class Track:
def __init__(self, config):
self.servo_power = Power(config)
self.servo_power.set_relay_two_off()
self.degrees_per_radian = 180.0 / math.pi
self.home = ephem.Observer()
self.home.lon = config['home']['lng']
self.home.lat = config['home']['lat']
self.home.elevation = float(config['home']['alt'])
self.elements = []
self.lsm = LSM303DLHC()
self.lsm.set_declination(10, 40)
self.servo = Servo(config, self.lsm)
self.log = logging.getLogger('boresight')
self._running = True
self._worker = threading.Thread(target=self._track_worker)
self._worker.setDaemon(True)
self._worker.start()
def exit(self):
self._running = False
self.servo.exit()
self.servo_power.cleanup()
def set_elements(self, new_elements):
self.elements = new_elements
self.log.info("Elements updated.")
def set_location(self, latitude, longitude, altitude):
self.home.lon = str(longitude)
self.home.lat = str(latitude)
self.home.elevation = altitude
def get_visible_satellite(self):
first_sat = Satellite()
first_element = True
for index, element in enumerate(self.elements):
self.home.date = datetime.utcnow()
sat = ephem.readtle(element[0], element[1], element[2])
sat.compute(self.home)
rise_time, rise_azimuth, max_alt_time, max_alt, set_time, set_azimuth = self.home.next_pass(sat)
name = element[0]
element_index = index
if (first_element == True or rise_time.datetime() <= first_sat.rise_time.datetime()):
first_element = False
first_sat = Satellite(element_index, rise_time, rise_azimuth, max_alt_time, max_alt, set_time, set_azimuth, name)
self.log.info("Found Satellite: %s Rise time: %s azimuth: %s" % (first_sat.name, first_sat.rise_time, first_sat.rise_azimuth))
self.log.info("Satellite: %s Rise time: %s azimuth: %s" % (name, rise_time, rise_azimuth))
return first_sat
def _track_worker(self):
"""
Runs as a thread
"""
sleep_interval = 2.0
get_sat_interval = 120.0
get_sat_next = time.time()
satellite = Satellite()
self.servo.pause_tracking()
self.servo_power.set_relay_two_on()
self.servo.park_servos()
self.servo_power.set_relay_two_off()
while self._running:
try:
if (len(self.elements) > 0):
self.log.info('%s: Rise: %s, Azimuth: %s' % (satellite.name, satellite.rise_time, satellite.rise_azimuth))
if (satellite.rise_time is not None and datetime.utcnow() > satellite.rise_time.datetime() and datetime.utcnow() < satellite.set_time.datetime()):
sleep_interval = 0.5
self.servo.resume_tracking()
self.servo_power.set_relay_two_on()
element = self.elements[satellite.element_index]
if (len(element) == 3):
sat = ephem.readtle(element[0], element[1], element[2])
# iss = ephem.readtle('ISS',
# '1 25544U 98067A 15002.52246161 .00016717 00000-0 10270-3 0 9002',
# '2 25544 51.6406 190.8516 0006769 204.9577 155.1248 15.52925311 2266'
# )
self.home.date = datetime.utcnow()
sat.compute(self.home)
altitude = sat.alt * self.degrees_per_radian
azimuth = sat.az * self.degrees_per_radian
self.servo.set_high_accuracy(False)
self.servo.set_azimuth(azimuth)
self.servo.set_elevation(altitude)
self.log.info('%s: altitude % 4.1f deg, azimuth % 5.1f deg' % (element[0], altitude, azimuth))
else:
sleep_interval = 5.0
self.servo.pause_tracking()
self.servo.park_servos()
self.servo_power.set_relay_two_off()
if (time.time() > get_sat_next):
get_sat_next = time.time() + get_sat_interval
satellite = self.get_visible_satellite()
azimuth = satellite.rise_azimuth * self.degrees_per_radian
self.servo.set_high_accuracy(False)
except Exception as inst:
print type(inst) # the exception instance
print inst.args # arguments stored in .args
print inst # __str__ allows args to be printed directly
time.sleep(sleep_interval)
# except:
# self.log.warn("_track_worker thread exception")
# sleep(1)
self.log.debug("sending thread exit")
class Track:
def __init__(self, config):
self.servo_power = Power(config)
self.servo_power.set_relay_two_off()
self.degrees_per_radian = 180.0 / math.pi
self.home = ephem.Observer()
self.home.lon = config['home']['lng']
self.home.lat = config['home']['lat']
self.home.elevation = float(config['home']['alt'])
self.elements = []
self.lsm = LSM303DLHC()
self.lsm.set_declination(10, 40)
self.servo = Servo(config, self.lsm)
self.log = logging.getLogger('boresight')
self._running = True
self._worker = threading.Thread(target=self._track_worker)
self._worker.setDaemon(True)
self._worker.start()
def exit(self):
self._running = False
self.servo.exit()
self.servo_power.cleanup()
def set_elements(self, new_elements):
self.elements = new_elements
self.log.info("Elements updated.")
