Manually tested for wind and sun (bfdaebf9) · Commits · INAF / DISCOS

Common/Servers/PySupervisor/src/Supervisor/SupervisorImpl.py

+214 −158

Original line number	Diff line number	Diff line
		@@ -54,6 +54,9 @@ class SupervisorImpl(POA, cc, services, lcycle):
		self.dao_path = 'alma/ANTENNA/Supervisor'
		self.setup("default")
		self.stop_threads = False
		self.sunClient = self.windClient = None
		self.loadSunClient()
		self.loadWindClient()
		for thread in (self.sunCheck, self.windCheck):
		t = Thread(target=thread, daemon=True)
		t.start()
		@@ -133,13 +136,47 @@ class SupervisorImpl(POA, cc, services, lcycle):
		def isTracking(self):
		return True

		def disconnect(self, client):
		def loadWindClient(self):
		try:
		if client.isLoggedIn():
		client.disconnect()
		if self.windClient and self.windClient.isLoggedIn():
		pass
		else:
		self.disconnectWindClient()
		self.windClient = PySimpleClient()
		except Exception as ex:
		self.log(
		"Cannot disconnect the client",
		f"loadWindClient: {ex}",
		Management.C_ERROR,
		)

		def loadSunClient(self):
		try:
		if self.sunClient and self.sunClient.isLoggedIn():
		pass
		else:
		self.disconnectSunClient()
		self.sunClient = PySimpleClient()
		except Exception as ex:
		self.log(
		f"loadSunClient: {ex}",
		Management.C_ERROR,
		)

		def disconnectSunClient(self):
		try:
		self.sunClient.disconnect()
		except Exception as ex:
		self.log(
		"Cannot disconnect sunClient",
		Management.C_WARNING,
		)

		def disconnectWindClient(self):
		try:
		self.windClient.disconnect()
		except Exception as ex:
		self.log(
		"Cannot disconnect windClient",
		Management.C_WARNING,
		)

		@@ -155,7 +192,10 @@ class SupervisorImpl(POA, cc, services, lcycle):
		except Exception as ex:
		print(f"Unexpected exception in log(): {ex}")
		finally:
		self.disconnect(client)
		try:
		client.disconnect()
		except Exception:
		print(f"Error disconnecting the log client")

		def windCheck(self):
		print("windCheck() thread started")
		@@ -166,6 +206,7 @@ class SupervisorImpl(POA, cc, services, lcycle):
		antenna_name = "ANTENNA/Boss"
		wind_values = []
		while True:
		try:
		for i in range(5): # Sleep for 5 seconds, check stop signal
		if self.stop_threads:
		break
		@@ -179,11 +220,13 @@ class SupervisorImpl(POA, cc, services, lcycle):
		if self.windAvoidance == "OFF":
		continue # Sleep again

		client = PySimpleClient()
		self.loadWindClient()
		try:
		el_mode = ""
		mount = client.getComponent(mount_name)
		el_mode, compl = mount.elevationMode.get_sync()
		el = 0
		mount = self.windClient.getComponent(mount_name)
		el_mode = str(mount.elevationMode.get_sync()[0])
		el = mount.elevation.get_sync()[0]
		except CannotGetComponentEx as ex:
		self.log(
		f"Can not get component {mount_name}",
		@@ -193,7 +236,7 @@ class SupervisorImpl(POA, cc, services, lcycle):
		self.log(f"Can not get component {mount_name}: {ex}")

		try:
		ws = client.getComponent(weather_name)
		ws = self.windClient.getComponent(weather_name)
		value = ws.getWindSpeedAverage()
		except CannotGetComponentEx as ex:
		self.log(
		@@ -202,7 +245,6 @@ class SupervisorImpl(POA, cc, services, lcycle):
		)
		except Exception as ex:
		self.log(f"Unexpected exception: {ex}")
		self.disconnect(client)
		continue # Sleep again

		if len(wind_values) < 30:
		@@ -213,21 +255,17 @@ class SupervisorImpl(POA, cc, services, lcycle):

		self.wind = sum(wind_values)/len(wind_values) if wind_values else 0
		if self.wind >= self.windLimit:
		if str(el_mode) == "ACU_STOW":
		if el_mode == "ACU_STOW":
		if not stow_notified:
		self.log(
		f"Antenna parked, too much wind",
		f"Parking antenna, too much wind",
		Management.C_WARNING,
		)
		stow_notified = True
		self.disconnect(client)
		continue

