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#!/usr/bin/env python
# -*- coding: utf-8 -*-
class RtcObject(object):
def __init__(self):
self.counter = 0
self.todos = []
self.mini_os = SHINSApp()
self.obsController = self.mini_os.os()
self.rotating_ncpa = False
self.ncpa_file = "No file"
self.json_state = {}
self.thread = master_listener_davide.PLOT_THREAD()
try:
self.thread.start()
self.thread.RUN = True
print("plot thread started")
except KeyboardInterrupt:
print(" Intercepted Keyboard Interrupt")
self.thread.CLOSE = True
self.thread.RUN = False
del self.obsController
print("plot thread stopped")
sys.exit(1)
except Exception as e:
print("here")
print(e)
self.thread.CLOSE = True
self.thread.RUN = False
del self.obsController
print("plot thread stopped")
sys.exit(1)
def reset(self):
print("reset")
status = self.obsController.RTCTTResetBCU()
return status
def resurrect(self):
print("import")
from SHINS_SW_TEST.SHINS_TEST_DEBUG import SHINS_TEST_DEBUG
print("init")
status = SHINS_TEST_DEBUG(test_s="10", test_s1="true") # init
time.sleep(1)
print("setup start")
status = SHINS_TEST_DEBUG(test_s="11") # setup and start
print(status)
return status
def resurrect2(self):
print('resurrect2')
rtc_s = uvars.rtc_s_base.copy()
time.sleep(10)
print("init")
status = self.obsController.RTCTTInit(rtc_s)
print("Exit status: {}".format(status))
ufun.error_handler(status, "RTCTTIsInit")
print("Wait 10 s...")
time.sleep(10)
# SETUP REAL-TIME RTCTT #
print("RTCTT setup... Wait 15 s...")
status = self.obsController.RTCTTSetup()
print("Exit status: {}".format(status))
ufun.error_handler(status, "RTCTTSetup")
# START REAL-TIME RTCTT #
print("RTCTT start")
time.sleep(10)
status = self.obsController.RTCTTStart()
print("Exit status: {}".format(status))
ufun.error_handler(status, "RTCTTStart")
def uploadRTC(self, modal=True):
rtc_s = uvars.rtc_s_base.copy()
if modal:
print("Enabling Modal Mode")
else:
print("Enabling Zonal Mode")
rtc_s["TTM2CFILE"] = "ZONAL"
# INIT REAL-TIME RTCTT #
print("Enumerating RTC setup")
for element, value in rtc_s.items():
print("Element : % 20s - Value % 20s " % (element, value))
status = self.obsController.RTCTTInit(rtc_s)
print("Exit status: {}".format(status))
ufun.error_handler(status, "RTCTTIsInit")
print("Wait 5 s...")
time.sleep(5)
# SETUP REAL-TIME RTCTT #
print("RTCTT setup... Wait 15 s...")
