move do_init() to abstract class AND generic return code for each

command

move do_init() to abstract class AND generic return code for each
command
Etienne Pallier
1 parent a494f372
Showing 4 changed files with 465 additions and 131 deletions Show diff stats
sockets_tele/README.txt
sockets_tele/client_gemini_run.py
sockets_tele/src_socket/client/socket_client_telescope_abstract.py
sockets_tele/src_socket/client/socket_client_telescope_gemini.py
@@ -63,6 +63,9 @@ Pour lancer le client sur le &quot;simulateur&quot; de telescope (localhost, port 11110):
 ********************************************************************************************
 4) DONE
+	- move do_init() to abstract class
+	- generic return code for each command
+
 	- clean code
 	- move do_goto() and move_dir() to abstract class
@@ -101,10 +104,8 @@ Pour lancer le client sur le &quot;simulateur&quot; de telescope (localhost, port 11110):
 ********************************************************************************************
 5) WORK CURRENTLY IN PROGRESS...
-	- generic return code for each command
-		
-	- move do_init() to abstract class
-
+	- interpreteur de cde generique : set ra "20:00:00"
+	
 	- improve server answers
 	- main updated
@@ -8,7 +8,55 @@ import sys
 DEBUG = True
+class essai:
+    a = 'a'
+    c = 'c'
+    def __init__(self):
+        self.b = 'bB'
+    def __get__(self, instance, owner):
+        return self.b
+    '''
+    def __set__(self, instance, value):
+        self.b = value
+    def __str__(self):
+        return self.b
+    '''
+class user:
+    e = essai()
+
+class GenericResult:
+    ''' Usage:
+        res = execute(command)
+        print("result is", res)
+        if res.ko: raise UnexpectedReturnCode()
+        if res.ok:
+            ...
+    '''
+    # By default, bad result
+    ok = False
+    ko = True
+    
+    def __init__(self, native_result:str, ok=False):
+        self.txt = native_result
+        self.ok = ok
+        self.ko = not ok
+    '''
+    def __str__(self):
+        return self.native_result
+    def __repr__(self):
+        return self.native_result
+    def __get__(self, instance, owner):
+        return self.b
+    def __set__(self, instance, value):
+        self.b = value
+    '''
+
+
+
+        
+
 def main():
+    
     # No argument => connexion to REAL TELESCOPE (DISTANT)
     if len(sys.argv) == 1: 
         # Port local AK 8085 = redirigé sur l’IP du tele 192.168.0.12 sur port 11110
@@ -24,17 +72,23 @@ def main():
         # (optional) Only useful for TCP (does nothing for UDP)
         tele_client._connect_to_server()
-        print("RA is", tele_client.get_RA())
-        print("ack is", tele_client.get_ACK())
+        print("RA is", tele_client.get_ra())
+        
+        ack = tele_client.get_ack()
+        print("ack is", ack)
+        print("ack.txt is", ack)
+        if ack.ok: print("ack is ok")
+        if ack.ko: print("ack is ko")
         # Initialize telescope config (ack, date, time)
         tele_client.do_init()
-        _mes_tests_temporaires_avirer(tele_client)
+        #_mes_tests_temporaires_avirer(tele_client)
         #radec = tele_client.get("RA-DEC")
-        radec = tele_client.get_RADEC()
-        print("RA-DEC is", radec)
+        ra,dec = tele_client.get_radec()
+        print("RA-DEC is", ra,dec)
+        print("ra is", ra.txt)
         #tele_client.do_GOTO(ra='22:00:00',dec='+30:00:00')
         #tele_client.do_GOTO(ra='21:00:00',dec='+20:00:00')
@@ -49,7 +103,9 @@ def main():
             req = input("REQUEST TO SERVER (ENTER to quit): >>> ").strip()
             if not req: break
-            result = tele_client.execute(req)
+            res = tele_client.execute(req)
+            print("result is", res)
+            #print("result.txt is", res.txt)
         # END: park telescope    
         ###tele_client.do_PARK()
@@ -58,11 +114,20 @@ def main():
-
+# @private
 def _mes_tests_temporaires_avirer(tele_client):
     print("\n...Execution de mes tests temporaires...\n")
+    u = user()
+    print(u.e)
+
+    res = GenericResult('G',False)
+    print("res is", res)
+    if res.ok: print("res is ok")
+    if not res.ko: print("res is not ko")
+    if res.txt == 'G': print("res is G")
+
     tele_client.do_move_dir('EAST','4', 'slew')
     tele_client.do_goto(ra='21:00:00',dec='+20:00:00')
     '''
@@ -35,6 +35,11 @@ GET_ONLY=False
 # Execute only "get" commands
 #GET_ONLY=True
+# Default timeouts
+TIMEOUT_SEND = 10
+TIMEOUT_RECEIVE = 10
+
+
 '''
 class c(Enum):
@@ -50,6 +55,33 @@ class c(Enum):
+class GenericResult:
+    ''' Usage:
+        res = execute(command)
+        print("result is", res)
+        if res.ko: raise UnexpectedReturnCode()
+        if res.ok:
+            ...
