/
engine.py
executable file
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/
engine.py
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#!/usr/bin/python
# -*- coding: iso-8859-15 -*-
'''
LX200 command set
'''
import ephem
import time,datetime
import ramps
import tle
import math
import json
from config import *
import moduleSkull
#http://pizco.readthedocs.io/en/latest/
import pizco
class mainengine(moduleSkull.module):
def __init__(self):
port=servers['zmqEngineCmdPort']
super(mainengine,self).__init__('mainengine',port)
CMDs={
chr(6):self.cmd_ack, \
":info": self.cmd_info, \
":FirmWareDate": self.cmd_firware_date, \
":GVF": self.cmd_firware_ver, \
":V": self.cmd_firware_ver, \
":GVD": self.cmd_firware_date, \
":GC": self.cmd_getLocalDate, \
":GL": self.cmd_getLocalTime, \
":GS": self.cmd_getSideralTime, \
":Sr": self.cmd_setTargetRA, \
":Sd": self.cmd_setTargetDEC, \
":MS": self.cmd_slew, \
":Q": self.cmd_stopSlew, \
":Gr": self.cmd_getTargetRA, \
":Gd": self.cmd_getTargetDEC, \
":GR": self.cmd_getTelescopeRA, \
":GD": self.cmd_getTelescopeDEC, \
":RS": self.cmd_setMaxSlewRate, \
":RM": self.cmd_slewRate, \
":Me": self.cmd_pulseE, \
":Mw": self.cmd_pulseW, \
":Mn": self.cmd_pulseN, \
":Ms": self.cmd_pulseS, \
":CM": self.cmd_align2target, \
"@getObserver": self.getObserver, \
"@getGear": self.getGear, \
"@getRA": self.getRA, \
"@getDEC": self.getDEC, \
"@setTrackSpeed": self.setTrackSpeed, \
"@values": self.values
}
self.m=ramps.mount()
self.valuesmsg ={}
self.addCMDs(CMDs)
self.observerInit()
self.targetRA=ephem.hours(0)
self.targetDEC=ephem.degrees(0)
ra=ephem.hours(self.observer.sidereal_time())
dec=ephem.degrees(0)
star = ephem.FixedBody(ra,dec,observer=self.observer,epoch='2016.4')
star.compute(self.observer)
self.RA=star.ra
self.DEC=star.dec
self.alt=star.alt
self.az=star.az
self.pulseStep=ephem.degrees('00:00:01')
a=ephem.degrees('00:20:00')
vRA=-ephem.hours("00:00:01")
vDEC=ephem.degrees("00:00:00")
self.m.trackSpeed(vRA,vDEC)
def observerInit(self):
self.observer=ephem.Observer()
self.observer.lat=here['lat']*math.pi/180.
self.observer.lon=here['lon']*math.pi/180.
self.observer.horizon=ephem.degrees(here['horizon'])
self.observer.elev=here['elev']
self.observer.temp=here['temp']
self.observer.compute_pressure()
print self.observer.lat
def getObserver(self,arg):
observer = {'lat':str(ephem.degrees(self.observer.lat)),'lon':str(ephem.degrees(self.observer.lon)),\
'horizon':str(ephem.degrees(self.observer.horizon)),\
'elev':self.observer.elev,'temp':self.observer.temp}
return json.dumps(observer)
def getGear(self,arg):
data = {'acceleration':engine['acceleration'],\
'pointError':str(ephem.degrees(self.m.axis1.minMotorStep)),\
'vmax':str(ephem.degrees(self.m.axis1.vmax)),\
'FullTurnSteps':self.m.axis1.FullTurnSteps}
print data
return json.dumps(data)
def setTrackSpeed(self,arg):
c=arg.split()
vRA=c[0]
vDEC=c[1]
self.m.trackSpeed(vRA,vDEC)
def altAz_of(self,ra,dec):
p = ephem.FixedBody()
p._ra,p._dec = ra,dec
p.compute(self.observer)
return (p.alt,p.az)
def run(self):
while self.RUN:
time.sleep(0.1)
#update
ra=self.getRA('')
dec=self.getDEC('')
#np=ephem.Equatorial(ra,dec,epoch=ephem.now()) #!bad
self.alt,self.az=self.altAz_of(ra,dec)
self.valuesmsg = {'time':str(self.observer.date),'LST':str(self.sideral),\
'RA':str(self.RA),'DEC':str(self.DEC),\
'ALT':str(self.alt),'AZ':str(self.az),\
'targetRA':str(self.targetRA),'targetDEC':str(self.targetDEC),\
'speedRA':str(self.m.axis1.v),'speedDEC':str(self.m.axis2.v),\
'trackingSpeedRA':str(self.m.axis1.vtracking),'trackingSpeedDEC':str(self.m.axis2.vtracking),\
'slewendRA':str(self.m.axis1.slewend),'slewendDEC':str(self.m.axis2.slewend)\
