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 socket
#import logging
import sys
import time
# Third party imports
# None
# Local application imports
# device_controller/
sys.path.append('../../..')
# src/
sys.path.append('../../../..')
from device_controller.abstract_component.base import UnknownCommandException
#from device_controller.abstract_component.telescope_controller_abstract import *
#TODO: Heritage ou plutot COMPOSITION ?
# The SBIG controller has 3 capabilities : filter selector, detector sensor, and detector shutter
#from device_controller.abstract_component.base import *
from device_controller.abstract_component.filter_selector import DeviceControllerFilterSelector
from device_controller.abstract_component.detector_sensor import DeviceControllerDetectorSensor
from device_controller.abstract_component.detector_shutter import DeviceControllerDetectorShutter
# Default timeouts
TIMEOUT_SEND = 10
TIMEOUT_RECEIVE = 10
# COMMON CONSTANTS WITH SERVER
TERMINATOR = '\x00'
COMMAND5 = '050000'
#COMMAND6_SIMPLE = '\x00\x06'
COMMAND6 = '\x00\x06\x00'
COMMAND6_SIMPLE = '6'
##class SocketClientTelescopeGemini(SocketClientTelescopeAbstract):
#class TelescopeControllerGemini(TelescopeControllerAbstract):
#class DeviceControllerSBIG(DeviceControllerAbstract):
class DeviceControllerSBIG(DeviceControllerDetectorSensor, DeviceControllerDetectorShutter, DeviceControllerFilterSelector):
# STAMP :
# 00 00 00 00 00 00 00' (8 bytes from '00' to 'FF', 1st one is LOW BYTE)
# ex: 01 + STAMP = 01 00 00 00 00 00 00 00' (8 bytes from '00' to 'FF', 1st one is LOW BYTE)
#STAMP_FILLER = '00000000000000'
#MY_FULL_STAMP = MYSTAMP + STAMP_FILLER
# 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_FILLER = '0' * (8 - request_num_nb_digits)
#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 = {
# GET @ SET commands
'get_ack': [COMMAND6, 'G', 'B','b','S'], # 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.
# RA-DEC (p109-110)
#:Sr<hh>:<mm>.<m># or :Sr<hh>:<mm>:<ss>#
#Sets the object's Right Ascension and the object status to "Not Selected". The :Sd# command has to follow to complete the selection. The subsequent use of the :ON...# command is recommended
#:Sd{+-}<dd>{*°}<mm># or :Sd{+- }<dd>{*°:}<mm>:<ss>
#Sets the object's declination. It is important that the :Sr# command has been send prior. Internal calculations are done that may take up to 0.5 seconds. If the coordinate selection is valid the object status is set to "Selected"
#'RADEC': [('GR','GD'), ''],
#'ra': ['GR', None, 'Sr', None, 'commentaire'],
'get_ra': ['GR'],
'set_ra': ['Sr'],
'get_dec': ['GD'],
'set_dec': ['Sd'],
# get_radec and set_radec are already defined in abstract class
'get_timezone': ['GG'],
'set_timezone': ['SG', '1'],
# ALT-AZ (p?)
"get_alt": ['GA'],
"get_az": ['GZ'],
#"ALT-AZ": [('GA','GZ'), ''],
# LONG-LAT
"get_long": ['Gg'],
"set_long": ['Sg'],
"get_lat": ['Gt'],
"set_lat": ['St'],
#"LONGLAT": [('Gg','Gt'), ''],
"get_hangle": ['GH'],
'get_vel': ['Gv'],
#"get_maxvel": ['Gv'],
'get_date': ['GC'],
'set_date': ['SC'],
'get_time': ['GL'],
'set_time': ['SL'],
# DO commands
# defined in abstract class:
#'do_init': ['do_init'],
'do_park': ['hP'],
'do_warm_start': ['bW'],
'do_prec_refr': ['p3'],
'do_move': ['MS', '0', '1Object below horizon.', '2No object selected.', '3Manual Control.', '4Position unreachable.', '5Not aligned.', '6Outside Limits.' ],
'do_movenorth': ['Mn'],
'do_movesouth': ['Ms'],
'do_movewest': ['Mw'],
'do_moveeast': ['Me'],
'do_stop': ['Q'],
}
# @overwrite
# Gemini is using UDP
def __init__(self, device_host:str="localhost", device_port:int=11110, DEBUG=False):
super().__init__(device_host, device_port, "SOCKET-UDP", 1024, DEBUG)
# @overwrite
def formated_cmd(self, 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 (COMMAND6, COMMAND5):
cmd += '#'
if cmd not in ('bC#','bW#','bR#'):
cmd=':'+cmd
return cmd
#@override
