PYROS-IRAP / pyros

Commit 54cb16da28f8a8885f1a32fa0c57b332389983fa

Authored by Etienne Pallier
1 parent e519f61d
Exists in dev

implementation du do_MOVE() 

et renommage du dossier sockets_tele/src en src_socket pour eviter
conflit avec pyros/src (les imports fonctionnent mieux ainsi...)

mais git aime pas trop quand on renomme un dossier...
Showing 12 changed files with 447 additions and 88 deletions   Show diff stats
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sockets_tele/README.txt
  Diff comments   View file @54cb16d
... ... @@ -63,6 +63,8 @@ Pour lancer le client sur le "simulateur" de telescope (localhost, port 11110):
63 63 ********************************************************************************************
64 64 4) DONE
65 65  
  66 + - doctests
  67 +
66 68 - GOTO
67 69 - finalize do_init()
68 70  
... ... @@ -96,11 +98,15 @@ Pour lancer le client sur le "simulateur" de telescope (localhost, port 11110):
96 98 ********************************************************************************************
97 99 5) WORK CURRENTLY IN PROGRESS...
98 100  
99   - - doctests
100 101  
101   - - tele au lieu de tsock
  102 + - move do_GOTO dans abstract
102 103  
  104 + - main updated
103 105 - tests updated
  106 +
  107 + - comment functions args
  108 +
  109 + - clean code
104 110  
105 111  
106 112 ********************************************************************************************
... ... @@ -114,7 +120,8 @@ Pour lancer le client sur le "simulateur" de telescope (localhost, port 11110):
114 120 - doc page 1 : x=implémenté, p=partial, - = pas implémenté
115 121  
116 122 - POSITION (p103):
117   - - (100) MOVE() en altaz ou radec
  123 + - (100) MOVE() (p104-105)
  124 + => en altaz ou radec
118 125 => préférer "haut, bas, gauche, droite" plutôt que North, South, west, east (surtout sur altaz ça n'a aucun sens)
119 126 => sur equatorial, h,b = DEC et g,d = RA
120 127 - set_speed()
... ...
sockets_tele/client_gemini_run.py
  Diff comments   View file @54cb16d
1 1 #!/usr/bin/env python3
2 2  
3   -from src.client.socket_client_telescope_gemini import SocketClientTelescopeGEMINI
  3 +from src_socket.client.socket_client_telescope_gemini import SocketClientTelescopeGEMINI
4 4  
5 5 import sys
6 6  
... ... @@ -19,18 +19,18 @@ else:
19 19 #if sys.argv[1] == "local":
20 20 HOST, PORT = "localhost", 11110
21 21  
22   -#tsock = SocketClient_UDP_TCP(HOST, PORT)
23   -with SocketClientTelescopeGEMINI(HOST, PORT, DEBUG) as tsock:
24   - #tsock.connect_to_server()
  22 +#tele_client = SocketClient_UDP_TCP(HOST, PORT)
  23 +with SocketClientTelescopeGEMINI(HOST, PORT, DEBUG) as tele_client:
  24 + #tele_client.connect_to_server()
25 25 # Only useful for TCP (does nothing for UDP)
26   - tsock._connect_to_server()
  26 + tele_client._connect_to_server()
27 27  
28   - print("RA is", tsock.get_RA())
29   - print("ack is", tsock.get_ACK())
  28 + print("RA is", tele_client.get_RA())
  29 + print("ack is", tele_client.get_ACK())
30 30  
31 31 # Initialize telescope config (ack, date, time)
32   - #tsock.do("INIT")
33   - tsock.do_INIT()
  32 + #tele_client.do("INIT")
  33 + tele_client.do_INIT()
34 34  
35 35 '''
36 36 TEST ENVOI DIRECT:
... ... @@ -42,29 +42,29 @@ with SocketClientTelescopeGEMINI(HOST, PORT, DEBUG) as tsock:
42 42 #data = 0x010000003a474423
43 43 #data = b'010000003a474423'
44 44  
45   - #data_to_send = tsock._format_data_to_send(data)
46   - tsock._send_data(data)
47   - #data_received = tsock.receive_data()
48   - data_received = tsock.mysock.recv(1024)
  45 + #data_to_send = tele_client._format_data_to_send(data)
  46 + tele_client._send_data(data)
  47 + #data_received = tele_client.receive_data()
