def __init__(
self,
name,
userPort=UserPort,
commandSet=arcticFWCommandSet,
):
"""!Construct an ArcticFWActor
@param[in] name actor name
@param[in] userPort int, a port on which this thing runs
@param[in] commandSet a twistedActor.parse.CommandSet used for command def, and parsing
@param[in] fakeFilterWheel bool. If true use a fake filter wheel device, for safe testing.
"""
self.status = ArcticFWStatus()
self.fwHomeCmd = UserCmd()
self.fwHomeCmd.setState(self.fwHomeCmd.Done)
self.fwMoveCmd = UserCmd()
self.fwMoveCmd.setState(self.fwMoveCmd.Done)
self.status.addHomeCallback(self.homeCallback)
self.status.addMoveCallback(self.moveCallback)
# init the filterWheel
# this sets self.filterWheel
Actor.__init__(
self,
userPort=userPort,
maxUsers=1,
name=name,
version=__version__,
commandSet=commandSet,
)
init()
def commandActor(self, cmdStr, shouldFail=False):
d = Deferred()
cmd = UserCmd(cmdStr=cmdStr)
def fireDeferred(cbCmd):
if cbCmd.isDone:
d.callback("done")
def checkCmdState(cb):
self.assertTrue(shouldFail==cmd.didFail)
cmd.addCallback(fireDeferred)
d.addCallback(checkCmdState)
self.arcticActor.parseAndDispatchCmd(cmd)
return d
def commandActor(self, cmdStr, shouldFail=False):
d = Deferred()
cmd = UserCmd(cmdStr=cmdStr)
def fireDeferred(cbCmd):
if cbCmd.isDone:
d.callback("done")
def checkCmdState(cb):
self.assertTrue(shouldFail == cmd.didFail)
cmd.addCallback(fireDeferred)
d.addCallback(checkCmdState)
self.arcticFWActor.parseAndDispatchCmd(cmd)
return d
def __init__(self,
filterWheelDev,
shutterDev,
name="arcticICC",
userPort = UserPort,
test=False,
):
"""!Construct an ArcticActor
@param[in] filterWheelDev a FilterWheelDevice instance
@param[in] shutterDev a ShutterDevice instance
@param[in] name actor name; used for logging
@param[in] userPort port on which this service runs
@param[in] test bool. If true, use a fake camera.
"""
self.imageDir = ImageDir
self.test = test
self.setCamera()
self.filterWheelDev = filterWheelDev
self.shutterDev = shutterDev
self._tempSetpoint = None
self.expNum = 0
self.exposeCmd = UserCmd()
self.exposeCmd.setState(UserCmd.Done)
self.pollTimer = Timer()
self.expName = None
self.comment = None
self.expStartTime = None
self.expType = None
self.expTime = None
self.resetConfig = None
Actor.__init__(self,
userPort = userPort,
maxUsers = 1,
devs = (filterWheelDev, shutterDev),
name = name,
version = __version__,
doConnect = True,
doDevNameCmds = False,
doDebugMsgs = self.test,
)
def __init__(self, name, host, port, callFunc=None):
"""!Construct a LCODevice
Inputs:
@param[in] name name of device
@param[in] host host address of tcs controller
@param[in] port port of tcs controller
@param[in] callFunc function to call when state of device changes;
note that it is NOT called when the connection state changes;
register a callback with "conn" for that task.
"""
self.status = Status()
self._statusTimer = Timer()
self.waitRotCmd = UserCmd()
self.waitRotCmd.setState(self.waitRotCmd.Done)
self.waitRotTimer = Timer()
# self.waitFocusCmd = UserCmd()
# self.waitFocusCmd.setState(self.waitFocusCmd.Done)
self.waitOffsetCmd = UserCmd()
self.waitOffsetCmd.setState(self.waitOffsetCmd.Done)
self.waitOffsetTimer = Timer()
self.rotDelay = False
self.devCmdQueue = CommandQueue({}) # all commands of equal priority
self.lastGuideRotApplied = None
self.doGuideRot = True
TCPDevice.__init__(self,
name = name,
host = host,
port = port,
callFunc = callFunc,
cmdInfo = (),
)
def move(self, valueList, offset=False, userCmd=None):
"""Command an offset or absolute orientation move
@param[in] valueList: list of 1 to 5 values specifying pistion(um), tiltx("), tilty("), transx(um), transy(um)
@param[in] offset, if true this is offset, else absolute
@param[in] userCmd: a twistedActor BaseCommand
Note: increasing distance eg pistion means increasing spacing between primary and
secondary mirrors.
"""
log.info("%s.move(userCmd=%s, valueList=%s, offset=%s)" % (self, userCmd, str(valueList), str(bool(offset))))
userCmd = expandUserCmd(userCmd)
if not self.waitMoveCmd.isDone:
userCmd.setState(userCmd.Failed, "Mirror currently moving")
return userCmd
if not 1<=len(valueList)<=5:
userCmd.setState(userCmd.Failed, "Must specify 1 to 5 numbers for a move")
return userCmd
self.waitMoveCmd = UserCmd()
self.waitMoveCmd.userCmd = userCmd # for write to users
self.status.desOrientation = self.status.orientation[:]
if offset:
# if offset is specified, offset from current value
for ii, value in enumerate(valueList):
self.status.desOrientation[ii] += value
else:
# if absolute is wanted, overwrite all those
# specified
for ii, value in enumerate(valueList):
self.status.desOrientation[ii] = value
cmdType = "offset" if offset else "move"
strValList = " ".join(["%.2f"%val for val in valueList])
cmdStr = "%s %s"%(cmdType, strValList)
moveCmd = self.queueDevCmd(cmdStr, userCmd)
statusCmd = self.queueDevCmd("status", userCmd)
# status immediately to see moving state
# determine total time for move
# just use focus distance as proxy (ignore)
galilOverHead = 2 # galil take roughly 2 secs to boot up.
extraOverHead = 2 #
self.status._moveTimeTotal = self.getTimeForMove()
timeout = self.status._moveTimeTotal+galilOverHead+extraOverHead
userCmd.setTimeLimit(timeout)
LinkCommands(userCmd, [moveCmd, statusCmd, self.waitMoveCmd])
return userCmd
def __init__(self, name, host, port, callFunc=None):
"""!Construct a LCODevice
Inputs:
@param[in] name name of device
@param[in] host host address of m2 controller
@param[in] port port of m2 controller
@param[in] callFunc function to call when state of device changes;
note that it is NOT called when the connection state changes;
register a callback with "conn" for that task.
"""
self.status = Status()
self._statusTimer = Timer()
self.waitMoveCmd = UserCmd()
self.waitMoveCmd.setState(self.waitMoveCmd.Done)
# self.waitGalilCmd = UserCmd()
# self.waitGalilCmd.setState(self.waitGalilCmd.Done)
# give status commands equal priority so they don't kill eachother
priorityDict = {
"status": 1,
"speed": 1,
"stop": 1,
"move": 1,
"galil": 1,
"offset": 1,
}
self.devCmdQueue = CommandQueue(priorityDict) # all commands of equal priority
TCPDevice.__init__(self,
name = name,
host = host,
port = port,
callFunc = callFunc,
cmdInfo = (),
)
def expandCommand():
return UserCmd()
class ArcticActor(Actor):
Facility = syslog.LOG_LOCAL1
DefaultTimeLim = 5 # default time limit, in seconds
def __init__(self,
filterWheelDev,
shutterDev,
name="arcticICC",
userPort = UserPort,
test=False,
):
"""!Construct an ArcticActor
@param[in] filterWheelDev a FilterWheelDevice instance
@param[in] shutterDev a ShutterDevice instance
@param[in] name actor name; used for logging
@param[in] userPort port on which this service runs
@param[in] test bool. If true, use a fake camera.