+    '''
+    # By default, bad result
+    ok = True
+    ko = False
+    
+    def __init__(self, native_result:str, ok=True):
+        self.txt = native_result
+        self.ok = ok
+        self.ko = not ok
+    def __str__(self):
+        return self.txt
+    '''
+    def __repr__(self):
+        return self.txt
+    def __get__(self, instance, owner):
+        return self.b
+    def __set__(self, instance, value):
+        self.b = value
+    '''
+
 class Position():
     x = 0
@@ -82,11 +114,11 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
     'CMD-NAME': ['cmd-get', 'cmd-set', 'comment'],
     '''
     _cmd_getset = {
-        'ACK': [],
-        'RA': [],
-        'DEC': [],
-        'RADEC': [],
-        'TIMEZONE': [],
+        'ack': [],
+        'ra': [],
+        'dec': [],
+        #'RADEC': [],
+        'timezone': [],
         #'TIMEZONE_IS_UTC': [],
         'DATE': [],
         'TIME': [],
@@ -128,7 +160,11 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
         if request.startswith('get_') or request.startswith('set_') or request.startswith('do_'):
             print("GENERIC COMMAND")
             if request.startswith('get_'):
-                generic_cmd,_ = request[4:].split('(')
+                #generic_cmd,_ = request[4:].split('(')
+                generic_cmd = request[4:]
+                if (generic_cmd not in self._cmd_getset.keys()) and (generic_cmd not in self._cmd_do.keys()):
+                    #eval(request)
+                    return self.get_radec()
                 print("cmd is", generic_cmd)
                 return self._get(generic_cmd)
             return
@@ -136,16 +172,23 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
         print("NATIVE COMMAND")
         return self.execute_native_cmd(request)
-    def execute_native_cmd(self, request:str)->str:
+    def execute_native_cmd(self, request:str, awaited_res_if_ok=None)->GenericResult:
         self.send_request(request)
-        return self.receive_data()
+        native_res = self.receive_data()
+        ok = True if not awaited_res_if_ok else (native_res == awaited_res_if_ok)
+        return GenericResult(native_res, ok)
+    
+    def execute_native_cmd_OLD(self, request:str)->str:
+        self.send_request(request)
+        native_res = self.receive_data()
+        return native_res
     def execute_unformated_native_cmd(self, request:str)->str:
         request = self.formated_cmd(request)
-        self.send_request(request)
-        return self.receive_data()
+        return self.execute_native_cmd_OLD(request)
     def send_request(self, request:str)->str:
         return self.send_data(request)
+
     def print_available_commands(self):
         print("\nAvailable commands are:")
@@ -176,14 +219,40 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
         return self._get_set_do(self._cmd_getset, 0, generic_param)
     def _set(self, generic_param:str, value:str)->str:
         if GET_ONLY: return 'NOT_DONE'
-        return self._get_set_do(self._cmd_getset, 1, generic_param, value)
+        return self._get_set_do(self._cmd_getset, 2, generic_param, value)
     def _do(self, generic_param:str)->str:
         if GET_ONLY: return 'NOT_DONE'
         return self._get_set_do(self._cmd_do, 0, generic_param)
+
+    def _get_set_do(self, dic:dict, indice:int, generic_param:str, value:str=None)->str:
+
+        generic_cmd = 'do_'
+        if dic == self._cmd_getset: 
+            generic_cmd = 'get_' if indice==0 else 'set_'
+        generic_cmd += generic_param
+        log_d("\nGENERIC command: "+generic_cmd)
+
+        # Check if generic_param exists    
+        if not generic_param: raise UnknownCommandException()
+        if generic_param not in dic.keys(): raise UnknownCommandException()
+        # if this command is not overriden by this class, raise NotImplementedError
+        if not dic[generic_param]: raise NotImplementedError
+        if len(dic[generic_param]) < indice+1: raise NotImplementedError
+        
+        # Get corresponding native command:
