run_xytest2.py

"""

todo: 
    deal with more positioners 
    pass canbus and devbycan
    now, all positioners are doing the same moves!
    
"""
 
from src.phandler import ShellHandler
import time 
import sbigCam as sbc
import sys
import os
from csv import reader
from spotfinder import spotfinder
import numpy as np
import configparser
import xylib as xylib


sys.path.append('/data/common/software/products/tsmount-umich/python')
import cem120func as cf


def start_cam(exposure_time=3000, is_dark=False):
    """Initialize sbigcam
    """
    cam = sbc.SBIGCam() 
    try: 
        cam.close_camera()
    except Exception as err:
        pass

    cam.open_camera()
    cam.select_camera('ST8300')
    cam.set_exposure_time(exposure_time)
    cam.set_dark(is_dark)
    return cam 


def get_picture(cam, imgname, rootout=None, dryrun=False):
    """
    cam (SBIG.cam() obj): object from sbc
    """
    image = cam.start_exposure()
    # imgname = f"{rootout}/{time.strftime("%Y-%m-%d-%H%M%S")}"
    cam.write_fits(image, name = f"{rootout}/{imgname}.fits")
    print(f'Photo #{imgname} taken successfully.')


def start_mount():
    """
    Instantiate the ts mount class
    returns:
        cem120 (serial obj): object for moving mount class

    """
    cem120 = cf.initialize_mount("/dev/ttyUSB0")
    return cem120



def movemount(mtpos):
    """Place holder for mount
    input:
        mtpos (): list (?) with the mount position
    """
    pass


def connect2pb():
    """Starts ShellHandler and returns the sh object
    """
    with open("conninfo.txt", "r") as ff: 
        pw = [i.strip('\n') for i in ff.readlines()]
    sh = ShellHandler(pw[0], pw[1], pw[2])
    print("Connection started")
    return sh


def read_movetable(ifn):
    """
    Read a positioners move table
    ifn (str): Input File Name w/ rows like:
                     'direction speed motor angle'
            e.g.  'cw cruise phi 180'
    """
    movelines = reader(open(ifn), skipinitialspace=True, delimiter=' ')
    movetable = [ i for i in movelines]
    for i, row in enumerate(movetable):
        assert len(row)==4, \
               f"Error: row {i} with {len(row)} Columns; should be 4!"
    return movetable

def read_xytable(ifn):
    """
    Read a positioners move table
    ifn (str): Input File Name w/ rows like:
                     'direction speed motor angle'
            e.g.  'cw cruise phi 180'
    """
    movelines = reader(open(ifn), skipinitialspace=True, delimiter=' ')
    movetable = [ i for i in movelines]

    for i, row in enumerate(movetable):
        if len(row) == 0:
            print("No move")
            return None
        else:
            assert len(row)==2, \
               f"Error: row {i} with {len(row)} Columns; should be 2!"
    return movetable


def read_mounttable(ifn):
    """
    Read a positioners move table
    ifn (str): Input File Name w/ rows like:
                     'direction speed motor angle'
            e.g.  'cw cruise phi 180'
    """
    if (ifn is None) or ifn=='':
        print("Mount table not found! Using home")
        return [0]
    mountlines = reader(open(ifn), skipinitialspace=True, delimiter=' ')
    mounttable = [ i for i in movelines]
    for i, row in enumerate(movetable):
        assert len(row)==1, \
               f"Error: mount row {i} with {len(row)} Columns; should be 1!"
    return mounttable

def ramp_angle(defcruise, deframp):
    """
    from speed table 
    """
    gear_ratio = (46/14 + 1)**4
    ramp_angle = defcruise*(defcruise+1)* deframp / 20/ gear_ratio
    return ramp_angle

def argscorrection(direc, speed, motor, ang, def_speed, prevdir, val_backlash=None):
    """
    def_speed = {"cruise":XX, spinramp:XX}
    backlash and ramp added here. Agnostic to motor 
    todo: check backlash number for a given positioner
    todo: implement the table of speeds here
    """
    print("---\n",direc, motor, prevdir)

    if val_backlash is None:
        val_backlash= 1.8

    if prevdir[motor] is None:
        add_backlash = 0.0
    elif prevdir[motor]==direc:
        add_backlash = 0.0
    elif direc != prevdir[motor]:
        print(f"Adding {val_backlash} deg of backlash")
        add_backlash = val_backlash
        
    if speed=='creep':
        add_ramp = 0.0
        
    elif speed=='cruise':
        cruise = def_speed['cruise']
        ramp = def_speed['spinramp']
        add_ramp = ramp_angle(cruise, ramp)
        # if cruise==33 and ramp== 12:
        #     assert np.isclose(add_ramp, 1.99549), "Inconsistent ramp_ang"
        # else:
        #     print("NotImplemented spin and cruise")
        #     return None
        # This should be updated for new parameters in testing
    ang2 = ang + add_backlash - 2*add_ramp
    print("------->", ang2)
    if (speed==cruise) and (ang2 < add_backlash+ 5e-2) :
        print(f"{ang2:.3f} move too small for cruise < 4.0")
        ang2=0
    return direc, speed, motor, ang2


def angle_between(c, p1, p2):
    # p1, p2 are points (x,c); c is center (xc, yc)
    a = np.array(p1)
    b = np.array(c)
    c = np.array(p2)
    ba = a - b
    bc = c - b
    cosine_angle = np.dot(ba, bc) / (np.linalg.norm(ba) * np.linalg.norm(bc))
    angle = np.arccos(cosine_angle)
    return np.degrees(angle)

def send_posmove(mvargs, remote_script="fao_seq20.py", verbose=False):
    """
    Move a positioner 
    mvargs (str): 
        args for sequence
        'cw cruise phi 0 somehash'
    remote_script (str):
        path and filename in Petal Box for the script that calls 
        fiposcontroller.
    """
    cmd = f"cd {pbroot}; python3 {remote_script} {mvargs}"
    sin, sout, serr = sh.execute(cmd)
    if verbose:
        sh.print(sout)
        sh.print(serr, mark="::")
    return sout, serr


def get_remotehash(sh, hashfile="/home/msdos/pclight/trenz/umhash.txt"):
    """ 
    Read the last line of hash file to check if the fiposcontroller 
    worked in remote Petal Box
    hashfile (str):
        path in PB to a file that saved hash after move
    return:
        hash (str)
    """
    sin, sout, serr = sh.execute(f"tail -n1 {hashfile}")