  48 + data_received = tele_client.mysock.recv(1024)
49 49 print("data rec = ", data_received)
50 50 '''
51 51  
52 52 # Send some commands to the Telescope
53   - #pos = tsock.get_position()
54   - #dec = tsock.get("DEC")
55   - #ra = tsock.get("RA")
  53 + #pos = tele_client.get_position()
  54 + #dec = tele_client.get("DEC")
  55 + #ra = tele_client.get("RA")
56 56 '''
57   - tsock.get("NONE")
58   - tsock.set("NONE", 1)
59   - tsock.do("NONE")
  57 + tele_client.get("NONE")
  58 + tele_client.set("NONE", 1)
  59 + tele_client.do("NONE")
60 60 '''
61 61  
62   - #radec = tsock.get("RA-DEC")
63   - radec = tsock.get_RADEC()
  62 + #radec = tele_client.get("RA-DEC")
  63 + radec = tele_client.get_RADEC()
64 64 print("RA-DEC is", radec)
65 65  
66   - #ack = tsock.put_read("6")
67   - ack = tsock.get_ACK()
  66 + #ack = tele_client.put_read("6")
  67 + ack = tele_client.get_ACK()
68 68 print("ACK is", ack)
69 69  
70 70 # TEST BAS NIVEAU POUR ACK 06:
... ... @@ -92,7 +92,7 @@ with SocketClientTelescopeGEMINI(HOST, PORT, DEBUG) as tsock:
92 92 b'#'
93 93 >>> a.decode()
94 94 '#'
95   - >>> tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x44\x23\x00', (HOST, PORT))
  95 + >>> tele_client.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x44\x23\x00', (HOST, PORT))
96 96 RECEIVED (ALL BYTES): b'\x00\x00\x00\x01\x00\x00\x00\x00+90.000000#\x00'
97 97  
98 98 >>> a=b'\x52'
... ... @@ -100,73 +100,74 @@ with SocketClientTelescopeGEMINI(HOST, PORT, DEBUG) as tsock:
100 100 b'R'
101 101 >>> a.decode()
102 102 'R'
103   - >>> tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x52\x23\x00', (HOST, PORT))
  103 + >>> tele_client.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x52\x23\x00', (HOST, PORT))
104 104 RECEIVED (ALL BYTES): b'\x00\x00\x00\x01\x00\x00\x00\x008.911844#\x00'
105 105  
106   - >>> tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x00\x06\x00\x00', (HOST, PORT))
  106 + >>> tele_client.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x00\x06\x00\x00', (HOST, PORT))
107 107 RECEIVED (ALL BYTES): b'\x00\x00\x00\x01\x00\x00\x00\x00G#\x00'
108 108  
109 109 '''
110   - #tsock.mysock.sendto(b'00030000:GD#\x00', (HOST, PORT))
111   - #tsock.mysock.sendto(b'00030000\x06\x00', (HOST, PORT))
112   - #tsock.mysock.sendto(b'00030000\x00\x06\x00', (HOST, PORT))
113   - #tsock.mysock.sendto(b'00030000\0x06\x00', (HOST, PORT))
114   - #tsock.mysock.sendto(b'00010000\0x06\x00', (HOST, PORT))
  110 + #tele_client.mysock.sendto(b'00030000:GD#\x00', (HOST, PORT))
  111 + #tele_client.mysock.sendto(b'00030000\x06\x00', (HOST, PORT))
  112 + #tele_client.mysock.sendto(b'00030000\x00\x06\x00', (HOST, PORT))
  113 + #tele_client.mysock.sendto(b'00030000\0x06\x00', (HOST, PORT))
  114 + #tele_client.mysock.sendto(b'00010000\0x06\x00', (HOST, PORT))
115 115 '''
116 116 # :GD#
117   - ###tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x44\x23\x00', (HOST, PORT))
  117 + ###tele_client.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x44\x23\x00', (HOST, PORT))
118 118  
119 119 # :GR#
120   - ###tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x52\x23\x00', (HOST, PORT))
  120 + ###tele_client.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x52\x23\x00', (HOST, PORT))
121 121  
122 122 # ACK 06 OK !!! :
123 123  
124   - tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x00\x06\x00\x00', (HOST, PORT))
  124 + tele_client.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x00\x06\x00\x00', (HOST, PORT))
125 125 RECEIVED (ALL BYTES): b'\x00\x00\x00\x01\x00\x00\x00\x00G#\x00'
126 126  
127   - tsock.mysock.sendto(b'00010000\x00\x06\x00\x00', (HOST, PORT))
