def test_apogee_dome_flat_enclosure(self):
"""Tests shutter open, exposure +(ff on, ff off)."""
name = 'apogeeDomeFlat'
sopTester.updateModel('mcp', TestHelper.mcpState['apogee_parked'])
multiCmd = MultiCommand(self.cmd, myGlobals.actorState.timeout + 50,
name)
self._apogee_dome_flat(3, 11, 0, 0, multiCmd)
def test_apogee_dome_flat_gang_on_podium_fails(self):
"""Tests fail immediately."""
name = 'apogeeDomeFlat'
sopTester.updateModel('mcp', TestHelper.mcpState['all_off'])
multiCmd = MultiCommand(self.cmd, myGlobals.actorState.timeout + 50,
name)
self._apogee_dome_flat(0, 5, 0, 0, multiCmd, finish=True, didFail=True)
def _status_threads(self, cmd, sopState, finish=True):
# TBD: threads arg is only used with "geek" option, apparently?
# TBD: I guess its useful for live debugging of the threads.
try:
sopState.ignoreAborting = True
getStatus = MultiCommand(cmd, 5.0, None)
for tid in sopState.threads.keys():
getStatus.append(tid, Msg.STATUS)
if not getStatus.run():
if finish:
cmd.fail("")
return
else:
cmd.warn("")
finally:
sopState.ignoreAborting = False
def setUp(self):
self.verbose = True
self.tid = sopTester.TEST_QUEUE
self.queueName = 'testMultiCmd'
self.msgs = [Msg.LAMP_ON, Msg.FFS_MOVE, Msg.STATUS, Msg.SLEW]
super(TestMultiCommand, self).setUp()
self.timeout = 2
self.multiCmd = MultiCommand(self.cmd, self.timeout,
'testMultiCmd.stage')
self.queue = Queue(self.queueName, 0)
self.queues = {self.tid: self.queue}
actorState = myGlobals.actorState
actorState.queues = self.queues
actorState.threads[self.tid] = threading.Thread(
target=sopTester.FakeThread,
name=self.queueName,
args=[actorState.actor, actorState.queues])
actorState.threads[self.tid].daemon = True
actorState.threads[self.tid].start()
def test_apogee_dome_flat_shuter_close_fails(self):
"""Tests shutter open, ffs close -> fail."""
name = 'apogeeDomeFlat'
self.cmd.failOn = "apogee shutter close"
sopTester.updateModel('mcp', TestHelper.mcpState['apogee_science'])
multiCmd = MultiCommand(self.cmd, myGlobals.actorState.timeout + 50,
name)
self._apogee_dome_flat(4,
15,
0,
1,
multiCmd,
finish=True,
didFail=True)
def main(actor, queues):
"""Main loop for SOP selw thread."""
threadName = 'slew'
timeout = myGlobals.actorState.timeout
while True:
try:
msg = queues[sopActor.SLEW].get(timeout=timeout)
if msg.type == Msg.EXIT:
if msg.cmd:
msg.cmd.inform('text=\"Exiting thread {0}\"'.format(
threading.current_thread().name))
return
elif msg.type == Msg.GOTO_POSITION:
cmd, cmdState, actorState = master.preprocess_msg(msg)
goto_position(cmd, cmdState, actorState)
elif msg.type == Msg.DO_APOGEE_DOME_FLAT:
cmd, cmdState, actorState = master.preprocess_msg(msg)
name = 'apogeeDomeFlat'
finishMsg = "Dome flat done."
# 50 seconds is the read time for this exposure.
multiCmd = MultiCommand(cmd, actorState.timeout + 50, name)
# the dome flat command sends a fail msg if it fails.
if apogee_dome_flat(cmd, cmdState, actorState, multiCmd):
master.finish_command(cmd, cmdState, actorState, finishMsg)
elif msg.type == Msg.GOTO_GANG_CHANGE:
cmd, cmdState, actorState = master.preprocess_msg(msg)
goto_gang_change(cmd, cmdState, actorState)
else:
raise ValueError('Unknown message type {0}'.format(msg.type))
except Queue.Empty:
actor.bcast.diag('text="%s alive"' % threadName)
except Exception, ee:
sopActor.handle_bad_exception(actor, ee, threadName, msg)
def goto_position(cmd, cmdState, actorState):
"""Goes to a certain (az, alt, rot) position."""
finishMsg = "On position."
