def test():
c = Camera()
c.start()
def test_get_image(frame):
cv2.imshow("test image", frame)
cv2.waitKey(1)
p = r.pubsub(ignore_subscribe_messages=True)
start = datetime.datetime.now()
p.subscribe(messages.NEW_IMAGE_FRAME)
while (datetime.datetime.now() - start).total_seconds() < 10:
message = p.get_message()
if message:
channel = message['channel']
data = message['data']
msg_type = message['type']
img = redis_helpers.fromRedis(data, np.uint8)
test_get_image(img)
time.sleep(0.1)
r.publish(messages.STOP_ALL, "")
def get_current_status():
p = r.pubsub(ignore_subscribe_messages=True)
status = {
messages.STATUS_TRACKING_STATUS: None,
messages.STATUS_MOVEMENT_STATUS: None,
messages.STATUS_GUIDING_STATUS: None,
messages.STATUS_DITHERING_STATUS: None
}
for key in status.keys():
p.subscribe(key)
r.publish(messages.STATUS_GET_ALL_STATUS, "")
while 1:
message = p.get_message()
if message:
channel = message['channel'].decode('ASCII')
data = redis_helpers.fromRedis(message['data'])
if channel in status:
status[channel] = data
finished = functools.reduce(
lambda a, b: a and b,
map(lambda x: x is not None, status.values()))
if finished:
break
time.sleep(0.1)
return status
def gen_frame(msg_type):
r2 = redis.StrictRedis(host='localhost', port=6379)
p = r2.pubsub(ignore_subscribe_messages=True)
p.subscribe(msg_type)
for message in p.listen():
data = message['data']
jpeg_bytes = redis_helpers.fromRedis(data)
newImageContent = (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + jpeg_bytes +
b'\r\n')
yield newImageContent
def set_absolute_position_handler(self, message):
ra, dec = redis_helpers.fromRedis(message['data'])
print('received absolute position update: ', ra, dec)
if ra is None or dec is None:
print('getting absolute position failed, ignoring None(s)')
else:
new_ra_zero_pos = self.relative_ra_degrees - ra
new_dec_zero_pos = self.relative_dec_degrees - dec
print('coodinate zero pos update deltas: ',
self.ra_zero_pos_degrees - new_ra_zero_pos,
self.dec_zero_pos_degrees - new_dec_zero_pos)
self.ra_zero_pos_degrees = new_ra_zero_pos
self.dec_zero_pos_degrees = new_dec_zero_pos
def message_to_scaled_jpeg_bytes(self, message):
image = redis_helpers.fromRedis(message['data'])
target_size = 400
if image.shape[0] > target_size:
factor = image.shape[0] // target_size
image = cv2.resize(image,
None,
fx=1.0 / factor,
fy=1.0 / factor,
interpolation=cv2.INTER_AREA)
output_image = image * self.visual_gain
ret, jpeg = cv2.imencode('.jpg', output_image)
jpeg_bytes = jpeg.tobytes()
return jpeg_bytes
def run(self):
desired_location = None
guide_vector = None
guide_vector_orthogonal = None
orthogonal_distance = None
parallel_distance = None
update_time = None
filtered_adjustment = 0
ema_factor = 0.8
current_state = AdjusterStates.NOT_GUIDING
r = redis.StrictRedis(host='localhost', port=6379)
p = r.pubsub(ignore_subscribe_messages=True)
p.subscribe(messages.CMD_START_GUIDING)
p.subscribe(messages.CMD_STOP_GUIDING)
p.subscribe(messages.STATUS_CURRENT_TRACKING_POSITION)
p.subscribe(messages.CMD_START_TRACKING)
p.subscribe(messages.STATUS_STARTING_TRACKING_POSITION)
p.subscribe(messages.CMD_SET_DITHERING_POSITION_OFFSET_PIXELS)
p.subscribe(messages.STATUS_GET_ALL_STATUS)
start_guiding_dir_1_start_time = None
start_guiding_dir_1_start_location = None
guiding_dir_2_start_time = None
guiding_dir_orth_start_time = None
failed_track_count = 0
dithering_offset = [0, 0]
while not self.kill:
message = p.get_message()
if message:
channel = message['channel'].decode('ASCII')
data = message['data']
if channel == messages.CMD_START_TRACKING:
#reset things
desired_location = None
elif channel == messages.CMD_START_GUIDING:
print('start guiding received')
#desired_location = None #will get grabbed first
current_state = AdjusterStates.CMD_START_GUIDING
#TODO: publish state?