status = self.obsController.RTCTTSetup()
print("Exit status: {}".format(status))
ufun.error_handler(status, "RTCTTSetup")
# START REAL-TIME RTCTT #
print("RTCTT start")
status = self.obsController.RTCTTStart()
print("Exit status: {}".format(status))
ufun.error_handler(status, "RTCTTStart")
mode = "Modal" if modal else "Zonal"
print("Enabling {} Mode... DONE".format(mode))
def zonalCommand(self, data):
print("chiamata effettuata")
normalize_strain = 1#6.666667
act = int(data[0])
strain = float(data[1])
print(strain)
strain = strain/normalize_strain
print("Act on actuator number {} with absolute intensity {}".format(act,strain))
reserved = [0,0]
actuators = np.zeros(97).tolist()
actuators[act-1] = strain
print("vector for RTCTTModeUpload: ")
# print(actuators)
try:
status = self.obsController.RTCTTModeUpload(reserved+actuators, absolute=False)
except Exception as e:
print(e)
status = 1
return status
def move_soul(self, data, apply_movement=False):
self.soul_deltas = data
print("Received data: {}".format(data))
PSFcx = float(data[0])
PSFcx = 0 if PSFcx < 0 else PSFcx
PSFcx = 2048 if PSFcx > 2048 else PSFcx
PSFcy = float(data[1])
PSFcy = 0 if PSFcy < 0 else PSFcy
PSFcy = 2048 if PSFcy > 2048 else PSFcy
deltaX = PSFcx - uvars.SOUL_TARGET_POS[0]
deltaY = PSFcy - uvars.SOUL_TARGET_POS[1]
print("Calling Here OffsetXYAO with SCICAM deltas Dx = {} , Dy = {}".format(deltaX , deltaY))
# GET CURRENT DROT #
status, drotDict = self.obsController.getPosition("DEGREE", {"DROT":-9999.9})
drotPos = drotDict["DROT"]
print("DROT pos is {}".format(drotPos))
# Transform to SOUL delta #
step_x, step_y = ufun.transform_offset(disp = [deltaX,deltaY], thetaRot = drotPos , conv = "SOUL")
print("Calculatd steps to apply to SOUL : {} , {}".format(step_x , step_y))
if apply_movement:
max_step = 1
step_x = step_x if (abs(step_x) <= max_step) else max_step*np.sign(step_x)
step_y = step_y if (abs(step_y) <= max_step) else max_step*np.sign(step_y)
print("Applying these steps to SOUL : {} , {}".format(step_x , step_y))
try:
status = self.obsController.OffsetXYAO(step_x , step_y , "LEFT")
print("Function is returning NOW")
except Exception as e:
print(e)
status = 1
else:
from util.shinsLogger import logger
resume = "Delta X = {} mm , Delta Y = {} mm".format(step_x,step_y)
logger.info("--------------------------------------------------------------------------")
logger.info("| {:^70s} |".format(resume))
logger.info("--------------------------------------------------------------------------")
logger.debug("SCICAM deltas = ({},{}), DROT pos = {}, computed SOUL deltas = ({},{})".format(deltaX,deltaY,drotPos,np.round(step_x,3),np.round(step_y,3)))
return status, [np.round(step_x,4), np.round(step_y,4)]
def manageDerotation(self, data):
action = str(data[0])
try:
mode = str(data[1])
pos_ang = float(data[2])
pos_ang = pos_ang-360 if pos_ang>180 else pos_ang
except Exception as e:
# print(e)
mode, pos_ang = None, None
if(action == "Start_Tracking"):
print("DAO_______________Derotation mode: {} with angle {}".format(mode,pos_ang))
ins_s = {"DROT_Mode":mode}
async = self.obsController.begin_setupInstrument(ins_s)
status = self.obsController.end_setupInstrument(async)
if mode == "FIELD_FREE":
print("Launching now a {} derotation".format(mode))
status = self.obsController.trackingStart2(0,0)
elif mode == "FIELD_FIXED":
print("Launching now a {} derotation".format(mode))
dateMjd= Time.now()
status = self.obsController.trackingStart2(dateMjd.mjd, pos_ang)
else:
print("{} mode: NO derotation".format(mode))
status = self.obsController.trackingStop()
elif(action == "Stop_Tracking"):
print("DAO__________________________STOP Derotation!")