  127 + tele_client.mysock.sendto(b'00010000\x00\x06\x00\x00', (HOST, PORT))
128 128 RECEIVED (ALL BYTES): b'00010000G#\x00'
129 129 '''
130 130 '''
131 131 # wrong: b'00010000\\x00\\x06\\x00\x00'
132 132 # ok:
133 133 \x05\x00\x00\
134   - #tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x00\x05\x00\x00\x00\x00\x00', (HOST, PORT))
135   - #tsock.mysock.sendto(b'00010000\x00\x05\x00\x00', (HOST, PORT))
136   - tsock.mysock.sendto(b'00010000\x00\x06\x00\x00', (HOST, PORT))
137   - data_received = tsock.receive_data()
  134 + #tele_client.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x00\x05\x00\x00\x00\x00\x00', (HOST, PORT))
  135 + #tele_client.mysock.sendto(b'00010000\x00\x05\x00\x00', (HOST, PORT))
  136 + tele_client.mysock.sendto(b'00010000\x00\x06\x00\x00', (HOST, PORT))
  137 + data_received = tele_client.receive_data()
138 138 '''
139 139  
140   - #tsock.do_GOTO(ra='22:00:00',dec='+30:00:00')
141   - #tsock.do_GOTO(ra='21:00:00',dec='+20:00:00')
  140 + #tele_client.do_GOTO(ra='22:00:00',dec='+30:00:00')
  141 + #tele_client.do_GOTO(ra='21:00:00',dec='+20:00:00')
  142 + #tele_client.do_MOVE_DIR('EAST','4', 'slew')
142 143  
143 144 # Do EXPERT mode execution
144 145 while True:
145 146  
146   - #print("Available commands:", tsock.available_commands())
147   - tsock.print_available_commands()
  147 + #print("Available commands:", tele_client.available_commands())
  148 + tele_client.print_available_commands()
148 149 #data = input("\n(EXPERT MODE) REQUEST TO SERVER [ex: '6' (ACK), ':GD#' (Get Dec), ':GR#' (Get RA)'], (ENTER to quit): ").strip()
149 150 req = input("REQUEST TO SERVER (ENTER to quit): >>> ").strip()
150 151 # test d'arrêt
151 152 #if data=="": break
152 153 if not req: break
153   - result = tsock.execute(req)
  154 + result = tele_client.execute(req)
154 155  
155 156 '''
156 157 #data_to_send = bytes(data + "\n", "utf-8")`
157   - tsock.send_request(req)
  158 + tele_client.send_request(req)
158 159  
159 160 #mysock.sendto("%s" % data, (HOST, PORT))
160 161 #print("Sent: {}".format(data))
161 162  
162 163 # 2) RECEIVE REPLY data from server
163   - data_received = tsock.receive_data()
  164 + data_received = tele_client.receive_data()
164 165 #reponse, adr = mysock.recvfrom(buf)
165 166 #print("Received: {}".format(data_received))
166 167 #print("Useful data received: {}".format(data_useful))
167 168 '''
168 169  
169   - ###tsock.do_PARK()
  170 + tele_client.do_PARK()
170 171  
171   - #tsock.close()
  172 + #tele_client.close()
172 173  
... ...
sockets_tele/src/__init__.py renamed to sockets_tele/src_socket/__init__.py
  Diff comments   View file @54cb16d
sockets_tele/src/client/__init__.py renamed to sockets_tele/src_socket/client/__init__.py
  Diff comments   View file @54cb16d
sockets_tele/src/client/socket_client_abstract.py renamed to sockets_tele/src_socket/client/socket_client_abstract.py
  Diff comments   View file @54cb16d
... ... @@ -139,7 +139,7 @@ class SocketClientAbstract():
139 139  
140 140 # Extract useful data from received raw data
141 141 # By default, do nothing
142   - def _uncap_data(self, data_received:bytes):
  142 + def _uncap_received_data(self, data_received:bytes):
143 143 return data_received.decode()
144 144  
145 145  
... ... @@ -187,7 +187,7 @@ class SocketClientAbstract():
187 187 data_received_bytes = self._receive_data()
188 188 #log_d("Received (all data): {}".format(data_received))
189 189 #log_d("data in bytes: "+str(bytes(data_received, "utf-8")))
190   - data = self._uncap_data(data_received_bytes)
  190 + data = self._uncap_received_data(data_received_bytes)
191 191 log_i("RECEIVED (useful data): {}".format(data))
192 192 return data
193 193  
... ...
