def setup_sensors(self):
sensor = Sensor(int, "sensor1", "Test sensor 1", "count", [0, 10])
sensor.set_value(sensor.value(), status=Sensor.UNKNOWN, timestamp=1)
self.add_sensor(sensor)
sensor2 = Sensor(int, "sensor2", "Test sensor 2", "count", [0, 10])
sensor2.set_value(sensor.value(), status=Sensor.UNKNOWN, timestamp=0)
self.add_sensor(sensor2)
def setup_sensors(self):
sensor = Sensor(int, "sensor1", "Test sensor 1", "count", [0, 10])
sensor._timestamp = 1
self.add_sensor(sensor)
sensor2 = Sensor(int, "sensor2", "Test sensor 2", "count", [0, 10])
sensor2._timestamp = 0
self.add_sensor(sensor2)
def request_add_sensor(self, msg):
self.factory.add_sensor(
Sensor(int,
'int_sensor%d' % len(self.factory.sensors),
'descr',
'unit',
params=[-10, 10]))
return Message.reply('add-sensor', 'ok')
def test_differential_timestamp(self):
# Test that the timetamp differential is stored correctly as
# seconds. This is mainly to check the conversion of the katcp spec from
# milliseconds to seconds for katcp v5 spec.
time_diff = 4.12 # Time differential in seconds
ts_sensor = Sensor(Sensor.TIMESTAMP, 'ts', 'ts sensor', '')
diff = sampling.SampleDifferential(self.inform, ts_sensor, time_diff)
self.assertEqual(diff._threshold, time_diff)
def periodic_plot_snapshot(self):
log.debug("Start periodic plot")
passthrough = ["rxs.packetizer.systemstatus.snapshot.totalpwr.h", "rxs.packetizer.systemstatus.snapshot.totalpwr.v", "rxs.packetizer.1pps.length", "rxs.packetizer.1pps.last", "s-band.center-frequency", "s-band.bandwidth", "s-band.noise-diode", "s-band.sampling-rate", "s-band.time.synchronisation-epoch", "rxs.packetizer.1pps.length", "rxs.packetizer.40g.selected-filter", "rxs.packetizer.device-status"]
self.__pass_through_sensors = {}
if not self.has_sensor(passthrough[0]):
# Checking first is enough
log.debug("Adding pass-through sensors")
yield self._client._client.until_synced()
log.debug("Client synced through sensors")
sensor_list = yield self._client._client.list_sensors()
for st in sensor_list:
if st.name not in passthrough:
log.debug(" - ignoring {}".format(st[1]))
continue
log.debug(" - adding {}".format(st))
try:
if st.type == "discrete":
t = "string"
else:
t = st.type
s = Sensor(Sensor.parse_type(t), st.name, st.description, st.units)
self.__pass_through_sensors[st.name] = st.object
except Exception as E:
log.exception(E)
self.add_sensor(s)
else:
log.debug("pass through sensors already added")
log.debug("Starting periodic plot")
with ProcessPoolExecutor(max_workers=1) as executor:
try:
while self.__plotting:
for key in passthrough:
sensor = self.get_sensor(key)
v = yield self.__pass_through_sensors[key].get_reading()
sensor.set_value(v.value, timestamp=v.timestamp)
starttime = time.time()
data = yield self._client.get_snapshot()
plt = yield executor.submit(plot_script, data)
log.debug("Setting bandpass sensor with timestamp %", v.timestamp)
self._bandpass.set_value(plt[0])
self._level.set_value(plt[1])
duration = time.time() - starttime
log.debug("Plot duration: {} s".format(duration))
if duration > self._config['snapshot_frequency']:
log.warning("Plot duration {} larger than plot interval!".format(duration, self._config["nplot"]))
else:
yield sleep(self._config['snapshot_frequency'] - duration)
except Exception as E:
log.error("Error in periodic plot. Abandon plotting.")
log.exception(E)
def _get_sensor(self, sensor_type, name=None):
if name is None:
name = 'test_%s_sensor' % sensor_type
params = None
if sensor_type in (Sensor.INTEGER, Sensor.FLOAT):
params = [0, 1000]
elif sensor_type == Sensor.DISCRETE:
params = ['value1', 'value2', 'value3']
sensor = Sensor(sensor_type, name, "Dummy %s Sensor" % sensor_type,
"Units", params)
return sensor
def __init__(self,
name,
sensor_type,
description,
units='',
params=None,
clock=time):
self.name = name
sensor_type = Sensor.parse_type(sensor_type)
params = str(params).split(' ') if params else None
self._sensor = Sensor(sensor_type, name, description, units, params)
self.__doc__ = self.description = description
self._clock = clock
self._listeners = set()
self._last_update = SensorUpdate(0.0, 0.0, 'unknown', None)
self._strategy = None
self._next_period = None
self.set_strategy('none')
def __init__(self, sensor_description, sensor_manager):
"""Subclasses must arrange to call this in their __init__().