elif channel == messages.CMD_STOP_GUIDING:
r.publish(
messages.CMD_ENABLE_MOVEMENT,
"") #in case this came in during guide vector finding
r.publish(messages.CMD_SET_SPEED_ADJUSTMENT_RA,
redis_helpers.toRedis(0))
r.publish(messages.STATUS_CURRENT_RAW_ADJUSTMENT,
redis_helpers.toRedis(0))
r.publish(messages.CMD_SET_SPEED_ADJUSTMENT_DEC,
redis_helpers.toRedis(0))
current_state = AdjusterStates.NOT_GUIDING
desired_location = None
#publish state?
elif channel == messages.STATUS_STARTING_TRACKING_POSITION:
desired_location = redis_helpers.fromRedis(data)
print('adjuster got new desired location: ',
desired_location)
elif channel == messages.CMD_SET_DITHERING_POSITION_OFFSET_PIXELS:
dithering_offset = redis_helpers.fromRedis(data)
# print('new dithering offset: ', dithering_offset)
elif channel == messages.STATUS_GET_ALL_STATUS:
r.publish(
messages.STATUS_GUIDING_STATUS,
redis_helpers.toRedis(
current_state != AdjusterStates.NOT_GUIDING))
elif channel == messages.STATUS_CURRENT_TRACKING_POSITION:
current_position = redis_helpers.fromRedis(data)
if desired_location is None:
print('trying to track with no desired location?')
#desired_location = current_position
continue
else:
shift = current_position - desired_location
r.publish(messages.STATUS_DRIFT_X,
redis_helpers.toRedis(shift[1]))
r.publish(messages.STATUS_DRIFT_Y,
redis_helpers.toRedis(shift[0]))
if current_state == AdjusterStates.NOT_GUIDING:
pass
elif current_state == AdjusterStates.CMD_START_GUIDING: #set up to calc guiding vector
r.publish(messages.CMD_SET_SPEED_ADJUSTMENT_RA,
redis_helpers.toRedis(-1))
#desired_location = current_position
#TODO: wait a frame or two?
start_guiding_dir_1_start_location = None
start_guiding_dir_1_start_time = None
current_state = AdjusterStates.START_GUIDING_DIR_1
elif current_state == AdjusterStates.START_GUIDING_DIR_1: #calculate the guiding vector
if start_guiding_dir_1_start_location is None:
start_guiding_dir_1_start_time = datetime.now()
start_guiding_dir_1_start_location = current_position
elif (
datetime.now() - start_guiding_dir_1_start_time
).total_seconds() < VECTOR_ESTIMATION_TIME_SECONDS:
pass
else: #end of guide vector finding in direction 1
start_guiding_dir_1_end_time = datetime.now()
start_guiding_dir_1_end_location = current_position
guide_vector = np.array((start_guiding_dir_1_end_location[0] - start_guiding_dir_1_start_location[0],
start_guiding_dir_1_end_location[1] - start_guiding_dir_1_start_location[1])) / \
(start_guiding_dir_1_end_time - start_guiding_dir_1_start_time).total_seconds()
print('guide vector: ', guide_vector)
r.publish(messages.STATUS_GUIDE_VECTOR_RA,
redis_helpers.toRedis(guide_vector))
#now speed forwards to get back to original position
# r.publish(messages.CMD_ENABLE_MOVEMENT, "")
r.publish(messages.CMD_SET_SPEED_ADJUSTMENT_RA,
redis_helpers.toRedis(1.0))
current_state = AdjusterStates.START_GUIDING_DIR_2
elif current_state == AdjusterStates.START_GUIDING_DIR_2: #return to starting point, get off-axis vector
if guiding_dir_2_start_time is None:
guiding_dir_2_start_time = datetime.now()
else:
distance_along_guide = np.dot(
shift, guide_vector) / (
np.linalg.norm(guide_vector)**2)
print('guide state 2, distance along guide: ',
distance_along_guide)
if distance_along_guide > 0:
#still getting back to the start
pass
else:
# elapsed_time_seconds = (datetime.now() - guiding_dir_2_start_time).total_seconds()
calibration_time_seconds = (
datetime.now() -
start_guiding_dir_1_start_time
).total_seconds()
shift = current_position - desired_location
orthogonal_distance_entire_calibration_pixels = np.dot(
shift, [-guide_vector[1], guide_vector[0]])
calibration_process_orthogonal_drift = orthogonal_distance_entire_calibration_pixels * GUIDE_CAM_ARC_SECONDS_PER_PIXEL / calibration_time_seconds
# orthogonal_vector = (shift - distance_along_guide * guide_vector) / elapsed_time_seconds
# print('orthogonal vector: ', orthogonal_vector)
# #convert pixels/second to arc-seconds/s or something
# orthogonal_distance = np.linalg.norm(orthogonal_vector)
r.publish(
messages.
