Commit 3af65a7a authored by marco-buttu's avatar marco-buttu
Browse files

Add fix-issue-328 to Positioner

parent 064c1822

Common/Servers/PyDewarPositioner/src/DewarPositioner/DewarPositionerImpl.py

+7 −0
Original line number Diff line number Diff line
@@ -180,6 +180,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle): 
            exc.setData('Reason', reason)

            raise exc.getComponentErrorsEx()





    def park(self):

        logger.logNotice('parking the derotator')

        try:
@@ -204,6 +205,11 @@ class DewarPositionerImpl(POA, cc, services, lcycle): 
        logger.logNotice('derotator parked')





    def clearSource(self):

        logger.logNotice('cleaning the parallacting angle sign')

        self.positioner._clearSign()





    def getPosition(self):

        try:

            return self.positioner.getPosition()
@@ -273,6 +279,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle): 
            exc.setData('Reason', ex.message)

            raise exc.getComponentErrorsEx()





    def getCmdPosition(self):

        try:

            return self.positioner.getCmdPosition()

Common/Servers/PyDewarPositioner/src/DewarPositioner/posgenerator.py

+20 −8
Original line number Diff line number Diff line
@@ -2,6 +2,7 @@ 
import datetime

import time

from math import sin, cos, tan, atan2, degrees

import numpy

from IRAPy import logger

from Acspy.Common.TimeHelper import getTimeStamp
@@ -26,7 +27,7 @@ class PosGenerator(object): 


    # TODO: refactoring required, in order to put all the parallactic and

    # galacticParallactic common code in one place

    def parallactic(self, source, siteInfo):

    def parallactic(self, source, siteInfo, initial_sign=None):

        """Return the parallactic angle"""

        try:

            latitude = siteInfo['latitude']
@@ -43,7 +44,8 @@ class PosGenerator(object): 
                t = getTimeStamp().value + 1*10*6 # 100 ms in the future

                coordinates = source.getApparentCoordinates(t) # Values in radians

                az, el = coordinates[:2] # The first two elements are (az, el)

                position = PosGenerator.getParallacticAngle(latitude, az, el)

                position = PosGenerator.getParallacticAngle(

                        latitude, az, el, initial_sign)

                yield position

                last_zerodiv_time = datetime.datetime.now()

            except ZeroDivisionError:
@@ -64,7 +66,7 @@ class PosGenerator(object): 
                logger.logNotice('%s: %s' %(raeson, ex.message))

                raise PosGeneratorError(raeson)



    def galacticParallactic(self, source, siteInfo):

    def galacticParallactic(self, source, siteInfo, initial_sign=None):

        """Return the galactic parallactic angle"""

        try:

            latitude = siteInfo['latitude']
@@ -81,7 +83,8 @@ class PosGenerator(object): 
                t = getTimeStamp().value + 1*10*6 # 100 ms in the future

                coordinates = source.getApparentCoordinates(t) # Values in radians

                az, el, ra, dec = coordinates[:4] 

                pg = PosGenerator.getGalacticParallacticAngle(latitude, az, el, ra, dec)

                pg = PosGenerator.getGalacticParallacticAngle(

                        latitude, az, el, ra, dec, initial_sign)

                yield pg

                last_zerodiv_time = datetime.datetime.now()

            except ZeroDivisionError:
@@ -103,10 +106,19 @@ class PosGenerator(object): 
                raise PosGeneratorError(raeson)



    @staticmethod

    def getParallacticAngle(latitude, az, el):

    def getParallacticAngle(latitude, az, el, initial_sign=None):

        """Arguments in radians"""

        p = atan2(-sin(az), tan(latitude)*cos(el) - sin(el)*cos(az))

        return degrees(p)

        p = degrees(p)

        # Remember the sign of the first scan of the map

        sign_p = int(numpy.sign(p))

        if initial_sign is None or (sign_p == initial_sign) or (sign_p == 0):

            angle = p

        elif initial_sign == -1:

            angle = initial_sign * (180 + 180%p)

        elif initial_sign == +1:

            angle = initial_sign * (180 + p%180)

        return angle



    @staticmethod

    def getGalacticAngle(ra, dec):
@@ -121,9 +133,9 @@ class PosGenerator(object): 
        return degrees(g)



    @staticmethod

    def getGalacticParallacticAngle(latitude, az, el, ra, dec):

    def getGalacticParallacticAngle(latitude, az, el, ra, dec, initial_sign):

        """Arguments in radians"""

        p = PosGenerator.getParallacticAngle(latitude, az, el)

        p = PosGenerator.getParallacticAngle(latitude, az, el, initial_sign)

        g = PosGenerator.getGalacticAngle(ra, dec)

        return p + g

Common/Servers/PyDewarPositioner/src/DewarPositioner/positioner.py

+15 −4
Original line number Diff line number Diff line
@@ -54,6 +54,7 @@ class Positioner(object): 
            self.device = device

            self.device.setup()

            self._clearOffset()

            self._clearSign()

            self.is_setup = True

            time.sleep(0.4) # Give the device the time to accomplish the setup

            self.control.updateScanInfo({'iStaticPos': setupPosition})
@@ -159,6 +160,8 @@ class Positioner(object): 
                raise NotAllowedError('no source available')

            elif str(sector) not in sectors:

                raise NotAllowedError('sector %s not in %s' %(sector, sectors))

            elif self.isRewinding():

                raise NotAllowedError('the positioner is rewinding')

            else:

                if self.isUpdating():

                    self.stopUpdating()
@@ -183,19 +186,23 @@ class Positioner(object): 
                    else:

                        posgen = getattr(self.posgen, functionName) 

                        angle_mapping = self.posgen.mapping[functionName]

                        getAngleFunction = self.posgen.mapping[functionName]['getAngleFunction']

                        coordinateFrame = self.posgen.mapping[functionName]['coordinateFrame']

                        getAngleFunction = angle_mapping['getAngleFunction']

                        coordinateFrame = angle_mapping['coordinateFrame']

                        lat = self.siteInfo['latitude']

                        try:

                            if coordinateFrame == 'horizontal':

                                iParallacticPos = getAngleFunction(lat, az, el)

                                iParallacticPos = getAngleFunction(lat, az, el, self.sign)

                            elif coordinateFrame == 'equatorial':

                                iParallacticPos = getAngleFunction(lat, az, el, ra, dec)

                                iParallacticPos = getAngleFunction(lat, az, el, ra, dec, self.sign)

                            else:

                                raise PositionerError('coordinate frame %s unknown' %coordinateFrame)

                        except ZeroDivisionError:

                            raise NotAllowedError('zero division error computing p(%.2f, %.2f)' %(az, el))



                        # Remember the sign of the first scan of the map

                        if self.sign is not None:

                            self.sign = int(numpy.sign(iParallacticPos))



                        self.control.setScanInfo(

                            axis=axis, 

                            sector=sector,
@@ -670,12 +677,16 @@ class Positioner(object): 
        finally:

            Positioner.generalLock.release()



    def _clearSign(self):

        self.sign = None



    def _setDefault(self):

        self.t = None

        self.is_setup = False

        self.control = Control()

        self.conf.clearConfiguration()

        self._clearOffset()

        self._clearSign()





class Control(object):

Common/Servers/PyDewarPositioner/test/pyunit/positioner/test_offset.py

+3 −3
Original line number Diff line number Diff line
@@ -29,7 +29,7 @@ class PositionerOffsetTest(unittest.TestCase): 
        self.p.park()

        time.sleep(0.2)



    def _test_set_get(self):

    def test_set_get(self):

        """Verify the set and get methods"""

        # Not allowed when the system is not yet configured

        self.assertRaises(NotAllowedError, self.p.setOffset, 2)
@@ -40,7 +40,7 @@ class PositionerOffsetTest(unittest.TestCase): 
        self.p.clearOffset()

        self.assertEqual(self.p.getOffset(), 0)



    def _test_set_new_pos(self):

    def test_set_new_pos(self):

        """Vefify the setOffset set a new position."""

        self.p.setup(siteInfo={}, source=None, device=self.device)

        time.sleep(0.3) if self.using_mock else time.sleep(3)
@@ -81,7 +81,7 @@ class PositionerOffsetTest(unittest.TestCase): 
        self.p.startUpdating('MNG_TRACK', 'ANT_NORTH', az, el, None, None)

        time.sleep(0.2) if self.using_mock else time.sleep(3)

        self.p.setOffset(offset)

        time.sleep(0.2) if self.using_mock else time.sleep(3)

        time.sleep(0.2) if self.using_mock else time.sleep(5)

        self.assertEqual(self.device.getActPosition(), expected)

Common/Servers/PyDewarPositioner/test/pyunit/positioner/test_startUpdating.py

+51 −0
Original line number Diff line number Diff line
@@ -135,6 +135,41 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()



    def test_change_of_sign_negative_to_positive(self):

        "The parallactic angle do not have to change from -180 to 180 degrees"

        site_info = {'latitude': radians(39.49)}

        posgen = PosGenerator()

        gen = posgen.parallactic(self.source, site_info, initial_sign=-1)

        azs = [radians(i) for i in (40, 20, 0, 360, 340, 320)]

        els = [radians(i) for i in (81, 83, 85, 85, 83, 81)]

        p0 = None

        for az, el in zip(azs, els):

            self.source.setAzimuth(az)

            self.source.setElevation(el)

            angle = gen.next()

            self.assertIsNotNone(angle)

            if p0:

                delta = abs(angle - p0)

                self.assertLess(delta, 180)

            p0 = angle



    def test_change_of_sign_positive_to_negative(self):

        "The parallactic angle do not have to change from 180 to -180 degrees"

        site_info = {'latitude': radians(39.49)}

        posgen = PosGenerator()

        gen = posgen.parallactic(self.source, site_info, initial_sign=+1)

        azs = reversed([radians(i) for i in (40, 20, 0, 360, 340, 320)])

        els = reversed([radians(i) for i in (81, 83, 85, 85, 83, 81)])

        p0 = None

        for az, el in zip(azs, els):

            self.source.setAzimuth(az)

            self.source.setElevation(el)

            angle = gen.next()

            self.assertIsNotNone(angle)

            if p0:

                delta = abs(angle - p0)

                self.assertLess(delta, 180)

            p0 = angle



    def test_custom_auto_rewinding(self):

        self.cdbconf.setup('KKG')
@@ -301,6 +336,22 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()



    def test_cannotUpdateDuringRewind(self):

        """Cannot execute startUpdating() when a rewind is in progress."""

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('CUSTOM')

        latitude, az, el = [radians(50)] * 3

        site_info = {'latitude': latitude}



        self.p.setup(site_info, self.source, self.device)

        try:

            self.p.control.isRewinding = True

            self.assertRaises(NotAllowedError, self.p.startUpdating,

                MNG_TRACK, ANT_NORTH, az, el, None, None)

        finally:

            self.p.stopUpdating()

            self.p.control.isRewinding = False

 



if __name__ == '__main__':

    unittest.main()