Coverage for python / lsst / summit / utils / simonyi / mountData.py: 0%

1# This file is part of summit_utils. 

2# 

3# Developed for the LSST Data Management System. 

4# This product includes software developed by the LSST Project 

5# (https://www.lsst.org). 

6# See the COPYRIGHT file at the top-level directory of this distribution 

7# for details of code ownership. 

8# 

9# This program is free software: you can redistribute it and/or modify 

10# it under the terms of the GNU General Public License as published by 

11# the Free Software Foundation, either version 3 of the License, or 

12# (at your option) any later version. 

13# 

14# This program is distributed in the hope that it will be useful, 

15# but WITHOUT ANY WARRANTY; without even the implied warranty of 

16# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 

17# GNU General Public License for more details. 

18# 

19# You should have received a copy of the GNU General Public License 

20# along with this program. If not, see <https://www.gnu.org/licenses/>. 

21 

22from __future__ import annotations 

23 

24__all__ = [ 

25 "MountData", 

26 "getAzElRotHexDataForPeriod", 

27 "getAzElRotHexDataForExposure", 

28] 

29 

30from dataclasses import dataclass 

31from typing import TYPE_CHECKING 

32 

33import numpy as np 

34from scipy.optimize import minimize 

35 

36from ..efdUtils import getEfdData 

37 

38if TYPE_CHECKING: 

39 from astropy.time import Time 

40 from lsst_efd_client import EfdClient 

41 from pandas import DataFrame 

42 

43 from lsst.daf.butler import DimensionRecord 

44 

45 

46@dataclass 

47class MountData: 

48 begin: Time 

49 end: Time 

50 azimuthData: DataFrame 

51 elevationData: DataFrame 

52 rotationData: DataFrame 

53 rotationTorques: DataFrame 

54 camhexData: DataFrame 

55 m2hexData: DataFrame 

56 includedPrePadding: float 

57 includedPostPadding: float 

58 expRecord: DimensionRecord | None 

59 

60 @property 

61 def empty(self) -> bool: 

62 """Return True if the data is empty.""" 

63 return ( 

64 self.azimuthData.empty 

65 and self.elevationData.empty 

66 and self.rotationData.empty 

67 and self.rotationTorques.empty 

68 ) 

69 

70 

71def getAzElRotHexDataForPeriod( 

72 client: EfdClient, 

73 begin: Time, 

74 end: Time, 

75 prePadding: float = 0, 

76 postPadding: float = 0, 

77 maxDeltaT: float = 1.0e-3, 

78) -> MountData: 

79 azimuthData = getEfdData( 

80 client, 

81 "lsst.sal.MTMount.azimuth", 

82 begin=begin, 

83 end=end, 

84 prePadding=prePadding, 

85 postPadding=postPadding, 

86 ) 

87 elevationData = getEfdData( 

88 client, 

89 "lsst.sal.MTMount.elevation", 

90 begin=begin, 

91 end=end, 

92 prePadding=prePadding, 

93 postPadding=postPadding, 

94 ) 

95 rotationData = getEfdData( 

96 client, 

97 "lsst.sal.MTRotator.rotation", 

98 begin=begin, 

99 end=end, 

100 prePadding=prePadding, 

101 postPadding=postPadding, 

102 ) 

103 rotationTorques = getEfdData( 

104 client, 

105 "lsst.sal.MTRotator.motors", 

106 begin=begin, 

107 end=end, 

108 prePadding=prePadding, 

109 postPadding=postPadding, 

110 ) 

111 hexData = getEfdData( 

112 client, 

113 "lsst.sal.MTHexapod.application", 

114 begin=begin, 

115 end=end, 

116 prePadding=prePadding, 

117 postPadding=postPadding, 

118 ) 

119 camhexData = hexData[hexData["salIndex"] == 1] 

120 m2hexData = hexData[hexData["salIndex"] == 2] 

121 

122 def calcDeltaT(params, args): 

123 # This calculates the deltaT needed 

124 # to make the median(error) = 0 

125 [values, valTimes, demand, demTimes] = args 

126 [deltaT] = params 

127 demandInterp = np.interp(valTimes, demTimes + deltaT, demand) 

128 error = (values - demandInterp) * 3600 

129 value = abs(np.median(error)) 

130 return value 

131 

132 azValues = np.asarray(azimuthData["actualPosition"]) 

133 azValTimes = np.asarray(azimuthData["actualPositionTimestamp"]) 

134 azDemand = np.asarray(azimuthData["demandPosition"]) 

135 azDemTimes = np.asarray(azimuthData["demandPositionTimestamp"]) 

136 elValues = np.asarray(elevationData["actualPosition"]) 

137 elValTimes = np.asarray(elevationData["actualPositionTimestamp"]) 

138 elDemand = np.asarray(elevationData["demandPosition"]) 

139 elDemTimes = np.asarray(elevationData["demandPositionTimestamp"]) 

140 

141 # Calculate the deltaT needed to drive the median(error) to zero 

142 args = [azValues, azValTimes, azDemand, azDemTimes] 

143 x0 = [0.0] 

144 result = minimize(calcDeltaT, x0, args=args, method="Powell", bounds=[(-maxDeltaT, maxDeltaT)]) 

145 deltaTAz = result.x[0] 

146 

147 args = [elValues, elValTimes, elDemand, elDemTimes] 

148 x0 = [0.0] 

149 result = minimize(calcDeltaT, x0, args=args, method="Powell", bounds=[(-maxDeltaT, maxDeltaT)]) 

150 deltaTEl = result.x[0] 

151 

152 azDemandInterp = np.interp(azValTimes, azDemTimes + deltaTAz, azDemand) 

153 elDemandInterp = np.interp(elValTimes, elDemTimes + deltaTEl, elDemand) 

154 

155 azError = (azValues - azDemandInterp) * 3600 

156 elError = (elValues - elDemandInterp) * 3600 

157 

158 rotValues = np.asarray(rotationData["actualPosition"]) 

159 rotDemand = np.asarray(rotationData["demandPosition"]) 

160 rotError = (rotValues - rotDemand) * 3600 

161 

162 azimuthData["azError"] = azError 

163 elevationData["elError"] = elError 

164 rotationData["rotError"] = rotError 

165 

166 mountData = MountData( 

167 begin, 

168 end, 

169 azimuthData, 

170 elevationData, 

171 rotationData, 

172 rotationTorques, 

173 camhexData, 

174 m2hexData, 

175 prePadding, 

176 postPadding, 

177 None, 

178 ) 

179 return mountData 

180 

181 

182def getAzElRotHexDataForExposure( 

183 client: EfdClient, expRecord: DimensionRecord, prePadding: float = 0, postPadding: float = 0 

184) -> MountData: 

185 

186 begin = expRecord.timespan.begin 

187 end = expRecord.timespan.end 

188 mountData = getAzElRotHexDataForPeriod(client, begin, end, prePadding, postPadding) 

189 mountData.expRecord = expRecord 

190 return mountData