Implemented startUpdating during rewinding (4c62b963) · Commits · INAF / DISCOS

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

+39 −15

Original line number	Diff line number	Diff line
		@@ -353,9 +353,33 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
		res += 'rewindingOffset: %.4f' %info.rewindingOffset
		return res


		def getScanInfo(self):
		return ScanInfo(**self.positioner.getScanInfo())


		def checkUpdating(self, stime, axis, sector, az, el, ra, dec):
		try:
		return self.positioner.checkUpdating(
		stime, axis, sector, az, el, ra, dec
		)
		except PositionerError, ex:
		logger.logError(ex.message)
		exc = ComponentErrorsImpl.OperationErrorExImpl()
		exc.setReason(ex.message)
		raise exc.getComponentErrorsEx()
		except NotAllowedError, ex:
		logger.logError(ex.message)
		exc = ComponentErrorsImpl.NotAllowedExImpl()
		exc.setReason(ex.message)
		raise exc.getComponentErrorsEx()
		except Exception, ex:
		logger.logError(ex.message)
		exc = ComponentErrorsImpl.UnexpectedExImpl(ex.message)
		exc.setReason(ex.message)
		raise exc.getComponentErrorsEx()


		def startUpdating(self, axis, sector, az, el, ra, dec):
		logger.logNotice('starting the derotator position updating')
		try:
		@@ -570,7 +594,7 @@ class DewarPositionerImpl(POA, cc, services, lcycle):


		def setConfiguration(self, confCode):
		if self.positioner.isUpdating():
		if self.positioner.isUpdating() and not self.isRewinding():
		self.positioner.stopUpdating()
		# The unit of time is `seconds`
		max_wait_time = 2

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

+90 −12

Original line number	Diff line number	Diff line
		from __future__ import with_statement
		from __future__ import with_statement, division
		import threading
		import datetime
		import time
		@@ -143,6 +143,78 @@ class Positioner(object):
		%(self.control.target, self.device.getMinLimit(), self.device.getMaxLimit()))


		def checkUpdating(self, stime, axis, sector, az, el, ra, dec):
		sectors = ('ANT_NORTH', 'ANT_SOUTH')
		if not self.isSetup():
		raise NotAllowedError('positioner not configured: a setup() is required')
		elif str(axis) == 'MNG_BEAMPARK':
		return (True, stime)
		elif self.conf.getAttribute('DynamicUpdatingAllowed') != 'true':
		raise NotAllowedError('dynamic updating not allowed')
		elif not self.siteInfo:
		raise NotAllowedError('no site information available')
		elif str(sector) not in sectors:
		raise NotAllowedError('sector %s not in %s' %(sector, sectors))

		updatingConf = self.conf.getUpdatingConfiguration(str(axis))
		initialPosition = float(updatingConf['initialPosition']) + self.control.user_position
		functionName = updatingConf['functionName']
		posgen = getattr(self.posgen, functionName)
		angle_mapping = self.posgen.mapping[functionName]
		getAngleFunction = angle_mapping['getAngleFunction']
		coordinateFrame = angle_mapping['coordinateFrame']
		lat = self.siteInfo['latitude']
		try:
		if coordinateFrame == 'horizontal':
		iParallacticPos = getAngleFunction(lat, az, el)
		elif coordinateFrame == 'equatorial':
		iParallacticPos = getAngleFunction(lat, az, el, ra, dec)
		else:
		raise PositionerError('coordinate frame %s unknown' % coordinateFrame)
		except ZeroDivisionError:
		raise NotAllowedError('zero division error computing p(%.2f, %.2f)' %(az, el))

		Pis = initialPosition + self.control.offset
		Pip = iParallacticPos
		if self.isConfigured():
		isOptimized = (self.conf.getAttribute('AddInitialParallactic') == 'false')
		else:
		isOptimized = False
		target = Pis if isOptimized else Pis + Pip

		future_time = 0
		ready = True

		if self.isRewinding():
		# rdistance -> rewinding distance, rtime -> rewinding time
		rdistance = abs(self.getPosition() - self.getCmdPosition())
		speed = self.device.getSpeed()
		# Safety factor of 1.2
		rtime_distance = round((1.2 * rdistance)/speed, 4)
		rtime = getTimeStamp().value + int(rtime_distance * 10**7)
		# tdistance -> target distance, ttime -> target time
		# After rewinding, the derotator has to move to the target
		tdistance = abs(self.getCmdPosition() - target)
		# Safety factor of 1.2
		ttime_distance = round((1.2 * tdistance)/speed, 4)
		ttime = getTimeStamp().value + int(ttime_distance)
		future_time = rtime + ttime
		else:
		distance = abs(self.getPosition() - target)
		# Safety factor of 1.2
		time_distance = round((1.2 * distance)/speed, 4)
		future_time = getTimeStamp().value + int(time_distance)

		if stime == 0 and (future_time - getTimeStamp().value) < 310*7: # 3 seconds
		ready = True
		elif stime >= future_time:
		ready = True
		else:
		ready = False

		return (ready, future_time)


		def startUpdating(self, axis, sector, az, el, ra, dec):
		sectors = ('ANT_NORTH', 'ANT_SOUTH')
		try:
		@@ -161,11 +233,7 @@ 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()
		try:
		updatingConf = self.conf.getUpdatingConfiguration(str(axis))
		initialPosition = float(updatingConf['initialPosition']) + self.control.user_position
		@@ -183,6 +251,9 @@ class Positioner(object):
		dParallacticPos=0,
		rewindingOffset=0,
		)
		# Stop even if a rewinding is in progress
		self.stopUpdating()
		# Move to the target static position
		self._start(self.posgen.goto, position)
		else:
		posgen = getattr(self.posgen, functionName)
		@@ -201,7 +272,6 @@ class Positioner(object):
		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 None:
		self.sign = int(numpy.sign(iParallacticPos))

