WIP

Manager/Manager.py

@@ -598,7 +598,6 @@ def _setup_services(self):
             setup various services that are supposed to provide infos/data
         """
         try:
-            # TODO TN, I need to properly split observatory related webmanager and services related
             self._setup_time_service()
             self._setup_weather_service()
             self._setup_messaging()

ObservationPlanner/Scheduler.py

@@ -283,8 +283,7 @@ def define_target(self, target_name):
                                          frame='icrs',
                                          equinox='J2000.0'))
             except:
-                raise RuntimeError(f"Scheduler: did not managed to "
-                                   f"define target {target_name}")
+                raise RuntimeError(f"Scheduler: did not managed to define target {target_name}")
         return target
 
     def initialize_target_list(self):

ObservationPlanner/SpectroScheduler.py

@@ -136,8 +136,7 @@ def define_target(self, target_name):
                     target = FixedTarget(name=target_name.replace(" ", ""),
                                          coord=coord)
                 except:
-                    raise RuntimeError("SpectroScheduler: did not managed to "
-                                       "define target {target_name}")
+                    raise RuntimeError(f"SpectroScheduler: did not managed to define target {target_name}")
         return target, spinfo
 
     def get_best_reference_target(self, observation):

Pointer/InvisibleObjectOffsetPointer.py

@@ -12,17 +12,22 @@
 import astropy.units as u
 
 # Local
+from Imaging.Image import OffsetError
 from Pointer.OffsetPointer import OffsetPointer
 
 class InvisibleObjectOffsetPointer(OffsetPointer):
     def __init__(self, config=None):
-        super().__init__(config=config)
         if config is None:
             config = dict(
                 timeout_seconds=300,
-                sync_mount_upon_solve=False
+                sync_mount_upon_solve=False,
+                max_iterations=5,
+                max_pointing_error_seconds=2
             )
+        super().__init__(config=config)
 
+        self.max_iterations = config["max_iterations"]
+        self.max_pointing_error = OffsetError(*(config["max_pointing_error_seconds"] * u.arcsec,) * 3)
 