"""
self.imageDir = ImageDir
self.test = test
self.setCamera()
self.filterWheelDev = filterWheelDev
self.shutterDev = shutterDev
self._tempSetpoint = None
self.expNum = 0
self.exposeCmd = UserCmd()
self.exposeCmd.setState(UserCmd.Done)
self.pollTimer = Timer()
self.expName = None
self.comment = None
self.expStartTime = None
self.expType = None
self.expTime = None
self.resetConfig = None
Actor.__init__(self,
userPort = userPort,
maxUsers = 1,
devs = (filterWheelDev, shutterDev),
name = name,
version = __version__,
doConnect = True,
doDevNameCmds = False,
doDebugMsgs = self.test,
)
def init(self, userCmd=None, getStatus=True, timeLim=DefaultTimeLim):
"""! Initialize all devices, and get status if wanted
@param[in] userCmd a UserCmd or None
@param[in] getStatus if true, query all devices for status
@param[in] timeLim
"""
userCmd = expandUserCmd(userCmd)
log.info("%s.init(userCmd=%s, timeLim=%s, getStatus=%s)" % (self, userCmd, timeLim, getStatus))
# initialize camera
self.setCamera()
subCmdList = []
# connect (if not connected) and initialize devices
filterDevCmd = expandUserCmd(None)
shutterDevCmd = expandUserCmd(None)
subCmdList.append(filterDevCmd)
subCmdList.append(shutterDevCmd)
if not self.filterWheelDev.isConnected:
self.filterWheelDev.connect(userCmd=filterDevCmd)
else:
self.filterWheelDev.init(userCmd=filterDevCmd)
if not self.shutterDev.isConnected:
self.shutterDev.connect(userCmd=shutterDevCmd)
else:
self.shutterDev.init(userCmd=shutterDevCmd)
if getStatus:
# get status only when the conn/initialization is done
def getStatus(foo):
if userCmd.isDone:
self.getStatus()
userCmd.addCallback(getStatus)
LinkCommands(mainCmd=userCmd, subCmdList=subCmdList)
if not self.exposeCmd.isDone:
self.exposeCmd.setState(self.exposeCmd.Failed, "currently running exposure killed via init")
self.exposeCleanup()
return userCmd
def setCamera(self):
self.camera = None
if self.test:
# use fake camera
self.camera = FakeCamera()
else:
self.camera = arctic.Camera()
@property
def tempSetpoint(self):
return self._tempSetpoint
@property
def exposureStateKW(self):
arcticExpState = self.camera.getExposureState()
arcticStatusInt = arcticExpState.state
#translate from arctic status string to output that hub/tui expect
if arcticStatusInt == arctic.Idle:
expStateStr = "done"
elif arcticStatusInt == arctic.Exposing:
expStateStr = "integrating"
elif arcticStatusInt == arctic.Paused:
expStateStr = "paused"
elif arcticStatusInt in [arctic.Reading, arctic.ImageRead]:
expStateStr = "reading"
if arcticStatusInt == arctic.Reading:
# use modeled exposure time
fullTime = self.getReadTime()
else:
fullTime = arcticExpState.fullTime
return "exposureState=%s, %.4f"%(expStateStr, fullTime)
def getReadTime(self):
"""Determine the read time for the current camera configuration
"""
config = self.camera.getConfig()
width = int(config.getBinnedWidth())
height = int(config.getBinnedHeight())
totalPix = width*height
readRate = ReadoutRateEnumNameDict[config.readoutRate]
readAmps = ReadoutAmpsEnumNameDict[config.readoutAmps]
if readAmps != Quad:
readAmps = Single
return dcOff[readAmps] + rowMult[readAmps] * height + pixMult[readAmps][readRate] * totalPix
# def setTemp(self, tempSetpoint):
# """Set the temperature setpoint
# @param[in] tempSetpoint: float, the desired temperature setpoint
# """
# self._tempSetpoint = float(tempSetpoint)
def parseAndDispatchCmd(self, cmd):
"""Dispatch the user command, parse the cmd string and append the result as a parsedCommand attribute
on cmd
@param[in] cmd user command (a twistedActor.UserCmd)
"""
log.info("%s.parseAndDispatchCmd cmdBody=%r"%(self, cmd.cmdBody))
if not cmd.cmdBody:
# echo to show alive
self.writeToOneUser(":", "", cmd=cmd)
return
parsedCommand = arcticCommandSet.parse(cmd.cmdBody)
# append the parsedCommand to the cmd object, and send along
cmd.parsedCommand = parsedCommand
return Actor.parseAndDispatchCmd(self, cmd)
def cmd_camera(self, userCmd):
"""! Implement the camera command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
arg = userCmd.parsedCommand.parsedPositionalArgs[0]
if arg == "status":
self.getStatus(userCmd=userCmd, doCamera=True, doFilter=False, doShutter=False)
else:
# how to init the camera, just rebuild it?
# assert arg == "initialize"
self.setCamera()
userCmd.setState(userCmd.Done)
return True
def cmd_filter(self, userCmd):
"""! Implement the filter command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
subCmd = userCmd.parsedCommand.subCommand
userCmd = expandUserCmd(userCmd)
if subCmd.cmdName == "initialize":
if not self.filterWheelDev.isConnected:
self.filterWheelDev.connect(userCmd)
else:
self.filterWheelDev.init(userCmd)
elif subCmd.cmdName == "connect":
self.filterWheelDev.connect(userCmd)
elif subCmd.cmdName == "disconnect":
self.filterWheelDev.disconnect(userCmd)
elif subCmd.cmdName == "status":
self.filterWheelDev.startCmd("status", userCmd=userCmd)
elif subCmd.cmdName == "home":
self.filterWheelDev.startCmd("home", userCmd=userCmd)
elif subCmd.cmdName == "talk":
talkTxt = subCmd.parsedPositionalArgs[0]
self.filterWheelDev.startCmd(talkTxt, userCmd=userCmd)
else:
userCmd.setState(userCmd.Failed, "unhandled sub command: %s. bug"%(subCmd.cmdName,))
return True
def cmd_init(self, userCmd):
"""! Implement the init command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
self.init(userCmd, getStatus=True)
# userCmd.setState(userCmd.Done)
return True
def cmd_ping(self, userCmd):
"""! Implement the ping command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
userCmd.setState(userCmd.Done, textMsg="alive")
return True
def cmd_expose(self, userCmd):
"""! Implement the expose command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
subCmd = userCmd.parsedCommand.subCommand
if subCmd.cmdName not in ["pause", "resume", "stop", "abort"]:
# no current exposure, start one
basename = subCmd.parsedFloatingArgs.get("basename", [None])[0]
comment = subCmd.parsedFloatingArgs.get("comment", [None])[0]
ccdBin = subCmd.parsedFloatingArgs.get("bin", None)
window = subCmd.parsedFloatingArgs.get("window", None)
if ccdBin is not None or window is not None:
# if bin or window is present, use single readout mode
# and set evertying back once done
config = self.camera.getConfig()
prevBin = [config.binFacCol, config.binFacRow]
prevWindow = self.getBinnedCCDWindow(config)
prevAmps = ReadoutAmpsEnumNameDict[config.readoutAmps]
prevRead = ReadoutRateEnumNameDict[config.readoutRate]
print("prev config", prevBin, prevWindow, prevAmps)
def setConfigBack():
self.setCameraConfig(ccdBin=prevBin, amps=[prevAmps], window=prevWindow)
self.resetConfig = setConfigBack
self.setCameraConfig(ccdBin=ccdBin, window=window, amps=[LL], readoutRate=[Fast])
if subCmd.cmdName == "Bias":
expTime = 0
else:
expTime = subCmd.parsedFloatingArgs["time"][0]
self.doExpose(userCmd, expType=subCmd.cmdName, expTime=expTime, basename=basename, comment=comment)
return True
# there is a current exposure
if subCmd.cmdName == "pause":
self.camera.pauseExposure()
elif subCmd.cmdName == "resume":
self.camera.resumeExposure()
elif subCmd.cmdName == "stop":
self.camera.stopExposure()
else:
assert subCmd.cmdName == "abort"
self.camera.abortExposure()
# explicilty write abort exposure state
self.writeToUsers("i", "exposureState=aborted,0")
self.exposeCleanup()
self.writeToUsers("i", self.exposureStateKW, userCmd)
userCmd.setState(userCmd.Done)
return True
def doExpose(self, userCmd, expType, expTime, basename=None, comment=None):
"""!Begin a camera exposure
@param[in] userCmd: a twistedActor UserCmd instance
@param[in] expType: string, one of object, flat, dark, bias
@param[in] expTime: float, exposure time.
"""
if not self.exposeCmd.isDone:
userCmd.setState(userCmd.Failed, "cannot start new exposure, self.exposeCmd not done")
return
if self.pollTimer.isActive:
userCmd.setState(userCmd.Failed, "cannot start new exposure, self.pollTimer is active - bug")
return
self.exposeCmd = userCmd
expTypeEnum = ExpTypeDict.get(expType)
if basename:
# save location was specified
expName = basename
else:
# wasn't specified choose a default place/name
if not os.path.exists(self.imageDir):
os.makedirs(self.imageDir)
expName = os.path.abspath("%s_%d.fits" % (expType, self.expNum))
expName = "%s_%d.fits" % (expType, self.expNum)
expName = os.path.join(self.imageDir, expName)
# print "startExposure(%r, %r, %r)" % (expTime, expTypeEnum, expName)
self.expStartTime = datetime.datetime.now()
log.info("startExposure(%r, %r, %r)" % (expTime, expTypeEnum, expName))
self.expName = expName
self.comment = comment
self.expType = expType
self.expTime = expTime
self.readingFlag = False
try:
self.camera.startExposure(expTime, expTypeEnum, expName)
self.writeToUsers("i", self.exposureStateKW, self.exposeCmd)
if expType.lower() in ["object", "flat"]:
self.writeToUsers("i", "shutter=open") # fake shutter
self.expNum += 1
self.pollCamera()
except RuntimeError as e:
self.exposeCmd.setState(self.exposeCmd.Failed, str(e))
# note, check what state the exposure kw is in after a runtime error here?
self.exposeCleanup()
def pollCamera(self):
"""Begin continuously polling the camera for exposure status, write the image when ready.