STATUS_CALIBRATION_DRIFT_ARC_SECONDS,
redis_helpers.toRedis(
calibration_process_orthogonal_drift))
r.publish(messages.CMD_SET_SPEED_ADJUSTMENT_RA,
redis_helpers.toRedis(0.))
filtered_adjustment = 0 #reset
current_state = AdjusterStates.START_GUIDING_DIR_ORTH_1
guiding_dir_orth_start_time = None
print('guiding...')
elif current_state in [
AdjusterStates.START_GUIDING_DIR_ORTH_1,
AdjusterStates.START_GUIDING_DIR_ORTH_2,
AdjusterStates.GUIDING
]:
if current_position is None:
failed_track_count += 1
if failed_track_count > 20:
print(
'failed tracking too many times, trying to restart...?'
)
# r.publish(messages.CMD_START_TRACKING, "")
# r.publish(messages.CMD_STOP_GUIDING)
# r.publish(messages.CMD_START_GUIDING)
current_state = AdjusterStates.NOT_GUIDING
filtered_adjustment_ra = 0
raw_adjustment_ra = 0
parallel_distance = 0
orthogonal_distance = 0
filtered_adjustment_dec = 0
raw_adjustment_dec = 0
r.publish(
messages.STATUS_FAILED_TRACKING_COUNT,
redis_helpers.toRedis(failed_track_count))
else:
failed_track_count = 0
r.publish(
messages.STATUS_FAILED_TRACKING_COUNT,
redis_helpers.toRedis(failed_track_count))
#do parallel guiding in all states. only dither once we're up and running
if current_state == AdjusterStates.GUIDING:
shift = current_position - (desired_location +
dithering_offset)
else:
shift = current_position - desired_location
# print('shift: ', shift)
parallel_distance = np.dot(shift, guide_vector) / (
np.linalg.norm(guide_vector)**2)
if guide_vector_orthogonal is None:
orthogonal_distance = 0
else:
orthogonal_distance = np.dot(
shift, guide_vector_orthogonal) / (
np.linalg.norm(guide_vector_orthogonal)
**2)
raw_adjustment_ra = parallel_distance / ADJUSTMENT_TARGET_SECONDS
clipped_adjustment = np.clip(
raw_adjustment_ra, -MAX_ADJUSTMENT,
MAX_ADJUSTMENT)
filtered_adjustment = filtered_adjustment * ema_factor + clipped_adjustment * (
1 - ema_factor)
filtered_adjustment_ra = filtered_adjustment
if current_state == AdjusterStates.START_GUIDING_DIR_ORTH_1:
if guiding_dir_orth_start_time is None:
print('starting guiding for orthogonal')
guiding_dir_orth_start_time = datetime.now(
)
guiding_dir_orth_start_location = current_position
filtered_adjustment_dec = -1
raw_adjustment_dec = -1
else:
elapsed_time_seconds = (
datetime.now() -
guiding_dir_orth_start_time
).total_seconds()
print(
'orth guide vector estimating time: ',
elapsed_time_seconds)
if elapsed_time_seconds >= VECTOR_ESTIMATION_TIME_SECONDS:
distance_along_guide = np.dot(
shift, guide_vector) / (
np.linalg.norm(guide_vector)**
2)
orthogonal_vector = shift - distance_along_guide * guide_vector
guide_vector_orthogonal = orthogonal_vector / elapsed_time_seconds
print('guide vector orthogonal: ',
guide_vector_orthogonal)
print(
'angle between vectors: ',
angle_between_vectors(
guide_vector,
guide_vector_orthogonal))
r.publish(
messages.STATUS_GUIDE_VECTOR_DEC,
