class SRT():
def __init__(self,mode,device,calibrationSpeeds):
baud = 9600
if mode == Mode.SIM:
self.drive = Drive(device,baud,simulate=1,calibration=calibrationSpeeds)
elif mode == Mode.LIVE:
self.drive = Drive(device,baud,simulate=0,calibration=calibrationSpeeds, persist=False)
self.pos = self.azalt()
self.getCurrentPos()
self.location = self.drive.location #TODO - use this
self.status = Status.INIT
self.mode = mode
def getCurrentPos(self):
"""
Returns current position in azalt.
"""
return self.pos
def setCurrentPos(self, pos):
self.pos = pos
def getMode(self):
return self.mode
def setMode(self,mode):
self.mode = mode
def skycoord(self):
"""
Returns the position information of the telescope in an astropy SkyCoord object.
Returns
-------
SkyCoord : An astropy SkyCoord.
"""
position = self.getCurrentPos()
observatory = self.drive.location
time = self.drive.current_time
coord = SkyCoord(AltAz(az = position[0]*u.degree, alt = position[1]*u.degree, obstime = time, location = observatory))
return coord
def azalt(self):
"""
Returns the azimuth and altitude of the SRT by calling the status() method of the drive class.
"""
#status = self.drive.status()
az,alt = self.drive.az, self.drive.alt
#print("status " + "%f %f" % (az,alt))
return (az,alt)
def radec(self):
"""
Returns the right ascention and declination of the SRT by calling the status() method of the drive class.
"""
status = self.drive.status()
ra,dec = status['ra'],status['dec']
return (ra,dec)
def galactic(self):
"""
"""
return (0.00,0.00)
def stow(self):
"""
A wrapper function for Drive.stow().
"""
self.setStatus(Status.SLEWING)
if self.mode == Mode.SIM:
self.slew((0,90))
elif self.mode == Mode.LIVE:
self.drive.stow()
def home(self):
"""
A wrapper function for Drive.home().
"""
self.setStatus(Status.SLEWING)
if self.mode == Mode.SIM:
self.slew((90,0))
elif self.mode== Mode.LIVE:
self.drive.home()
def calibrate(self):
"""
A wrapper function for Drive.calibrate().
"""
if self.mode == Mode.SIM:
print("Calibration only works in live mode.")
elif self.mode == Mode.LIVE:
self.setStatus(Status.CALIBRATING)
self.drive.calibrate()
def slew(self,pos):
"""
Slews to position pos in degrees.
"""
delay = 0.05
self.status = Status.SLEWING
if self.mode == Mode.SIM:
print("Slewing in sim mode.")
if isinstance(pos,SkyCoord):
now = Time.now()
altazframe = AltAz(obstime=now,location=self.drive.location)
apos = pos.transform_to(altazframe)
x, y = int(apos.az.value), int(apos.alt.value)
else:
(xf,yf) = pos # target position in degrees
x = int(xf)
y = int(yf)
(cxf,cyf) = self.pos # current position in degrees
cx = int(cxf)
cy = int(cyf)
if x < cx:
for i in reversed(range(x,cx)):
self.setCurrentPos((i,cy))
QtGui.QApplication.processEvents()
time.sleep(delay)
elif x > cx:
for i in range(cx,x+1):
self.setCurrentPos((i,cy))
QtGui.QApplication.processEvents()
time.sleep(delay)
if y < cy:
for i in reversed(range(y,cy)):
self.setCurrentPos((x,i))
QtGui.QApplication.processEvents()
time.sleep(delay)
elif y > cy:
for i in range(cy,y+1):
self.setCurrentPos((x,i))
QtGui.QApplication.processEvents()
time.sleep(delay)
else:
# This is where live code goes
# remember self.getCurrentPos() is now in degrees in azalt - NOT pixel coordinates.
print("Slewing in live mode.")
if isinstance(pos,SkyCoord):
now = Time.now()
altazframe = AltAz(obstime=now,location=self.drive.location)
apos = pos.transform_to(altazframe)
x, y = int(apos.az.value), int(apos.alt.value)
else:
(x,y) = pos # target - mouse click position in degrees
(cx,cy) = self.pos # current position in degrees.
#print("Target Pos: (" + str(x) + "," + str(y) + ")")
#print("Current Pos: (" + str(cx) + "," + str(cy) + ")")
# construct a SkyCoord in correct coordinate frame.
# TODO: fix this -- drive.location
acreRoadAstropy = self.location
now = Time(time.time(),format='unix')
altazframe = AltAz(x*u.deg,y*u.deg,obstime=now,location=acreRoadAstropy)
skycoordazel = SkyCoord(altazframe)
self.drive.goto(skycoordazel,track=self.drive.tracking)
def slewSuccess(self,targetPos):
"""
"""
(tx,ty) = targetPos
targetPos = SkyCoord(AltAz(tx*u.deg,ty*u.deg,obstime=self.drive.current_time,location=self.drive.location))
(cx,cy) = self.pos
realPos = SkyCoord(AltAz(cx*u.deg,cy*u.deg,obstime=self.drive.current_time,location=self.drive.location))
d = 0.5
if targetPos.separation(realPos).value <= d:
#print("Finished slewing to " + str(self.getCurrentPos()))
return True
else:
return False
def getStatus(self):
return self.status
def setStatus(self,status):
self.status = status
def track(self,src):
"""
The SRT will follow the source as it move across the sky.
"""
if self.mode == Mode.SIM:
#pos = src.getPos()
#self.slew(pos)
self.status = Status.TRACKING
else:
pass