def set_location(self, latitude, longitude, altitude):
self.home.lon = str(longitude)
self.home.lat = str(latitude)
self.home.elevation = altitude
def get_visible_satellite(self):
first_sat = Satellite()
first_element = True
for index, element in enumerate(self.elements):
self.home.date = datetime.utcnow()
sat = ephem.readtle(element[0], element[1], element[2])
sat.compute(self.home)
rise_time, rise_azimuth, max_alt_time, max_alt, set_time, set_azimuth = self.home.next_pass(
sat)
name = element[0]
element_index = index
if (first_element == True
or rise_time.datetime() <= first_sat.rise_time.datetime()):
first_element = False
first_sat = Satellite(element_index, rise_time, rise_azimuth,
max_alt_time, max_alt, set_time,
set_azimuth, name)
self.log.info("Found Satellite: %s Rise time: %s azimuth: %s" %
(first_sat.name, first_sat.rise_time,
first_sat.rise_azimuth))
self.log.info("Satellite: %s Rise time: %s azimuth: %s" %
(name, rise_time, rise_azimuth))
return first_sat
def _track_worker(self):
"""
Runs as a thread
"""
sleep_interval = 2.0
get_sat_interval = 120.0
get_sat_next = time.time()
satellite = Satellite()
self.servo.pause_tracking()
self.servo_power.set_relay_two_on()
self.servo.park_servos()
self.servo_power.set_relay_two_off()
while self._running:
try:
if (len(self.elements) > 0):
self.log.info('%s: Rise: %s, Azimuth: %s' %
(satellite.name, satellite.rise_time,
satellite.rise_azimuth))
if (satellite.rise_time is not None and
datetime.utcnow() > satellite.rise_time.datetime()
and
datetime.utcnow() < satellite.set_time.datetime()):
sleep_interval = 0.5
self.servo.resume_tracking()
self.servo_power.set_relay_two_on()
element = self.elements[satellite.element_index]
if (len(element) == 3):
sat = ephem.readtle(element[0], element[1],
element[2])
# iss = ephem.readtle('ISS',
# '1 25544U 98067A 15002.52246161 .00016717 00000-0 10270-3 0 9002',
# '2 25544 51.6406 190.8516 0006769 204.9577 155.1248 15.52925311 2266'
# )
self.home.date = datetime.utcnow()
sat.compute(self.home)
altitude = sat.alt * self.degrees_per_radian
azimuth = sat.az * self.degrees_per_radian
self.servo.set_high_accuracy(False)
self.servo.set_azimuth(azimuth)
self.servo.set_elevation(altitude)
self.log.info(
'%s: altitude % 4.1f deg, azimuth % 5.1f deg' %
(element[0], altitude, azimuth))
else:
sleep_interval = 5.0
self.servo.pause_tracking()
self.servo.park_servos()
self.servo_power.set_relay_two_off()
if (time.time() > get_sat_next):
get_sat_next = time.time() + get_sat_interval
satellite = self.get_visible_satellite()
azimuth = satellite.rise_azimuth * self.degrees_per_radian
self.servo.set_high_accuracy(False)
except Exception as inst:
print type(inst) # the exception instance
print inst.args # arguments stored in .args
print inst # __str__ allows args to be printed directly
time.sleep(sleep_interval)
# except:
# self.log.warn("_track_worker thread exception")
# sleep(1)
self.log.debug("sending thread exit")
except Exception as inst:
self.log.warn("_servo_worker thread exception")
print type(inst) # the exception instance
print inst.args # arguments stored in .args
print inst # __str__ allows args to be printed directly
self.log.debug("sending thread exit")
if __name__ == '__main__':
from time import sleep
from lsm303dlhc import LSM303DLHC
from power import Power
config = {}
lsm = LSM303DLHC()
lsm.set_declination(10, 40)
servo_power = Power(config)
servo_power.set_relay_two_on()
servo = Servo(config, lsm)
servo.resume_tracking()
servo.set_azimuth(340)
servo.set_elevation(0)
while True:
sleep(1) # Output is fun to watch if this is commented out
