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gnthibault · Aug 17, 2023 · 9d16278 · 9d16278
1 parent fc0a05e
commit 9d16278
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Showing 7 changed files with 57 additions and 42 deletions.
diff --git a/Imaging/Image.py b/Imaging/Image.py
@@ -155,7 +155,9 @@ def pointing_error(self, pointing_reference_coord=None):
 
     def get_center_coordinates(self):
         """
-        Those are 0-based indexing
+        Those are 0-based indexing, also from documentation:
+        https://docs.astropy.org/en/stable/api/astropy.wcs.WCS.html#astropy.wcs.WCS.pixel_to_world_values
+        Note that pixel coordinates are assumed to be 0 at the center of the first pixel in each dimension
         :return:
         """
         return (self.header["NAXIS1"]/2-0.5,
@@ -196,8 +198,8 @@ def get_wcs_pointing(self):
         """
         if self.wcs is not None:
             # This was wrong because crval coord relates to crpix reference pixels
-            ra = self.wcs.celestial.wcs.crval[0]
-            dec = self.wcs.celestial.wcs.crval[1]
+            # ra = self.wcs.celestial.wcs.crval[0]
+            # dec = self.wcs.celestial.wcs.crval[1]
 
             # TODO TN trying alternative definition
             cx, cy = self.get_center_coordinates()
@@ -207,14 +209,19 @@ def get_wcs_pointing(self):
                 0,  # 0-based indexing
                 ra_dec_order=True)
 
-            fk5_J2015_5 = FK5(equinox=Time(datetime.datetime(year=2015, month=6, day=30)))
-            pointing = SkyCoord(ra=radeg*u.degree,
-                                dec=decdeg*u.degree,
-                                frame=fk5_J2015_5,
-                                obstime=Time(datetime.datetime(year=2015, month=6, day=30)))
+            # fk5_J2015_5 = FK5(equinox=Time(datetime.datetime(year=2015, month=6, day=30)))
+            # pointing = SkyCoord(ra=radeg*u.degree,
+            #                     dec=decdeg*u.degree,
+            #                     frame=fk5_J2015_5,
+            #                     obstime=Time(datetime.datetime(year=2015, month=6, day=30)))
+            # icrs_j2k = ICRS()
+            # self.pointing = pointing.transform_to(icrs_j2k)
+
             icrs_j2k = ICRS()
+            self.pointing = SkyCoord(ra=radeg*u.degree,
+                                dec=decdeg*u.degree,
+                                frame=icrs_j2k)
 
-            self.pointing = pointing.transform_to(icrs_j2k)
             self.ra = self.pointing.ra.to(u.hourangle)
             self.dec = self.pointing.dec.to(u.degree)
             # Precess to the current equinox otherwise the RA - LST method
@@ -228,12 +235,17 @@ def all_pix2world(self, x, y):
             y,
             0,  # 0-based indexing
             ra_dec_order=True)
-        fk5_J2015_5 = FK5(equinox=Time(datetime.datetime(year=2015, month=6, day=30)))
-        coord = SkyCoord(ra=coord_ra*u.deg,
-                         dec=coord_dec*u.deg,
-                         frame=fk5_J2015_5,
-                         obstime=Time(datetime.datetime(year=2015, month=6, day=30)))
+        # fk5_J2015_5 = FK5(equinox=Time(datetime.datetime(year=2015, month=6, day=30)))
+        # coord = SkyCoord(ra=coord_ra*u.deg,
+        #                  dec=coord_dec*u.deg,
+        #                  frame=fk5_J2015_5,
+        #                  obstime=Time(datetime.datetime(year=2015, month=6, day=30)))
+        # icrs_j2k = ICRS()
         icrs_j2k = ICRS()
+        coord = SkyCoord(ra=coord_ra * u.deg,
+                                 dec=coord_dec * u.deg,
+                                 frame=icrs_j2k)
+
         return coord.transform_to(icrs_j2k)
 
     def solve_field(self, **kwargs):

diff --git a/Mount/IndiMount.py b/Mount/IndiMount.py
@@ -304,7 +304,8 @@ def get_current_coordinates(self):
                        frame=fk5_now,
                        obstime=Time.now())
         icrs_j2k = ICRS()
-        self.logger.debug(f"Received coordinates in JNOw/CIRS from mount: {ret}")
+        # This was too verbose
+        #self.logger.debug(f"Received coordinates in JNOw/CIRS from mount: {ret}")
         ret = ret.transform_to(icrs_j2k)
 