redis_helpers.toRedis(
guide_vector_orthogonal))
current_state = AdjusterStates.GUIDING
filtered_adjustment_dec = 1 #start speeding back towards origin
raw_adjustment_dec = 1
elif current_state == AdjusterStates.START_GUIDING_DIR_ORTH_2:
print('dir_orth_2, orth distance = ',
orthogonal_distance)
if orthogonal_distance < 0:
print('back to origin, moving to guiding')
filtered_adjustment_dec = 0
raw_adjustment_dec = 0
current_state = AdjusterStates.GUIDING
#TODO: back to original position
elif current_state == AdjusterStates.GUIDING:
orthogonal_vector = shift - parallel_distance * guide_vector
#TODO: filter realllll slow instead of just making it slow
raw_adjustment_dec = orthogonal_distance / ORTHOGONAL_ADJUSTMENT_TARGET_SECONDS
filtered_adjustment_dec = np.clip(
raw_adjustment_dec, -MAX_ADJUSTMENT,
MAX_ADJUSTMENT)
r.publish(
messages.CMD_SET_SPEED_ADJUSTMENT_RA,
redis_helpers.toRedis(filtered_adjustment_ra))
r.publish(messages.STATUS_CURRENT_RAW_ADJUSTMENT,
redis_helpers.toRedis(raw_adjustment_ra))
r.publish(messages.STATUS_PARALLEL_ERROR,
redis_helpers.toRedis(parallel_distance))
r.publish(messages.STATUS_ORTHOGONAL_ERROR,
redis_helpers.toRedis(orthogonal_distance))
r.publish(
messages.CMD_SET_SPEED_ADJUSTMENT_DEC,
redis_helpers.toRedis(filtered_adjustment_dec))
guiding_status = {
'drift_x': str(shift[1]),
'drift_y': str(shift[0]),
'parallel_error': str(parallel_distance),
'orthogonal_error': str(orthogonal_distance),
'raw_adjustment_ra': str(raw_adjustment_ra),
'filtered_adjustment_ra':
str(filtered_adjustment_ra),
'raw_adjustment_dec': str(raw_adjustment_dec),
'filtered_adjustment_dec':
str(filtered_adjustment_dec)
}
r.publish(messages.STATUS_GUIDING_STATUS,
redis_helpers.toRedis(guiding_status))
else:
print('unknown state: ', current_state)
def set_visual_gain_handler(self, message):
new_gain = redis_helpers.fromRedis(message['data'])
self.visual_gain = new_gain
def dither_offset_handler(message): offsets = redis_helpers.fromRedis(message['data']) # print(offsets) xs.append(offsets[1]) ys.append(offsets[0])
def set_dithering_interval_handler(self, message):
self.t = 0
self.dithering_interval_seconds = redis_helpers.fromRedis(message['data'])
print('dithering interval: ', self.dithering_interval_seconds)
def set_dithering_magnitude_handler(self, message):
self.t = 0
self.dithering_magnitude_pixels = redis_helpers.fromRedis(message['data'])
print('dithering magnitude: ', self.dithering_magnitude_pixels)
def update_ha_handler(self, message):
self.ha_relative_degrees += redis_helpers.fromRedis(message['data'])
self.on_new_position()
def set_shutter_speed_handler(self, message):
shutter_speed_ms = redis_helpers.fromRedis(message['data'])
self.set_shutter_speed(shutter_speed_ms)
def set_adjustment_factor_handler(self, message):
self.adjustment_factor = redis_helpers.fromRedis(message['data'])