"""
expState = self.camera.getExposureState()
if expState.state == arctic.Reading and not self.readingFlag:
self.readingFlag = True
self.writeToUsers("i", "shutter=closed") # fake shutter
# self.startReadTime = time.time()
self.writeToUsers("i", self.exposureStateKW, self.exposeCmd)
if expState.state == arctic.ImageRead:
log.info("saving image: exposure %s"%self.expName)
self.camera.saveImage() # saveImage sets camera exp state to idle
# write headers
self.writeHeaders()
# clean up
log.info("exposure %s complete"%self.expName)
self.exposeCleanup()
elif expState.state == arctic.Idle:
log.warn("pollCamera() called but exposure state is idle. Should be harmless, but why did it happen?")
self.exposeCleanup()
else:
# if the camera is not idle continue polling
self.pollTimer.start(0.05, self.pollCamera)
def writeHeaders(self):
config = self.camera.getConfig()
# note comment header is written by hub, so we don't
# do it here
# http://astropy.readthedocs.org/en/latest/io/fits/
with fits.open(self.expName, mode='update') as hdulist:
prihdr = hdulist[0].header
# timestamp
prihdr["date-obs"] = self.expStartTime.isoformat(), "TAI time at the start of the exposure"
# filter info
try:
filterPos = int(self.filterWheelDev.filterPos)
except:
filterPos = "unknown"
prihdr["filpos"] = filterPos, "filter position"
prihdr["filter"] = self.filterWheelDev.filterName, "filter name"
# explicitly add in BINX BINY BEGX BEGY for WCS computation made by hub
prihdr["begx"] = config.winStartCol + 1, "beginning column of CCD window"
prihdr["begy"] = config.winStartRow + 1, "beginning row of CCD window"
prihdr["binx"] = config.binFacCol, "column bin factor"
prihdr["biny"] = config.binFacRow, "row bin factor"
prihdr["ccdbin1"] = config.binFacCol, "column bin factor" #duplicate of binx
prihdr["ccdbin2"] = config.binFacRow, "row bin factor" #duplicate of biny
prihdr["imagetyp"] = self.expType, "exposure type"
expTimeComment = "exposure time (sec)"
if self.expTime > 0:
expTimeComment = "estimated " + expTimeComment
prihdr["exptime"] = self.expTime, expTimeComment
prihdr["readamps"] = ReadoutAmpsEnumNameDict[config.readoutAmps], "readout amplifier(s)"
prihdr["readrate"] = ReadoutRateEnumNameDict[config.readoutRate], "readout rate"
# DATASEC and BIASSEC
# for the bias region: use all overscan except the first two columns (closest to the data)
# amp names are <x><y> e.g. 11, 12, 21, 22
prescanWidth = 3 if config.binFacCol == 3 else 2
prescanHeight = 1 if config.binFacRow == 3 else 0
if config.readoutAmps == arctic.Quad:
# all 4 amps are being read out
ampDataList = AmpDataMap.values()
ampXYList = " ".join([ampData.xyName for ampData in ampDataList])
prihdr["amplist"] = (ampXYList, "amplifiers read <x><y> e.g. 12=LR")
overscanWidth = config.getBinnedWidth() - ((2 * prescanWidth) + config.winWidth) # total, not per amp
overscanHeight = config.getBinnedHeight() - ((2 * prescanHeight) + config.winHeight) # total, not per amp
for ampData in ampDataList:
# CSEC is the section of the CCD covered by the data (unbinned)
csecWidth = config.winWidth * config.binFacCol / 2
csecHeight = config.winHeight * config.binFacRow / 2
csecStartCol = 1 + csecWidth if ampData.isRightHalf else 1
csecStartRow = 1 + csecHeight if ampData.isTopHalf else 1
csecEndCol = csecStartCol + csecWidth - 1
csecEndRow = csecStartRow + csecHeight - 1
csecKey = "csec" + ampData.xyName
csecValue = "[%i:%i,%i:%i]"%(csecStartCol, csecEndCol, csecStartRow, csecEndRow)
prihdr[csecKey] = csecValue, "data section of CCD (unbinned)"
# DSEC is the section of the image that is data (binned)
dsecStartCol = 1 + prescanWidth
if ampData.isRightHalf:
dsecStartCol = dsecStartCol + (config.winWidth / 2) + overscanWidth
dsecStartRow = 1 + prescanHeight
if ampData.isTopHalf:
dsecStartRow = dsecStartRow + (config.winHeight / 2) + overscanHeight
dsecEndCol = dsecStartCol + (config.winWidth / 2) - 1
dsecEndRow = dsecStartRow + (config.winHeight / 2) - 1
dsecKey = "dsec" + ampData.xyName
dsecValue = "[%i:%i,%i:%i]"%(dsecStartCol, dsecEndCol, dsecStartRow, dsecEndRow)
prihdr[dsecKey] = dsecValue, "data section of image (binned)"
biasWidth = (overscanWidth / 2) - 2 # "- 2" to skip first two columns of overscan
colBiasEnd = config.getBinnedWidth() / 2
if ampData.isRightHalf:
colBiasEnd += biasWidth
colBiasStart = 1 + colBiasEnd - biasWidth
bsecKey = "bsec" + ampData.xyName
bsecValue = "[%i:%i,%i:%i]"%(colBiasStart,colBiasEnd,dsecStartRow, dsecEndRow)
prihdr[bsecKey] = bsecValue, "bias section of image (binned)"
prihdr["gtgain"+ampData.xyName] = ampData.getGain(config.readoutRate), "predicted gain (e-/ADU)"
prihdr["gtron"+ampData.xyName] = ampData.getReadNoise(config.readoutRate), "predicted read noise (e-)"
else:
# single amplifier readout
ampData = AmpDataMap[config.readoutAmps]
prihdr["amplist"] = ampData.xyName, "amplifiers read <x><y> e.g. 12=LR"
overscanWidth = config.getBinnedWidth() - (prescanWidth + config.winWidth)
overscanHeight = config.getBinnedHeight() - (prescanHeight + config.winHeight)
csecWidth = config.winWidth * config.binFacCol
csecHeight = config.winHeight * config.binFacRow
csecStartCol = 1 + (config.winStartCol * config.binFacCol)
csecStartRow = 1 + (config.winStartRow * config.binFacRow)
csecEndCol = csecStartCol + csecWidth - 1
csecEndRow = csecStartRow + csecHeight - 1
csecKey = "csec" + ampData.xyName
csecValue = "[%i:%i,%i:%i]"%(csecStartCol, csecEndCol, csecStartRow, csecEndRow)
prihdr[csecKey] = csecValue, "data section of CCD (unbinned)" #?
dsecStartCol = 1 + config.winStartCol + prescanWidth
dsecStartRow = 1 + config.winStartRow + prescanHeight
dsecEndCol = dsecStartCol + config.winWidth - 1
dsecEndRow = dsecStartRow + config.winHeight - 1
dsecKey = "dsec" + ampData.xyName
dsecValue = "[%i:%i,%i:%i]"%(dsecStartCol, dsecEndCol, dsecStartRow, dsecEndRow)
prihdr[dsecKey] = dsecValue, "data section of image (binned)"
biasWidth = overscanWidth - 2 # "- 2" to skip first two columns of overscan
colBiasEnd = config.getBinnedWidth()
colBiasStart = 1 + colBiasEnd - biasWidth
bsecKey = "bsec" + ampData.xyName
bsecValue = "[%i:%i,%i:%i]"%(colBiasStart, colBiasEnd, dsecStartRow, dsecEndRow)
prihdr[bsecKey] = bsecValue, "bias section of image (binned)"
prihdr["gtgain"+ampData.xyName] = ampData.getGain(config.readoutRate), "predicted gain (e-/ADU)"
prihdr["gtron"+ampData.xyName] = ampData.getReadNoise(config.readoutRate), "predicted read noise (e-)"
def exposeCleanup(self):
self.pollTimer.cancel() # just in case
self.writeToUsers("i", self.exposureStateKW, self.exposeCmd)
self.writeToUsers("i", "shutter=closed") # fake shutter
# if configuration requires setting back do it now
if self.resetConfig is not None:
print("resetting config")
self.resetConfig()
self.resetConfig = None
if not self.exposeCmd.isDone:
self.exposeCmd.setState(self.exposeCmd.Done)
self.expName = None
self.comment = None
self.expStartTime = None
self.expType = None
self.expTime = None
self.readingFlag = False
def maxCoord(self, binFac=(1,1)):
"""Returns the maximum binned CCD coordinate, given a bin factor.
"""
assert len(binFac) == 2, "binFac must have 2 elements; binFac = %r" % binFac
# The value is even for both amplifiers, even if only using single readout,
# just to keep the system more predictable. The result is that the full image size
# is the same for 3x3 binning regardless of whether you read one amp or four,
# and as a result you lose one row and one column when you read one amp.
return [(4096, 4096)[ind] // int(2 * binFac[ind]) * 2 for ind in range(2)]
def minCoord(self, binFac=(1,1)):
"""Returns the minimum binned CCD coordinate, given a bin factor.
"""
assert len(binFac) == 2, "binFac must have 2 elements; binFac = %r" % binFac
return (1, 1)
def unbin(self, binnedCoords, binFac):
"""Copied from TUI
Converts binned to unbinned coordinates.
The output is constrained to be in range (but such constraint is only
needed if the input was out of range).
