do_init() finalized and do_GOTO() implemented and tested on Gemini

Etienne Pallier
1 parent f2382c40
Showing 4 changed files with 119 additions and 54 deletions Show diff stats
sockets_tele/README.txt
sockets_tele/client_gemini_run.py
sockets_tele/src/client/socket_client_telescope_abstract.py
sockets_tele/src/client/socket_client_telescope_gemini.py
@@ -63,12 +63,16 @@ Pour lancer le client sur le &quot;simulateur&quot; de telescope (localhost, port 11110):
 ********************************************************************************************
 4) WORK CURRENTLY IN PROGRESS...
  
-	- set date&time, set lat&long
+	- tests updated
  
  
 ********************************************************************************************
 5) DONE
  
+	- GOTO
+	- finalize do_init()
+
+	- set date&time, set lat&long
 	- README file enriched
     - help => liste cdes possibles
  
@@ -88,16 +92,18 @@ Pour lancer le client sur le &quot;simulateur&quot; de telescope (localhost, port 11110):
 ********************************************************************************************
 6) TODO LIST
  
+	- remplacer utf-8 par unicode ou iso...
+	
     - cdes 05 (p100):
         - cde 05 => return long list of parameters (= GROS GET)
         - ENQ = 05
  
     - Table d'attributs pour chaque telescope (config)
  
-    - set DATE & TIME (p109)
+    - (X) set DATE & TIME (p109)
         - Ce que fait AK avec TCL ou C: sprintf(ligne,":SC%02d/%02d/%02d#:SL%02d:%02d:%02.0f#:SG+00#",m,d,y-2000,h,min,s);
  
-			(X) 1) :SG+00#
+			 1) :SG+00#
 			=> TU
  
 			2) SC%02d/%02d/%02d#:
@@ -113,35 +119,17 @@ Pour lancer le client sur le &quot;simulateur&quot; de telescope (localhost, port 11110):
  
     - _connect() ou connect() ?
  
-    - GOTO(position, blocking=Y/N):
-        - non bloquant par défaut pour Gemini
-        - après goto, tester position avec ':Gv#' (p103) : on devrait avoir 'S', puis 'C', puis 'T'
-            - N (for "no tracking") 
-            - T (for Tracking)
-            - G (for Guiding)
-            - C (for Centering)
-            - S (for Slewing)
-            
-    - MOVE(direction, rate, duration):
-        - move dans une direction (N,S,E,O) à l'infini
-        - ':Q#' pour arrêter (p 108)
-        - duration: infinie si pas donnée
-        - rate (p108): 4 vitesses différentes (prendre la plus lente par défaut), entre 0 et 1:
-            - [0-0.25] : RC => Rate Center. Subsequent Move commands will move at Centering Speed.
-            - [0.25-0.50] : RG => Rate Guide. Subsequent Move commands will move at Guiding Speed.
-            - [0.50-0.75] : RM => Rate Move. Subsequent Move commands will move at Centering Speed.
-            - [0.75-1.0] : RS => Rate Slew. Subsequent Move commands will move at Slewing Speed.
  
     - POSITION (p103):
-        - set("home", lat, long)
-    	- radec.goto()
-        - STARTUP position = CWD
-            - :hC#
-            - position required for a Cold or Warm Start, pointing to the celestial pole of the given hemisphere (north or south), 
-            with the counterweight pointing downwards (CWD position). From L4, V1.0 up
-        - HOME position parking => par defaut, c'est CWD, mais ca peut etre different
-            - :hP#
-            - defaults to the celestial pole visible at the given hemisphere (north or south) and can be set by the user
+	    - MOVE(direction, rate, duration):
+	        - move dans une direction (N,S,E,O) à l'infini
+	        - ':Q#' pour arrêter (p 108)
+	        - duration: infinie si pas donnée
+	        - rate (p108): 4 vitesses différentes (prendre la plus lente par défaut), entre 0 et 1:
+	            - [0-0.25] : RC => Rate Center. Subsequent Move commands will move at Centering Speed.
+	            - [0.25-0.50] : RG => Rate Guide. Subsequent Move commands will move at Guiding Speed.
+	            - [0.50-0.75] : RM => Rate Move. Subsequent Move commands will move at Centering Speed.
+	            - [0.75-1.0] : RS => Rate Slew. Subsequent Move commands will move at Slewing Speed.
  
