sbig_controller.py
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#!/usr/bin/env python3
"""Socket Client Gemini Telescope implementation
To be used as a concrete class to system control a Gemini telescope
"""
# Standard library imports
import sys
import time
# Third party imports
# None
# Local application imports
sys.path.append('../../..')
# My parent class and exceptions
from device_controller.abstract_component.device_controller import printd, DeviceController, UnknownNativeCmdException, UnknownGenericCmdArgException
# My DC components:
from device_controller.abstract_component.filter_selector import DC_FilterSelector
from device_controller.abstract_component.detector_sensor import DC_DetectorSensor
from device_controller.abstract_component.detector_shutter import DC_DetectorShutter
# My simulator
from device_controller.concrete_component.sbig.sbig_simulator import DS_SBIG
MY_DEVICE_CHANNEL_BUFFER_SIZE = 1024
class DC_SBIG(DeviceController):
'''
# Components (list of my capabilities or roles):
DeviceControllerDetectorSensor,
DeviceControllerFilterSelector,
DeviceControllerDetectorShutter):
'''
# Gemini communication protocol
# @override
class Protocol:
# Default timeouts
TIMEOUT_SEND = 10
TIMEOUT_RECEIVE = 10
# COMMON CONSTANTS WITH SERVER
TERMINATOR = '\x00'
COMMAND5 = '050000'
COMMAND6 = '\x00\x06\x00'
COMMAND6_SIMPLE = '6'
# STAMP :
# Initialize request number (will be increased at each request)
request_num = 0
# Request number stands on 4 digits (from 0001 to 9999)
request_num_nb_digits = 4
# For 4 digits, we should get the format '{:04d}':
request_num_format = '{:0'+str(request_num_nb_digits)+'d}'
# Stamp filler with 0 (stamp is 8 digits long)
STAMP_LENGTH = 8
STAMP_FILLER = '0' * (STAMP_LENGTH - request_num_nb_digits)
# @override
@classmethod
def formated_cmd(cls, cmd:str, values_to_set:str=None)->str:
if values_to_set != None:
for value_to_set in values_to_set:
cmd += value_to_set
if cmd not in (cls.COMMAND6, cls.COMMAND5):
cmd += '#'
if cmd not in ('bC#','bW#','bR#'):
cmd=':'+cmd
return cmd
# @override
#def encapsulate_data_to_send(self, command:str):
#def encap_data_to_send(self, command:str):
@classmethod
def encap(cls, command:str):
r''' Encapsulate useful data to be ready for sending
If data is "complete" (with stamp, and well formatted), send it as is
Otherwise, add stamp and format it
3 types of commands:
- TYPE1: '06' or '050000'
- TYPE2: ':cde#' (mainly ':??#' - i.e : ':GD#', ':GR#', ...)
- TYPE3: 'b?#' (bC# = Cold Start, bW# = selecting Warm Start, bR# = selecting Warm Restart)
:Examples:
>>> tele = DC_Gemini("localhost", 11110, DEBUG=False)
Starting device simulator on (host:port): localhost:11110
>>> tele.encap(':GD#')
'00010000:GD#\x00'
>>> tele.encap(':GR#')
'00020000:GR#\x00'
>>> tele.close()
# ne marche pas => '00010000:GD#\x00'
'''
####return bytes(self.MYSTAMP + self.STAMP_FILLER + data + "\n", "utf-8")
# TYPE1
#printd("command to encapsulate is", repr(command))
if command == cls.COMMAND6_SIMPLE: command = cls.COMMAND6
if command not in (cls.COMMAND6, cls.COMMAND5):
# TYPE2 or 3
#has_starting_car = data.find(':') > -1
if len(command) < 3: raise UnknownNativeCmdException(command)
if not (command[-1]=='#'): raise UnknownNativeCmdException(command)