         # ret = SkyCoord(ra=rahour_decdeg['RA'] * u.hourangle,

diff --git a/Pointer/InvisibleObjectOffsetPointer.py b/Pointer/InvisibleObjectOffsetPointer.py
@@ -80,6 +80,7 @@ def offset_points_async(self, mount, camera, guiding_camera, guider, observation
                 msg = f"Going to adjust pointing, need to stop guiding"
                 self.logger.debug(msg)
                 guider.stop_capture()
+                #guider.set_paused(paused=True, full="full")
                 try:
                     exp_time_sec = guiding_camera.is_remaining_exposure_time()
                     guiding_camera.synchronize_with_image_reception(exp_time_sec=exp_time_sec)
@@ -104,8 +105,6 @@ def offset_points_async(self, mount, camera, guiding_camera, guider, observation
                     # update mount with the actual position
                     if self.sync_mount_upon_solve:
                         mount.sync_to_coord(pointing_image.pointing)
-                    # We used px_identified_target only if the assumption that target was centered beforehand is ok
-                    current_sky_coord_of_image_center = pointing_image.pointing
                     # There are some subteleties here: https://astropy-cjhang.readthedocs.io/en/latest/wcs/
                     current_sky_coord_of_target_sensor_position = pointing_image.all_pix2world(
                         camera.adjust_center_x,
@@ -114,22 +113,23 @@ def offset_points_async(self, mount, camera, guiding_camera, guider, observation
                     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
 
-                star_pointing_delta = pointing_image.pointing_error(
-                    pointing_reference_coord=observation.target.coord
-                )
-                offset_delta_ra = current_sky_coord_of_target_sensor_position.ra - current_sky_coord_of_image_center.ra
-                offset_delta_dec = current_sky_coord_of_target_sensor_position.dec - current_sky_coord_of_image_center.dec
+                star_pointing_delta = pointing_image.pointing_error()
+                offset_delta_ra = current_sky_coord_of_target_sensor_position.ra - pointing_image.pointing.ra
+                offset_delta_dec = current_sky_coord_of_target_sensor_position.dec - pointing_image.pointing.dec
                 # adjust by slewing to the opposite of the delta
                 current = mount.get_current_coordinates()
                 target = SkyCoord(
                     ra=current.ra - star_pointing_delta.delta_ra - offset_delta_ra,
                     dec=current.dec - star_pointing_delta.delta_dec - offset_delta_dec,
                     frame='icrs', equinox='J2000.0')
-
+                # Virtual target (different from target if we do not do sync on the mount)
+                virtual_target = SkyCoord(
+                    ra=pointing_image.pointing.ra - star_pointing_delta.delta_ra - offset_delta_ra,
+                    dec=pointing_image.pointing.dec - star_pointing_delta.delta_dec - offset_delta_dec,
+                    frame='icrs', equinox='J2000.0')
                 pointing_error = pointing_image.pointing_error(
-                    pointing_reference_coord=target
+                    pointing_reference_coord=virtual_target
                 )
                 self.logger.debug(f"Offset point, current error is: {pointing_error}")
                 # update pointing process tracking information