A binned coordinate can be be converted to multiple unbinned choices (if binFac > 1).
The first two coords are converted to the smallest choice,
the second two (if supplied) are converted to the largest choice.
Thus 4 coordinates are treated as a window with LL, UR coordinates, inclusive.
Inputs:
- binnedCoords: 2 or 4 coords; see note above
If any element of binnedCoords or binFac is None, all returned elements are None.
"""
assert len(binnedCoords) in (2, 4), "binnedCoords must have 2 or 4 elements; binnedCoords = %r" % binnedCoords
if len(binFac) == 1:
binFac = binFac*2
assert len(binFac) == 2, "binFac must have 2 elements; binFac = %r" % binFac
if None in binnedCoords or None in binFac:
return (None,)*len(binnedCoords)
binXYXY = binFac * 2
subadd = (1, 1, 0, 0)
# compute value ignoring limits
unbinnedCoords = [((binnedCoords[ind] - subadd[ind]) * binXYXY[ind]) + subadd[ind]
for ind in range(len(binnedCoords))]
# apply limits
minUnbinXYXY = self.minCoord()*2
maxUnbinXYXY = self.maxCoord()*2
unbinnedCoords = [min(max(unbinnedCoords[ind], minUnbinXYXY[ind]), maxUnbinXYXY[ind])
for ind in range(len(unbinnedCoords))]
return unbinnedCoords
def bin(self, unbinnedCoords, binFac):
"""Copied from TUI
Converts unbinned to binned coordinates.
The output is constrained to be in range for the given bin factor
(if a dimension does not divide evenly by the bin factor
then some valid unbinned coords are out of range when binned).
Inputs:
- unbinnedCoords: 2 or 4 coords
If any element of binnedCoords or binFac is None, all returned elements are None.
"""
assert len(unbinnedCoords) in (2, 4), "unbinnedCoords must have 2 or 4 elements; unbinnedCoords = %r" % unbinnedCoords
if len(binFac) == 1:
binFac = binFac*2
assert len(binFac) == 2, "binFac must have 2 elements; binFac = %r" % binFac
if None in unbinnedCoords or None in binFac:
return (None,)*len(unbinnedCoords)
binXYXY = binFac * 2
# compute value ignoring limits
binnedCoords = [1 + ((unbinnedCoords[ind] - 1) // int(binXYXY[ind]))
for ind in range(len(unbinnedCoords))]
# apply limits
minBinXYXY = self.minCoord(binFac)*2
maxBinXYXY = self.maxCoord(binFac)*2
binnedCoords = [min(max(binnedCoords[ind], minBinXYXY[ind]), maxBinXYXY[ind])
for ind in range(len(binnedCoords))]
return binnedCoords
def getCurrentBinnedCCDWindow(self, config):
wind0 = config.winStartCol + 1
wind1 = config.winStartRow + 1
# wind2 = config.winWidth + wind0
# wind3 = config.winHeight + wind1
wind2 = config.winWidth + config.winStartCol
wind3 = config.winHeight + config.winStartRow
return [wind0, wind1, wind2, wind3]
def getUnbinnedCCDWindow(self, config):
window = self.getCurrentBinnedCCDWindow(config)
return self.unbin(window, [config.binFacCol, config.binFacRow])
def getBinnedCCDWindow(self, config, newBin=None):
"""Return a binned CCD window. If newBin specified return window with
new bin factor, otherwise use the current bin factor.
"""
if newBin is None:
return self.getCurrentBinnedCCDWindow(config)
else:
# determine new window size from new bin factor
unbinnedWindow = self.getUnbinnedCCDWindow(config)
print("max coord", self.maxCoord(binFac=newBin))
return self.bin(unbinnedWindow, newBin)
def setCCDWindow(self, config, window):
"""Window is a set of 4 integers, or a list of 1 element: ["full"]
"""
if str(window[0]).lower() == "full":
config.setFullWindow()
else:
try:
window = [int(x) for x in window]
assert len(window)==4
# explicitly handle the off by 1 issue with 3x3 binning
# note this is also handled in self.getBinnedCCDWindow
# if now window was passed via the command string
# if config.binFacCol == 3:
# window[2] = window[2] - 1
# if config.binFacRow == 3:
# window[3] = window[3] - 1
print("windowExplicit", window)
except:
raise ParseError("window must be 'full' or a list of 4 integers")
config.winStartCol = window[0]-1 # leach is 0 indexed
config.winStartRow = window[1]-1
config.winWidth = window[2] - config.winStartCol # window width includes start and end row!
config.winHeight = window[3] - config.winStartRow
def setCameraConfig(self, ccdBin=None, amps=None, window=None, readoutRate=None):
"""! Set parameters on the camera config object
ccdBin = None, or a list of 1 or 2 integers
amps = None, or 1 element list [LL], [UL], [UR], [LR], or [Quad]
window = None, ["full"], or [int, int, int, int]
readoutRate = None, or 1 element list: [Fast], [Medium], or [Slow]
"""
# begin replacing/and checking config values
config = self.camera.getConfig()
if readoutRate is not None:
config.readoutRate = ReadoutRateNameEnumDict[readoutRate[0]]
if ccdBin is not None:
newColBin = ccdBin[0]
newRowBin = newColBin if len(ccdBin) == 1 else ccdBin[1]
if window is None:
# calculate the new window with the new bin factors
window = self.getBinnedCCDWindow(config, newBin=[newColBin, newRowBin])
# set new bin factors
config.binFacCol = newColBin
config.binFacRow = newRowBin
# windowing and amps need some careful handling...
if window is not None:
self.setCCDWindow(config, window)
# if amps were not specified be sure this window works
# with the current amp configuration, else yell
# force the amps check
if amps is None:
amps = [ReadoutAmpsEnumNameDict[config.readoutAmps]]
if amps is not None:
# quad amp only valid for full window
amps = amps[0]
isFullWindow = config.isFullWindow()
if not isFullWindow and amps==Quad:
raise ParseError("amps=quad may only be specified with a full window")
if isFullWindow and amps==Auto:
config.readoutAmps = ReadoutAmpsNameEnumDict[Quad]
elif not isFullWindow and amps==Auto:
config.readoutAmps = ReadoutAmpsNameEnumDict[LL]
else:
config.readoutAmps = ReadoutAmpsNameEnumDict[amps]
# set camera configuration if a configuration change was requested
if True in [x is not None for x in [readoutRate, ccdBin, window, amps]]:
# camera config was changed set it and output new camera status
self.camera.setConfig(config)
self.getStatus(doCamera=True, doFilter=False, doShutter=False)
def cmd_set(self, userCmd):
"""! Implement the set command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
argDict = userCmd.parsedCommand.parsedFloatingArgs
if not argDict:
# nothing was passed?
raise ParseError("no arguments received for set command")
ccdBin = argDict.get("bin", None)
amps = argDict.get("amps", None)
window = argDict.get("window", None)
readoutRate = argDict.get("readoutRate", None)
temp = argDict.get("temp", None)
filterPos = argDict.get("filter", None)
self.setCameraConfig(ccdBin=ccdBin, amps=amps, window=window, readoutRate=readoutRate)
if temp is not None:
self.setTemp(argDict["temp"][0])
# move wants an int, maybe some translation should happend here
# or some mapping between integers and filter names
if filterPos is not None:
# only set command done if move finishes successfully
def setDoneAfterMove(mvCmd):
if mvCmd.isDone:
# did the move fail? if so fail the userCmd and ask for status
if mvCmd.didFail:
userCmd.setState(userCmd.Failed, "Filter move failed: %s"%mvCmd.textMsg)
else:
userCmd.setState(userCmd.Done)
pos = int(filterPos[0])
# output commanded position keywords here (move to filterWheelActor eventually?)
self.filterWheelDev.startCmd("move %i"%(pos,), callFunc=setDoneAfterMove) # userCmd set done in callback after status
else:
# done: output the new configuration
userCmd.setState(userCmd.Done)
return True
def cmd_status(self, userCmd):
"""! Implement the status command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
# statusStr = self.getCameraStatus()
# self.writeToUsers("i", statusStr, cmd=userCmd)
self.getStatus(userCmd)
return True
def getCameraStatus(self):
"""! Return a formatted string of current camera
status
"""
config = self.camera.getConfig()
keyVals = []
# exposure state
keyVals.append(self.exposureStateKW)
keyVals.append("ccdState=ok") # a potential lie?