Parameters
----------
sensor_description : dict
Description of the KATCP sensor, with keys same as the parameters of
:class:`katcp.Sensor`
sensor_manager : :class:`KATCPSensorsManager` instance
Manages sensor strategies, allows sensor polling, and provides time
"""
self._manager = sensor_manager
self.clear_listeners()
self._reading = KATCPSensorReading(0, 0, Sensor.UNKNOWN, None)
# We'll be abusing a katcp.Sensor object slightly to make use of its
# parsing and formatting functionality
self._sensor = Sensor(**sensor_description)
self._name = self._sensor.name
# Overide the katpc.Sensor's set method with ours
self._sensor.set = self.set
# Steal the the katcp.Sensor's set_formatted method. Since we overrode
# its set() method with ours, calling set_formatted will result in this
# KATCPSensor object's value being set.
self.set_formatted = self._sensor.set_formatted
def request_add_sensor(self, sock, msg):
""" add a sensor
"""
self.add_sensor(Sensor(int, 'int_sensor%d' % len(self._sensors),
'descr', 'unit', params=[-10, 10]))
return Message.reply('add-sensor', 'ok')
def init_wetton_telescope(OVST):
def _addToSensorList(OVST, sensor):
'''A method which appends a sensor to the :list: 'sensorUpdaterList' and makes the settings
sothat the sensors have an 'error' status if they are not in range.
It is important that the :list: 'sensorUpdaterList' is ordered correct. It is used for updating the window.
For easy handling order it following: first the sensors which value should be displayed as number and string.
Then the sensors which value is just necessary as number.
params
------
sensor: object of :class: 'Sensor'
Sensor which is appended.
'''
sensor.raiseStatus = 3 # 'error'
OVST.sensorUpdaterList.append(sensor)
# directory in which the position data gets stored
OVST.daq_dirpath = '/home/telescopecontrol/philippe/DAQ/antenna_positions'
OVST.az_limit = [173, 150]
OVST.el_limit = [25, 95]
# Values for writing
OVST.axisToMoveRegister = 21
OVST.motionCommandRegister = 20
OVST.moveIncrementalValue = 13
OVST.moveContinuousValue = 15
# Status Sensors
OVST.BasicError = (Sensor(
Sensor.INTEGER,
'BasicError',
'If a BASIC error is detected this VR reports the process number for which the error occurred %s',
params=[0, 0],
default=0))
OVST.BasicError.refRegister = 2
OVST.BasicError.stringDict = {
0: "No BASIC error",
1: "BASIC error in STARTUP",
2: "BASIC error in MONITOR",
3: "BASIC error in MAIN",
4: "BASIC error in VR-UPDATE",
5:
"Other user process" # other values are also possible but not handled
}
_addToSensorList(OVST, OVST.BasicError)
OVST.CurrentSystemStatus = (Sensor(Sensor.INTEGER,
'Current System Status',
'Reports current system status',
params=[0, 7],
initial_status=0))
OVST.CurrentSystemStatus.refRegister = 10
OVST.CurrentSystemStatus.stringDict = {
0: "System initialising",
1: "Axes disabled",
2: "System ready",
3: "Homing all axes",
4: "Jogging an axis",
5: "Moving to Inc or Abs position",
6: "Running main routine",
7: "stopping",
99: "fault"
}
_addToSensorList(OVST, OVST.CurrentSystemStatus)
OVST.FaultCode = (Sensor(
Sensor.INTEGER,
'Fault Code',
'In the event of a system fault this VR reports the fault code',
params=[0, 0],
initial_status=0))
OVST.FaultCode.refRegister = 11
OVST.FaultCode.stringDict = {
0: "No fault present",
1: "Emergency stop active",
2: "CAN I/O Fault",
3: "Telescope 1 Elevation forward limit switch hit",
4: "Telescope 1 Elevation reverse limit switch hit",
5: "Telescope 1 Azimuth forward limit switch hit",
6: "Telescope 1 Azimuth reverse limit switch hit",
7: "Telescope 2 Elevation (or Azimuth) forward limit switch hit",
8: "Telescope 2 Elevation (or Azimuth) reverse limit switch hit",