     - Implémenter les commandes NATIVES (non LX-200) :
         - < ou >, termine par ':' + checksum + #
@@ -149,10 +137,6 @@ Pour lancer le client sur le &quot;simulateur&quot; de telescope (localhost, port 11110):
  
  
  
-	GOTO:
-	:Sr18:23:45#:Sd+34:00:00#:MS#
-	(MS = move start)
-	= Goto RA=18h23m45s Dec=+34d00m00s J2000
  
  
  
@@ -137,6 +137,9 @@ with SocketClientTelescopeGEMINI(HOST, PORT, DEBUG) as tsock:
     data_received = tsock.receive_data()
     '''
  
+    tsock.do_GOTO(ra='22:00:00',dec='+30:00:00')
+    tsock.do_GOTO(ra='21:00:00',dec='+20:00:00')
+    
     # Do EXPERT mode execution
     while True:
  
@@ -162,6 +165,8 @@ with SocketClientTelescopeGEMINI(HOST, PORT, DEBUG) as tsock:
         #print("Received: {}".format(data_received))
         #print("Useful data received: {}".format(data_useful))
         '''
+    
+    #tsock.do_PARK()
  
     #tsock.close()
  
@@ -87,11 +87,12 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
         'TIME': [],
         'LONGITUDE': [],
         'LATITUDE': [],
+        'VELOCITY': [],
     }
     _cmd_do = {
-        'INIT': [],
+        #'INIT': [],
         'PARK': [],
-        'GOTO': [],
+        'MOVE': [],
         'WARM_START': [],
         'PREC_REFR': [],
     }
@@ -221,8 +222,30 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
  
     # RA/DEC
     # @abstract
+    '''
+    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 (p106)
+    :Sr<hh>:<mm>.<m># 
+    or 
+    :Sr<hh>:<mm>:<ss>#   
+    0 if invalid
+    1 if valid
+    '''
     def get_RA(self):               return self._get("RA")
     def set_RA(self, ra):           return self._set("RA", ra)
+
+    '''
+    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"
+    :Sd{+-}<dd>{*°}<mm># 
+    or
+    :Sd{+- }<dd>{*°:}<mm>:<ss>
+    0 if invalid
+    1 if valid
+    '''
     def get_DEC(self):              return self._get("DEC")
     def set_DEC(self, dec):         return self._set("DEC", dec)
     # @abstract
@@ -243,16 +266,28 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
     def get_LATITUDE(self):    return self._get('LATITUDE')
     def set_LATITUDE(self, latitude):    return self._set('LATITUDE', latitude)
  
+    def get_VELOCITY(self):    return self._get('VELOCITY')
  
  
     ''' DO commands '''
  
     # @abstract
-    def do_INIT(self):              return self._do("INIT")
+    #def do_INIT(self):              return self._do("INIT")
+
+    ''' do_PARK() (p103)
+    - STARTUP position = CWD
+        - :hC#
+        - position required for a Cold or Warm Start, pointing to the celestial pole of the given hemisphere (north or south), 
+        with the counterweight pointing downwards (CWD position). From L4, V1.0 up
+    - HOME position parking => par defaut, c'est CWD, mais ca peut etre different
+        - :hP#
+        - defaults to the celestial pole visible at the given hemisphere (north or south) and can be set by the user
+    '''
     # @abstract
-    def do_park(self):              return self._do("PARK")
+    def do_PARK(self):              return self._do("PARK")
+    def do_MOVE(self):              return self._do("MOVE")
     # @abstract
-    def do_goto(self, pos:Position):    return self._do("GOTO")
+    #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")
  
@@ -90,6 +90,9 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
         'DATE': ['GC', 'SC'],
         'TIME': ['GL', 'SL'],
  
+        'VELOCITY': ['Gv'],
+
+
  
     }
     ''' Commands dictionary
@@ -97,9 +100,9 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
     '''
     # @override
     _cmd_do = {
-        'INIT': [],
-        'PARK': [],
-        'GOTO': [],
+        #'INIT': [],
+        'PARK': ['hP'],
+        'MOVE': ['MS'],
         'WARM_START': ['bW'],
         'PREC_REFR': ['p3'],
     }
@@ -219,19 +222,10 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
                 elapsed_time += 1
                 if elapsed_time == TIMEOUT: raise TimeoutException()
                 ACK = self.get_ACK()
-        
-        
-        '''
-        3) 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()
-        
+                
  
         '''
-        4) Set timezone, date, and time (p109)
+        3) Set timezone, date, and time (p109)
         '''
  
         '''
@@ -293,7 +287,7 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
  
  
         '''
-        5) Set LOCATION (lat,long) (p103,110)
+        4) Set LOCATION (lat,long) (p103,110)
         Pour l'observatoire de Guitalens:
         Sg = 2.0375 E 
         St = 43.6443 N
@@ -352,7 +346,54 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
         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()
+
+    
+    ''' GOTO (p105)
+        - GOTO(position, blocking=Y/N):
+            (MS = move start)
+            = Goto RA=18h23m45s Dec=+34d00m00s J2000
+        - radec.goto()
+    '''
+    def do_GOTO(self, ra, dec):
+        radec = self.get_RADEC()
+        print("Current position is", radec)
  
+        '''
+        :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)
+        # MOVE non bloquant par défaut pour Gemini
+        self.do_MOVE()
+        
+        '''
+        After MOVE, test position with ':Gv#' (p103) : on devrait avoir 'S', puis 'C', puis '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)
+        
+