keyVals.append("ccdSize=%i,%i"%(arctic.CCDWidth, arctic.CCDHeight))
# bin
ccdBin = (config.binFacCol, config.binFacRow)
keyVals.append("ccdBin=%i,%i"%(ccdBin))
# window
keyVals.append("shutter=%s"%("open" if self.camera.getExposureState().state == arctic.Exposing else "closed"))
# ccdWindow = (
# config.winStartCol + 1, # add one to adhere to tui's convention
# config.winStartRow + 1,
# config.winStartCol + config.winWidth,
# config.winStartRow + config.winHeight,
# )
ccdWindow = tuple(self.getBinnedCCDWindow(config))
ccdUBWindow = tuple(self.unbin(ccdWindow, ccdBin))
keyVals.append("ccdWindow=%i,%i,%i,%i"%(ccdWindow))
keyVals.append("ccdUBWindow=%i,%i,%i,%i"%(ccdUBWindow))
keyVals.append("ccdOverscan=%i,0"%arctic.XOverscan)
keyVals.append("ampNames=%s,%s"%(LL,Quad))
keyVals.append("ampName="+ReadoutAmpsEnumNameDict[config.readoutAmps])
keyVals.append("readoutRateNames="+", ".join([x for x in ReadoutRateEnumNameDict.values()]))
keyVals.append("readoutRateName=%s"%ReadoutRateEnumNameDict[config.readoutRate])
# add these when they become available?
# keyVals.append("ccdTemp=?")
# if self.tempSetpoint is None:
# ts = "None"
# else:
# ts = "%.2f"%self.tempSetpoint
# keyVals.append("tempSetpoint=%s"%ts)
return "; ".join(keyVals)
def getStatus(self, userCmd=None, doCamera=True, doFilter=True, doShutter=True):
"""! A generic status command, arguments specify which statuses are wanted
@param[in] userCmd a twistedActor UserCmd or none
@param[in] doCamera: bool, if true get camera status
@param[in] doFilter: bool, if true get filter wheel status
@param[in] doShutter: bool, if true get shutter status
"""
assert True in [doFilter, doShutter, doCamera]
userCmd = expandUserCmd(userCmd)
if doCamera:
statusStr = self.getCameraStatus()
self.writeToUsers("i", statusStr, cmd=userCmd)
subCmdList = []
if doShutter:
subCmdList.append(self.shutterDev.getStatus())
if doFilter:
subCmdList.append(self.filterWheelDev.startCmd("status"))
if subCmdList:
LinkCommands(userCmd, subCmdList)
else:
userCmd.setState(userCmd.Done)
return userCmd
def makeCmd(self, cmd):
newCmd = UserCmd(userID = 0, cmdStr = cmd)
newCmd.cmdVerb = cmd
newCmd.addCallback(self.cmdCallback)
return newCmd
class TCSDevice(TCPDevice):
"""!A Device for communicating with the LCO TCS."""
def __init__(self, name, host, port, callFunc=None):
"""!Construct a LCODevice
Inputs:
@param[in] name name of device
@param[in] host host address of tcs controller
@param[in] port port of tcs controller
@param[in] callFunc function to call when state of device changes;
note that it is NOT called when the connection state changes;
register a callback with "conn" for that task.
"""
self.status = Status()
self._statusTimer = Timer()
self.waitRotCmd = UserCmd()
self.waitRotCmd.setState(self.waitRotCmd.Done)
self.waitRotTimer = Timer()
# self.waitFocusCmd = UserCmd()
# self.waitFocusCmd.setState(self.waitFocusCmd.Done)
self.waitOffsetCmd = UserCmd()
self.waitOffsetCmd.setState(self.waitOffsetCmd.Done)
self.waitOffsetTimer = Timer()
self.rotDelay = False
self.devCmdQueue = CommandQueue({}) # all commands of equal priority
self.lastGuideRotApplied = None
self.doGuideRot = True
TCPDevice.__init__(self,
name = name,
host = host,
port = port,
callFunc = callFunc,
cmdInfo = (),
)
@property
def currExeDevCmd(self):
return self.devCmdQueue.currExeCmd.cmd
@property
def currDevCmdStr(self):
return self.currExeDevCmd.cmdStr
# @property
# def atFocus(self):
# if self.status.statusFieldDict["focus"].value and abs(self.targFocus - self.status.statusFieldDict["focus"].value) < FocusPosTol:
# return True
# else:
# return False
@property
def isTracking(self):
if not self.waitOffsetCmd.isDone:
# offsets do not trigger tcs tracking state, so we fake it here
return False
return self.status.statusFieldDict["state"].value == Tracking
@property
def isSlewing(self):
if not self.waitOffsetCmd.isDone or not self.status.isClamped:
# if clamp is not on, then we are moving the rotator
return True
else:
return False
def init(self, userCmd=None, timeLim=None, getStatus=True):
"""Called automatically on startup after the connection is established.
Only thing to do is query for status or connect if not connected
"""
log.info("%s.init(userCmd=%s, timeLim=%s, getStatus=%s)" % (self, userCmd, timeLim, getStatus))
# print("%s.init(userCmd=%s, timeLim=%s, getStatus=%s)" % (self, userCmd, timeLim, getStatus))
userCmd = expandUserCmd(userCmd)
# if not self.isConnected:
# # time lim handled by lco.deviceCmd
# return self.connect(userCmd=userCmd)
if getStatus:
return self.getStatus(userCmd=userCmd)
else:
userCmd.setState(userCmd.Done)
return userCmd
def getStatus(self, userCmd=None):
"""Return current telescope status. Continuously poll.
"""
log.info("%s.getStatus(userCmd=%s)" % (self, userCmd)) # logging this will flood the log
userCmd = expandUserCmd(userCmd)
if not self.conn.isConnected:
userCmd.setState(userCmd.Failed, "Not Connected to TCS")
return userCmd
self._statusTimer.cancel() # incase a status is pending
userCmd = expandUserCmd(userCmd)
userCmd.addCallback(self._statusCallback)
# record the present RA, DEC (for determining when offsets are done)
# self.status.previousRA = self.status.statusFieldDict["ra"].value
# self.status.previousDec = self.status.statusFieldDict["dec"].value
if self.status.statusFieldDict["mpos"].value is None:
self.status.previousRA, self.status.previousDec = None, None
else:
self.status.previousRA = self.status.statusFieldDict["mpos"].value[0]
self.status.previousDec = self.status.statusFieldDict["mpos"].value[1]
# gather list of status elements to get
devCmdList = [DevCmd(cmdStr=cmdVerb) for cmdVerb in self.status.statusFieldDict.keys()]
LinkCommands(userCmd, devCmdList)
for devCmd in devCmdList:
self.queueDevCmd(devCmd)
if not self.status.isClamped or self.rotDelay:
# rotator is moving, get status frequently
pollTime = PollTimeRot
elif self.isSlewing:
# slewing, get status kinda frequently
pollTime = PollTimeSlew
elif self.isTracking:
# tracking, get status less frequently
pollTime = PollTimeTrack
else:
# idle, get status infrequently (as things shouldn't be changing fast)
pollTime = PollTimeIdle
self._statusTimer.start(pollTime, self.getStatus)
return userCmd
def _statusCallback(self, cmd):
"""! When status command is complete, send info to users, and check if any
wait commands need to be set done
"""
# print("tcs status callback", cmd)
if cmd.isDone and not cmd.didFail:
# do we want status output so frequently? probabaly not.
# perhaps only write status if it has changed...
statusStr = self.status.getStatusStr()
if statusStr:
self.writeToUsers("i", statusStr, cmd)
if self.waitOffsetCmd.isActive and not True in self.status.axesSlewing():
self.waitOffsetCmd.setState(self.waitOffsetCmd.Done)
if self.waitRotCmd.isActive and not self.rotDelay and self.status.isClamped: #not self.status.rotMoving: #and self.status.rotOnTarget :
print("set rot command done", self.rotDelay, self.status.isClamped, self.status.rotMoving)
self.waitRotCmd.setState(self.waitRotCmd.Done)
def target(self, ra, dec, doHA, userCmd=None):
"""Set coordinates for a slew.
@param[in] ra: right ascension decimal degrees
@param[in] dec: declination decimal degrees
@param[in] doHA: if True, use degrees in hour angle rather than ra.
@param[in] userCmd: a twistedActor BaseCommand.
"""
log.info("%s.slew(userCmd=%s, ra=%.2f, dec=%.2f)" % (self, userCmd, ra, dec))
userCmd = expandUserCmd(userCmd)
if not self.conn.isConnected:
userCmd.setState(userCmd.Failed, "Not Connected to TCS")
return userCmd
if doHA:
enterRa = "HAD %.8f"%ra
else:
enterRa = "RAD %.8f"%ra
enterDec = "DECD %.8f"%dec
enterEpoch = "MP %.2f"%2000 # LCO: HACK should coords always be 2000?
devCmdList = [DevCmd(cmdStr=cmdStr) for cmdStr in [enterRa, enterDec, enterEpoch]]#, cmdSlew]]
# set userCmd done only when each device command finishes
# AND the pending slew is also done.
# when the last dev cmd is done (the slew), set axis cmd statue to slewing
LinkCommands(userCmd, devCmdList) #LCO: HACK don't wait for a slew to finish + [self.waitSlewCmd])
for devCmd in devCmdList:
self.queueDevCmd(devCmd)
statusStr = self.status.getStatusStr()
if statusStr:
self.writeToUsers("i", statusStr, userCmd)
return userCmd
def slewOffset(self, ra, dec, userCmd=None):
"""Offset telescope in right ascension and declination.
@param[in] ra: right ascension in decimal degrees
@param[in] dec: declination in decimal degrees
@param[in] userCmd a twistedActor BaseCommand
@todo, consolidate similar code with self.target?