if not (command[0]==':') and command not in ('bC#','bW#','bR#'): raise UnknownNativeCmdException(command)
#stamp,command = data.split(':',1)
#if command.find('#')>-1: command,_ = command.split('#',1)
cls.request_num += 1
# Format to request_num_nb_digits (4) digits
request_num_str = cls.request_num_format.format(cls.request_num)
cls.last_stamp = request_num_str + cls.STAMP_FILLER
#if command == COMMAND6_SIMPLE: command = COMMAND6_REAL
data_encapsulated = cls.last_stamp + command + cls.TERMINATOR
#return super().encap(data_encapsulated)
#return self._my_channel.encap(data_encapsulated)
##return data_encapsulated
return cls.last_stamp, data_encapsulated
#return bytes(data + "\n", "utf-8")
####return bytes(self.MYSTAMP + self.STAMP_FILLER + data + "\n", "utf-8")
# @override
#def uncap_received_data(self, data_received:str)->str:
#def uncap(cls, dcc_name:str, data_received:str)->str:
@classmethod
def uncap(cls, dcc_name:str, stamp:str, data_received:str)->str:
#data_received = super().uncap(data_received_bytes)
##data_received = self._my_channel.uncap(data_received_bytes)
#>>> tele.uncap(b'001700001\x00')
r"""
Extract useful data from received raw data
>>> tele = DC_Gemini("localhost", 11110, DEBUG=False)
Starting device simulator on (host:port): localhost:11110
>>> tele.last_stamp = '00170000'
>>> tele.uncap('001700001#')
'1'
>>> tele.close()
"""
printd(f"(sbig protoc used from {dcc_name}) data_received_bytes type is", type(data_received))
printd(f"(sbig protoc used from {dcc_name}) data received is", data_received)
##data_received = data_received_bytes.decode()
#printd("data_received is", data_received)
# Remove STAMP (and \n at the end):
#useful_data = data_received.split(self.MY_FULL_STAMP)[1][:-1]
printd(f"*** (sbig protoc used from {dcc_name}) Last stamp is ***", cls.last_stamp, ", data received is", data_received)
'''
# Normal case: LAST stamp found
if cls.last_stamp in data_received:
useful_data = data_received.split(cls.last_stamp)[1][:-1]
# Bad case: LAST stamp NOT found => try PREVIOUS stamp
else:
request_num_str = cls.request_num_format.format(cls.request_num-1)
temp_last_stamp = request_num_str + cls.STAMP_FILLER
if temp_last_stamp in data_received:
useful_data = data_received.split(temp_last_stamp)[1][:-1]
else:
raise Exception("BAD STAMP")
'''
if stamp not in data_received:
raise Exception("BAD STAMP, this is not the answer to my request, but another request's")
else:
useful_data = data_received.split(stamp)[1][:-1]
# Remove '#' at the end, if exists
if useful_data[-1] == '#': useful_data = useful_data[:-1]
return useful_data
# end of class Protocol
#data = " ".join(sys.argv[1:])
#data_to_send = bytes(data + "\n", "utf-8")
''' Commands dictionary
NEW foramt is:
'generic-command-name': ['native-command-name', 'awaited_result_if_ok', 'other-awaited-results if not ok...],
Old format was:
'CMD-NAME': ['cmd-get', 'awaited_res_ok_for_get', 'cmd-set', 'awaited_res_ok_for_set', 'comment'],
'''
# @overwrite
#_cmd_device_concrete = {
GEN2NAT_CMDS_GENERAL = {
# Possible answers:
# - B# while the initial startup message is being displayed (new in L4),
# - b# while waiting for the selection of the Startup Mode,
# - S# during a Cold Start (new in L4), G# after completed startup
'get_ack': [Protocol.COMMAND6, 'G', 'B','b','S'],