status = self.obsController.trackingStop()
else:
print("Something went wrong, no action received")
print("Reached end of command")
return status
def read(self, id):
for todo in self.todos:
if todo["id"] == id:
return todo
def create(self, data):
todo = data
self.todos.append(todo)
return todo
def update(self, id, data):
todo = self.read(id)
todo.update(data)
return todo
def delete(self, id):
todo = self.read(id)
self.todos.remove(todo)
@property
def centroid(self):
status, [cx, cy] = self.obsController.getInternalSeqFloatVariable("RtcCentroidOrigin")
return [cx, cy]
@centroid.setter
def centroid(self, cx_cy):
cx, cy = cx_cy
status = self.obsController.RTCTTSetCentroidPos(cx, cy)
return status
def flatten(self):
modes = [0] * 96#39
status = self.obsController.RTCTTModeUpload(modes, absolute=True)
status = self.load_ncpa(name="zeri.txt")
return status
def close_loop(self):
status = self.obsController.RTCTTCloseLoop()
return status
def open_loop(self):
status = self.obsController.RTCTTOpenLoop()
return status
def frequency(self, freq):
"""Set the loop frequency"""
rtc_s = {"TTFRAMERATE": freq}
status = self.obsController.RTCTTExecuteSetup(rtc_s)
return status
def tint(self, t):
"""Set integration time"""
rtc_s = {
"TTCAMTINT" : t,
}
status = self.obsController.RTCTTExecuteSetup(rtc_s)
return status
def patrol(self, b):
"""Set params to enable or disable patrol camera mode"""
if b:
print("Switch to patrol mode")
rtc_patrol = {
"TTM2CFILE": "20220603-Zernike-FullPupil-Arcetri-1u-rms-4rtc.dat",
"TTWINCOORDX": "0",
"TTWINCOORDY": "0",
"TTWINCOLS": "640",
"TTWINROWS": "512",
"TTFRAMERATE": "200", #200
"TTNSLOPEPIXELS": "16",
"TTBIASFILE": "",
"TTPIXELGAINFILE": "",
"TTCAMTINT": "0.004995574",
"TTPIXELGAINMODE": "FLATGAIN",
}
else:
print("Switch to cropped mode")
rtc_small = {
"TTM2CFILE": "20220603-Zernike-FullPupil-Arcetri-1u-rms-4rtc.dat",
"TTWINCOORDX": "224",
"TTWINCOORDY": "212",
"TTWINCOLS": "64",
"TTWINROWS": "64",
"TTFRAMERATE": "1000",
"TTNSLOPEPIXELS": "4096",
"TTBIASFILE": "2022-02-19-23-45-23_PixelBias_19.95°C_1000Hz-064x064.dat",
"TTPIXELGAINFILE": "flat_gain_64x64.dat",
"TTCAMTINT": "0.000994919",
"TTPIXELGAINMODE": "FLATGAIN",
}
rtc_s = rtc_patrol if b else rtc_small
status = self.obsController.RTCTTSwitchCcdMode(rtc_s)
return status
def temperature(self, temp):
"""Set the loop temperature"""
status = self.obsController.RTCTTSendCameraCommand("set temperatures sensor "+temp)
return status
def pid(self, p):
"""Set the RTC PID"""
rtc_s = {
"TTPIDKP": str(p[0]),
"TTPIDKI": str(p[1]),
"TTPIDKD": str(p[2]),
"TTPIDTF": str(p[3]),
"TTPIDTS": str(p[4]),
}
rtc_s["TTPIDTS"]=str(1e-3)
rtc_s["TTPIDTF"]=rtc_s["TTPIDTS"]
print(rtc_s)
status = self.obsController.RTCTTExecuteSetup(rtc_s)
return status
def threshold(self, t):
"""Set the RTC Threshold"""
status = self.obsController.RTCTTWriteSingle(4416, t, "dsp")
return status
def get_threshold(self):
"""Get the RTC Threshold"""
status, threshold = self.obsController.RTCTTReadSingle(4416, "dsp")
return threshold
##############
# Dark stuff #
##############
def todos_dark(self):
"""List dark files"""
return [ str(dark.name).decode('utf-8') for dark in sorted(uvars.dark_path.glob("*.dat")) ]
def new_dark(self):
"""Create a new dark"""
rtc_s = {
"TTDIAGENABLED" : "true", # or "1"
"TTDIAGDECIMATION" : "0",
"TTPIXELENABLED" : "1",
"TTPIXELDECIMATION" : "0", # if 0 master diagnostic stops