9: "Telescope 2 Azimuth (or Elevation) forward limit switch hit",
10: "Telescope 2 Azimuth (or Elevation) reverse limit switch hit",
11: "Telescope 1 Elevation drive comms fault",
12: "Telescope 1 Azimuth drive comms fault",
13: "Telescope 2 Elevation drive comms fault",
14: "Telescope 2 Azimuth drive comms fault",
15: "Telescope 1 Elevation drive fault",
16: "Telescope 1 Azimuth drive fault",
17: "Telescope 2 Elevation drive fault",
18: "Telescope 2 Azimuth drive fault",
19: "Telescope 1 Elevation following error fault",
20: "Telescope 1 Azimuth following error fault",
21: "Telescope 2 Elevation following error fault",
22: "Telescope 2 Azimuth following error fault",
99: "BASIC error"
}
_addToSensorList(OVST, OVST.FaultCode)
OVST.AxisWarningsLimitSwitchHits = (Sensor(
Sensor.INTEGER,
'Axis Warnings and software limitswitch hits',
'Reports any system warnings that do not result in program interruption. Also combinations are possible. They are not handled',
params=[0, 0],
initial_status=0))
OVST.AxisWarningsLimitSwitchHits.refRegister = 14
OVST.AxisWarningsLimitSwitchHits.stringDict = {
0: "No fault present",
1: "Telescope 1 Elevation forward software limit, ",
2: "Telescope 1 Elevation reverse software limit, ",
4: "Telescope 1 Azimuth forward software limit, ",
8: "Telescope 1 Azimuth reverse software limit, ",
16: "Telescope 2 Elevation forward software limit, ",
32: "Telescope 2 Elevation reverse software limit, ",
64: "Telescope 2 Azimuth forward software limit, ",
128: "Telescope 2 Azimuth reverse software limit, ",
256: "Telescope 1 Elevation warning following error, ",
512: "Telescope 1 Azimuth warning following error, ",
1024: "Telescope 2 Elevation warning following error, ",
2048: "Telescope 2 Azimuth warning following error, "
}
_addToSensorList(OVST, OVST.AxisWarningsLimitSwitchHits)
OVST.CurrentMotionCommand = (Sensor(
Sensor.INTEGER,
'Axis Warnings and software limitswitch hits',
'Call motion command if conditions are met',
params=[0, 15],
initial_status=0))
OVST.CurrentMotionCommand.refRegister = 20
OVST.CurrentMotionCommand.stringDict = {
0: "Stop motion",
1: "Enable axes",
2: "Disable axes",
3: "Home all axes",
4: "Telescope 1 Elevation forward jog",
5: "Telescope 1 Elevation reverse jog",
6: "Telescope 1 Azimuth forward jog",
7: "Telescope 1 Azimuth reverse jog",
8: "Telescope 2 Elevation forward jog",
9: "Telescope 2 Elevation reverse jog",
10: "Telescope 2 Azimuth forward jog",
11: "Telescope 2 Azimuth reverse jog",
12: "Move absolute on selected axis",
13: "Move incremental on selected axis",
14: "Start main sequence",
15: "Move continuous on selected axis"
} # Start Main Sequence is not recognized as fault
_addToSensorList(OVST, OVST.CurrentMotionCommand)
OVST.ConnectionStatus = Sensor(
Sensor.BOOLEAN,
"Connection Status",
"Describes the current status of the modbus connection",
params=[True, True])
OVST.ConnectionStatus.stringDict = {
False: "Not connected",
True: "Connected"
}
OVST.sensorUpdaterList.append(OVST.ConnectionStatus)
# Create an antenna
RTT = Antenna("Roof Top Telescope (Shed Side)", '51:45:34.5', '-1:15:34.8',
85) # height is not exact
# Define the registers
# Absolute Position and Speed
RTT.azimuthMoveAbsolutePositionRegister = 221
RTT.azimuthMoveAbsoluteSpeedRegister = 225
RTT.elevationMoveAbsolutePositionRegister = 121
RTT.elevationMoveAbsoluteSpeedRegister = 125
# Incremental
RTT.azimuthMoveIncrementalDistanceRegister = 220
RTT.elevationMoveIncrementalDistanceRegister = 120
RTT.selectValue = 3 # Allow moving azimuth and elevation
# Specify the antennas delaychannel
# [channelNumber, hasPartialDelay, hardwareDelay, goemetricDelay]
RTT.delayInfo = [0, False, 0, 0]
OVST.antennaList.append(RTT)