def encapsulate_data_to_send(self, 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 = TelescopeControllerGemini("localhost", 11110, DEBUG=False)
>>> tele.encapsulate_data_to_send(':GD#')
'00010000:GD#\x00'
>>> tele.encapsulate_data_to_send(':GR#')
'00020000:GR#\x00'
>>> tele.close()
# ne marche pas => '00010000:GD#\x00'
'''
####return bytes(self.MYSTAMP + self.STAMP_FILLER + data + "\n", "utf-8")
# TYPE1
#print("command to encapsulate is", repr(command))
if command == COMMAND6_SIMPLE: command = COMMAND6
if command not in (COMMAND6, COMMAND5):
# TYPE2 or 3
#has_starting_car = data.find(':') > -1
if len(command) < 3: raise UnknownCommandException()
if not (command[-1]=='#'): raise UnknownCommandException()
if not (command[0]==':') and command not in ('bC#','bW#','bR#'): raise UnknownCommandException()
#stamp,command = data.split(':',1)
#if command.find('#')>-1: command,_ = command.split('#',1)
self.request_num += 1
# Format to request_num_nb_digits (4) digits
request_num_str = self.request_num_format.format(self.request_num)
self.last_stamp = request_num_str + self.STAMP_FILLER
#if command == COMMAND6_SIMPLE: command = COMMAND6_REAL
data_encapsulated = self.last_stamp + command + TERMINATOR
#return super().encapsulate_data_to_send(data_encapsulated)
#return self.my_channel.encapsulate_data_to_send(data_encapsulated)
return data_encapsulated
#return bytes(data + "\n", "utf-8")
####return bytes(self.MYSTAMP + self.STAMP_FILLER + data + "\n", "utf-8")
# @overwrite
def uncap_received_data(self, data_received:str)->str:
#data_received = super().uncap_received_data(data_received_bytes)
##data_received = self.my_channel.uncap_received_data(data_received_bytes)
#>>> tele.uncap_received_data(b'001700001\x00')
r"""
Extract useful data from received raw data
>>> tele = TelescopeControllerGemini("localhost", 11110, DEBUG=False)
>>> tele.last_stamp = '00170000'
>>> tele.uncap_received_data('001700001#')
'1'
>>> tele.close()
"""
print("data_received_bytes type is", type(data_received))
print("data received is", data_received)
##data_received = data_received_bytes.decode()
#print("data_received is", data_received)
# Remove STAMP (and \n at the end):
#useful_data = data_received.split(self.MY_FULL_STAMP)[1][:-1]
useful_data = data_received.split(self.last_stamp)[1][:-1]
# Remove '#' at the end, if exists
if useful_data[-1] == '#': useful_data = useful_data[:-1]
return useful_data
# @overwrite
#def get_ack(self): return self.execute_native_cmd(COMMAND6, 'G')
#def do_warm_start(self): return self.execute_native_cmd('bW')
#TODO: déplacer dans parent avec nouvelles commandes set_speed_slew, set_speed_average, ...
# @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 UnknownCommandException(speed_rate)
return self.execute_unformated_native_cmd(native_cmd)
if __name__ == "__main__":
import doctest
doctest.testmod()
exit()
"""
# Classic usage:
#tele_ctrl = SocketClient_Gemini(HOST, PORT)
# More elegant usage, using "with":
##with SocketClientTelescopeGemini("localhost", 11110, DEBUG=False) as tele_ctrl:
with TelescopeControllerGemini("localhost", 11110, DEBUG=False) as tele_ctrl:
# 0) CONNECT to server (only for TCP, does nothing for UDP)
tele_ctrl._connect_to_server()
#tele_ctrl.config()
# Send some commands to the Telescope
#pos = tele_ctrl.get_position()
# Do EXPERT mode execution
while True:
# 1) SEND REQUEST data to server
# saisie de la requête au clavier et suppression des espaces des 2 côtés
data = input("(EXPERT MODE) REQUEST TO SERVER [ex: ':GD#' (Get Dec), ':GR#' (Get RA)']: ").strip()
# test d'arrêt
if data == "": break
#data_to_send = bytes(data + "\n", "utf-8")
tele_ctrl.send_data(data)
#mysock.sendto("%s" % data, (HOST, PORT))
#print("Sent: {}".format(data))
# 2) RECEIVE REPLY data from server
data_received = tele_ctrl.receive_data()
#reponse, adr = mysock.recvfrom(buf)
#print("Received: {}".format(data_received))
#print("Useful data received: {}".format(data_useful))
print('\n')
#tele_ctrl.close()
"""