"TTLOOPENABLED" : "false",
"TTSAVEASBIAS" : "true",
"TTUPDATEBIAS" : "true",
"TTTESTTIME" : "1000000",
}
status, filename = self.obsController.RTCTTTeccamExpose(rtc_s)
return filename
def load_dark(self, name):
"""Load a dark file"""
rtc_s = {"TTBIASFILE": name}
status = self.obsController.RTCTTExecuteSetup(rtc_s)
return status
def get_current_dark(self):
pass
##############
# Gain stuff #
##############
def todos_gain(self):
"""List gain files"""
return [ str(gain.name).decode('utf-8') for gain in sorted(uvars.gain_path.glob("*.dat")) ]
def new_gain(self, gain_type, centroid_size):
"""Create a new gain"""
rtc_s = {
"TTPIXELGAINMODE": gain_type,
"TTPIXELGAINRADIUS": centroid_size,
}
status = self.obsController.RTCTTExecuteSetup(rtc_s)
return status
def load_gain(self, name):
"""Load a gain file"""
rtc_s = {
"TTPIXELGAINMODE": "FILEGAIN",
"TTPIXELGAINFILE": name,
}
status = self.obsController.RTCTTExecuteSetup(rtc_s)
return status
##############
# Flat stuff #
##############
def todos_flat(self):
"""List flat files"""
return [ str(flat.name).decode('utf-8') for flat in sorted(uvars.flat_path.glob("*.txt")) ]
def save_flat(self):
"""Save the current flat in a file"""
print("hereeee")
flat_name = ufun.save_flat(self.obsController, self.thread)
print("doneee")
print(flat_name)
return flat_name
def load_flat(self, name):
"""Load a flat file"""
rtc_s = {"TTDMFLATFILE": name}
status = self.obsController.RTCTTExecuteSetup(rtc_s)
return status
def tiptilt(self, modes=[0,0,0,0], absolute=False):
print("Loaded Modes {}".format(modes))
status = self.obsController.RTCTTModeUpload(modes=modes, absolute=absolute)
return status
def teccam_http_start(self):
status, _ = self.obsController.RTCTTSendCameraCommand("exec httpserver start")
return status
def teccam_custom_command(self, command):
status, res = self.obsController.RTCTTSendCameraCommand(command)
return res
def cloud_samples(self, s):
print("prima : samples = {}".format(self.thread.cloud_samples))
status = self.thread.cloud_samples = s
print("dopo : samples = {}".format(self.thread.cloud_samples))
return status
def get_cloud_samples(self):
return self.thread.cloud_samples
def save(self):
data = self.data()
now = Time.now().isot
filename = "/data/rtc/rtc-panel-save-{}.json".format(now)
with open(filename, 'w') as f:
json.dump(data, f)
return filename
##############
# NCPA stuff #
##############
def todos_ncpa(self):
"""List ncpa files"""
return [ str(ncpa.name).decode('utf-8') for ncpa in sorted(uvars.ncpa_path.glob("*.txt")) ]
def load_ncpa(self, name):
"""Load a ncpa file"""
# load saved file
mode_file = open(str(uvars.ncpa_path)+name, 'r')
data = mode_file.read()
data_into_list = data.split('\n')
mode_vector = [float(element) for element in data_into_list[:-1]]
# edit mode vector obtained from loaded file
print("v=[{}], len = {}".format(mode_vector, len(mode_vector)))
angle_where_ncpa_was_optimized = float(mode_vector.pop())
print("angle read from ncpa file: {}".format(angle_where_ncpa_was_optimized))
print("v=[{}], len = {}".format(mode_vector, len(mode_vector)))
mode_vector = mode_vector[2:]
print("final mode vector=[{}], len = {}".format(mode_vector, len(mode_vector)))
#apply correct rotation (if necessary)
actual_drot_pos = float(self.obsController.getPosition("DEGREE", {"DROT":-9999})[1]["DROT"])
drot_diff = actual_drot_pos -angle_where_ncpa_was_optimized
if(abs(drot_diff)>0.5):
