def focuser(self):
if not hasattr(self, '_focuser'):
try:
self._focuser = focuser.driver.Driver(
host=self.config['focuser']['host'])
except socket.timeout as e:
raise ttypes.LesediException('Connection timed out.')
except socket.error as e:
raise ttypes.LesediException(str(e))
return self._focuser
def rotator_left(self):
if not hasattr(self, '_rotator_left'):
try:
self._rotator_left = rotator.driver.LeftRotatorDriver(
host=self.config['rotator']['host'])
except socket.timeout as e:
raise ttypes.LesediException('Connection timed out.')
except socket.error as e:
raise ttypes.LesediException(str(e))
return self._rotator_left
def telescope(self):
if not hasattr(self, '_telescope'):
try:
self._telescope = telescope.driver.Driver(
host=self.config['telescope']['host'])
except socket.timeout as e:
raise ttypes.LesediException('Connection timed out.')
except socket.error as e:
raise ttypes.LesediException(str(e))
return self._telescope
def goto_radec(self, ra, dec):
telescope = self.telescope.get_status()
if telescope.parked:
raise ttypes.LesediException(
'Telescope cannot be slewed while parked.')
if telescope.manual:
raise ttypes.LesediException(
'Cannot move telescope. Motors are in manual mode.')
self.telescope.goto_radec(ra, dec)
def wrapper(self, *args, **kwargs):
if self._stop.is_set():
raise ttypes.LesediException(
'Emergency stop has been triggered. Please reset to continue.')
dome = self.dome.get_status()
if dome.tcs_locked_out:
raise ttypes.LesediException(
'Lockout engaged. Command not allowed.')
return f(self, *args, **kwargs)
def _write(self, value):
builder = BinaryPayloadBuilder(byteorder='>', wordorder='<')
builder.add_16bit_uint(value)
payload = builder.to_registers()
try:
with ModbusTcpClient(self.host, self.port) as client:
result = client.write_registers(self.COMMAND_ADDRESS, payload)
except ConnectionException as e:
raise ttypes.LesediException(str(e))
if result.isError():
raise ttypes.LesediException(str(result))
def unpark(self):
response = Response(self.execute('UnParkRotator'))
if response.message == 'UnParkRotatorAccepted':
return response
raise ttypes.LesediException('Unpark command failed.')
def get_status(self):
try:
with ModbusTcpClient(self.host, self.port) as client:
result = client.read_holding_registers(
self.COVERS_STATUS_ADDRESS, self.COVERS_STATUS_LENGTH)
except ConnectionException as e:
raise ttypes.LesediException(str(e))
if result.isError():
raise ttypes.LesediException(str(result))
status = BinaryPayloadDecoder.fromRegisters(
result.registers, byteorder='>',
wordorder='<').decode_16bit_uint()
return Status(status)
def close_dome(self):
dome = self.dome.get_status()
if not dome.remote:
raise ttypes.LesediException(
'Dome cannot be closed while not in remote mode.')
self.dome.close()
def tertiary_go_right(self):
response = Response(self.execute('GoRightTertiary'))
if response.message == 'GoRightTertiaryAccepted':
return response
raise ttypes.LesediException('Tertiary go command failed.')
def rotate_dome(self, az):
dome = self.dome.get_status()
if not dome.remote:
raise ttypes.LesediException(
'Dome cannot be rotated while not in remote mode.')
self.dome.rotate(az)
def secondary_to_manual(self):
response = Response(self.execute('ToBlinkyFocuser'))
if response.message == 'ToBlinkyFocuserAccepted':
return response
raise ttypes.LesediException('Manual command failed.')
def select_instrument(self, instrument):
"""Tertiary mirror is is position 1 (i.e. directing the beam to the
SHOC port) or position 2 (for WiNCam).