     def offset_points(self, mount, camera, guiding_camera, guider, observation, fits_headers):
         pointing_event = threading.Event()
@@ -71,80 +76,95 @@ def offset_points_async(self, mount, camera, guiding_camera, guider, observation
             then go to next state.
         """
         try:
-            try:
-                # Our first action is to stop guiding
-                if guider is not None:
-                    msg = f"Going to adjust pointing, need to stop guiding"
-                    self.logger.debug(msg)
-                    guider.stop_capture()
-                    try:
-                        exp_time_sec = guiding_camera.is_remaining_exposure_time()
-                        guiding_camera.synchronize_with_image_reception(exp_time_sec=exp_time_sec)
-                    except ImageAcquisitionError as e:
-                        pass
-
-                img_num = 0
+            # Our first action is to stop guiding
+            if guider is not None:
+                msg = f"Going to adjust pointing, need to stop guiding"
+                self.logger.debug(msg)
+                guider.stop_capture()
+                try:
+                    exp_time_sec = guiding_camera.is_remaining_exposure_time()
+                    guiding_camera.synchronize_with_image_reception(exp_time_sec=exp_time_sec)
+                except ImageAcquisitionError as e:
+                    pass
+
+            img_num = 0
+            pointing_error = OffsetError(*(np.inf * u.arcsec,) * 3)
+            pointing_error_stack = {}
+
+            while (img_num < self.max_iterations and pointing_error.magnitude > self.max_pointing_error.magnitude):
                 pointing_image = self.acquire_pointing(camera, guiding_camera, observation, fits_headers,
                                                        img_num)
-
-                # Attempt to solve field
-                pointing_image.solve_field(verbose=True,
-                                           gen_hips=False,
-                                           remove_extras=False,
-                                           skip_solved=False,
-                                           use_header_position=True,
-                                           sampling_arcsec=camera.sampling_arcsec)
-
-                # update mount with the actual position
-                if self.sync_mount_upon_solve:
-                    mount.sync_to_coord(pointing_image.pointing)
-
-                px_identified_target = pointing_image.get_center_coordinates()
-
-            except AstrometrySolverError as e:
-                msg = f"Cannot solve image {pointing_image.fits_file} while in offset_pointing state: {e}"
-                self.logger.error(msg)
-                raise RuntimeError(msg)
-                # TODO TN We can decide to assume that main camera is already pointing to the expected object
-
-            # There are some subteleties here: https://astropy-cjhang.readthedocs.io/en/latest/wcs/
-            radeg, decdeg = pointing_image.wcs.all_pix2world(
-                camera.adjust_center_x,
-                camera.adjust_center_y,
-                0,  # 0-based indexing
-                ra_dec_order=True)
-            current_sky_coord_of_target_sensor_position = SkyCoord(
-                ra=float(radeg) * u.degree,
-                dec=float(decdeg) * u.degree,
-                frame='icrs',
-                equinox='J2000.0')
-            radeg, decdeg = pointing_image.wcs.all_pix2world(
-                px_identified_target[0],
-                px_identified_target[1],
-                0,  # 0-based indexing
-                ra_dec_order=True)
-            current_sky_coord_of_target_star = SkyCoord(
-                ra=float(radeg) * u.degree,
-                dec=float(decdeg) * u.degree,
-                frame='icrs',
-                equinox='J2000.0')
-
-            pointing_error = pointing_image.pointing_error(
-                pointing_reference_coord=current_sky_coord_of_target_star
-            )
-            offset_delta_ra = current_sky_coord_of_target_sensor_position.ra - current_sky_coord_of_target_star.ra
-            offset_delta_dec = current_sky_coord_of_target_sensor_position.dec - current_sky_coord_of_target_star.dec
-            # adjust by slewing to the opposite of the delta
-            current = mount.get_current_coordinates()
-            target = SkyCoord(
-                ra=current.ra + pointing_error.delta_ra - offset_delta_ra,
-                dec=current.dec + pointing_error.delta_dec - offset_delta_dec,
-                frame='icrs', equinox='J2000.0')
-            # Now adjust by slewing to the specified counter-offseted coordinates
-            mount.slew_to_coord(target)
-            if guider is not None:
-                guider.guide(recalibrate=False)
-            pointing_status[0] = True
+                try:
+                    # Attempt to solve field
+                    pointing_image.solve_field(verbose=True,
+                                               gen_hips=False,
+                                               remove_extras=False,
+                                               skip_solved=False,
+                                               use_header_position=True,
+                                               sampling_arcsec=camera.sampling_arcsec)
+                    # update mount with the actual position
+                    if self.sync_mount_upon_solve:
+                        mount.sync_to_coord(pointing_image.pointing)
+                    px_identified_target = pointing_image.get_center_coordinates()
+                except AstrometrySolverError as e:
+                    msg = f"Cannot solve image {pointing_image.fits_file} while in offset_pointing state: {e}"
+                    self.logger.error(msg)
+                    raise RuntimeError(msg)
+                    # TODO TN We can decide to assume that main camera is already pointing to the expected object
+
+                # There are some subteleties here: https://astropy-cjhang.readthedocs.io/en/latest/wcs/
+                radeg, decdeg = pointing_image.wcs.all_pix2world(
+                    camera.adjust_center_x,
+                    camera.adjust_center_y,
+                    0,  # 0-based indexing
+                    ra_dec_order=True)
+                current_sky_coord_of_target_sensor_position = SkyCoord(
+                    ra=float(radeg) * u.degree,
+                    dec=float(decdeg) * u.degree,
+                    frame='icrs',
+                    equinox='J2000.0')
+                radeg, decdeg = pointing_image.wcs.all_pix2world(
+                    px_identified_target[0],
+                    px_identified_target[1],
+                    0,  # 0-based indexing
+                    ra_dec_order=True)
+                current_sky_coord_of_target_star = SkyCoord(
+                    ra=float(radeg) * u.degree,
+                    dec=float(decdeg) * u.degree,
+                    frame='icrs',
+                    equinox='J2000.0')
+
+                pointing_error = pointing_image.pointing_error(
+                    pointing_reference_coord=current_sky_coord_of_target_star
+                )
+                offset_delta_ra = current_sky_coord_of_target_sensor_position.ra - current_sky_coord_of_target_star.ra
+                offset_delta_dec = current_sky_coord_of_target_sensor_position.dec - current_sky_coord_of_target_star.dec
+                # adjust by slewing to the opposite of the delta
+                current = mount.get_current_coordinates()
+                target = SkyCoord(
+                    ra=current.ra + pointing_error.delta_ra - offset_delta_ra,
+                    dec=current.dec + pointing_error.delta_dec - offset_delta_dec,
+                    frame='icrs', equinox='J2000.0')
+                # Now adjust by slewing to the specified counter-offseted coordinates
+                mount.slew_to_coord(target)
+
+                # update pointing process tracking information
+                pointing_error_stack[img_num] = pointing_error
+                img_num = img_num + 1
+
+            if pointing_error.magnitude > self.max_pointing_error.magnitude:
+                self.logger.error(f"Pointing accuracy was not good enough after "
+                                  f"{img_num} iterations, pointing error stack was: "
+                                  f"{pointing_error_stack}")
+                pointing_status[0] = False
+            else:
+                self.logger.info(f"Pointing accuracy was estimated good enough after "
+                                 f"{img_num} iterations, pointing error stack was: "
+                                 f"{pointing_error_stack}")
+                if guider is not None:
+                    guider.find_star() # Star have changed position, we need to force re-detect stars
+                    guider.guide(recalibrate=False)
+                    pointing_status[0] = True
         except Exception as e:
             self.logger.error(f"Problem adjusting image: {e}:{traceback.format_exc()}")
         finally:

StateMachine/States/parked.py

@@ -29,11 +29,11 @@ def on_enter(event_data):
             # We might have shutdown during previous sleep.
             if not model.connected:
                 break
-            elif model.is_safe():
+            elif model.is_safe() and not model.is_simulation():
                 model.reset_observing_run()
                 model.next_state = 'ready'
                 break
-            elif model.is_dark() is False:
+            elif model.is_dark() is False or model.is_simulation():
                 model.logger.debug(f"Looks like it is not dark anymore. Going to clean up.")
                 model.next_state = 'housekeeping'
                 break

StateMachine/States/parking.py

@@ -10,7 +10,6 @@ def on_enter(event_data):
     model.next_state = 'parked'
 
     msg = f"Taking it on home and then parking."
-    model.logger.debug(msg)
     model.say(msg)
 
     if not model.manager.park():

apps/launch_remote_observatory.py

@@ -177,6 +177,7 @@ def say(self, msg):
         Args:
             msg(str): Message to be sent
         """
+        self.logger.debug(msg)
         if not self.has_messaging:
             self.logger.info(f"Unit says: {msg}")
         else:
@@ -323,6 +324,9 @@ def is_safe(self, no_warning=False):
 
         return safe
 
+    def is_simulation(self):
+        return self.simulation_mode
+
     def is_dark(self):
         """Is it dark
 

conf_files/config.yaml

@@ -238,6 +238,8 @@ offset_pointer:
     sync_mount_upon_solve: False
     use_guider_adjust: False
     on_star_identification_failure: trust_astrometry # get_brightest or trust_astrometry
+    max_iterations: 5
+    max_pointing_error_seconds: 2
 guider:
     module : GuiderPHD2
     host : localhost

conf_files/spectral_targets.yaml

@@ -3,34 +3,34 @@ constraints :
     maxairmass : 17 #for testing, normally use 2
     minmoonseparationdeg : 2 # normally put 45
 targets :
-    "Altair" : #HD214680 #HD222404
-        priority : 0
-        count : 1
-        temperature : 10
-        gain: 150
-        offset: 30
-        exp_time_sec : 20
-    "Arcturus":
-        priority: 0
-        count: 1
-        temperature: 15
-        gain: 150
-        offset: 30
-        exp_time_sec: 20
-    "10 Lacertae": #HD214680 #HD222404
+#    "Altair" : #HD214680 #HD222404
+#        priority : 0
+#        count : 1
+#        temperature : 10
+#        gain: 150
+#        offset: 30
+#        exp_time_sec : 20
+    "Capella":
         priority: 0
         count: 1
         temperature: 15
         gain: 150
         offset: 30
         exp_time_sec: 20
-    "Gamma Cassiopeiae" :
-        priority : 0
-        count : 2
-        temperature : 10
-        gain: 150
-        offset: 30
-        exp_time_sec : 5
+#    "10 Lacertae": #HD214680 #HD222404
+#        priority: 0
+#        count: 1
+#        temperature: 15
+#        gain: 150
+#        offset: 30
+#        exp_time_sec: 20
+#    "Gamma Cassiopeiae" :
+#        priority : 0
+#        count : 2
+#        temperature : 10
+#        gain: 150
+#        offset: 30
+#        exp_time_sec : 5
 #    "T CrB" :
 #        priority : 0
 #        count : 1