"""
log.info("%s.slewOffset(userCmd=%s, ra=%.6f, dec=%.6f)" % (self, userCmd, ra, dec))
userCmd = expandUserCmd(userCmd)
# zero the delta computation so the offset isn't marked done immediately
self.status.previousDec = ForceSlew
self.status.previousRA = ForceSlew
if not self.conn.isConnected:
userCmd.setState(userCmd.Failed, "Not Connected to TCS")
return userCmd
if not self.waitOffsetCmd.isDone:
self.waitOffsetCmd.setState(self.waitOffsetCmd.Cancelled, "Superseded by new offset")
waitOffsetCmd = UserCmd()
self.waitOffsetCmd = waitOffsetCmd
enterRa = "OFRA %.8f"%(ra*ArcSecPerDeg)
enterDec = "OFDC %.8f"%(dec*ArcSecPerDeg) #lcohack
devCmdList = [DevCmd(cmdStr=cmdStr) for cmdStr in [enterRa, enterDec, CMDOFF]]
# set userCmd done only when each device command finishes
# AND the pending slew is also done.
# set an offset done after 6 seconds no matter what
def setWaitOffsetCmdDone(aWaitingOffsetCmd):
print("wait offset command state", aWaitingOffsetCmd.state)
if not aWaitingOffsetCmd.isDone:
print("Wait offset timed out!!!!")
self.writeToUsers("w", "Text=OFFSET SET DONE ON TIMER.")
aWaitingOffsetCmd.setState(aWaitingOffsetCmd.Done, "offset set done on a timer")
self.waitOffsetTimer.start(8, setWaitOffsetCmdDone, waitOffsetCmd)
# self.waitOffsetCmd.setTimeLimit(6)
LinkCommands(userCmd, devCmdList + [self.waitOffsetCmd])
for devCmd in devCmdList:
self.queueDevCmd(devCmd)
statusStr = self.status.getStatusStr()
if statusStr:
self.writeToUsers("i", statusStr, userCmd)
return userCmd
def rotOffset(self, rot, userCmd=None, force=False):
"""Offset telescope rotator. USE APGCIR cmd
which holds current
@param[in] rot: in decimal degrees
@param[in] userCmd a twistedActor BaseCommand
"""
# LCOHACK: allow offsets only if over 5 arcseconds!
# if True:
# #! lupton!
# userCmd = expandUserCmd(userCmd)
# self.writeToUsers("w", "Rotator offset %.6f bypassed"%rot)
# userCmd.setState(userCmd.Done)
# return userCmd
if not self.conn.isConnected:
userCmd.setState(userCmd.Failed, "Not Connected to TCS")
return userCmd
if not self.waitRotCmd.isDone:
# rotator is unclamped, a move is in progress
userCmd.setState(userCmd.Failed, "Rotator is unclamped (already moving?)")
return userCmd
# if abs(rot) < MinRotOffset and not force:
if not self.doGuideRot:
# set command done, rotator offset is miniscule
self.writeToUsers("w", "Guide rot not enabled, not applying", userCmd)
userCmd.setState(userCmd.Done)
return userCmd
if abs(rot) > MaxRotOffset:
# set command failed, rotator offset is too big
self.writeToUsers("w", "Rot offset greater than max threshold", userCmd)
userCmd.setState(userCmd.Failed, "Rot offset %.4f > %.4f"%(rot, MaxRotOffset))
return userCmd
### print time since last rot applied from guider command
if not force:
if self.lastGuideRotApplied is None:
self.lastGuideRotApplied = time.time()
else:
tnow = time.time()
infoStr = "time since last guide rot update: %.2f"%(tnow-self.lastGuideRotApplied)
print(infoStr)
log.info(infoStr)
self.lastGuideRotApplied = tnow
# apgcir requires absolute position, calculate it
# first get status
newPos = self.status.rotPos - rot
# rotStart = time.time()
# def printRotSlewTime(aCmd):
# if aCmd.isDone:
# rotTime = time.time() - rotStart
# print("rot: off, time, speed: %.5f %.5f %5f"%(newPos, rotTime, newPos/rotTime))
waitRotCmd = UserCmd()
self.waitRotCmd = waitRotCmd
# calculate time limit for rot move:
rotTimeLimBuffer = 2 # check for clamp after 4 seconds
self.rotDelay = True
print("setting rot delay true")
def setRotBufferOff():
print("setting rot delay false")
print("rot buffer Off (clamped?)", self.status.isClamped)
self.rotDelay = False
self.waitRotTimer.start(rotTimeLimBuffer, setRotBufferOff)
self.waitOffsetCmd.setTimeLimit(rotTimeLimBuffer + 20)
self.status.setRotOffsetTarg(rot)
enterAPGCIR = DevCmd(cmdStr="APGCIR %.8f"%(newPos))
LinkCommands(userCmd, [enterAPGCIR, self.waitRotCmd])
# begin the dominos game
self.queueDevCmd(enterAPGCIR)
statusStr = self.status.getStatusStr()
if statusStr:
self.writeToUsers("i", statusStr, userCmd)
return userCmd
def handleReply(self, replyStr):
"""Handle a line of output from the device. Called whenever the device outputs a new line of data.
@param[in] replyStr the reply, minus any terminating \n
Tasks include:
- Parse the reply
- Manage the pending commands
- Output data to users
- Parse status to update the model parameters
- If a command has finished, call the appropriate command callback
"""
log.info("%s read %r, currCmdStr: %s" % (self, replyStr, self.currDevCmdStr))
replyStr = replyStr.strip()
if replyStr == "-1":
# error
errorStr = "handleReply failed for %s with -1"%self.currDevCmdStr
if self.waitOffsetCmd.isActive:
self.waitOffsetCmd.setState(self.waitOffsetCmd.Failed, errorStr)
if self.waitRotCmd.isActive:
# note the clamp should still execute!!!!
self.waitRotCmd.setState(self.waitRotCmd.Failed, errorStr)
self.currExeDevCmd.setState(self.currExeDevCmd.Failed, errorStr)
return
statusField = self.status.statusFieldDict.get(self.currDevCmdStr, None)
if statusField:
# a piece of status was requested, parse it
# how to check for error condition? parsing -1 as a float will still work.
statusField.setValue(replyStr)
self.currExeDevCmd.setState(self.currExeDevCmd.Done)
elif replyStr == "0":
# this was a command, a "0" is expected
self.currExeDevCmd.setState(self.currExeDevCmd.Done)
else:
log.info("unexpected reply" % replyStr)
#self.currExeDevCmd.setState(self.currExeDevCmd.Failed, "Unexpected reply %s for %s"%(replyStr, self.currDevCmdStr))
def queueDevCmd(self, devCmd):
"""Add a device command to the device command queue
@param[in] devCmd: a twistedActor DevCmd.
"""
log.info("%s.queueDevCmd(devCmd=%r, devCmdStr=%r, cmdQueue: %r"%(self, devCmd, devCmd.cmdStr, self.devCmdQueue))
# append a cmdVerb for the command queue (other wise all get the same cmdVerb and cancel eachother)
# could change the default behavior in CommandQueue?
devCmd.cmdVerb = devCmd.cmdStr
def queueFunc(devCmd):
# all tcs commands return immediately so set a short timeout
devCmd.setTimeLimit(SEC_TIMEOUT)
devCmd.setState(devCmd.Running)
self.startDevCmd(devCmd.cmdStr)
self.devCmdQueue.addCmd(devCmd, queueFunc)
def startDevCmd(self, devCmdStr):
"""
@param[in] devCmdStr a line of text to send to the device
"""
devCmdStr = devCmdStr.upper() # lco uses all upper case
log.info("%s.startDevCmd(%r)" % (self, devCmdStr))
try:
if self.conn.isConnected:
log.info("%s writing %r" % (self, devCmdStr))
if CMDOFF.upper() == devCmdStr:
self.waitOffsetCmd.setState(self.waitOffsetCmd.Running)
elif "CIR" in devCmdStr:
self.waitRotCmd.setState(self.waitRotCmd.Running)
self.conn.writeLine(devCmdStr)
else:
self.currExeDevCmd.setState(self.currExeDevCmd.Failed, "Not connected to TCS")
except Exception as e:
self.currExeDevCmd.setState(self.currExeDevCmd.Failed, textMsg=strFromException(e))
class M2Device(TCPDevice):
"""!A Device for communicating with the M2 process."""
def __init__(self, name, host, port, callFunc=None):
"""!Construct a LCODevice
Inputs:
@param[in] name name of device
@param[in] host host address of m2 controller
@param[in] port port of m2 controller
@param[in] callFunc function to call when state of device changes;
note that it is NOT called when the connection state changes;
register a callback with "conn" for that task.
