" % coord.D)
return True
def test_set_info (self):
m = self.m
try:
m.setLat("-22 32 03")
m.setLong("-45 34 57")
m.setDate(time.time())
m.setLocalTime(time.time())
m.setUTCOffset(3)
m.setLat(Coord.fromDMS("-22 32 03"))
m.setLong(Coord.fromDMS("-45 34 57"))
m.setDate(dt.date.today())
m.setLocalTime(dt.datetime.now().time())
m.setUTCOffset(3)
except Exception:
log.exception("error")
def fromRaDec (ra, dec, epoch=Epoch.J2000):
try:
if type(ra) == StringType:
ra = Coord.fromHMS(ra)
elif isinstance(ra, Coord):
ra = ra.toHMS()
else:
try:
ra = Coord.fromH(float(ra))
ra = ra.toHMS()
except ValueError:
raise ValueError("Invalid RA coordinate type %s. Expected numbers, strings or Coords." % str(type(ra)))
Position._checkRange(float(ra), 0, 360)
except ValueError, e:
raise ValueError("Invalid RA coordinate %s" % str(ra))
def _moveDome(self):
dome = self._getDome()
# from chimera.util.coord import Coord
target = Coord.fromD(self["dome_az"])
dome.stand()
dome.slewToAz(target)
def check(self, value, state=None):
if not isinstance(value, Coord):
try:
return Coord.fromState(value, state)
except ValueError:
pass
# any other type is ignored
raise OptionConversionException('invalid coord value %s.' % value)
def getAz(self):
tpl = self.getTPL()
ret = tpl.getobject('POSITION.INSTRUMENTAL.DOME[0].CURRPOS')
if ret:
self._position = ret
elif not self._position:
self._position = 0.
return Coord.fromD(self._position)
def check (self, value, state=None):
if not isinstance(value, Coord):
try:
return Coord.fromState(value, state)
except ValueError:
pass
# any other type is ignored
raise OptionConversionException ('invalid coord value %s.' % value)
def slewToAz(self, az):
if not isinstance(az, Coord):
az = Coord.fromDMS(az)
if int(az) >= 360:
az = az % 360
drv = self.getDriver()
drv.slewToAz(az)
def angsep(self, other):
"""
Calculate the Great Circle Distance from other.
@param other: position to calculate distance from.
@type other: L{Position}
@returns: The distance from this point to L{other}.
@rtype: L{Coord} in degress (convertable, as this is a Coord).
"""
return Coord.fromR(CoordUtil.gcdist(self.R, other.R)).toD()
def _genericLongLat(long, lat):
try:
if not isinstance(long, Coord):
long = Coord.fromDMS(long)
else:
long = long.toDMS()
Position._checkRange(float(long), -180, 360)
except ValueError, e:
raise ValueError("Invalid LONGITUDE coordinate %s" % str(long))
def fromAltAz(alt, az):
try:
if not isinstance(az, Coord):
az = Coord.fromDMS(az)
else:
az = az.toDMS()
Position._checkRange(float(az), -180, 360)
except ValueError, e:
raise ValueError("Invalid AZ coordinate %s" % str(az))
def getRa(self):
self._write(":GR#")
ret = self._readline()
# meade bugs: sometimes, after use Move commands, getRa
# returns a 1 before the RA, so we just check this and discard
# it here
if len(ret) > 9:
ret = ret[1:]
return Coord.fromHMS(ret[:-1])
def getDec(self):
self._write(":GD#")
ret = self._readline()
# meade bugs: same as getRa
if len(ret) > 10:
ret = ret[1:]
ret = ret.replace('\xdf', ':')
return Coord.fromDMS(ret[:-1])
def test_sync (self):
# get current position, drift the scope, and sync on the first
# position (like done when aligning the telescope).
real = self.tel.getPositionRaDec()
@callback(self.manager)
def syncCompleteClbk(position):
assert position.ra == real.ra
assert position.dec == real.dec
self.tel.syncComplete += syncCompleteClbk
# drift to "real" object coordinate
drift = Position.fromRaDec(real.ra+Coord.fromH(1), real.dec+Coord.fromD(1))
self.tel.slewToRaDec(drift)
self.tel.syncRaDec(real)
time.sleep(2)
def __init__(self):
ChimeraObject.__init__(self)
self.__slewing = False
self._az = Coord.fromDMS(0)
self._alt = Coord.fromDMS(70)
self._slewing = False
self._tracking = True
self._parked = False
self._abort = threading.Event()
try:
self._site = self.getManager().getProxy(self['site'])
self._gotSite = True
except:
self._site = Site()
self._gotSite = False
self._setRaDecFromAltAz()
def _telescopeChanged(self, az):
if not isinstance(az, Coord):
az = Coord.fromDMS(az)
if self._needToMove(az):
self.log.debug("[control] adding %s to the queue." % az)
self.queue.put(az)
else:
self.log.debug("[control] telescope still in the slit, standing"
" (dome az=%.2f, tel az=%.2f, delta=%.2f.)" %
(self.getAz(), az, abs(self.getAz() - az)))