sockets_tele/src_socket/client/socket_client_plc_abstract.py 0 → 100755
  Diff comments   View file @54cb16d
... ... @@ -0,0 +1,282 @@
  1 +#!/usr/bin/env python3
  2 +
  3 +import socket
  4 +import logging
  5 +
  6 +DEBUG = False
  7 +#DEBUG = True
  8 +
  9 +logger = None
  10 +# Aliases for logger:
  11 +def log_d(msg:str): logger.debug(msg)
  12 +def log_i(msg:str): logger.info(msg)
  13 +def log_w(msg:str): logger.warning(msg)
  14 +def log_e(msg:str): logger.error(msg)
  15 +def log_c(msg:str): logger.critical(msg)
  16 +
  17 +class Position():
  18 + x = 0
  19 + y = 0
  20 + def __init__(self, x,y):
  21 + self.x = x
  22 + self.y = y
  23 + def get_values(self):
  24 + return self.x, self.y
  25 +
  26 +
  27 +class UnknownCommandException(Exception):
  28 + pass
  29 + '''
  30 + def __init__(self,*args,**kwargs):
  31 + super().__init__(self,*args,**kwargs)
  32 + '''
  33 +
  34 +
  35 +class SocketClient_ABSTRACT():
  36 +
  37 + # Select protocol here (udp or tcp)
  38 + buf = 1024
  39 +
  40 + # STAMP :
  41 + # 00 00 00 00 00 00 00' (8 bytes from '00' to 'FF', 1st one is LOW BYTE)
  42 + # ex: 01 + STAMP = 01 00 00 00 00 00 00 00' (8 bytes from '00' to 'FF', 1st one is LOW BYTE)
  43 + #STAMP_FILLER = '00000000000000'
  44 + '''
  45 + STAMP_FILLER = '000000'
  46 + MYSTAMP = '01'
  47 + MY_FULL_STAMP = MYSTAMP + STAMP_FILLER
  48 + '''
  49 +
  50 + #data = " ".join(sys.argv[1:])
  51 + #data_to_send = bytes(data + "\n", "utf-8")
  52 +
  53 +
  54 + def __init__(self, server_host:str="localhost", server_port:int=11110, PROTOCOL:str="TCP", buffer_size=1024):
  55 + '''
  56 + :param server_host: server IP or hostname
  57 + :param server_port: server port
  58 + :param PROTOCOL: "UDP" or "TCP"
  59 + '''
  60 + self.HOST = server_host
  61 + self.PORT = server_port
  62 + self.PROTOCOL = PROTOCOL
  63 + self.buf = buffer_size
  64 +
  65 + self.protocol = socket.SOCK_DGRAM if PROTOCOL=="UDP" else socket.SOCK_STREAM
  66 + self.mysock = socket.socket(socket.AF_INET, self.protocol)
  67 + # Logger configuration
  68 + self.set_logger()
  69 + log_d("\n**************************")
  70 + log_d("Logger configured")
  71 + log_d("Client instanciated")
  72 + '''
  73 + log_d("coucou")
  74 + '''
  75 +
  76 + def set_logger(self):
  77 + global logger
  78 + '''
  79 + # Logger configuration
  80 + # Log all events, starting from DEBUG level
  81 + # Above DEBUG, there is INFO, WARNING, ERROR, and then CRITICAL
  82 + '''
  83 +
  84 + # Basic configuration
  85 + '''
  86 + #logging.basicConfig(level=logging.DEBUG)
  87 + logging.basicConfig(level=logging.DEBUG, filename='client.log', filemode='a', format='%(asctime)s - %(name)s - %(levelname)s - %(message)s')
  88 + logging.debug("Client instanciated")
  89 + '''
  90 +
  91 + # Advanced configuration
  92 + logger = logging.getLogger(__name__)
  93 + # Absolument necessaire, sinon rien ne marche !!!
  94 + logger.setLevel(logging.DEBUG)
  95 +
  96 + # Create handlers for writing to console and file
  97 + c_handler = logging.StreamHandler()
  98 + f_handler = logging.FileHandler('client.log')
  99 +
  100 + # Set level for each handler
  101 + if DEBUG:
  102 + c_handler.setLevel(logging.DEBUG)
  103 + f_handler.setLevel(logging.DEBUG)
  104 + else:
  105 + c_handler.setLevel(logging.INFO)
  106 + f_handler.setLevel(logging.INFO)
  107 +
  108 + # Set format for each handler
  109 + c_format = logging.Formatter('%(name)s - %(levelname)s - %(message)s')
  110 + f_format = logging.Formatter('%(asctime)s - %(name)s - %(levelname)s - %(message)s')
  111 + c_handler.setFormatter(c_format)
  112 + f_handler.setFormatter(f_format)
  113 +
  114 + # Set handlers (for console and file)
  115 + logger.addHandler(c_handler)
  116 + logger.addHandler(f_handler)
  117 +
  118 +
  119 + # So that we can use this with the "with" statement (context manager)
  120 + def __enter__(self):
  121 + return self
  122 + def __exit__(self, type, value, traceback):
  123 + self.close()
  124 + log_d("Client socket killed")
  125 +
  126 +
  127 + # Encapsulate useful data to be ready for sending
  128 + # By default, do nothing
  129 + def _encapsulate_data_to_send(self, data:str):
  130 + return data
  131 +
  132 + # Extract useful data from received raw data
  133 + # By default, do nothing
  134 + def _uncap_received_data(self, data_received:str):
  135 + return data_received
  136 +
  137 +
  138 + def send_data(self, data:str):
  139 + encapsulated_data = self._encapsulate_data_to_send(data)
  140 + self._send_data(encapsulated_data)
  141 + log_i(f'Sent: {encapsulated_data}')
  142 +
  143 + def _send_data(self, data_to_send:bytes):
  144 + #data_to_send = bytes(data_to_send + "\n", "utf-8")
  145 + data_to_send = bytes(data_to_send + "\x00", "utf-8")
  146 + if self.PROTOCOL=="TCP":
  147 + # Unlike send(), this method sendall() continues to send data from bytes until either all data has been sent or an error occurs.