ruotati = ufun.rotate_modes(mode_vector, -1*drot_diff)
else:
ruotati = mode_vector
riservati = [0,0]
try:
status = self.obsController.RTCTTModeUpload( riservati + list(ruotati), absolute=True)
except Exception as e:
print(e)
status = 1
self.obsController.setContext({"NCPA_FILE":name});
print("Finished")
return status
def save_ncpa(self):
"""Save the current ncpa in a file"""
ncpa_name = ufun.save_ncpa(os=self.obsController)
print(ncpa_name)
return ncpa_name
def rotateNCPA(self, action):
if action == "start":
print("START NCPA Rotation")
self.rotating_ncpa = True
self.obsController.setContext({"NCPA_ROT_STATUS":"Rotation ON"});
elif action == "stop":
print("STOP NCPA Rotation")
self.rotating_ncpa = False
self.obsController.setContext({"NCPA_ROT_STATUS":"Rotation OFF"});
else:
print("Wrong command in rotateNCPA")
riservati = [0,0]
sign = -1 # rotation direction
sleep = 5#10
threshold = 0.5
ins_s = {"DROT":-9999}
angle_where_ncpa_was_optimized = float(self.obsController.getPosition("DEGREE", ins_s)[1]["DROT"])
status, total_vector = self.obsController.getInternalSeqFloatVariable("RtcAppliedMode")
mode_vector = total_vector[2:]
position_of_last_update = angle_where_ncpa_was_optimized
while self.rotating_ncpa:
bearing = float(self.obsController.getPosition("DEGREE", ins_s)[1]["DROT"])
diff = bearing - position_of_last_update
print("Bearing: {}; Diff wrt previous update: {}".format(bearing, diff))
if abs(diff) > threshold:
print("Above threshold: rotating modes!")
ruotati = ufun.rotate_modes(mode_vector, sign * (bearing - angle_where_ncpa_was_optimized) )[0:36]
self.obsController.RTCTTModeUpload( riservati + list(ruotati), absolute=True)
position_of_last_update = bearing
else:
print("Below threshold: no mode rotation")
time.sleep(sleep)
return 1
def getNCPARotationStatus(self):
print("Status ncpa rotation in arrivo... status is {}".format(self.rotating_ncpa))
return self.rotating_ncpa
@property
def rtc_image(self):
dummy_64 = np.zeros(shape=(64,64))
# Diagostic stuff
try:
#print("trying to get the image")
image = self.thread.img.T # transpose
#print("there is an image. probably diagnostic is arriving")
except AttributeError as e:
print("no image")
print("if NO image but diagnostic data from os are coming then try reset and resurrect rtc")
print("can also try to request fps to the console on rtc panel, and then again reset+resurrect")
image = dummy_64
except IndexError as e:
print("too many indices")
image = dummy_64
except Exception as e:
print("Generic error")
print(e)
return image
def data_cred(self, image, centroid):
# # OS
status, darkarray = self.obsController.getInternalSeqFloatVariable("RtcPixelBias")
try:
darkimage = np.array(darkarray).reshape(image.shape).T
except Exception as e:
darkimage = np.zeros(shape=(image.shape))
try:
cx,cy = centroid
image = image[2:-2 , 2:-2]
darkimage = darkimage[2:-2 , 2:-2]
darkedData = image - darkimage
cred = {
"data": image.tolist(),
"dark": darkimage.tolist(),
#"darkedData" = darkedData,
"min": image.min(), #image[1:-1, 1:-1].min(),
"max": image.max(), #image[1:-1, 1:-1].max(),
"minDark" : darkedData.min(), #darkedData[3:, 3:].min(),
"maxDark" : darkedData.max(), #darkedData[3:, 3:].max(),
"cx": cx,
"cy": cy,
"image_shape": list(image.shape),
}
except Exception as e:
print("error building the cred response")
print(e)
print("image shape : {} ".format(image.shape))