		self.log(f"Supervisor: stopping antenna, windy")
		self.log(f"Safe limit -> {self.windLimit:.2f}", Management.C_INFO)
		self.log(f"Average wind -> {self.wind:.2f}", Management.C_INFO)
		try:
		scheduler = client.getDefaultComponent(scheduler_name)
		scheduler = self.windClient.getDefaultComponent(scheduler_name)
		scheduler.stopSchedule()
		except CannotGetComponentEx as ex:
		self.log(
		@@ -238,7 +276,7 @@ class SupervisorImpl(POA, cc, services, lcycle):
		self.log(f"Can not get {scheduler_name}: {ex}")

		try:
		antenna = client.getComponent(antenna_name)
		antenna = self.windClient.getComponent(antenna_name)
		except CannotGetComponentEx as ex:
		self.log(
		f"Can not get component {antenna_name}",
		@@ -246,18 +284,27 @@ class SupervisorImpl(POA, cc, services, lcycle):
		)
		except Exception as ex:
		self.log(f"Can not get {antenna_name}: {ex}")
		self.disconnect(client)
		continue # Sleep again

		if el_mode == "ACU_STANDBY" and abs(90-el) < 0.5:
		continue # Antenna parked

		try:
		self.log("Too much wind", Management.C_WARNING)
		self.log(f"Safe limit -> {self.windLimit:.2f}", Management.C_INFO)
		self.log(f"Average wind -> {self.wind:.2f}", Management.C_INFO)
		self.log(f"Supervisor: parking antenna, windy")
		antenna.stop()
		antenna.park() # Finally park the antenna
		self.log("Parking antenna", Management.C_INFO)
		stow_notified = True
		except Exception as ex:
		self.log(f"Can not park the antenna: {ex}")
		self.disconnect(client)
		continue # Sleep again

		stow_notified = False
		self.disconnect(client)
		except Exception as ex:
		self.log(f"Unexpected exception in windCheck(): {ex}")

		print("sunCheck() thread stopped")

		@@ -272,6 +319,7 @@ class SupervisorImpl(POA, cc, services, lcycle):
		sun = ephem.Sun()
		stop_notified = False
		while True:
		try:
		time.sleep(1)
		if self.stop_threads:
		print("Stopping sunCheck() thread")
		@@ -279,10 +327,10 @@ class SupervisorImpl(POA, cc, services, lcycle):
		if self.sunAvoidance == "OFF":
		continue # Sleep again

		client = PySimpleClient()
		self.loadSunClient()
		if not (lat and lon):
		try:
		observatory = client.getComponent(observatory_name)
		observatory = self.sunClient.getComponent(observatory_name)
		lat, compl = observatory.latitude.get_sync()
		lon, compl = observatory.longitude.get_sync()
		except CannotGetComponentEx as ex:
		@@ -290,17 +338,15 @@ class SupervisorImpl(POA, cc, services, lcycle):
		except Exception as ex:
		self.log(f"Can not get component {observatory_name}: {ex}")
		finally:
		self.disconnect(client)
		continue # Sleep again

		try:
		antenna = client.getComponent(antenna_name)
		antenna = self.sunClient.getComponent(antenna_name)
		except CannotGetComponentEx as ex:
		self.log(
		f"Can not get component {antenna_name}",
		Management.C_ERROR,
		)
		self.disconnect(client)
		continue # Sleep again

		t = getTimeStamp().value
		@@ -313,17 +359,14 @@ class SupervisorImpl(POA, cc, services, lcycle):
		f"Cannot get antenna coordinates: {ex}",
		Management.C_ERROR,
		)
		self.disconnect(client)
		continue # Sleep again

		limit = self.sunLimit
		az_mode = el_mode = ""
		try:
		mount = client.getComponent(mount_name)
		az_mode, compl = mount.azimuthMode.get_sync()
		el_mode, compl = mount.elevationMode.get_sync()
		if str(az_mode) == str(el_mode) == "ACU_PRESET":
		limit = self.sunLimit * 3
		mount = self.sunClient.getComponent(mount_name)
		az_mode = str(mount.azimuthMode.get_sync()[0])
		el_mode = str(mount.elevationMode.get_sync()[0])
		except CannotGetComponentEx as ex:
		self.log(
		f"Can not get component {mount_name}",
		@@ -342,14 +385,22 @@ class SupervisorImpl(POA, cc, services, lcycle):