  148 + # None is returned on success.
  149 + # On error, an exception is raised, and there is no way to determine how much data, if any, was successfully sent
  150 + nb_bytes_sent = self.mysock.sendall(data_to_send)
  151 + else:
  152 + nb_bytes_sent = self.mysock.sendto(data_to_send, (self.HOST, self.PORT))
  153 + log_d(f"Sent {nb_bytes_sent} bytes")
  154 +
  155 + def receive_data(self):
  156 + data_received = self._receive_data()
  157 + log_d("Received (all data): {}".format(data_received))
  158 + log_d("data in bytes: "+str(bytes(data_received, "utf-8")))
  159 + data = self._uncap_received_data(data_received)
  160 + log_i("RECEIVED (useful data): {}".format(data))
  161 + return data
  162 +
  163 + def _receive_data(self):
  164 + data_received = self.mysock.recv(self.buf)
  165 + log_d("data type is "+str(type(data_received)))
  166 + log_i(f"RECEIVED (ALL BYTES): {data_received}")
  167 + return str(data_received, "utf-8")
  168 +
  169 + # Only for TCP ; does nothing for UDP
  170 + def _connect_to_server(self):
  171 + if self.PROTOCOL=="TCP": self.mysock.connect((self.HOST, self.PORT))
  172 + print(f"Ready to send commands to HOST {self.HOST} on PORT {self.PORT} \n")
  173 +
  174 +
  175 + # Close socket
  176 + def close(self):
  177 + self.mysock.close()
  178 +
  179 + '''
  180 + TELESCOPE COMMANDS (abstract methods)
  181 + These methods must be overriden by the child classes,
  182 + otherwise they raise a NotImplementedError exception
  183 + '''
  184 +
  185 + '''
  186 + put(), read(), put_read() commands
  187 + '''
  188 + def put(self, data:str):
  189 + self.send_data(data)
  190 + def read(self)->str:
  191 + return self.receive_data()
  192 + def put_read(self, data:str)->str:
  193 + # send command
  194 + self.put(data)
  195 + # receive answer (or ack)
  196 + return self.read()
  197 +
  198 +
  199 + '''
  200 + The 3 main generic commands : get(), do(), set()
  201 + '''
  202 + def get(self, what:str):
  203 + pass
  204 + def do(self):
  205 + pass
  206 + def set(self):
  207 + pass
  208 +
  209 +
  210 + '''
  211 + Specific commands
  212 + '''
  213 +
  214 + # @abstract
  215 + def start(self):
  216 + raise NotImplementedError
  217 +
  218 + # @abstract
  219 + def park(self):
  220 + raise NotImplementedError
  221 +
  222 + # @abstract
  223 + def goto(self, position:Position):
  224 + raise NotImplementedError
  225 +
  226 + # @abstract
  227 + def move(self, ):
  228 + raise NotImplementedError
  229 +
  230 + # @abstract
  231 + def get_coord_sys(self):
  232 + raise NotImplementedError
  233 +
  234 + # @abstract
  235 + def set_coord_sys(self):
  236 + raise NotImplementedError
  237 +
  238 + # @abstract
  239 + def get_position(self)->Position:
  240 + raise NotImplementedError
  241 +
  242 +
  243 +
  244 +# TODO: empecher de creer une instance de cette classe abstraite
  245 +# Avec ABC ?