"""
if instrument == ttypes.Instrument.WINCAM:
response = Response(self.execute('GoLeftTertiary'))
elif instrument == ttypes.Instrument.SHOC:
response = Response(self.execute('GoRightTertiary'))
else:
raise ttypes.LesediException('Unknown instrument')
if response.message in ('GoLeftTertiaryAccepted',
'GoRightTertiaryAccepted'):
return response
raise ttypes.LesediException('Select instrument command failed.')
def aux(self):
if not hasattr(self, '_aux'):
try:
self._aux = aux.driver.Driver(host=self.config['aux']['host'])
except Exception as e:
# TODO: Handle more specific types of exceptions.
raise ttypes.LesediException(str(e))
return self._aux
def open_dome(self):
dome = self.dome.get_status()
if not dome.remote:
raise ttypes.LesediException(
'Dome cannot be opened while not in remote mode.')
self.dome.open()
def set_focus(self, inches):
focuser = self.focuser.get_status()
if not focuser.secondary_mirror_auto:
raise ttypes.LesediException(
'Cannot set focus. Secondary mirror is in manual mode.')
self.focuser.secondary_move_to(inches)
def park_dome(self):
dome = self.dome.get_status()
if not dome.remote:
raise ttypes.LesediException(
'Dome cannot be parked while not in remote mode.')
self.dome.park()
def cancel_autofocus(self):
response = Response(self.execute('CancelAutoFocus'))
if response.message == 'CancelAutoFocusAccepted':
return response
raise ttypes.LesediException('Cancel command failed.')
def secondary_to_auto(self):
response = Response(self.execute('ToAutoFocuser'))
if response.message == 'ToAutoFocuserAccepted':
return response
raise ttypes.LesediException('Auto command failed.')
def tracking_off(self):
response = Response(self.execute('RotatorTrackingOff'))
if response.message == 'TrackingOffAccepted':
return response
raise ttypes.LesediException('Tracking off command failed.')
def do_autofocus(self):
response = Response(self.execute('DoAutoFocus'))
if response.message == 'FocuserToAutoAccepted':
return response
raise ttypes.LesediException('Autofocus command failed.')
def move_to_parallactic_angle(self):
"""Move the rotator to the parallactic angle (North Up) (or will move to the limit)."""
response = Response(self.execute('MoveRotatorToParallacticAngle'))
if response.message == '':
return response
raise ttypes.LesediException('Move to parallactic angle command failed.')
def to_manual(self):
"""Put it in "Manual" (blinky) mode."""
response = Response(self.execute('RotatorToBlinky'))
if response.message == 'RotatorToBlinkyAccepted':
return response
raise ttypes.LesediException('Manual command failed.')
def to_auto(self):
"""Put it in "Auto" mode."""
response = Response(self.execute('RotatorToAuto'))
if response.message == 'RotatorToAutoAccepted':
return response
raise ttypes.LesediException('Auto command failed.')
def secondary_move_to(self, inches):
"""Move the focuser to nn.nn inches (or will move to the limit)."""
response = Response(self.execute('MoveFocuserTo {}'.format(inches)))
if response.message == 'MoveFocuserAccepted':
return response
raise ttypes.LesediException('Move command failed.')
def secondary_stop(self):
"""Stop the focuser movement."""
response = Response(self.execute('StopFocuser'))
if response.message == 'StopFocuserAccepted':
return response
raise ttypes.LesediException('Stop command failed.')
def tertiary_to_manual(self):
"""Puts the tertiary servo motor into the "Manual" (or blinky) mode."""
response = Response(self.execute('ToBlinkyTertiary'))
if response.message == 'ToBlinkyTertiaryAccepted':
return response
raise ttypes.LesediException('Tertiary manual command failed.')
def restart_comms(self):
"""Try to reconnect to ServoCommunicator if there is no communications."""
response = Response(self.execute('RestartCommunicatorComms'))
if response.message == 'RestartCommunicatorCommsAccepted':
return response
raise ttypes.LesediException('Restart command failed.')
def tertiary_to_auto(self):
"""Puts the tertiary servo motor into the "Auto" mode."""
response = Response(self.execute('ToAutoTertiary'))
if response.message == 'ToAutoTertiaryAccepted':
return response
raise ttypes.LesediException('Tertiary auto command failed.')
def tertiary_jog_by(self, angle):
"""Jog the Tertiary mirror by nn.nn angle (or will move to the limit)."""
response = Response(self.execute('JogTertiary {:.2f}'.format(angle)))
if response.message == '':
return response
raise ttypes.LesediException('Tertiary jog command failed.')
