new_source as argument of check/startUpdating() (a3c13da8) · Commits · INAF / DISCOS

Common/Interfaces/ReceiversInterface/idl/DewarPositioner.idl

+5 −11

Original line number	Diff line number	Diff line
		@@ -52,16 +52,6 @@ module Receivers {
		void setup(in string code) raises (ComponentErrors::ComponentErrorsEx);


		/** Call clearSource() before starting a scan over a new source.
		*
		* This method has been introduced to avoid a change of sign of the
		* parallactic angle at 180°.
		* The issue is reported here: https://github.com/discos/discos/issues/328
		*
		*/
		void clearSource();


		/** Put the derotator in the park position and reset the configuration
		*
		* This method sets the default values:
		@@ -115,6 +105,7 @@ module Receivers {
		* @param elevation the elevation (radians) at the beginning of the scan
		* @param ra the RA (radians) at the beginning of the scan
		* @param dec the DEC (radians) at the beginning of the scan
		* @param new_source True in case there will be a change of source
		* @param feasible_time the closest time for the dewar positioner to be
		* able to execute the scan.
		*
		@@ -144,6 +135,7 @@ module Receivers {
		in double elevation,
		in double ra,
		in double dec,
		in boolean new_source,
		out ACS::Time feasible_time
		) raises (ComponentErrors::ComponentErrorsEx);

		@@ -160,6 +152,7 @@ module Receivers {
		* @param elevation the elevation (radians) at the beginning of the scan
		* @param ra the RA (radians) at the beginning of the scan
		* @param dec the DEC (radians) at the beginning of the scan
		* @param new_source True in case there will be a change of source
		* @throw ComponentErrors::ComponentErrorsEx
		*/
		void startUpdating(
		@@ -168,7 +161,8 @@ module Receivers {
		in double azimuth,
		in double elevation,
		in double ra,
		in double dec
		in double dec,
		in boolean new_source
		) raises (ComponentErrors::ComponentErrorsEx);

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

+6 −9

Original line number	Diff line number	Diff line
		@@ -205,11 +205,6 @@ 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()
		@@ -358,10 +353,10 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
		return ScanInfo(**self.positioner.getScanInfo())


		def checkUpdating(self, stime, axis, sector, az, el, ra, dec):
		def checkUpdating(self, stime, axis, sector, az, el, ra, dec, new_source):
		try:
		return self.positioner.checkUpdating(
		stime, axis, sector, az, el, ra, dec
		stime, axis, sector, az, el, ra, dec, new_source
		)
		except PositionerError, ex:
		logger.logError(ex.message)
		@@ -381,10 +376,12 @@ class DewarPositionerImpl(POA, cc, services, lcycle):
		raise exc.getComponentErrorsEx()


		def startUpdating(self, axis, sector, az, el, ra, dec):
		def startUpdating(self, axis, sector, az, el, ra, dec, new_source):
		logger.logNotice('starting the derotator position updating')
		try:
		self.positioner.startUpdating(axis, sector, az, el, ra, dec)
		self.positioner.startUpdating(
		axis, sector, az, el, ra, dec, new_source
		)
		except PositionerError, ex:
		logger.logError(ex.message)
		exc = ComponentErrorsImpl.OperationErrorExImpl()

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

+10 −11

Original line number	Diff line number	Diff line
		@@ -59,7 +59,7 @@ class Positioner(object):
		self.device = device
		self.device.setup()
		self._clearOffset()
		self._clearSign()
		self.sign = None
		self.is_setup = True
		time.sleep(0.4) # Give the device the time to accomplish the setup
		self.control.updateScanInfo({'iStaticPos': setupPosition})
		@@ -147,8 +147,9 @@ class Positioner(object):
		%(self.control.target, self.device.getMinLimit(), self.device.getMaxLimit()))