+        native_cmd = dic[generic_param][indice]
+        # if this command is not overriden by this class, raise NotImplementedError
+        if native_cmd == '': raise NotImplementedError
+        
+        awaited_res_ok = None
+        if len(dic[generic_param]) > 1: awaited_res_ok = dic[generic_param][indice+1]
+        return self.execute_native_cmd(self.formated_cmd(native_cmd,value), awaited_res_ok)
+
+    '''
     def _get_set_do(self, dic:dict, indice:int, generic_param:str, value:str=None)->str:
         #if generic_param in c: return generic_param.name
-        #if generic_param == c.RA_DEC: return self.get_RADEC()
+        #if generic_param == c.RA_DEC: return self.get_radec()
         #return NotImplementedError
         native_cmds = []
@@ -213,87 +282,22 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
         for cmd in native_cmds:
             #print("command is", repr(cmd))
             #res.append(self.put_read(self.formated_cmd(cmd)))
-            res.append(self.execute_native_cmd(self.formated_cmd(cmd,value)))
+            res.append(self.execute_native_cmd_OLD(self.formated_cmd(cmd,value)))
         if len(res) == 1: return res[0]
         return res
-    
-    
-    def set_SPEED(self, speed_rate):
-        print("from super")
-        pass
-
-
-    ''' GOTO (p105)
-        - GOTO(position, blocking=Y/N):
-            (MS = move start)
-            = Goto RA=18h23m45s Dec=+34d00m00s J2000
-        - radec.goto()
     '''
-    def do_goto(self, ra, dec, speed_rate=None):
-        
-        # 1) set speed
-        if speed_rate: self.set_SPEED(speed_rate)
-        
-        radec = self.get_RADEC()
-        print("Current position is", radec)
-        # 2) set RA-DEC
-        '''
-        :Sr18:23:45#:Sd+34:00:00#:MS#
-        '''
-        res = self.set_RA(ra)
-        if res != '1': raise UnexpectedCommandReturnCode(res)
-        res = self.set_DEC(dec)
-        if res != '1': raise UnexpectedCommandReturnCode(res)
-        
-        # 3) MOVE (non blocking by default for GEMINI)
-        self.do_MOVE()
-        
-        # 4) Test velocity until it is "Tracking"
-        '''
-        After MOVE, test velocity with ':Gv#' (p103) : we should have 'S', then 'C', then 'T'
-            - N (for "no tracking") 
-            - T (for Tracking)
-            - G (for Guiding)
-            - C (for Centering)
-            - S (for Slewing)
-        '''
-        v = None
-        while v != 'T':
-            v = self.get_VELOCITY()
-            print("Velocity is", v)
-            time.sleep(2)
-        
-        time.sleep(2)
-        radec = self.get_RADEC()
-        print("Current position is", radec)
-    
-    def do_MOVE_NORTH(self): pass
-    def do_MOVE_SOUTH(self): pass
-    def do_MOVE_WEST(self): pass
-    def do_MOVE_EAST(self): pass
-
-    def do_move_dir(self, dir, nbsec, speed_rate=None):
-        if speed_rate: self.set_SPEED(speed_rate)
-        if dir=="NORTH": self.do_MOVE_NORTH() 
-        if dir=="SOUTH": self.do_MOVE_SOUTH() 
-        if dir=="WEST": self.do_MOVE_WEST() 
-        if dir=="EAST": self.do_MOVE_EAST() 
-        time.sleep(int(nbsec))
-        self.do_STOP()
     '''
-    def do(self, generic_cmd:str):
-        return NotImplementedError
-    def set(self, generic_param:str):
-        return NotImplementedError
+    ****************************
+     GENERIC GET & SET commands 
+    **************************** 
     '''
-    ''' GET & SET commands '''
-    
     # @abstract
-    def get_ACK(self):              return self._get("ACK")               
+    def get_ack(self):
+        return self._get("ack")               
     # RA/DEC
     # @abstract
@@ -307,8 +311,8 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
     0 if invalid
     1 if valid
     '''
-    def get_RA(self):               return self._get("RA")
-    def set_RA(self, ra):           return self._set("RA", ra)
+    def get_ra(self):               return self._get("ra")
+    def set_ra(self, ra):           return self._set("ra", ra)
     '''
     Sets the object's declination. 