#print("image shape : {} , darkedData shape : {}".format(image.shape, darkedData.shape))
cred = None
return cred
def data_gain(self, image):
# OS
status, pixgain = self.obsController.getInternalSeqFloatVariable("RtcPixelGain")
try:
pixgain = np.array(pixgain).reshape(image.shape).T
except Exception as e:
pixgain = np.zeros(shape=(image.shape))+1
try:
gain = {
"data": pixgain.reshape(image.shape).tolist(),
"min": pixgain[3:, 3:].min(),
"max": pixgain[3:, 3:].max(),
"image_shape": list(image.shape),
}
except Exception as e:
print("error building the gain response")
print(e)
gain = None
return gain
def data_dm(self, image):
# Diagnostics
shape = self.thread.shape
# OS
status, dmflat = self.obsController.getInternalSeqFloatVariable("RtcDmFlat")
try:
dm_shape_no_flat = (shape*signs) - (np.array(dmflat[0:97]))
dm = {
"actuators": uvars.actuators.tolist(),
"shape": (shape*signs).tolist(),
"flat": (np.array(dmflat[0:97])).tolist(),
#"dm_shape_no_flat" : dm_shape_no_flat,
"min": round(shape.min(),2),
"max": round(shape.max(),2),
"min_no_flat" : round(min(dm_shape_no_flat),2),
"max_no_flat" : round(max(dm_shape_no_flat),2),
"image_shape": list(image.shape),
"skp_cmd" : self.thread.tt_cmd[1]
}
except Exception as e:
print("error building the dm response")
print(e)
dm = None
return dm
def data_cloud(self, image, centroid):
centroids_x = self.thread.centroid_x
centroids_y = self.thread.centroid_y
cloud = np.flip(self.thread.centroid_matrix.T, 1)
cx,cy = centroid
rmsX = np.std(centroids_x)*21 # px 2 mas, plate scale = 21 mas/px
rmsY = np.std(centroids_y)*21 # px 2 mas
wx = (np.max(centroids_x)-np.min(centroids_x))*21 # px to mas
wy = (np.max(centroids_y)-np.min(centroids_y))*21 # px to mas
try:
cld = {
"data": cloud.tolist(),
"min": cloud.min(),
"max": cloud.max(),
"samples": len(self.thread.centroid_x),
"cx": cx - self.thread.cx,
"cy": cy - self.thread.cy,
"wx": round(wx, 5),
"wy": round(wy, 5),
"image_shape": list(image.shape),
"RMS_X": round(rmsX, 5),
"RMS_Y": round(rmsY, 5),
"cloud_samples": self.thread.cloud_samples,
}
except Exception as e:
print("error building the cloud response")
print(e)
cld = None
return cld
def data(self):
image = self.rtc_image
centroid = self.centroid
data_cloud = self.data_cloud(image, centroid)
data_cred = self.data_cred(image, centroid)
### Focus only on the 8x8 pixel matrix centered on the centroid
def focus_on_centroid(a, cx, cy, s=4):
# a is an array-like matrix , s is an Int
cx = int(cx)*32 + 32 # cx and cy are normalized in [-1,1] -> now are renormalized in [0,64]
cy = int(cy)*32 + 32
if(s>cx or s>cy):
s = min(cx,cy)
if(s>len(a)-cx or s>len(a)-cy):
s = min(s , len(a)-cx , len(a)-cy)
a_focused = a[cx-s : cx+s , cy-s : cy+s]
return a_focused
cropped_cred = focus_on_centroid( np.array(data_cred["data"]) , data_cloud["cx"] ,data_cloud["cy"], s=4)
flux_cred = np.sum(cropped_cred)
data_cred["tot_flux"] = flux_cred # added data flux to jso
cropped_cred_darked = focus_on_centroid( np.array(data_cred["data"])-np.array(data_cred["dark"]) , data_cloud["cx"] ,data_cloud["cy"], s=4)
flux_cred_darked = np.sum(cropped_cred_darked)
data_cred["tot_flux_darked"] = flux_cred_darked # added darked flux to json
response = {
"cred": data_cred,
"gain": self.data_gain(image),
"dm": self.data_dm(image),
"cloud": data_cloud,
"cx": centroid[0],
"cy": centroid[1],
}
#print(response["cred"]["tot_flux"])
self.json_state = response
return response