		def checkUpdating(self, stime, axis, sector, az, el, ra, dec):
		def checkUpdating(self, stime, axis, sector, az, el, ra, dec, new_source):
		sectors = ('ANT_NORTH', 'ANT_SOUTH')
		sign = None if new_source else self.sign
		if not self.isSetup():
		raise NotAllowedError('positioner not configured: a setup() is required')
		elif str(axis) == 'MNG_BEAMPARK':
		@@ -170,9 +171,9 @@ class Positioner(object):
		lat = self.siteInfo['latitude']
		try:
		if coordinateFrame == 'horizontal':
		iParallacticPos = getAngleFunction(lat, az, el)
		iParallacticPos = getAngleFunction(lat, az, el, sign)
		elif coordinateFrame == 'equatorial':
		iParallacticPos = getAngleFunction(lat, az, el, ra, dec)
		iParallacticPos = getAngleFunction(lat, az, el, ra, dec, sign)
		else:
		raise PositionerError('coordinate frame %s unknown' % coordinateFrame)
		except ZeroDivisionError:
		@@ -219,8 +220,9 @@ class Positioner(object):
		return (ready, future_time)


		def startUpdating(self, axis, sector, az, el, ra, dec):
		def startUpdating(self, axis, sector, az, el, ra, dec, new_source):
		sectors = ('ANT_NORTH', 'ANT_SOUTH')
		sign = None if new_source else self.sign
		try:
		Positioner.generalLock.acquire()
		if not self.isSetup():
		@@ -267,9 +269,9 @@ class Positioner(object):
		lat = self.siteInfo['latitude']
		try:
		if coordinateFrame == 'horizontal':
		iParallacticPos = getAngleFunction(lat, az, el, self.sign)
		iParallacticPos = getAngleFunction(lat, az, el, sign)
		elif coordinateFrame == 'equatorial':
		iParallacticPos = getAngleFunction(lat, az, el, ra, dec, self.sign)
		iParallacticPos = getAngleFunction(lat, az, el, ra, dec, sign)
		else:
		raise PositionerError('coordinate frame %s unknown' %coordinateFrame)
		except ZeroDivisionError:
		@@ -760,16 +762,13 @@ 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()
		self.sign = None


		class Control(object):

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

+15 −7

Original line number	Diff line number	Diff line
		@@ -36,7 +36,9 @@ class TestCheckUpdating(unittest.TestCase):
		with self.assertRaisesRegexp(ComponentErrorsEx, 'positioner not configured'):
		self.positioner.park()
		time.sleep(0.5)
		self.positioner.checkUpdating(0, MNG_TRACK, ANT_SOUTH, 0, 0, 0, 0)
		self.positioner.checkUpdating(
		0, MNG_TRACK, ANT_SOUTH, 0, 0, 0, 0, False
		)


		def test_mng_beampark(self):
		@@ -47,7 +49,8 @@ class TestCheckUpdating(unittest.TestCase):
		starting_time,
		MNG_BEAMPARK,
		ANT_SOUTH,
		az, el, ra, dec
		az, el, ra, dec,
		False
		)
		self.assertEqual(value, True)
		self.assertEqual(feasible_time, starting_time)
		@@ -61,7 +64,8 @@ class TestCheckUpdating(unittest.TestCase):
		starting_time = 0
		az, el, ra, dec = 0.6109, 0.6109, 0, 0 # 0.6109 -> 35 degrees
		self.antenna.setOffsets(az, el, ANT_HORIZONTAL)
		self.positioner.startUpdating(MNG_TRACK, ANT_NORTH, az, el, ra, dec)
		self.positioner.startUpdating(
		MNG_TRACK, ANT_NORTH, az, el, ra, dec, False)
		time.sleep(0.5)
		self.positioner.stopUpdating()
		time.sleep(0.5)
		@@ -70,7 +74,8 @@ class TestCheckUpdating(unittest.TestCase):
		starting_time,
		MNG_TRACK,
		ANT_NORTH,
		az, el, ra, dec
		az, el, ra, dec,
		False # new_source
		)
		self.assertEqual(value, True)
		self.assertGreater(feasible_time, timestamp)
		@@ -95,7 +100,8 @@ class TestCheckUpdating(unittest.TestCase):
		starting_time,
		MNG_TRACK,
		ANT_NORTH,
		az, el, 0, 0
		az, el, 0, 0,
		False # new_source
		)
		self.assertEqual(value, False)
		minimum_time = timestamp + int(required_time)
		@@ -121,7 +127,8 @@ class TestCheckUpdating(unittest.TestCase):
		starting_time,
		MNG_TRACK,
		ANT_NORTH,
		az, el, 0, 0
		az, el, 0, 0,
		False # new_source
		)
		self.assertEqual(value, True)
		self.assertLess(feasible_time, starting_time)
		@@ -146,7 +153,8 @@ class TestCheckUpdating(unittest.TestCase):
		starting_time,
		MNG_TRACK,
		ANT_NORTH,
		az, el, 0, 0
		az, el, 0, 0,
		False # new_source
		)
		self.assertEqual(value, False)
		self.assertGreater(feasible_time, starting_time)

