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 collections.abc import Sequence 

31from dataclasses import dataclass 

32from typing import TYPE_CHECKING 

33 

34import numpy as np 

35from scipy.optimize import minimize 

36 

37from ..efdUtils import getEfdData 

38 

39if TYPE_CHECKING: 

40 from astropy.time import Time 

41 from lsst_efd_client import EfdClient 

42 from pandas import DataFrame 

43 

44 from lsst.daf.butler import DimensionRecord 

45 

46 

47@dataclass 

48class MountData: 

49 begin: Time 

50 end: Time 

51 azimuthData: DataFrame 

52 elevationData: DataFrame 

53 rotationData: DataFrame 

54 rotationTorques: DataFrame 

55 camhexData: DataFrame 

56 m2hexData: DataFrame 

57 includedPrePadding: float 

58 includedPostPadding: float 

59 expRecord: DimensionRecord | None 

60 

61 @property 

62 def empty(self) -> bool: 

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

64 return ( 

65 self.azimuthData.empty 

66 and self.elevationData.empty 

67 and self.rotationData.empty 

68 and self.rotationTorques.empty 

69 ) 

70 

71 

72def getAzElRotHexDataForPeriod( 

73 client: EfdClient, 

74 begin: Time, 

75 end: Time, 

76 prePadding: float = 0, 

77 postPadding: float = 0, 

78 maxDeltaT: float = 1.0e-3, 

79) -> MountData: 

80 azimuthData = getEfdData( 

81 client, 

82 "lsst.sal.MTMount.azimuth", 

83 begin=begin, 

84 end=end, 

85 prePadding=prePadding, 

86 postPadding=postPadding, 

87 ) 

88 elevationData = getEfdData( 

89 client, 

90 "lsst.sal.MTMount.elevation", 

91 begin=begin, 

92 end=end, 

93 prePadding=prePadding, 

94 postPadding=postPadding, 

95 ) 

96 rotationData = getEfdData( 

97 client, 

98 "lsst.sal.MTRotator.rotation", 

99 begin=begin, 

100 end=end, 

101 prePadding=prePadding, 

102 postPadding=postPadding, 

103 ) 

104 rotationTorques = getEfdData( 

105 client, 

106 "lsst.sal.MTRotator.motors", 

107 begin=begin, 

108 end=end, 

109 prePadding=prePadding, 

110 postPadding=postPadding, 

111 ) 

112 hexData = getEfdData( 

113 client, 

114 "lsst.sal.MTHexapod.application", 

115 begin=begin, 

116 end=end, 

117 prePadding=prePadding, 

118 postPadding=postPadding, 

119 ) 

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

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

122 

123 def calcDeltaT(params: Sequence[float], args: Sequence[np.ndarray]) -> float: 

124 # This calculates the deltaT needed 

125 # to make the median(error) = 0 

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

127 [deltaT] = params 

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

129 error = (values - demandInterp) * 3600 

130 value = abs(np.median(error)) 

131 return float(value) 

132 

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

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

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

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

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

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

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

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

141 

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

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

144 x0 = [0.0] 

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

146 deltaTAz = result.x[0] 

147 

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

149 x0 = [0.0] 

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

151 deltaTEl = result.x[0] 

152 

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

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

155 

156 azError = (azValues - azDemandInterp) * 3600 

157 elError = (elValues - elDemandInterp) * 3600 

158 

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

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

161 rotError = (rotValues - rotDemand) * 3600 

162 

163 azimuthData["azError"] = azError 

164 elevationData["elError"] = elError 

165 rotationData["rotError"] = rotError 

166 

167 mountData = MountData( 

168 begin, 

169 end, 

170 azimuthData, 

171 elevationData, 

172 rotationData, 

173 rotationTorques, 

174 camhexData, 

175 m2hexData, 

176 prePadding, 

177 postPadding, 

178 None, 

179 ) 

180 return mountData 

181 

182 

183def getAzElRotHexDataForExposure( 

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

185) -> MountData: 

186 

187 begin = expRecord.timespan.begin 

188 end = expRecord.timespan.end 

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

190 mountData.expRecord = expRecord 

191 return mountData