  246 +
  247 +'''
  248 +if __name__ == "__main__":
  249 +
  250 + #HOST, PORT = "localhost", 9999
  251 + #HOST, PORT = "localhost", 20001
  252 + HOST, PORT = "localhost", 11110
  253 +
  254 + # Classic usage:
  255 + #tsock = SocketClient_UDP_TCP(HOST, PORT, "UDP")
  256 + # More elegant usage, using "with":
  257 + with SocketClient_ABSTRACT(HOST, PORT, "UDP") as tsock:
  258 +
  259 + # 0) CONNECT to server (only for TCP, does nothing for UDP)
  260 + tsock._connect_to_server()
  261 +
  262 + while True:
  263 +
  264 + # 1) SEND REQUEST data to server
  265 + # saisie de la requête au clavier et suppression des espaces des 2 côtés
  266 + data = input("REQUEST TO SERVER [ex: ':GD#' (Get Dec), ':GR#' (Get RA)']: ").strip()
  267 + # test d'arrêt
  268 + if data=="": break
  269 + #data_to_send = bytes(data + "\n", "utf-8")
  270 + tsock.send_data(data)
  271 + #mysock.sendto("%s" % data, (HOST, PORT))
  272 + #print("Sent: {}".format(data))
  273 +
  274 + # 2) RECEIVE REPLY data from server
  275 + data_received = tsock.receive_data()
  276 + #reponse, adr = mysock.recvfrom(buf)
  277 + #print("Received: {}".format(data_received))
  278 + #print("Useful data received: {}".format(data_useful))
  279 + print('\n')
  280 +
  281 + #tsock.close()
  282 +'''
0 283 \ No newline at end of file
... ...
sockets_tele/src/client/socket_client_telescope_abstract.py renamed to sockets_tele/src_socket/client/socket_client_telescope_abstract.py
  Diff comments   View file @54cb16d
... ... @@ -11,16 +11,21 @@ To be used as a base class (interface) for any concrete socket client telescope
11 11 import logging
12 12 import socket
13 13 import sys
  14 +import time
14 15  
15 16 # Third party imports
16   -sys.path.append("../src/")
17   -import utils.celme as celme
  17 +
  18 +# from sockets_tele/
  19 +sys.path.append("..")
  20 +# from src_socket/client/
  21 +sys.path.append("../../..")
  22 +import src.utils.celme as celme
18 23  
19 24  
20 25 # Local application imports
21 26 #sys.path.append('../..')
22 27 #from src.client.socket_client_abstract import UnknownCommandException, SocketClientAbstract
23   -from src.client.socket_client_abstract import *
  28 +from src_socket.client.socket_client_abstract import *
24 29  
25 30  
26 31  
... ... @@ -134,6 +139,10 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
134 139 def execute_native_cmd(self, request:str)->str:
135 140 self.send_request(request)
136 141 return self.receive_data()
  142 + def execute_unformated_native_cmd(self, request:str)->str:
  143 + request = self.formated_cmd(request)
  144 + self.send_request(request)
  145 + return self.receive_data()
137 146  
138 147 def send_request(self, request:str)->str:
139 148 return self.send_data(request)
... ... @@ -208,6 +217,13 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
208 217 if len(res) == 1: return res[0]
209 218 return res
210 219  
  220 + def set_SPEED(self, speed_rate):
  221 + pass
  222 + def do_MOVE_NORTH(self): pass
  223 + def do_MOVE_SOUTH(self): pass
  224 + def do_MOVE_WEST(self): pass
  225 + def do_MOVE_EAST(self): pass
  226 +
211 227 '''
212 228 def do(self, generic_cmd:str):
213 229 return NotImplementedError
... ... @@ -286,6 +302,8 @@ class SocketClientTelescopeAbstract(SocketClientAbstract):
286 302 # @abstract
287 303 def do_PARK(self): return self._do("PARK")
288 304 def do_MOVE(self): return self._do("MOVE")
  305 + def do_STOP(self): return self._do("STOP")
  306 +
289 307 # @abstract
290 308 #def do_GOTO(self, pos:Position): return self._do("GOTO")
291 309 def do_WARM_START(self): return self._do("WARM_START")
... ...
sockets_tele/src/client/socket_client_telescope_gemini.py renamed to sockets_tele/src_socket/client/socket_client_telescope_gemini.py
  Diff comments   View file @54cb16d
... ... @@ -9,16 +9,16 @@ To be used as a concrete class to system control a GEMINI telescope
9 9 # Standard library imports
10 10 #import socket
11 11 #import logging
12   -#import sys
  12 +import sys
13 13 import time
14 14  
15 15 # Third party imports
16 16 # None
17 17  
18 18 # Local application imports
19   -#sys.path.append('../..')
  19 +sys.path.append('../..')