@@ -321,16 +325,18 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
     0 if invalid
     1 if valid
     '''
-    def get_DEC(self):              return self._get("DEC")
-    def set_DEC(self, dec):         return self._set("DEC", dec)
+    def get_dec(self):              return self._get("dec")
+    def set_dec(self, dec):         return self._set("dec", dec)
     # @abstract
     # @abstract
-    def get_RADEC(self):            return self._get("RADEC")
+    #def get_radec(self):            return self._get("RADEC")
+    def get_radec(self)->tuple:     return (self.get_ra(),self.get_dec())
+    
     def set_RADEC(self, radec):     return self._set("RADEC", radec)
     #def set_TIMEZONE_IS_UTC(self):  return self._set('TIMEZONE_IS_UTC')
-    def get_TIMEZONE(self):    return self._get('TIMEZONE')
-    def set_TIMEZONE(self, hh):    return self._set('TIMEZONE', hh)
+    def get_timezone(self):    return self._get('timezone')
+    def set_timezone(self, hh):    return self._set('timezone', hh)
     def get_DATE(self):    return self._get('DATE')
     def set_DATE(self, mmddyy):    return self._set('DATE', mmddyy)
     def get_TIME(self):    return self._get('TIME')
@@ -342,9 +348,15 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
     def set_LATITUDE(self, latitude):    return self._set('LATITUDE', latitude)
     def get_VELOCITY(self):    return self._get('VELOCITY')
-        
-        
-    ''' DO commands '''
+
+
+
+
+    '''
+    ****************************
+     GENERIC DO commands 
+    **************************** 
+    '''
     # @abstract
     #def do_INIT(self):              return self._do("INIT")
@@ -365,8 +377,254 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
     # @abstract
     #def do_GOTO(self, pos:Position):    return self._do("GOTO")
-    def do_WARM_START(self):         return self._do("WARM_START")
-    def do_PREC_REFR(self):         return self._do("PREC_REFR")
+    #def do_WARM_START(self):         return self._do("WARM_START")
+    def do_warm_start(self): pass
+    def do_PREC_REFR(self):         return self._do("PREC_REFR")        
+
+ 
+    
+    # @abstract
+    def do_init(self):
+        
+        '''
+        1) Send cde ACK ('06') and check answer to see if telescope is ready (see doc page 100)
+        (utile pour savoir si tout est ok ; par ex, si une raquette est branchée sur le tele, ça peut bloquer le protocole)
+        Usable for testing the serial link and determining the type of mount (German equatorial).
+        Return code can be:
+        - 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 ==> MEANS ALL IS OK
+        '''
+        #ACK = self.get("ACK")
+        ACK = self.get_ack()
+           
+        ''' 
+        2) IF telescope is not ready (still starting up), ask it to do a Warm Start ('bW#') 
+        During Startup, with a "b#" being returned, the PC can select the startup mode by sending a
+            • bC# for selecting the Cold Start,
+            • bW# for selecting the Warm Start,
+            • bR# for selecting the Warm Restart
+        If not ok (still starting up, no 'G#' in return), send 'bW#' (see above) for selecting the Warm Start
+        '''
+        #if ACK != 'G':
+        if not ACK.ok:
+            self.do_warm_start()
+            ACK = self.get_ack()
+            elapsed_time = 0
+            while not ACK.ok:
+                time.sleep(1)
+                elapsed_time += 1
+                if elapsed_time == TIMEOUT_RECEIVE: raise TimeoutException()
+                ACK = self.get_ack()
+                
+        
+        '''
+        3) Set timezone, date, and time (p109)
+        '''
+
+        '''
+        a) set TIMEZONE
+        Set the number of hours by which your local time differs from UTC. 
