def create_list(self):
msg = List_coord_msg()
msg.from_node = node_name
nanten2 = EarthLocation(lat=-22.96995611 * u.deg,
lon=-67.70308139 * u.deg,
height=4863.85 * u.m)
list_num = 600
delta_t = 1 #[s]
while not rospy.is_shutdown():
command = self.command
self.command = ""
if command:
print("start_create_list")
pass
else:
time.sleep(0.1)
continue
time_list = [
dt.fromtimestamp(command.timestamp + delta_t * i)
for i in range(list_num)
]
if not command.planet.lower() in self.planet_list:
rospy.logerr("planet name is false...")
continue
else:
pass
target_list = get_body(command.planet.lower(),
Time(time_list)) #gcrs
target_list.location = nanten2
altaz_list = target_list.altaz
if not all((0. < i < 90. for i in altaz_list.alt.deg)):
rospy.logerr("This planet is not rizing...")
continue
ret = calc_offset.calc_offset(altaz_list.az.deg,
altaz_list.alt.deg, "altaz",
command.off_x, command.off_y,
command.offcoord, command.dcos,
time_list)
current_time = time.time()
msg.x_list = ret[0]
msg.y_list = ret[1]
msg.time_list = [
command.timestamp + delta_t * i for i in range(list_num)
]
msg.coord = "planet"
msg.off_az = ret[2]
msg.off_el = ret[3]
msg.hosei = command.hosei
msg.lamda = command.lamda
msg.limit = command.limit
msg.timestamp = current_time
self.pub.publish(msg)
return
def create_list(self):
msg = List_coord_msg()
msg.from_node = node_name
while not rospy.is_shutdown():
command = self.command
self.command = ""
if command:
print("start_create_list")
#ret = calc_offset.calc_offset(command.x, command.y, command.coord,
# command.off_x, command.off_y, command.offcoord,
# command.dcos)
start_x = command.off_x - float(command.dx) / 2. - float(
command.dx) / float(command.dt) * command.rampt
start_y = command.off_y - float(command.dy) / 2. - float(
command.dy) / float(command.dt) * command.rampt
total_t = command.rampt * 2 + command.dt * command.num
end_x = command.off_x + command.dx * (
command.rampt / command.dt + command.num - 0.5)
end_y = command.off_y + command.dy * (
command.rampt / command.dt + command.num - 0.5)
print(start_x, end_x, command.x)
#off_dx_vel = (end_x - start_x) / total_t #(obs_end - obs_start)
#off_dy_vel = (end_y - start_y) / total_t #(obs_end - obs_start)
#x_list = [command.x+(start_x+off_dx_vel*i*0.1)/3600. for i in range(int(round(total_t/command.dt))*10)]
#y_list = [command.y+(start_y+off_dy_vel*i*0.1)/3600. for i in range(int(round(total_t/command.dt))*10)]
msg.x_list = [
command.x * 3600. + start_x, command.x * 3600. + end_x
]
msg.y_list = [
command.y * 3600. + start_y, command.y * 3600. + end_y
]
current_time = time.time()
msg.time_list = [
command.timestamp + command.delay,
command.timestamp + command.delay + total_t
]
msg.coord = command.coord_sys
msg.off_az = 0
msg.off_el = 0
msg.hosei = command.hosei
msg.lamda = command.lamda
msg.limit = command.limit
msg.timestamp = current_time
self.pub.publish(msg)
print(msg)
print("publish status!!\n")
print("end_create_list\n")
else:
pass
time.sleep(0.1)
return
def create_list(self):
msg = List_coord_msg()
msg.from_node = node_name
while not rospy.is_shutdown():
command = self.command
self.command = ""
if command:
print("start_create_list")
ret = calc_offset.calc_offset([command.x], [command.y],
command.coord,
[command.off_x], [command.off_y],
command.offcoord,
command.dcos,
[dt.fromtimestamp(command.timestamp)])
if not ret:
continue
current_time = time.time()
msg.x_list = [ret[0], ret[0]]
msg.y_list = [ret[1], ret[1]]
msg.time_list = [command.timestamp, command.timestamp+3600.]