20 20 #from src.client.socket_client_telescope_abstract import Position, UnknownCommandException, TimeoutException, SocketClientTelescopeAbstract
21   -from src.client.socket_client_telescope_abstract import *
  21 +from src_socket.client.socket_client_telescope_abstract import *
22 22  
23 23  
24 24 # Default timeout set to 10s
... ... @@ -102,9 +102,14 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
102 102 _cmd_do = {
103 103 #'INIT': [],
104 104 'PARK': ['hP'],
105   - 'MOVE': ['MS'],
106 105 'WARM_START': ['bW'],
107 106 'PREC_REFR': ['p3'],
  107 + 'MOVE': ['MS'],
  108 + 'MOVE_NORTH': ['Mn'],
  109 + 'MOVE_SOUTH': ['Ms'],
  110 + 'MOVE_WEST': ['Mw'],
  111 + 'MOVE_EAST': ['Me'],
  112 + 'STOP': ['Q'],
108 113 }
109 114  
110 115  
... ... @@ -125,24 +130,30 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
125 130 return cmd
126 131  
127 132  
128   - '''
129   - Encapsulate useful data to be ready for sending
130   - If data is "complete" (with stamp, and well formatted), send it as is
131   - Otherwise, add stamp and format it
132   - Examples:
133   - '01000000:GD#' => complete, so send it as is
134   - ':GD#' => add stamp in order to send '01000000:GD#'
135   - 'GD' => add stamp + format in order to send '01000000:GD#'
136   - '''
137 133 # @override
138 134 def _encapsulate_data_to_send(self, command:str):
139   - ####return bytes(self.MYSTAMP + self.STAMP_FILLER + data + "\n", "utf-8")
140   - '''
  135 + ''' Encapsulate useful data to be ready for sending
  136 +
  137 + If data is "complete" (with stamp, and well formatted), send it as is
  138 + Otherwise, add stamp and format it
  139 +
141 140 3 types of commands:
142 141 - TYPE1: '06' or '050000'
143 142 - TYPE2: ':cde#' (mainly ':??#' - i.e : ':GD#', ':GR#', ...)
144 143 - TYPE3: 'b?#' (bC# = Cold Start, bW# = selecting Warm Start, bR# = selecting Warm Restart)
  144 +
  145 + :Examples:
  146 + >>> tele = SocketClientTelescopeGEMINI("localhost", 11110, DEBUG=False)
  147 + >>> tele._encapsulate_data_to_send(':GD#')
  148 + '00010000:GD#\\x00'
  149 + >>> tele._encapsulate_data_to_send(':GR#')
  150 + '00020000:GR#\\x00'
  151 + >>> tele.close()
  152 +
  153 + # ne marche pas => '00010000:GD#\x00'
145 154 '''
  155 +
  156 + ####return bytes(self.MYSTAMP + self.STAMP_FILLER + data + "\n", "utf-8")
146 157  
147 158 # TYPE1
148 159 #print("command to encapsulate is", repr(command))
... ... @@ -168,9 +179,17 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
168 179 #return bytes(data + "\n", "utf-8")
169 180 ####return bytes(self.MYSTAMP + self.STAMP_FILLER + data + "\n", "utf-8")
170 181  
171   - # Extract useful data from received raw data
172 182 # @override
173   - def _uncap_data(self, data_received_bytes:bytes):
  183 + def _uncap_received_data(self, data_received_bytes:bytes)->str:
  184 + ''' Extract useful data from received raw data
  185 +
  186 + >>> tele = SocketClientTelescopeGEMINI("localhost", 11110, DEBUG=False)
  187 + >>> tele.last_stamp = '00170000'
  188 + >>> tele._uncap_received_data(b'001700001\\x00')
  189 + '1'
  190 + >>> tele.close()
  191 + '''
  192 +
174 193 #print("data_received_bytes type is", type(data_received_bytes))
175 194 #print("data received is", data_received_bytes)
176 195  
... ... @@ -192,6 +211,7 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
192 211  
193 212 # @override
194 213 def do_INIT(self):
  214 +
195 215 '''
196 216 1) Send cde ACK ('06') and check answer to see if telescope is ready (see doc page 100)
197 217 (utile pour savoir si tout est ok ; par ex, si une raquette est branchée sur le tele, ça peut bloquer le protocole)
... ... @@ -354,6 +374,33 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
354 374 '''
355 375 self.do_PREC_REFR()
356 376  
  377 +
  378 + def set_SPEED(self, speed_rate):
  379 + native_cmd = None
  380 + # quick
  381 + if speed_rate == "slew": native_cmd = 'RS'
  382 + # average
  383 + if speed_rate == "average": native_cmd = 'RM'
  384 + # slow
  385 + if speed_rate == "center": native_cmd = 'RC'
  386 + # very slow
  387 + if speed_rate == "guide": native_cmd = 'RG'
  388 + if not native_cmd: raise UnknownCommandException(speed_rate)