+        If your local time is earlier than UTC set a positive value, 
+        if later than UTC set a negative value. The time difference has to be set before setting the calendar date (SC) and local time (SL), since the Real Time Clock is running at UTC
+        => :SG{+-}hh#        
+        '''
+        res = self.get_timezone()
+        print("Current timezone is", res)
+        res = self.set_timezone('+00')
+        #if res != '1': raise UnexpectedCommandReturnCode(res)
+        if not res.ok: raise UnexpectedCommandReturnCode(res)
+        res = self.get_timezone()
+        if res.txt != '+00': raise UnexpectedCommandReturnCode(res)
+        print("NEW timezone set is", res)
+        
+
+        return
+        '''
+        b) set DATE
+        Set Calendar Date: 
+        months mm, days dd, year yy of the civil time according to the timezone set. 
+        The internal calendar/clock uses GMT
+        :SC<mm>/<dd>/<yy>#
+        0 if invalid 
+        or
+        TODO:
+        1Updating planetary data#<24 blanks>#            
+        '''
+        res = self.get_DATE()
+        print("Current date is", res)
+        # format is 2018-09-26T17:50:21
+        d = self.get_utc_date()
+        # format to mm/dd/yy
+        now_utc_mm_dd_yy = d[5:7] + '/' + d[8:10] + '/' + d[2:4]
+        #print("date is", now_utc_mm_dd_yy)
+        res = self.set_DATE(now_utc_mm_dd_yy)
+        #res = self.set_DATE(self.get_utc_date())
+        #if res[0] != '1': raise UnexpectedCommandReturnCode(res)
+        #if not res.startswith('1Updating planetary data'): raise UnexpectedCommandReturnCode(res)
+        if not res: raise UnexpectedCommandReturnCode(res)
+        res = self.get_DATE()
+        if res != now_utc_mm_dd_yy: raise UnexpectedCommandReturnCode(res)
+        print("NEW DATE set is", res)
+
+        '''
+        c) set TIME
+        Set RTC Time from the civil time hours hh, minutes mm and seconds ss. 
+        The timezone must be set before using this command
+        :SL<hh>:<mm>:<ss>#
+        '''
+        res = self.get_TIME()
+        print("Current time is", res)
+        _,now_utc_hh_mm_ss = d.split('T')
+        #print("time is", now_utc_hh_mm_ss[:5])
+        res = self.set_TIME(now_utc_hh_mm_ss)
+        #if res != '1': raise UnexpectedCommandReturnCode(res)
+        if not res: raise UnexpectedCommandReturnCode(res)
+        res = self.get_TIME()
+        if res[:5] != now_utc_hh_mm_ss[:5]: raise UnexpectedCommandReturnCode(res)
+
+            
+        '''
+        4) Set LOCATION (lat,long) (p103,110)
+        Pour l'observatoire de Guitalens:
+        Sg = 2.0375 E 
+        St = 43.6443 N
+        (attention, 2.0375 E = - 2.0375) 
+        '''
+        
+        '''
+        a) set Longitude
+        Sets the longitude of the observing site to ddd degrees and mm minutes. 
+        The longitude has to be specified positively for western latitudes 
+        (west of Greenwich, the plus sign may be omitted) and negatively for eastern longitudes. 
+        Alternatively, 360 degrees may be added to eastern longitudes.
+        => :Sg{+-}<ddd>*<mm>#
+        '''
+        # TELE format is -002°02 (I convert it to -002:02)
+        res = self.get_LONGITUDE()
+        print("Current longitude is", res)
+        
+        # CELME format is -002:02:15
+        res = self.get_celme_longitude("-2.0375")
+        res_ddd_mm = res[:-3]
+        #res_ddd_mm = '-002:03'
+        
+        #print("celme longitude is", res)
+        ddd,mm,ss = res.split(':')
+        dddmm = ddd+'*'+mm
+        #dddmm = '-002*03'
+        res = self.set_LONGITUDE(dddmm)
+        #if res != '1': raise UnexpectedCommandReturnCode(res)
+        if not res: raise UnexpectedCommandReturnCode(res)
+        res = self.get_LONGITUDE()
+        if res != res_ddd_mm: raise UnexpectedCommandReturnCode(res)
+
+        '''
+        b) set Latitude
+        Sets the latitude of the observing site to dd degrees, mm minutes. 