		self.control.setScanInfo(
		@@ -212,7 +282,15 @@ class Positioner(object):
		dParallacticPos=0,
		rewindingOffset=0,
		)

		if self.isRewinding():
		pass
		elif self.isUpdating():
		self.stopUpdating()
		self._start(posgen, self.source, self.siteInfo)
		else:
		self._start(posgen, self.source, self.siteInfo)

		self.control.mustUpdate = True
		except Exception, ex:
		raise PositionerError('configuration problem: %s' %ex.message)
		@@ -343,7 +421,7 @@ class Positioner(object):
		# * SOUTH: the derotator must go closer to the lower limit
		# * NORTH: the derotator must go closer to the higher limit
		#
		# The name space is the distance between the target position and the
		# `space` is the distance between the target position and the
		# limit (lower in case of SOUTH, higher in case of NORTH)
		min_limit = self.device.getMinLimit()
		max_limit = self.device.getMaxLimit()
		@@ -357,7 +435,7 @@ class Positioner(object):
		numberOfSteps = int(space // self.device.getStep())
		elif target - delta <= min_limit:
		sign = +1
		numberOfSteps = int(space // self.device.getStep()) + 1
		numberOfSteps = int(round(space / self.device.getStep())) + 1
		else:
		raise ValueError('cannot get the rewinding parameters: ' \
		'target %.2f in range' %target)
		@@ -365,7 +443,7 @@ class Positioner(object):
		space = abs(target - max_limit)
		if target + delta >= max_limit:
		sign = -1
		numberOfSteps = int(space // self.device.getStep()) + 1
		numberOfSteps = int(round(space / self.device.getStep())) + 1
		elif target - delta <= min_limit:
		sign = +1
		numberOfSteps = int(space // self.device.getStep())

Common/Servers/PyDewarPositioner/src/Makefile

+1 −1

Original line number	Diff line number	Diff line
		@@ -5,7 +5,7 @@

		CDB_SCHEMAS = DewarPositioner

		PY_SCRIPTS_L = derotatorPosition
		PY_SCRIPTS_L =
		PY_MODULES =
		PY_PACKAGES = DewarPositioner

Common/Servers/PyDewarPositioner/src/derotatorPosition.py

deleted100644 → 0

+0 −22

Original line number	Diff line number	Diff line
		#!/usr/bin/env python

		from Acspy.Clients.SimpleClient import PySimpleClient
		from Acspy.Common.TimeHelper import getTimeStamp
		from DewarPositioner.posgenerator import PosGenerator
		import time

		client = PySimpleClient()
		latitude = 0.68928288149012062

		dp = client.getComponent('RECEIVERS/DewarPositioner')
		antenna = client.getComponent('ANTENNA/Boss')

		counter = 0
		while True:
		position = dp.getPosition()
		t = getTimeStamp().value + 1106 # 100 ms in the future
		az, el = antenna.getRawCoordinates(t) # Values in radians
		parallactic = PosGenerator.getParallacticAngle(latitude, az, el)
		print "%d -> %.2f -- parallactic: %.2f" %(counter, position, parallactic)
		counter += 1
		time.sleep(3)

Common/Servers/PyDewarPositioner/test/functional/test_checkUpdating.py

0 → 100644

+61 −0

Original line number	Diff line number	Diff line
		from __future__ import with_statement
		import unittest
		import time
		from Antenna import ANT_HORIZONTAL, ANT_NORTH, ANT_SOUTH
		from Management import MNG_TRACK, MNG_BEAMPARK

		from Acspy.Clients.SimpleClient import PySimpleClient
		from Acspy.Common.TimeHelper import getTimeStamp
		from ComponentErrors import ComponentErrorsEx


		class TestCheckUpdating(unittest.TestCase):
		"""Test the DewarPositioner.startUpdating() end-to-end method"""
		def setUp(self):
		self.client = PySimpleClient()
		self.positioner = self.client.getComponent('RECEIVERS/DewarPositioner')
		self.positioner.setup('KKG')
		self.positioner.setConfiguration('custom')
		self.lat = 0.689 # 39.5 degrees

		def tearDown(self):
		if self.positioner.isReady():
		self.positioner.stopUpdating()
		time.sleep(1)
		self.positioner.park()
		time.sleep(0.5)
		self.client.releaseComponent('RECEIVERS/DewarPositioner')


		def test_system_not_ready(self):
		"""Raise ComponentErrorsEx when the system is not ready"""
		with self.assertRaisesRegexp(ComponentErrorsEx, 'positioner not configured'):
		self.positioner.park()
		time.sleep(0.5)
		starting_time = getTimeStamp().value + 100000000
		az, el, ra, dec = 0, 0, 0, 0
		self.positioner.checkUpdating(
		starting_time,
		MNG_TRACK,
		ANT_SOUTH,
		az, el, ra, dec
		)


		def test_system_not_ready(self):
		"""Return (True, starting_time) when axis is MNG_BEAMPARK"""
		starting_time = getTimeStamp().value + 100000000
		az, el, ra, dec = 0, 0, 0, 0
		value, feasible_time = self.positioner.checkUpdating(
		starting_time,
		MNG_BEAMPARK,
		ANT_SOUTH,
		az, el, ra, dec
		)
		self.assertEqual(value, True)
		self.assertEqual(feasible_time, starting_time)



		if __name__ == '__main__':
		unittest.main()