  389 + return self.execute_unformated_native_cmd(native_cmd)
  390 +
  391 + def do_MOVE_NORTH(self): return self.execute_unformated_native_cmd('Mn')
  392 + def do_MOVE_SOUTH(self): return self.execute_unformated_native_cmd('Ms')
  393 + def do_MOVE_WEST(self): return self.execute_unformated_native_cmd('Mw')
  394 + def do_MOVE_EAST(self): return self.execute_unformated_native_cmd('Me')
  395 +
  396 + def do_MOVE_DIR(self, dir, nbsec, speed_rate=None):
  397 + if speed_rate: self.set_SPEED(speed_rate)
  398 + if dir=="NORTH": self.do_MOVE_NORTH()
  399 + if dir=="SOUTH": self.do_MOVE_SOUTH()
  400 + if dir=="WEST": self.do_MOVE_WEST()
  401 + if dir=="EAST": self.do_MOVE_EAST()
  402 + time.sleep(int(nbsec))
  403 + self.do_STOP()
357 404  
358 405 ''' GOTO (p105)
359 406 - GOTO(position, blocking=Y/N):
... ... @@ -540,18 +587,22 @@ class SocketClientTelescopeGEMINI(SocketClientTelescopeAbstract):
540 587  
541 588 if __name__ == "__main__":
542 589  
  590 + import doctest
  591 + doctest.testmod()
  592 + exit()
  593 +
543 594 # Classic usage:
544   - #tsock = SocketClient_GEMINI(HOST, PORT)
  595 + #tele_client = SocketClient_GEMINI(HOST, PORT)
545 596 # More elegant usage, using "with":
546   - with SocketClientTelescopeGEMINI("localhost", 11110, DEBUG=False) as tsock:
  597 + with SocketClientTelescopeGEMINI("localhost", 11110, DEBUG=False) as tele_client:
547 598  
548 599 # 0) CONNECT to server (only for TCP, does nothing for UDP)
549   - tsock._connect_to_server()
  600 + tele_client._connect_to_server()
550 601  
551   - #tsock.config()
  602 + #tele_client.config()
552 603  
553 604 # Send some commands to the Telescope
554   - #pos = tsock.get_position()
  605 + #pos = tele_client.get_position()
555 606  
556 607 # Do EXPERT mode execution
557 608 while True:
... ... @@ -562,16 +613,16 @@ if __name__ == "__main__":
562 613 # test d'arrêt
563 614 if data == "": break
564 615 #data_to_send = bytes(data + "\n", "utf-8")
565   - tsock.send_data(data)
  616 + tele_client.send_data(data)
566 617 #mysock.sendto("%s" % data, (HOST, PORT))
567 618 #print("Sent: {}".format(data))
568 619  
569 620 # 2) RECEIVE REPLY data from server
570   - data_received = tsock.receive_data()
  621 + data_received = tele_client.receive_data()
571 622 #reponse, adr = mysock.recvfrom(buf)
572 623 #print("Received: {}".format(data_received))
573 624 #print("Useful data received: {}".format(data_useful))
574 625 print('\n')
575 626  
576   - #tsock.close()
  627 + #tele_client.close()
577 628  
... ...
sockets_tele/src/server/__init__.py renamed to sockets_tele/src_socket/server/__init__.py
  Diff comments   View file @54cb16d
sockets_tele/src/server/server_udp_or_tcp.py renamed to sockets_tele/src_socket/server/server_udp_or_tcp.py
  Diff comments   View file @54cb16d
sockets_tele/test/test_client_gemini.py
  Diff comments   View file @54cb16d
... ... @@ -39,26 +39,26 @@ class TestClient(unittest.TestCase):
39 39 #time.sleep(3)
40 40  
41 41 # RUN CLIENT to connect to server
42   - #tsock = SocketClient_UDP_TCP(HOST, PORT, "UDP")
43   - with SocketClientTelescopeGEMINI(HOST, PORT) as tsock:
  42 + #tele_client = SocketClient_UDP_TCP(HOST, PORT, "UDP")
  43 + with SocketClientTelescopeGEMINI(HOST, PORT) as tele_client:
44 44 # Only useful for TCP (does nothing for UDP)
45   - tsock._connect_to_server()
  45 + tele_client._connect_to_server()
46 46  
47 47 # 1) SEND REQUEST data to server
48 48  
49 49 for data in q_a:
50 50 question,answer = data
51   - tsock.send_data(question)
  51 + tele_client.send_data(question)
52 52  
53 53 # 2) RECEIVE REPLY data from server
54   - data_received = tsock.receive_data()
  54 + data_received = tele_client.receive_data()
55 55 self.assertEqual(data_received, answer)
56 56  
57   - radec = tsock.get("RA-DEC")
  57 + radec = tele_client.get("RA-DEC")
58 58 print("ra-dec is", radec)
59 59 self.assertEqual(radec, ['15:01:48', '+12:28'])
60 60  
61   - #tsock.close()
  61 + #tele_client.close()
62 62  
63 63 #TODO: Stop the server thread (t_server), how can we do that ?
64 64 # cf https://www.oreilly.com/library/view/python-cookbook-2nd/0596007973/ch09s03.html
... ...
src/__init__.py 0 → 100644
  Diff comments   View file @54cb16d