"""
self.status = Status()
self._statusTimer = Timer()
self.waitMoveCmd = UserCmd()
self.waitMoveCmd.setState(self.waitMoveCmd.Done)
# self.waitGalilCmd = UserCmd()
# self.waitGalilCmd.setState(self.waitGalilCmd.Done)
# give status commands equal priority so they don't kill eachother
priorityDict = {
"status": 1,
"speed": 1,
"stop": 1,
"move": 1,
"galil": 1,
"offset": 1,
}
self.devCmdQueue = CommandQueue(priorityDict) # all commands of equal priority
TCPDevice.__init__(self,
name = name,
host = host,
port = port,
callFunc = callFunc,
cmdInfo = (),
)
@property
def isBusy(self):
return self.status.state == Moving
@property
def isOff(self):
return self.status.galil == Off
@property
def isDone(self):
# only done when state=done and galil=off
return not self.isBusy and self.isOff
@property
def currExeDevCmd(self):
return self.devCmdQueue.currExeCmd.cmd
@property
def currDevCmdStr(self):
return self.currExeDevCmd.cmdStr
# @property
# def atFocus(self):
# if self.status.statusFieldDict["focus"].value and abs(self.targFocus - self.status.statusFieldDict["focus"].value) < FocusPosTol:
# return True
# else:
# return False
def init(self, userCmd=None, timeLim=None, getStatus=True):
"""Called automatically on startup after the connection is established.
Only thing to do is query for status or connect if not connected
"""
log.info("%s.init(userCmd=%s, timeLim=%s, getStatus=%s)" % (self, userCmd, timeLim, getStatus))
# print("%s.init(userCmd=%s, timeLim=%s, getStatus=%s)" % (self, userCmd, timeLim, getStatus))
userCmd = expandUserCmd(userCmd)
# if not self.isConnected:
# return self.connect(userCmd=userCmd)
# get the speed on startup
# ignore getStatus flag, just do it always
self.queueDevCmd("speed")
return self.getStatus(userCmd=userCmd)
# userCmd.setState(userCmd.Done)
# return userCmd
def getStatus(self, userCmd=None):
"""Return current telescope status. Continuously poll.
"""
log.info("%s.getStatus(userCmd=%s)" % (self, userCmd)) # logging this will flood the log
# print("%s.getStatus(userCmd=%s)" % (self, userCmd))
userCmd = expandUserCmd(userCmd)
if not self.conn.isConnected:
userCmd.setState(userCmd.Failed, "Not Connected to M2")
return userCmd
self._statusTimer.cancel() # incase a status is pending
userCmd = expandUserCmd(userCmd)
# userCmd.addCallback(self._statusCallback)
# gather list of status elements to get
statusCmd = self.queueDevCmd("status", userCmd)
LinkCommands(userCmd, [statusCmd])
return userCmd
def processStatus(self, replyStr):
# print("procesStatus", replyStr)
self.status.parseStatus(replyStr)
# do we want status output so frequently? probabaly not.
# perhaps only write status if it has changed...
# but so far status is a small amount of values
# so its probably ok
statusStr = self.status.getStatusStr()
if statusStr:
userCmd = self.currExeDevCmd.userCmd
if self.waitMoveCmd.isActive:
userCmd = self.waitMoveCmd
# write as debug during moves
self.writeToUsers("d", statusStr, userCmd)
else:
self.writeToUsers("i", statusStr, userCmd)
if self.waitMoveCmd.isActive:
if not self.isBusy:
# move is done
if not self.isOff:
# move just finished but galil is not off, turn it off
self.queueDevCmd("galil off")
else:
# move is done and galil is off, set wait move command as done
self.waitMoveCmd.setState(self.waitMoveCmd.Done)
if not self.isDone:
# keep polling until done
self._statusTimer.start(PollTime, self.getStatus)
def stop(self, userCmd=None):
userCmd = expandUserCmd(userCmd)
if not self.waitMoveCmd.isDone:
self.waitMoveCmd.setState(self.waitMoveCmd.Cancelled, "Stop commanded")
#print("sec stop commanded")
stopCmd = self.queueDevCmd("stop", userCmd)
galilOffCmd = self.queueDevCmd("galil off", userCmd)
status = self.queueDevCmd("status", userCmd)
status2 = self.queueDevCmd("status", userCmd)
# first status gets the error state
# second status clears it
LinkCommands(userCmd, [stopCmd, status, galilOffCmd, status2])
return userCmd
def focus(self, focusValue, offset=False, userCmd=None):
"""Command an offset or absolute focus move
@param[in] focusValue: float, focus value in microns
@param[in] offset, if true this is offset, else absolute
@param[in] userCmd: a twistedActor BaseCommand
WARNING!!!
At APO increasing focus corresponds to decreasing M1-M2 dist.
The mirror controller at LCO convention is the opposite.
"""
log.info("%s.focus(userCmd=%s, focusValue=%.2f, offset=%s)" % (self, userCmd, focusValue, str(bool(offset))))
# if this focus value is < 50 microns
userCmd = expandUserCmd(userCmd)
if offset:
deltaFocus = focusValue
else:
deltaFocus = self.status.secFocus - focusValue
if abs(deltaFocus) < MIN_FOCUS_MOVE:
# should focus be cancelled or just set to done?
self.writeToUsers("w", "Focus offset below threshold of < %.2f, moving anyways."%MIN_FOCUS_MOVE, userCmd)
# userCmd.setState(userCmd.Done)
# return userCmd
# focusDir = 1 # use M2's natural coordinates
# focusDir = -1 # use convention at APO
return self.move(valueList=[focusValue], offset=offset, userCmd=userCmd)
def move(self, valueList, offset=False, userCmd=None):
"""Command an offset or absolute orientation move
@param[in] valueList: list of 1 to 5 values specifying pistion(um), tiltx("), tilty("), transx(um), transy(um)
@param[in] offset, if true this is offset, else absolute
@param[in] userCmd: a twistedActor BaseCommand
Note: increasing distance eg pistion means increasing spacing between primary and
secondary mirrors.
"""
log.info("%s.move(userCmd=%s, valueList=%s, offset=%s)" % (self, userCmd, str(valueList), str(bool(offset))))
userCmd = expandUserCmd(userCmd)
if not self.waitMoveCmd.isDone:
userCmd.setState(userCmd.Failed, "Mirror currently moving")
return userCmd
if not 1<=len(valueList)<=5:
userCmd.setState(userCmd.Failed, "Must specify 1 to 5 numbers for a move")
return userCmd
self.waitMoveCmd = UserCmd()
self.waitMoveCmd.userCmd = userCmd # for write to users
self.status.desOrientation = self.status.orientation[:]
if offset:
# if offset is specified, offset from current value
for ii, value in enumerate(valueList):
self.status.desOrientation[ii] += value
else:
# if absolute is wanted, overwrite all those
# specified
for ii, value in enumerate(valueList):
self.status.desOrientation[ii] = value
cmdType = "offset" if offset else "move"
strValList = " ".join(["%.2f"%val for val in valueList])
cmdStr = "%s %s"%(cmdType, strValList)
moveCmd = self.queueDevCmd(cmdStr, userCmd)
statusCmd = self.queueDevCmd("status", userCmd)
# status immediately to see moving state
# determine total time for move
# just use focus distance as proxy (ignore)
galilOverHead = 2 # galil take roughly 2 secs to boot up.
extraOverHead = 2 #
self.status._moveTimeTotal = self.getTimeForMove()
timeout = self.status._moveTimeTotal+galilOverHead+extraOverHead
userCmd.setTimeLimit(timeout)
LinkCommands(userCmd, [moveCmd, statusCmd, self.waitMoveCmd])
return userCmd
def getTimeForMove(self):
dist2Move = numpy.max(numpy.abs(numpy.subtract(self.status.desOrientation, self.status.orientation)))
time4Move = dist2Move / self.status.speed
return time4Move
def handleReply(self, replyStr):
"""Handle a line of output from the device. Called whenever the device outputs a new line of data.
@param[in] replyStr the reply, minus any terminating \n
Tasks include:
- Parse the reply
- Manage the pending commands
- Parse status to update the model parameters
"""
log.info("%s read %r, currCmdStr: %s" % (self, replyStr, self.currDevCmdStr))
# print("%s read %r, currCmdStr: %s" % (self, replyStr, self.currDevCmdStr))
replyStr = replyStr.strip()
if not replyStr:
return
if self.currExeDevCmd.isDone:
# ignore unsolicited ouput
return
if "error" in replyStr.lower():
# error
self.writeToUsers("w", "Error in M2 reply: %s, current cmd: %s"%(replyStr, self.currExeDevCmd.cmdStr))
# if this was a speed command, set it
if self.currDevCmdStr.lower() == "speed":
self.status.speed = float(replyStr)
elif self.currDevCmdStr.lower() == "status":
self.processStatus(replyStr)
# only one line is ever returned after a request
# so if we got one, then the request is done
self.currExeDevCmd.setState(self.currExeDevCmd.Done)
def queueDevCmd(self, cmdStr, userCmd=None):
"""Add a device command to the device command queue
@param[in] cmdStr, string to send to the device.
