Telescope.py
4.65 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
import configparser
import socket
from enum import Enum
import time
CONFIG_FILE = "socket_config.ini"
class RotatorEnum(Enum):
none = "None"
synchro = "Synchro"
tracking = "Tracking"
class MoveModeEnum(Enum):
goto = "Goto"
track = "Track"
goto_track = "GotoTrack"
class CoordsFrameEnum(Enum):
hadec = "Hadec"
radec = "Radec"
altaz = "Altaz"
DOORS_TIME = 5
MOVE_TIME = 5
class Telescope():
def __init__(self):
config = configparser.ConfigParser()
config.read(CONFIG_FILE)
ip = config.get("Telescope", "ip")
port = int(config.get("Telescope", "port"))
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.sock.bind((ip, port))
self.sock.listen(12)
self.set_msgs = [
("SPEED", [2, 3], float),
("COORDS", [2, 3], float),
("TRACKING_SPEED", [2, 3], float),
("ACCEL", [2, 3], float),
("ROTATOR", [1, ], RotatorEnum),
("FOCUS", [1, ], float),
("MOVE_MODE", [1, ], MoveModeEnum),
("COORDS_FRAME", [1, ], CoordsFrameEnum),
]
get_msgs = [
"POSITION",
"STATUS",
"SETUP",
]
do_msgs = [
("DOORS", [1, ], bool),
("START", [0, ],),
("ABORT", [0, ],),
("STOP", [0, ],),
("HOMING", [0, ],),
]
''' I will just fill the attributes with their names and params without regarding them '''
self.attributes = {}
self.doors_status = True
self.status = "IDLE"
def loop(self):
move_timer = 0
doors_timer = 0
while True:
try:
conn, addr = self.sock.accept()
except socket.error as e:
print("There was a socket error: " + repr(e))
break
data = conn.recv(128).decode()
print("Received: " + data)
'''
Pour le moment, les messages sont de taille variable, contenant :
CMD_TYPE CMD ARG1 ARG2 ...
On considère que ce qu'on reçoit peut être faux, mais que dans tous les cas, on recoit le message au complet.
Pas de souci s'async puisqu'on prend une connection à la fois.
'''
answer = ""
cut_data = data.split(" ")
if move_timer != 0 and time.time() > move_timer:
move_timer = 0
status = "IDLE"
print("Stopped movement")
if doors_timer != 0 and time.time() > doors_timer:
doors_timer = 0
print("Stopped doors")
if len(cut_data) < 2:
print("Invalid message: " + data)
else:
cmd_type = cut_data[0]
cmd = cut_data[1]
args = cut_data[2:]
if cmd_type == "SET":
self.attributes[cmd] = args
elif cmd_type == "GET":
if cmd == "POSITION":
answer = "101.287 -16.716"
elif cmd == "STATUS":
answer = self.status
elif cmd == "SETUP":
answer = "GET SETUP answer not implemented"
else:
answer = "Invalid cmd for GET: " + cmd
print(answer)
elif cmd_type == "DO":
if cmd == "START":
print("Start movement")
move_timer = time.time() + MOVE_TIME
if cmd == "STOP":
move_timer = 0
if cmd == "ABORT":
move_timer = 0
if cmd == "HOMING":
print("Start movement (homing)")
move_timer = time.time() + MOVE_TIME
if cmd == "DOORS":
if len(args) > 0:
if args[0] != self.doors_status:
print("Start door")
self.doors_status = args[0]
doors_timer = time.time() + DOORS_TIME
else:
print("Invalid message: " + data)
if len(answer) > 0:
conn.send(bytes(answer, "UTF-8"))
print("send: " + answer)
conn.close()
tel = Telescope()
tel.loop()