+        The minus sign indicates southern latitudes, the positive sign may be omitted.
+        => :St{+-}<dd>*<mm>#
+        '''
+        # TELE format is +43°38 (I convert it to +43:38)
+        res = self.get_LATITUDE()
+        print("Current latitude is", res)
+        
+        # CELME format is +43:38:15
+        res = self.get_celme_latitude("+43.6443")
+        res_dd_mm = res[:-3]
+        print("res is", res)
+        #res_dd_mm = '+43:50'
+        
+        #print("celme longitude is", res)
+        dd,mm,ss = res.split(':')
+        ddmm = dd+'*'+mm
+        #ddmm = '+43*50'
+        res = self.set_LATITUDE(ddmm)
+        #if res != '1': raise UnexpectedCommandReturnCode(res)
+        if not res: raise UnexpectedCommandReturnCode(res)
+        res = self.get_LATITUDE()
+        if res != res_dd_mm: raise UnexpectedCommandReturnCode(res)
+
+
+        '''
+        5) Send cde ':p3#' : Precession & Refraction (see page 107)
+        Ask Gemini to do Precession calculation 
+        Coordinates transferred to the Gemini refer to the standard epoch J2000.0. 
+        Refraction is calculated (From L4, V1.0 up)
+        ''' 
+        self.do_PREC_REFR()
+
+    
+    # @abstract
+    def set_SPEED(self, speed_rate):
+        pass
+
+
+    ''' GOTO (p105)
+        - GOTO(position, blocking=Y/N):
+            (MS = move start)
+            = Goto RA=18h23m45s Dec=+34d00m00s J2000
+        - radec.goto()
+    '''
+    # @abstract
+    def do_goto(self, ra, dec, speed_rate=None):
+        
+        # 1) set speed
+        if speed_rate: self.set_SPEED(speed_rate)
+        
+        radec = self.get_radec()
+        print("Current position is", radec)
+
+        # 2) set RA-DEC
+        '''
+        :Sr18:23:45#:Sd+34:00:00#:MS#
+        '''
+        res = self.set_ra(ra)
+        if res != '1': raise UnexpectedCommandReturnCode(res)
+        res = self.set_dec(dec)
+        if res != '1': raise UnexpectedCommandReturnCode(res)
+        
+        # 3) MOVE (non blocking by default for GEMINI)
+        self.do_MOVE()
+        
+        # 4) Test velocity until it is "Tracking"
+        '''
+        After MOVE, test velocity with ':Gv#' (p103) : we should have 'S', then 'C', then 'T'
+            - N (for "no tracking") 
+            - T (for Tracking)
+            - G (for Guiding)
+            - C (for Centering)
+            - S (for Slewing)
+        '''
+        v = None
+        while v != 'T':
+            v = self.get_VELOCITY()
+            print("Velocity is", v)
+            time.sleep(2)
+        
+        time.sleep(2)
+        radec = self.get_radec()
+        print("Current position is", radec)
+    
+    
+    def do_MOVE_NORTH(self): pass
+    def do_MOVE_SOUTH(self): pass
+    def do_MOVE_WEST(self): pass
+    def do_MOVE_EAST(self): pass
+
+    # @abstract
+    def do_move_dir(self, dir, nbsec, speed_rate=None):
+        if speed_rate: self.set_SPEED(speed_rate)
+        if dir=="NORTH": self.do_MOVE_NORTH() 
+        if dir=="SOUTH": self.do_MOVE_SOUTH() 
+        if dir=="WEST": self.do_MOVE_WEST() 
+        if dir=="EAST": self.do_MOVE_EAST() 
+        time.sleep(int(nbsec))
+        self.do_STOP()
+
+
+
     #TODO: delete if not necessary
@@ -21,8 +21,9 @@ sys.path.append(&#39;../..&#39;)
 from src_socket.client.socket_client_telescope_abstract import *
-# Default timeout set to 10s
-TIMEOUT = 10
+# Default timeouts
+TIMEOUT_SEND = 10
+TIMEOUT_RECEIVE = 10
 # COMMON CONSTANTS WITH SERVER
 TERMINATOR = '\x00'
@@ -56,39 +57,39 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
     ''' Commands dictionary
-    'CMD-NAME': ['cmd-get', 'cmd-set', 'comment'],
+    'CMD-NAME': ['cmd-get', 'awaited_res_ok_for_get', 'cmd-set', 'awaited_res_ok_for_set', 'comment'],
     '''