"""
log.info("%s.queueDevCmd(cmdStr=%r, cmdQueue: %r"%(self, cmdStr, self.devCmdQueue))
# print("%s.queueDevCmd(devCmd=%r, devCmdStr=%r, cmdQueue: %r"%(self, devCmd, devCmd.cmdStr, self.devCmdQueue))
# append a cmdVerb for the command queue (other wise all get the same cmdVerb and cancel eachother)
# could change the default behavior in CommandQueue?
userCmd = expandUserCmd(userCmd)
devCmd = DevCmd(cmdStr)
devCmd.cmdVerb = cmdStr.split()[0]
devCmd.userCmd = userCmd
def queueFunc(devCmd):
self.startDevCmd(devCmd)
self.devCmdQueue.addCmd(devCmd, queueFunc)
return devCmd
def startDevCmd(self, devCmd):
"""
@param[in] devCmdStr a line of text to send to the device
"""
devCmdStr = devCmd.cmdStr.lower() # m2 uses all lower case
log.info("%s.startDevCmd(%r)" % (self, devCmdStr))
try:
if self.conn.isConnected:
log.info("%s writing %r" % (self, devCmdStr))
# set move command to running now. Bug if set earlier race condition
# with status
if "move" in devCmdStr.lower() or "offset" in devCmdStr.lower():
self.waitMoveCmd.setState(self.waitMoveCmd.Running)
self.status.state = Moving
self.writeToUsers("i", self.status.secStateStr(), devCmd.userCmd)
# if "galil" in devCmdStr.lower():
# self.waitGalilCmd.setState(self.waitGalilCmd.Running)
self.conn.writeLine(devCmdStr)
else:
self.currExeDevCmd.setState(self.currExeDevCmd.Failed, "Not connected to M2")
except Exception as e:
self.currExeDevCmd.setState(self.currExeDevCmd.Failed, textMsg=strFromException(e))
class ArcticFWActor(Actor):
Facility = syslog.LOG_LOCAL1
DefaultTimeLim = 5 # default time limit, in seconds
MoveRange = range(1, 7)
# State options
def __init__(
self,
name,
userPort=UserPort,
commandSet=arcticFWCommandSet,
):
"""!Construct an ArcticFWActor
@param[in] name actor name
@param[in] userPort int, a port on which this thing runs
@param[in] commandSet a twistedActor.parse.CommandSet used for command def, and parsing
@param[in] fakeFilterWheel bool. If true use a fake filter wheel device, for safe testing.
"""
self.status = ArcticFWStatus()
self.fwHomeCmd = UserCmd()
self.fwHomeCmd.setState(self.fwHomeCmd.Done)
self.fwMoveCmd = UserCmd()
self.fwMoveCmd.setState(self.fwMoveCmd.Done)
self.status.addHomeCallback(self.homeCallback)
self.status.addMoveCallback(self.moveCallback)
# init the filterWheel
# this sets self.filterWheel
Actor.__init__(
self,
userPort=userPort,
maxUsers=1,
name=name,
version=__version__,
commandSet=commandSet,
)
init()
@property
def filterWheelMoving(self):
return self.status.isMoving
def init(self, userCmd=None, getStatus=True, timeLim=DefaultTimeLim):
"""! Initialize all devices, and get status if wanted
@param[in] userCmd a UserCmd or None
@param[in] getStatus if true, query all devices for status
@param[in] timeLim
"""
userCmd = expandUserCmd(userCmd)
log.info("%s.init(userCmd=%s, timeLim=%s, getStatus=%s)" %
(self, userCmd, timeLim, getStatus))
if getStatus:
self.cmd_status(userCmd) # sets done
else:
userCmd.setState(userCmd.Done)
return userCmd
def cmd_init(self, userCmd):
"""! Implement the init command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
log.info("%s.cmd_init(userCmd=%s)" % (self, str(userCmd)))
# print("%s.cmd_init(userCmd=%s)"%(self, str(userCmd)))
self.init(userCmd, getStatus=True)
# userCmd.setState(userCmd.Done)
return True
def cmd_ping(self, userCmd):
"""! Implement the ping command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
log.info("%s.cmd_ping(userCmd=%s)" % (self, str(userCmd)))
# print("%s.cmd_ping(userCmd=%s)"%(self, str(userCmd)))
userCmd.setState(userCmd.Done, textMsg="alive")
return True
def cmd_stopWheel(self, userCmd):
log.info("%s.cmd_stop(userCmd=%s)" % (self, str(userCmd)))
# print("%s.cmd_stop(userCmd=%s)"%(self, str(userCmd)))
if not self.fwMoveCmd.isDone:
self.fwMoveCmd.setState(self.fwMoveCmd.Failed, "stop commanded")
if not self.fwHomeCmd.isDone:
self.fwHomeCmd.setState(self.fwHomeCmd.Failed, "stop commanded")
stop()
userCmd.setState(userCmd.Done)
return True
def moveCallback(self):
self.getStatus()
self.writeToUsers("i", self.status.statusStr, cmd=self.fwMoveCmd)
if self.fwMoveCmd.isDone:
# probably cancelled by stop
return
if self.status.inPosition:
self.fwMoveCmd.setState(self.fwMoveCmd.Done)
else:
self.fwMoveCmd.setState(self.fwMoveCmd.Failed,
"Failed to stop at filter sensor")
def homeCallback(self):
self.getStatus()
self.writeToUsers("i", self.status.statusStr, cmd=self.fwHomeCmd)
if self.fwHomeCmd.isDone:
# don't do anything (probably cancelled by a stop?)
return
if self.status.inPosition and self.status.atHome:
self.fwHomeCmd.setState(self.fwHomeCmd.Done)
else:
self.fwHomeCmd.setState(self.fwHomeCmd.Failed,
"Failed to stop at home sensor")
def cmd_move(self, userCmd):
desPos = int(userCmd.parsedCommand.parsedPositionalArgs[0])
log.info("%s.cmd_move(userCmd=%s) desPos: %i" %
(self, userCmd, desPos))
# print("%s.cmd_move(userCmd=%s) desPos: %i"%(self, userCmd, desPos))
if desPos not in self.MoveRange:
# raise ParseError("desPos must be one of %s for move command"%(str(self.MoveRange),))
userCmd.setState(
userCmd.Failed, "desPos must be one of %s for move command" %
(str(self.MoveRange), ))
elif not self.status.isHomed:
userCmd.setState(userCmd.Failed,
"cannot command move, home filter wheel first.")
elif not self.fwMoveCmd.isDone:
userCmd.setState(userCmd.Failed, "filter wheel is moving")
elif desPos == self.status.currentPos:
userCmd.setState(userCmd.Done, "Filter currently in position")
else:
# get a fresh status
self.getStatus()
self.fwMoveCmd = userCmd
if not self.fwMoveCmd.isActive:
self.fwMoveCmd.setState(self.fwMoveCmd.Running)
moveToFilter(desPos)
self.getStatus()
self.writeToUsers("i", self.status.moveStr, cmd=userCmd)
return True
def cmd_diffuIn(self, userCmd):
"""Move the diffuser into the beam
"""
log.info("%s.cmd_diffuIn(userCmd=%s)" % (self, userCmd))
if self.status.diffuCover == 0:
setDiffuserIn()
time.sleep(3)
self.getStatus()
self.writeToUsers("i", self.status.statusStr, cmd=userCmd)
userCmd.setState(userCmd.Done)
return True
def cmd_diffuOut(self, userCmd):
"""Move the diffuser out of the beam
"""
setDiffuserOut()
self.getStatus()
self.writeToUsers("i", self.status.statusStr, cmd=userCmd)
userCmd.setState(userCmd.Done)
return True
def cmd_startDiffuRot(self, userCmd):
"""Move the diffuser into the beam
"""
if self.status.diffuserIn == 1:
setRotationStart()
self.getStatus()
self.writeToUsers("i", self.status.statusStr, cmd=userCmd)
userCmd.setState(userCmd.Done)
else: #functionaly this works but the status below never makes it back to the users in the hub or on the gui.
self.writeToUsers("f", "Diffuser is not in Beam", cmd=userCmd)
self.getStatus()
userCmd.setState(userCmd.Failed)
return True
def cmd_stopDiffuRot(self, userCmd):
#always allow diffuser to stop
setRotationStop()
self.getStatus()
self.writeToUsers("i", self.status.statusStr, cmd=userCmd)
userCmd.setState(userCmd.Done)
return True
def cmd_home(self, userCmd):
log.info("%s.cmd_home(userCmd=%s)" % (self, str(userCmd)))
# print("%s.cmd_home(userCmd=%s)"%(self, str(userCmd)))
if False in [self.fwMoveCmd.isDone, self.fwHomeCmd]:
userCmd.setState(userCmd.Failed, "filter wheel is moving")
else:
self.fwHomeCmd = userCmd
if not self.fwHomeCmd.isActive:
self.fwHomeCmd.setState(self.fwHomeCmd.Running)
home()
self.cmd_status(userCmd, setDone=False)
return True
def cmd_status(self, userCmd=None, setDone=True):
"""! Implement the status command
@param[in] userCmd a twistedActor command with a parsedCommand attribute
"""
log.info("%s.cmd_status(userCmd=%s)" % (self, str(userCmd)))
userCmd = expandUserCmd(userCmd)
self.getStatus()
self.writeToUsers("i", self.status.statusStr, cmd=userCmd)
if setDone:
userCmd.setState(userCmd.Done)
return True
def getStatus(self):
"""! A generic status command
@param[in] userCmd a twistedActor UserCmd or none
"""
self.status.update()