		self.sunDistance = sqrt(delta_az2 + (sun_el - el)2)
		if self.sunDistance < limit:
		if str(az_mode) == str(el_mode) == "ACU_STOP":
		if az_mode == el_mode == "ACU_STOP":
		time.sleep(5)
		self.log(
		f"Distance from Sun -> {self.sunDistance:.2f}",
		Management.C_INFO
		)
		self.log(
		f"Sun safe limit -> {limit:.2f}",
		Management.C_INFO
		)
		if not stop_notified:
		self.log(
		f"Antenna stopped, pointing close to the Sun",
		"Antenna stopped, pointing close to the Sun",
		Management.C_WARNING,
		)
		stop_notified = True
		self.disconnect(client)
		continue # Sleep again

		self.log(f"Supervisor: stopping antenna, pointing close to the Sun")
		@@ -359,15 +410,20 @@ class SupervisorImpl(POA, cc, services, lcycle):
		self.log(f"Distance from Sun -> {self.sunDistance:.2f}", Management.C_INFO)
		try:
		antenna.stop()
		self.log(
		f"Antenna stopped, pointing close to the Sun",
		Management.C_WARNING,
		)
		stop_notified = True
		except Exception as ex:
		self.log(f"Cannot stop the antenna: {ex}")
		self.disconnect(client)
		finally:
		continue # Sleep again

		if stop_notified:
		self.log(f"Antenna is now pointing at safe distance from the Sun")
		stop_notified = False
		self.disconnect(client)
		except Exception as ex:
		self.log(f"Unexpected exception in sunCheck(): {ex}")

		print("sunCheck() thread stopped")

Common/Servers/PySupervisor/test/no-auto/get_components.py

0 → 100644

+62 −0

Original line number	Diff line number	Diff line
		import time
		from math import degrees
		from datetime import datetime as dt

		import ephem

		import Antenna
		from Acspy.Clients.SimpleClient import PySimpleClient
		from Acspy.Common.TimeHelper import getTimeStamp

		client = PySimpleClient()

		def disconnect():
		if client.isLoggedIn():
		client.disconnect()

		print("Getting mount, boss and supervisor components...")
		mount = client.getComponent('ANTENNA/Mount')
		boss = client.getComponent('ANTENNA/Boss')
		supervisor = client.getComponent('ANTENNA/Supervisor')
		print("Got component!")


		def getAntennaCoordinates():
		az = boss.observedAzimuth.get_sync()
		el = boss.observedElevation.get_sync()
		az, compl = boss.observedAzimuth.get_sync()
		el, compl = boss.observedElevation.get_sync()
		return degrees(az), degrees(el)

		def getAntennaMode():
		az_mode = mount.azimuthMode.get_sync()[0]
		el_mode = mount.elevationMode.get_sync()[0]
		return az_mode, el_mode

		def goToSun():
		obs = ephem.Observer()
		sun = ephem.Sun()
		obs.lat, obs.lon, obs.date = "39.4930", "9.2451", dt.utcnow()
		sun.compute(obs)
		sun_az, sun_el = degrees(sun.az), degrees(sun.alt)
		mount.changeMode(Antenna.ACU_PRESET, Antenna.ACU_PRESET)
		mount.preset(sun_az, sun_el)

		def getSunPosition():
		obs = ephem.Observer()
		sun = ephem.Sun()
		obs.lat, obs.lon, obs.date = "39.4930", "9.2451", dt.utcnow()
		sun.compute(obs)
		return degrees(sun.az), degrees(sun.alt)

		def antennaSetup(code="CCB"):
		boss.setup(code)
		print(f"Waiting for AntennaBoss.setup({code})")
		time.sleep(8)
		mount.changeMode(Antenna.ACU_PRESET, Antenna.ACU_PRESET)
		mount.preset(0, 88)
		print("Moving to (0, 88)")

		def setWindLimit(value):
		supervisor.setWindSafeLimit(value)