# General commands for the Gemini controller
'get_date': ['GC', '20/10/19'],
'set_date': ['SC'],
'get_time': ['GL', '20:20:36'],
'set_time': ['SL'],
}
GEN2NAT_CMDS_FILTER = {
# GET/SET commands
# get_radec and set_radec are already defined in parent abstract class
'get_timezone': ['GG', "+00"],
'set_timezone': ['SG', '1'],
# DO commands
# defined in abstract class:
#'do_init': [],
#'do_init': ['do_init'],
'do_init': ['GL'],
'do_goto': ['GC'],
'do_park': ['GC'],
}
GEN2NAT_CMDS_SHUTTER = {
'get_state': ['GC'],
'do_open': ['GC'],
'do_close': ['GC'],
'do_sync': ['GC'],
}
GEN2NAT_CMDS_SENSOR = {
# General commands (for test only because these commands should be in the GENERAL level above)
'get_date': ['GC', '20/10/19'],
'set_date': ['SC'],
#'get_time': ['GL', '20:20:36'],
#'set_time': ['SL'],
'do_init': ['GC'],
'do_start_acq': ['GC'],
'do_stop_acq': ['GC'],
'do_abort': ['GC'],
'do_shutdown': ['GC'],
}
GEN2NAT_CMDS = {
# My GENERAL commands
**GEN2NAT_CMDS_GENERAL,
# SPECIFIC commands for my DCCs
'DC_Filter': GEN2NAT_CMDS_FILTER,
'DC_Shutter': GEN2NAT_CMDS_SHUTTER,
'DC_Sensor': GEN2NAT_CMDS_SENSOR,
}
def __init__(self, device_host:str="localhost", device_port:int=11110):
super().__init__(device_host, device_port, "SOCKET-UDP", MY_DEVICE_CHANNEL_BUFFER_SIZE, protoc=self.Protocol, gen2nat_cmds=self.GEN2NAT_CMDS, device_sim=DS_SBIG)
printd('*****************************')
printd('*****************************')
printd('*****************************')
#printd(DeviceControllerSBIG.mro())
#for c in DeviceControllerSBIG.mro(): printd(c.__name__)
#printd(self.mro())
printd('*****************************')
printd('*****************************')
printd('*****************************')
'''
Initialize my dcc(s), passing them the SAME parameters as I use :
- device_host, device_port,
- self._my_channel (passed by superclass), MY_DEVICE_CHANNEL_BUFFER_SIZE,
- self.Protocol,
- self.GEN2NAT_CMDS (subset of my commands related to the dcc),
- NO SIMULATOR (because my dccs will use the same as me and I have already launched it),
- DEBUG
'''
# @override superclass empty list
self.set_dc_components(
[
#DC_FilterSelector(device_host, device_port, self._my_channel, MY_DEVICE_CHANNEL_BUFFER_SIZE, protoc=self.Protocol, gen2nat_cmds=self.GEN2NAT_CMDS_FILTER, device_sim=None, DEBUG=DEBUG),
DC_FilterSelector(device_host, device_port, self._my_channel, MY_DEVICE_CHANNEL_BUFFER_SIZE, protoc=self.Protocol, gen2nat_cmds=self.GEN2NAT_CMDS_FILTER, device_sim=None),
DC_DetectorSensor(device_host, device_port, self._my_channel, MY_DEVICE_CHANNEL_BUFFER_SIZE, protoc=self.Protocol, gen2nat_cmds=self.GEN2NAT_CMDS_SENSOR, device_sim=None),
DC_DetectorShutter(device_host, device_port, self._my_channel, MY_DEVICE_CHANNEL_BUFFER_SIZE, protoc=self.Protocol, gen2nat_cmds=self.GEN2NAT_CMDS_SHUTTER, device_sim=None),
]
)
# @override
def set_speed(self, speed_rate):
native_cmd = None
# quick
if speed_rate == "slew": native_cmd = 'RS'
# average
if speed_rate == "average": native_cmd = 'RM'
# slow
if speed_rate == "center": native_cmd = 'RC'
# very slow
if speed_rate == "guide": native_cmd = 'RG'
if not native_cmd: raise UnknownGenericCmdArgException(__name__, speed_rate)
return self.execute_unformated_native_cmd(native_cmd)
if __name__ == "__main__":
import doctest
doctest.testmod()
exit()