}
#self.socketStream.send(mogrify('values',msg))
if False:
if self.alt<=ephem.degrees('10:00:00'):
self.cmd_stopSlew('')
print "MOTORS STOPPED"
def values(self,arg):
return mogrify('values',self.valuesmsg)
def cmd(self,cmd):
for c in self.CMDs.keys():
l=len(c)
if (cmd[:l]==c):
arg=cmd[l:].strip()
#print "K",c,"KK",cmd,"KKK",arg
return self.CMDs[c](arg)
break
return self.cmd_dummy(cmd)
def cmd_ack(self,arg):
return "P"
def cmd_info(self,arg):
return "pyLX200 driver#"
def cmd_firware_date(self,arg):
return "01/02/2016#"
def cmd_firware_ver(self,arg):
return "LX200 Master. Python mount controler. Ver 0.1#"
def cmd_getLocalDate(self,arg):
return time.strftime("%m/%d/%y")+'#'
def cmd_getLocalTime(self,arg):
return time.strftime("%H:%M:%S")+'#'
def cmd_getSideralTime(self,arg):
sideralTime=self.observer.sidereal_time()
return str(self.sideralTime)+'#'
def cmd_getTargetRA(self,arg):
return str(self.targetRA)+'#'
def cmd_getTargetDEC(self,arg):
return str(self.targetDEC)+'#'
def cmd_setTargetRA(self,arg):
self.targetRA=ephem.hours(arg)
return 1
def cmd_setTargetDEC(self,arg):
arg=arg.replace('*',':')
arg=arg.replace(chr(223),':')
arg=arg.replace('’',':')
self.targetDEC=ephem.degrees(arg)
return 1
def cmd_align2target(self,arg):
ra=self.hourAngle(self.targetRA)
self.m.sync(ra,self.targetDEC)
return "target#"
def cmd_slew(self,arg):
#return values 0==OK, 1 == below Horizon
alt,az=self.altAz_of(self.targetRA,self.targetDEC)
if alt <=self.observer.horizon and engine['overhorizon']:
print "Not slewing: Below horizon"
r='1'
else:
ra=self.hourAngle(self.targetRA)
print "slewing to:",self.targetRA,self.targetDEC," from:",self.RA,self.DEC
self.m.slew(ra,self.targetDEC)
r='0'
return r+"#"
def hourAngle(self,ra):
self.observer.date=ephem.now()
self.sideral=self.observer.sidereal_time()
ra_=ephem.hours(ra-self.sideral).znorm
if ra_==ephem.hours("24:00:00"):
ra=ephem.hours("00:00:00")
return ra_
def cmd_stopSlew(self,arg):
self.m.stopSlew()
return 1
def track(self):
vRA=ephem.hours("00:00:01")
vDEC=ephem.degrees("00:00:00")
self.m.track(vRA,vDEC)
return
#Update RA primitive
def getRA(self,arg):
self.observer.date=ephem.Date(datetime.datetime.utcnow())
self.sideral=self.observer.sidereal_time()
beta=float(self.m.axis1.motorBeta)*self.m.axis1.minMotorStep
#beta=self.m.axis1.beta
#print self.m.axis1.beta-beta
ra=ephem.hours(self.sideral+beta).norm
if ra==ephem.hours("24:00:00"):
ra=ephem.hours("00:00:00")
self.RA=ra
return self.RA
#Update DEC primitive
def getDEC(self,arg):
beta=float(self.m.axis2.motorBeta)*self.m.axis2.minMotorStep
#beta=self.m.axis2.beta
sign=math.copysign(1,beta)
self.DEC=ephem.degrees(beta)
return self.DEC
def cmd_getTelescopeRA(self,arg):
self.getRA('')
data=str(self.RA)
H,M,S=data.split(':')
H=int(H)
M=int(M)
S=round(float(S))
d="%02d:%02d:%02d" % (H,M,S)
return d+'#'
def cmd_getTelescopeDEC(self,arg):
self.getDEC('')
data=str(self.DEC)
D,M,S=data.split(':')
if D[0]=='-':
sign='-'
else:
sign='+'
D=int(D)
M=int(M)
S=round(float(S))
d="%s%02d*%02d:%02d" % (sign,abs(D),M,S)
d=d.replace('*',chr(223))
return d+'#'
def cmd_pulseE(self,arg):
self.targetRA=self.targetRA+self.pulseStep
self.cmd_slew('')
def cmd_pulseW(self,arg):
self.targetRA=self.targetRA-self.pulseStep
self.cmd_slew('')
def cmd_pulseN(self,arg):
self.targetDEC=self.targetDEC+self.pulseStep
self.cmd_slew('')
def cmd_pulseS(self,arg):
self.targetDEC=self.targetDEC-self.pulseStep
self.cmd_slew('')
def cmd_setMaxSlewRate(self,arg):
return 1
def cmd_slewRate(self,arg):
return 1
def end(self,arg=''):
self.m.end()
super(mainengine,self).end()
if __name__ == '__main__':
m=mainengine()
m.run()