diff --git a/Pointer/StarOffsetPointer.py b/Pointer/StarOffsetPointer.py
@@ -90,6 +90,7 @@ def offset_points_async(self, mount, camera, guiding_camera, guider, observation
                     msg = f"Going to adjust pointing, need to stop guiding"
                     self.logger.debug(msg)
                     guider.stop_capture()
+                    #guider.set_paused(paused=True, full="full")
                     try:
                         exp_time_sec = guiding_camera.is_remaining_exposure_time()
                         guiding_camera.synchronize_with_image_reception(exp_time_sec=exp_time_sec)
@@ -186,13 +187,13 @@ def offset_points_async(self, mount, camera, guiding_camera, guider, observation
                     # adjust by slewing to the opposite of the delta
                     current = mount.get_current_coordinates()
                     target = SkyCoord(
-                        ra=current.ra - star_pointing_delta.delta_ra + offset_delta_ra,
-                        dec=current.dec - star_pointing_delta.delta_dec + offset_delta_dec,
+                        ra=current.ra - star_pointing_delta.delta_ra - offset_delta_ra,
+                        dec=current.dec - star_pointing_delta.delta_dec - offset_delta_dec,
                         frame='icrs', equinox='J2000.0')
                     # Virtual target (different from target if we do not do sync on the mount)
                     virtual_target = SkyCoord(
-                        ra=pointing_image.pointing.ra - star_pointing_delta.delta_ra + offset_delta_ra,
-                        dec=pointing_image.pointing.dec - star_pointing_delta.delta_dec + offset_delta_dec,
+                        ra=pointing_image.pointing.ra - star_pointing_delta.delta_ra - offset_delta_ra,
+                        dec=pointing_image.pointing.dec - star_pointing_delta.delta_dec - offset_delta_dec,
                         frame='icrs', equinox='J2000.0')
                     pointing_error = pointing_image.pointing_error(
                         pointing_reference_coord=virtual_target
@@ -218,6 +219,7 @@ def offset_points_async(self, mount, camera, guiding_camera, guider, observation
                                      f"{pointing_error_stack}")
 
                 if guider is not None:
+                    # guider.stop_capture()
                     guider.loop()
                     half_search_size = camera.adjust_roi_search_size / 2
                     guider.find_star(x=max(0, int(round(camera.adjust_center_x - half_search_size))),

diff --git a/StateMachine/States/observing.py b/StateMachine/States/observing.py
@@ -13,7 +13,7 @@
 STATUS_INTERVAL = 10. * u.second
 GUIDER_STATUS_INTERVAL = 5. * u.second
 WAITING_MSG_INTERVAL = 5. * u.second
-MAX_EXTRA_TIME = (60+SLEEP_SECONDS) * u.second
+MAX_EXTRA_TIME = (100+SLEEP_SECONDS) * u.second
 
 def on_enter(event_data):
     #TODO TN DEBUG

diff --git a/conf_files/config.yaml b/conf_files/config.yaml
@@ -175,8 +175,8 @@ cameras:
             SIM_PEMAX: 0
             SIM_TIME_FACTOR: 1
         SCOPE_INFO: # 200/800 newtonian
-            FOCAL_LENGTH: 242
-            APERTURE: 50
+            FOCAL_LENGTH: 800
+            APERTURE: 200
         subsample_astrometry: 4
         do_guiding: false
         do_pointing: false
@@ -236,7 +236,7 @@ offset_pointer:
     timeout_seconds: 300
     max_identification_error_seconds: 1
     sync_mount_upon_solve: False
-    use_guider_adjust: False
+    use_guider_adjust: True
     on_star_identification_failure: trust_astrometry # get_brightest or trust_astrometry
     max_iterations: 5
     max_pointing_error_seconds: 2
@@ -248,9 +248,9 @@ guider:
     profile_name : Simulator
     exposure_time_sec : 4
     settle :
-        pixels : 1.5
+        pixels : 3
         time : 10
-        timeout : 60
+        timeout : 360
     dither :
         pixels : 0.0
         ra_only : False

diff --git a/conf_files/spectral_targets.yaml b/conf_files/spectral_targets.yaml
@@ -3,13 +3,13 @@ constraints :
     maxairmass : 17 #for testing, normally use 2
     minmoonseparationdeg : 2 # normally put 45
 targets :
-#    "Altair":
-#        priority : 0
-#        count : 1
-#        temperature : 10
-#        gain: 150
-#        offset: 30
-#        exp_time_sec : 20
+    "Altair":
+        priority : 0
+        count : 1
+        temperature : 10
+        gain: 150
+        offset: 30
+        exp_time_sec : 20
     "Capella":
         priority: 0
         count: 1