multiCmd = master.SopMultiCommand(cmd, actorState.timeout + 100,
cmdState.name + ".slew")
cmdState.setStageState('slew', 'running')
# Heading towards the instrument change pos.
az = cmdState.az
alt = cmdState.alt
rot = cmdState.rot
slewDuration = 60
multiCmd = MultiCommand(cmd, slewDuration + actorState.timeout, None)
# Start with an axis init, in case the axes are not clear.
multiCmd.append(master.SopPrecondition(sopActor.TCC, Msg.AXIS_INIT))
multiCmd.append(sopActor.TCC,
Msg.SLEW,
actorState=actorState,
az=az,
alt=alt,
rot=rot)
multiCmd.append(sopActor.TCC, Msg.AXIS_STOP, actorState=actorState)
if not master.handle_multiCmd(
multiCmd, cmd, cmdState, 'slew',
'Failed to slew to position az={0}, alt={1},'
' rot={2}'.format(az, alt, rot)):
return
master.finish_command(cmd, cmdState, actorState, finishMsg)
def lampsOff(self, cmd, finish=True):
"""Turn all the lamps off"""
sopState = myGlobals.actorState
sopState.aborting = False
multiCmd = MultiCommand(cmd, sopState.timeout, None)
multiCmd.append(sopActor.FF_LAMP, Msg.LAMP_ON, on=False)
multiCmd.append(sopActor.HGCD_LAMP, Msg.LAMP_ON, on=False)
multiCmd.append(sopActor.NE_LAMP, Msg.LAMP_ON, on=False)
multiCmd.append(sopActor.WHT_LAMP, Msg.LAMP_ON, on=False)
multiCmd.append(sopActor.UV_LAMP, Msg.LAMP_ON, on=False)
if multiCmd.run():
if finish:
cmd.finish('text="Turned lamps off"')
else:
if finish:
cmd.fail('text="Some lamps failed to turn off"')
class TestMultiCommand(sopTester.SopTester, unittest.TestCase):
def setUp(self):
self.verbose = True
self.tid = sopTester.TEST_QUEUE
self.queueName = 'testMultiCmd'
self.msgs = [Msg.LAMP_ON, Msg.FFS_MOVE, Msg.STATUS, Msg.SLEW]
super(TestMultiCommand, self).setUp()
self.timeout = 2
self.multiCmd = MultiCommand(self.cmd, self.timeout,
'testMultiCmd.stage')
self.queue = Queue(self.queueName, 0)
self.queues = {self.tid: self.queue}
actorState = myGlobals.actorState
actorState.queues = self.queues
actorState.threads[self.tid] = threading.Thread(
target=sopTester.FakeThread,
name=self.queueName,
args=[actorState.actor, actorState.queues])
actorState.threads[self.tid].daemon = True
actorState.threads[self.tid].start()
def _prep_multiCmd_nopre(self):
"""Prep self.multiCmd with pre-arranged messages"""
self.multiCmd.append(self.tid, self.msgs[0])
self.multiCmd.append(self.tid, self.msgs[1])
def _prep_multiCmd_pre(self):
"""Prep self.multiCmd with pre-arranged messages"""
self.multiCmd.append(Precondition(self.tid, self.msgs[0]))
self.multiCmd.append(Precondition(self.tid, self.msgs[1]))
self.multiCmd.append(self.tid, self.msgs[2])
self.multiCmd.append(self.tid, self.msgs[3])
def test_append_not_precondition(self):
self.multiCmd.append(self.tid, Msg.DONE, timeout=10, blah=1)
msg = self.multiCmd.commands[0]
self.assertEqual(msg[0], self.queue)
self.assertFalse(msg[1])
self.assertEqual(msg[2].type, Msg.DONE)
self.assertEqual(msg[2].type, Msg.DONE)
self.assertEqual(msg[2].cmd, self.cmd)
self.assertEqual(msg[2].blah, 1)
self.assertEqual(self.multiCmd.timeout, 10)
def test_append_precondition(self):
self.multiCmd.append(
Precondition(self.tid, Msg.DONE, timeout=1, blah=1))
msg = self.multiCmd.commands[0]
self.assertEqual(msg[0], self.queue)
self.assertTrue(msg[1])
self.assertEqual(msg[2].type, Msg.DONE)
self.assertEqual(msg[2].type, Msg.DONE)
self.assertEqual(msg[2].cmd, self.cmd)
self.assertEqual(self.multiCmd.timeout, self.timeout)
def test_append_precondition_unneeded(self):
self.multiCmd.append(
PreconditionUnneeded(self.tid, Msg.DONE, timeout=10, blah=1))
self.assertEqual(self.multiCmd.commands, [])
def test_append_precondition_with_msgId(self):
with self.assertRaises(AssertionError):
self.multiCmd.append(Precondition(self.tid), Msg.DONE)
def test_append_no_msgId(self):
with self.assertRaises(AssertionError):
self.multiCmd.append(self.tid)
def test_run_nopre(self):
self._prep_multiCmd_nopre()
result = self.multiCmd.run()
self.assertTrue(result)
self._check_cmd(2, 3, 0, 0, False, didFail=not result)
def test_run_pre(self):
self._prep_multiCmd_pre()
result = self.multiCmd.run()
self.assertTrue(result)
self._check_cmd(4, 6, 0, 0, False, didFail=not result)
def test_run_nopre_fails(self):
self.cmd.failOn = 'testMultiCmd sopActor.LAMP_ON'
self._prep_multiCmd_nopre()
result = self.multiCmd.run()
self.assertFalse(result)
self._check_cmd(2, 3, 0, 0, False, didFail=not result)
def test_run_timesout(self):
self.multiCmd.append(self.tid, Msg.EXIT)
self._prep_multiCmd_nopre()
result = self.multiCmd.run()
self.assertFalse(result)
self._check_cmd(0, 3, 1, 0, False, didFail=not result)
def goto_gang_change(cmd, cmdState, actorState, failMsg=None):
"""Goes to the gang change positions.