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

+11 −11

Original line number	Diff line number	Diff line
		@@ -38,7 +38,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.positioner.setRewindingMode('MANUAL')
		az, el, target = self.prepare_negative_oor()
		# after prepare_negative_oor(), startUpdating() will cause oor
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertTrue(self.positioner.isRewindingRequired())
		self.positioner.rewind(0)
		@@ -49,7 +49,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.positioner.setRewindingMode('MANUAL')
		az, el, target = self.prepare_negative_oor()
		# after prepare_negative_oor(), startUpdating() will cause oor
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertTrue(self.positioner.isRewindingRequired())
		self.positioner.rewind(4)
		@@ -59,7 +59,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.positioner.setRewindingMode('MANUAL')
		az, el, target = self.prepare_negative_oor()
		# after prepare_negative_oor(), startUpdating() will cause oor
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertEqual(self.positioner.isRewindingRequired(), True)
		self.assertEqual(self.positioner.isRewinding(), False)
		@@ -70,7 +70,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.positioner.setRewindingMode('MANUAL')
		az, el, target = self.prepare_negative_oor()
		# after prepare_negative_oor(), startUpdating() will cause oor
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.positioner.stopUpdating()
		time.sleep(1)
		@@ -81,7 +81,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.positioner.setRewindingMode('MANUAL')
		az, el, target = self.prepare_negative_oor()
		# after prepare_negative_oor(), startUpdating() will cause oor
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertTrue(self.positioner.isRewindingRequired())
		steps = 2
		@@ -120,7 +120,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.assertLess(target, min_limit)
		# If sector is SOUTH, we expect a rewind of 60 degrees: -93 + 60 -> -33
		expected = target + 60
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertAlmostEqual(expected, self.device.getActPosition(), delta=0.1)

		@@ -134,7 +134,7 @@ class StartUpdatingTest(unittest.TestCase):
		target = Pis + parallactic
		self.assertLess(target, min_limit)
		expected = target + 120
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertAlmostEqual(expected, self.device.getActPosition(), delta=0.1)

		@@ -153,7 +153,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.assertGreater(target, min_limit)
		# We do not expect a rewind
		expected = target
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, False)
		time.sleep(0.5)
		self.assertAlmostEqual(expected, self.device.getActPosition(), delta=0.1)

		@@ -184,7 +184,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.antenna.setOffsets(az, el, ANT_HORIZONTAL)
		target = Pis + parallactic
		self.assertLess(target, max_limit)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertAlmostEqual(target, self.device.getActPosition(), delta=0.1)
		self.assertTrue(self.positioner.isUpdating())
		@@ -245,7 +245,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.antenna.setOffsets(az, el, ANT_HORIZONTAL)
		target = Pis + parallactic
		self.assertLess(target, max_limit)
		self.positioner.startUpdating(MNG_TRACK, ANT_NORTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_NORTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertAlmostEqual(target, self.device.getActPosition(), delta=0.1)
		self.assertTrue(self.positioner.isUpdating())
		@@ -294,7 +294,7 @@ class StartUpdatingTest(unittest.TestCase):
		self.antenna.setOffsets(az, el, ANT_HORIZONTAL)
		target = Pis + parallactic
		self.assertGreater(target, min_limit)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0)
		self.positioner.startUpdating(MNG_TRACK, ANT_SOUTH, az, el, 0, 0, True)
		time.sleep(0.5)
		self.assertAlmostEqual(target, self.device.getActPosition(), delta=0.1)
		self.assertTrue(self.positioner.isUpdating())