# Sensor Settings
# Create a list with objects of :class: 'Sensors' , representing azimuth (index 0) and elevation (index 1)
azElSensRTT = []
# The Limits could be read out from the PLC. BUT not forget the offset
azElSensRTT.append(
Sensor(Sensor.FLOAT, 'AzimuthRTT',
'Describes the Azimuth of RoofTopTTelescope', 'degree',
[-187, 150]))
azElSensRTT.append(
Sensor(Sensor.FLOAT, 'ElevationRTT',
'Describes the Elevation of RoofTopTTelescope', 'degree',
[25, 95]))
# Add the PLC registers where the encoder value is stored
azElSensRTT[1].refRegister = 130 # Elevation
azElSensRTT[0].refRegister = 230 # Azimuth
# flag elvation registers; Not flaged Sensors work as azimuth
azElSensRTT[1].isElevation = True
azElSensRTT[0].isAzimuth = True
# Hard coded offset, maybe it could be done by reading out the PLC
azElSensRTT[1].offset = -41 # 21.04.2017
azElSensRTT[0].offset = 266
# If the value changes more than the 'maxDeltaWithoutRolloverDetection', it is interpret as Rollover
azElSensRTT[0].maxDeltaWithoutRolloverDetection = 90
# Include the property of psition without rollover reset
# The values of antenna 1
OVST.sensorList.append(azElSensRTT[0]) # add azimuth
OVST.sensorList.append(azElSensRTT[1]) # add elevation
# Concatenate the objecs of :class: 'Sensor' with a object of :class: 'antenna'
RTT.azElPos = [OVST.sensorList[0], OVST.sensorList[1]
] # First the azimuth and then the elevation
# Create an antenna
RTT2 = Antenna("Roof Top Telescope 2 (Stairs Side)", '51:45:34.6',
'-1:15:34.9', 85) # height is not exact
# Define the registers
RTT2.azimuthMoveAbsolutePositionRegister = 421
RTT2.elevationMoveAbsolutePositionRegister = 321
RTT2.azimuthMoveAbsoluteSpeedRegister = 425
RTT2.elevationMoveAbsoluteSpeedRegister = 325
# Incremental
RTT2.azimuthMoveIncrementalDistanceRegister = 420
RTT2.elevationMoveIncrementalDistanceRegister = 320
# select Value
RTT2.selecaskRolloverCountertValue = 0b1100 # Allow moving azimuth and elevation
# Specify the antennas delaychannel
# [channelNumber, hasPartialDelay, hardwareDelay, goemetricDelay]
RTT2.delayInfo = [1, True, 15 * 4 + 7, 0]
OVST.antennaList.append(RTT2)
# Sensor Settings
# Create a list with objects of :class: 'Sensors' , representing azimuth (index 0) and elevation (index 1)
azElSensRTT2 = []
# The Limits could be read out from the PLC. BUT not forget the offset
azElSensRTT2.append(
Sensor(Sensor.FLOAT, 'AzimuthRTT2',
'Describes the Azimuth of RoofTopTelescope 2', 'degree',
[-187, 150]))
azElSensRTT2.append(
Sensor(Sensor.FLOAT, 'ElevationRTT2',
'Describes the Elevation of RoofTopTTelescope 2', 'degree',
[25, 95]))
# Add the PLC registers where the encoder value is stored
azElSensRTT2[1].refRegister = 330 # Elevation
azElSensRTT2[0].refRegister = 430 # Azimuth
# flag elevation registers; Not flagged Sensors work as azimuth
azElSensRTT2[1].isElevation = True
azElSensRTT2[0].isAzimuth = True
# Hard coded offset, maybe it could be done by reading out the PLC
azElSensRTT2[1].offset = -65
azElSensRTT2[0].offset = 208.4
# If the value changes more than the 'maxDeltaWithoutRolloverDetection', it is interpret as Rollover
azElSensRTT2[0].maxDeltaWithoutRolloverDetection = 90
# Include the property of possition without rollover reset
# The values of antenna 2
OVST.sensorList.append(azElSensRTT2[0]) # add azimuth
OVST.sensorList.append(azElSensRTT2[1]) # add elevation
# Concatenate the objecs of :class: 'Sensor' with a object of :class: 'antenna'
RTT2.azElPos = [OVST.sensorList[2], OVST.sensorList[3]
] # First the azimuth and then the elevation
RTT2.selectValue = 0b1100
# Add the list to the sensor list which is used for updating
OVST.sensorUpdaterList = OVST.sensorUpdaterList + OVST.sensorList # + self.moveIncrSensLst + self.moveAbsSensLst