msg.coord = command.coord
msg.off_az = ret[2]
msg.off_el = ret[3]
msg.hosei = command.hosei
msg.lamda = command.lamda
msg.limit = command.limit
msg.rotation = command.rotation
msg.timestamp = current_time
self.pub.publish(msg)
print(msg)
print("publish status!!\n")
print("end_create_list\n")
else:
pass
time.sleep(0.1)
return
def create_list(self):
msg = List_coord_msg()
msg.from_node = node_name
while not rospy.is_shutdown():
command = self.command
self.command = ""
if command:
num_x = 0
num_y = 0
try:
coord = command.coord.replace("horizontal", "altaz")
except:
coord = command.coord
try:
offcoord = command.offcoord.replace("horizontal", "altaz")
except:
offcoord = command.offcoord
coord = SkyCoord(command.x,
command.y,
frame=coord,
unit="deg",
location=nanten2,
obstime=dt.utcnow())
_coord = coord.transform_to(offcoord)
for i in range(3601):
if -360. * 3600. <= command.off_x * i <= 360. * 3600.:
num_x = i
pass
else:
break
if -90 * 3600. < _coord.data.lat.arcsec + command.off_y * i < 90 * 3600.:
num_y = i
pass
else:
break
delta_t = min(num_x, num_y)
rospy.loginfo(command.off_x)
print(delta_t)
off_x_list = [
command.off_x * delta_t / 4 * i for i in range(5)
]
off_y_list = [
command.off_y * delta_t / 4 * i for i in range(5)
]
time_list = [
dt.fromtimestamp(command.timestamp + delta_t / 4 * i)
for i in range(5)
]
rospy.loginfo(off_x_list)
ret = calc_offset.calc_offset([command.x for i in range(5)],
[command.y for i in range(5)],
command.coord, off_x_list,
off_y_list, command.offcoord,
command.dcos, time_list)
rospy.loginfo(command.x)
rospy.loginfo(ret[0])
if not ret:
continue
current_time = time.time()
print(ret[0], ret[1])
msg.x_list = ret[0]
msg.y_list = ret[1]
msg.time_list = [
command.timestamp + delta_t / 4 * i for i in range(5)
]
msg.coord = command.coord
msg.off_az = 0
msg.off_el = 0
msg.hosei = command.hosei
msg.lamda = command.lamda
msg.limit = command.limit
msg.timestamp = current_time
self.pub.publish(msg)
self.move_on = command.timestamp + delta_t + 0.1
print(msg)
print("publish status!!\n")
print("end_create_list\n")
else:
if 0 < self.move_on < time.time():
self.pub_stop.publish(True, node_name, time.time())
print("emergency stop!!")
self.move_on = 0
pass
else:
pass
pass
time.sleep(0.1)
return
def create_list(self):
msg = List_coord_msg()
msg.from_node = node_name
nanten2 = EarthLocation(lat=-22.96995611 * u.deg,
lon=-67.70308139 * u.deg,
height=4863.85 * u.m)
while not rospy.is_shutdown():
command = self.command
self.command = ""
if command:
print("start_create_list")
#ret = calc_offset.calc_offset(command.x, command.y, command.coord,
# command.off_x, command.off_y, command.offcoord,
# command.dcos)
start_x = command.off_x - float(command.dx) / 2. - float(
command.dx) / float(command.dt) * command.rampt
start_y = command.off_y - float(command.dy) / 2. - float(
command.dy) / float(command.dt) * command.rampt
total_t = command.rampt + command.dt * command.num
end_x = command.off_x + command.dx * (command.num - 0.5)
end_y = command.off_y + command.dy * (command.num - 0.5)
print(start_x, end_x, command.x)
if not command.planet.lower() in self.planet_list:
self.pub_obs_stop.publish("planet name is false...",
node_name, time.time())
rospy.logerr("planet name is false...")
continue
else:
pass
time_list = [
command.timestamp + command.delay,
command.timestamp + command.delay + total_t
]
target_list = get_body(command.planet.lower(),
Time(time_list)) #gcrs
target_list.location = nanten2
altaz_list = target_list.altaz
if not all((0. < i < 90. for i in altaz_list.alt.deg)):
self.pub_obs_stop.publish("This planet is not rizing...",
node_name, time.time())
rospy.logerr("This planet is not rizing...")
continue
else:
pass
ret_start = calc_offset.calc_offset(altaz_list.az.deg,
altaz_list.alt.deg,
"altaz", start_x, start_y,
"altaz", command.dcos,
time_list)
ret_end = calc_offset.calc_offset(altaz_list.az.deg,
altaz_list.alt.deg, "altaz",
end_x, end_y, "altaz",
command.dcos, time_list)
msg.x_list = [ret_start[0], ret_end[1]]
msg.y_list = [ret_start[0], ret_end[1]]
print("x_list", msg.x_list)
print("y_list", msg.y_list)
current_time = time.time()
msg.time_list = [
command.timestamp + command.delay,
command.timestamp + command.delay + total_t
]
msg.coord = command.coord_sys
msg.off_az = 0
msg.off_el = 0
msg.hosei = command.hosei
msg.lamda = command.lamda
msg.limit = command.limit
msg.timestamp = current_time
self.pub.publish(msg)
print(msg)
print("publish status!!\n")
print("end_create_list\n")
else:
pass
time.sleep(0.1)
return