Goto gang change position at requested altitude, taking a dome flat on
the way if we have an APOGEE cartridge, and the gang is plugged into it.
"""
finishMsg = 'at gang change position'
failMsg = 'failed to take flat before gang change' \
if failMsg is None else failMsg
# Behavior varies depending on where the gang connector is.
gangCart = actorState.apogeeGang.atCartridge()
if cmdState.doDomeFlat:
multiCmd = master.SopMultiCommand(cmd, actorState.timeout + 100,
cmdState.name + '.domeFlat')
cmdState.setStageState('domeFlat', 'running')
# If the gang connector is at the cartridge, we should do cals.
if gangCart and actorState.survey != sopActor.BOSS:
cmd.inform('text="scheduling dome flat: {0}"'.format(
actorState.survey))
doCals = apogee_dome_flat(cmd, cmdState, actorState, multiCmd,
failMsg)
if not doCals:
return
else:
gangAt = actorState.apogeeGang.getPos()
cmd.inform('text="Skipping flat with {0} and {1}"'.format(
gangAt, actorState.survey))
cmdState.setStageState('domeFlat', 'idle')
if cmdState.doSlew:
multiCmd = master.SopMultiCommand(cmd, actorState.timeout + 100,
cmdState.name + '.slew')
cmdState.setStageState('slew', 'running')
# Close the FFS, to prevent excess light
# incase of slews past the moon, etc.
multiCmd.append(
master.SopPrecondition(sopActor.FFS, Msg.FFS_MOVE, open=False))
tccDict = actorState.models['tcc'].keyVarDict
if gangCart:
# Heading towards the instrument change pos.
az = 121
alt = cmdState.alt
rot = 0
# Try to move the rotator as far as we can while the altitude
# is moving.
thisAlt = tccDict['axePos'][1]
thisRot = tccDict['axePos'][2]
dRot = rot - thisRot
if dRot != 0:
dAlt = alt - thisAlt
dAltTime = abs(dAlt) / 1.5 # deg/sec
dRotTime = abs(dRot) / 2.0 # deg/sec
dCanRot = dRot * min(1.0, dAltTime / dRotTime)
rot = thisRot + dCanRot
else:
# Nod up: going to the commanded altitude,
# leaving az and rot where they are.
az = tccDict['axePos'][0]
alt = cmdState.alt
rot = tccDict['axePos'][2]
slewDuration = 60
multiCmd = MultiCommand(cmd, slewDuration + actorState.timeout, None)
# Start with an axis init, in case the axes are not clear.
multiCmd.append(master.SopPrecondition(sopActor.TCC, Msg.AXIS_INIT))
# If the gang is at the cart, we need to close the apogee shutter
# during the slew, no matter which survey is leading.
if actorState.apogeeGang.atCartridge():
master.prep_apogee_shutter(multiCmd, open=False)
# used to do darks on the way to the field.
# multiCmd.append(sopActor.APOGEE_SCRIPT, Msg.APOGEE_PARK_DARKS)
multiCmd.append(sopActor.TCC,
Msg.SLEW,
actorState=actorState,
az=az,
alt=alt,
rot=rot)
multiCmd.append(sopActor.TCC, Msg.AXIS_STOP, actorState=actorState)
doMultiCmd = master.handle_multiCmd(multiCmd, cmd, cmdState, 'slew',
'Failed to slew to gang change')
if not doMultiCmd:
return
master.finish_command(cmd, cmdState, actorState, finishMsg)