     # @override
     _cmd_getset = {
-        'ACK': [COMMAND6],
+        'ack': [COMMAND6, 'G'],
         # 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"
-        'RA': ['GR', 'Sr', 'commentaire'],
-        'DEC': ['GD', 'Sd'],
-        'RADEC': [('GR','GD'), ''],
+        'ra': ['GR', None, 'Sr', None, 'commentaire'],
+        'dec': ['GD', None, 'Sd'],
+        #'RADEC': [('GR','GD'), ''],
         # ALT-AZ (p?)
-        "ALT": ['GA', ''],
-        "AZ": ['GZ', ''],
-        "ALT-AZ": [('GA','GZ'), ''],
+        "ALT": ['GA'],
+        "AZ": ['GZ'],
+        #"ALT-AZ": [('GA','GZ'), ''],
         # LONG-LAT
-        "LONGITUDE": ['Gg', 'Sg'],
-        "LATITUDE": ['Gt', 'St'],
-        "LONGLAT": [('Gg','Gt'), ''],
+        "LONGITUDE": ['Gg', None, 'Sg'],
+        "LATITUDE": ['Gt', None, 'St'],
+        #"LONGLAT": [('Gg','Gt'), ''],
-        "hour-angle": ['GH', ''],
+        "hour-angle": ['GH'],
-        "max-vel": ['Gv', ''],
+        "max-vel": ['Gv'],
-        'TIMEZONE': ['GG', 'SG'],
-        'DATE': ['GC', 'SC'],
-        'TIME': ['GL', 'SL'],
+        'timezone': ['GG', None, 'SG', '1'],
+        'DATE': ['GC', None, 'SC'],
+        'TIME': ['GL', None, 'SL'],
         'VELOCITY': ['Gv'],
@@ -210,6 +211,14 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
         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')
+
+        
+        
+    """ moved to abstract parent
     # @override
     def do_init(self):
@@ -224,7 +233,7 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
         - G# after completed startup ==> MEANS ALL IS OK
         '''
         #ACK = self.get("ACK")
-        ACK = self.get_ACK()
+        ACK = self.get_ack()
         ''' 
         2) IF telescope is not ready (still starting up), ask it to do a Warm Start ('bW#') 
@@ -236,13 +245,13 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
         '''
         if ACK != 'G':
             self.do_WARM_START()
-            ACK = self.get_ACK()
+            ACK = self.get_ack()
             elapsed_time = 0
             while ACK != 'G':
                 time.sleep(1)
                 elapsed_time += 1
                 if elapsed_time == TIMEOUT: raise TimeoutException()
-                ACK = self.get_ACK()
+                ACK = self.get_ack()
         '''
@@ -374,6 +383,7 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
         Refraction is calculated (From L4, V1.0 up)
         ''' 
         self.do_PREC_REFR()
+    """
     def set_SPEED(self, speed_rate):
@@ -390,10 +400,10 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
         if not native_cmd: raise UnknownCommandException(speed_rate)
         return self.execute_unformated_native_cmd(native_cmd)
-    def do_MOVE_NORTH(self): return self.execute_native_cmd(':Mn#')
-    def do_MOVE_SOUTH(self): return self.execute_native_cmd(':Ms#')
-    def do_MOVE_WEST(self): return self.execute_native_cmd(':Mw#')
-    def do_MOVE_EAST(self): return self.execute_native_cmd(':Me#')
+    def do_MOVE_NORTH(self): return self.execute_native_cmd_OLD(':Mn#')
+    def do_MOVE_SOUTH(self): return self.execute_native_cmd_OLD(':Ms#')
+    def do_MOVE_WEST(self): return self.execute_native_cmd_OLD(':Mw#')
+    def do_MOVE_EAST(self): return self.execute_native_cmd_OLD(':Me#')