    # Asserting no return error
    if len(serr) !=0:
        print("Error (manager):")
        for line in serr:
            print("\t\t", line.strip('\n'))
        return None

    return sout[-1].strip('\n')



def confirm_move(ihash, ohash):
    """
    Compares remote output_hash (read from get_remotehash()) with 
    input_hash
    """
    if ohash == f'#UM{ihash}fff':
        print("Sucessful reply from PB")
        return True
    else:
        print(ohash, f"#UM{ihash}fff")
        print("Error in PB reply")
        return False


def get_spot(fitsname, fitspath,  
              expected_spot_count=1, 
              regionsname='regions.reg', 
              verbose=False):
    """
    spotfinder handler
    input:
        fitsname:
        fitspath (str): relative or full path to the folder
        regionsname (str):
        verbose (bool):
    output: 
        centroids (dict): raw output from spotfinder

    """
    assert isinstance(fitsname, str)

    _ifn = f"{fitspath}/{fitsname}"

    if expected_spot_count != 1:
        raise NotImplementedError("This mode wasn't tested here")
    try: 
        sf=spotfinder.SpotFinder(_ifn, expected_spot_count)
        centroids = sf.get_centroids(print_summary = verbose, 
                                     region_file=regionsname)
        if verbose: print(centroids)
    
    except Exception as err: #ignore photo if an error is raised
        print("Warning: spot not found ")
        print(f"\terr: {err}")
        inval_number = np.nan
        return {  'peaks': [inval_number], 
                      'x': [inval_number], 
                      'y': [inval_number], 
                   'fwhm': [inval_number], 
                 'energy': [inval_number]} 
    return centroids


# def write_db(session_label, imount, mvlabel, posid, imove, cent, 
#              dbname="output/database.csv"):
#     """
#     cent = centroids from spotfinder 
#     imove = [dir, speed, motor, angle ]
#     """
#     if not os.path.isfile(dbname):
#         print("DB file not found. Initializing a new one at {dbname}")
#         with open(dbname, 'w') as ndb:
#             ndb.write("label mount move posid direction speed motor angle xpix ypix peaks fwhm\n")

#     idir, ispeed, imotor, iangle = imove
#     with open(dbname, 'a') as fdb:
#         fdb.write(f"{session_label},{imount},") #mount wise
#         fdb.write(f"{mvlabel},{posid},{idir},{ispeed},{imotor},{iangle},") # requested move
#         #spotfinder points 
#         fdb.write(f"{cent['x'][0]},{cent['y'][0]:},{cent['peaks'][0]:.4f},{cent['fwhm'][0]:.4f}\n")  
#     return None


def write_db(session_label, mtang1, mtang2, mvlabel, posid, imove, cent, xytgt=0,
             dbname="output/database.csv"):
    """
    cent = centroids from spotfinder 
    imove = [dir, speed, motor, angle ]
    # add is target in xytgt
    # add new mount position angles 
    """
    if not os.path.isfile(dbname):
        print(f"DB file not found. Initializing a new one at {dbname}")
        with open(dbname, 'w') as ndb:
            ndb.write("label,mtang1,mtang2,move,posid,direction,speed,motor,angle,xpix,ypix,xytgt,peaks,fwhm\n")

    idir, ispeed, imotor, iangle = imove
    with open(dbname, 'a') as fdb:
        fdb.write(f"{session_label},{mtang1:.6f},{mtang2:.6f},") #mount wise
        fdb.write(f"{mvlabel},{posid},{idir},{ispeed},{imotor},{float(iangle):.6f},") # asked move
        #spotfinder points 
        fdb.write(f"{cent['x'][0]:.6f},{cent['y'][0]:.6f},{xytgt:d},")
        fdb.write(f"{cent['peaks'][0]:.4f},{cent['fwhm'][0]:.4f}\n")
    return None


def print_info(centroids, posid):

    # -------------------------------------------------------------------------    
    # For users: 
    x_here = centroids['x'][0]
    y_here = centroids['y'][0]
    x_pos = x_here*pix2mm - center[posid][0]
    y_pos = y_here*pix2mm - center[posid][1]
    rc = np.hypot(x_pos, y_pos)
    r1, r2 = R1[posid], R2[posid]
    arccos_arg = (r1**2 + r2**2 -rc**2)/(2*r1*r2)
    netphi = np.rad2deg(np.arccos(np.round(arccos_arg, 4)))
    print(f"\t\tx,y:\n {x_pos:4.6f}, {y_pos:4.6f} \n {x_here:.6f}, {y_here:.6f}")
    print(f"dist_xy2c: {rc:.6f} mm\nphi: {netphi: .4f} deg")
    # ------------------------------------------------------------------------


if __name__=='__main__':
    #TODO: receive config as parsed argument
    #      write logs at the end
    #      close connections to cam, mount


    # -------------------------------------------
    # configuration:
    import argparse

    # TODO: remove hardcoded stuff here
    pix2mm = 0.03536752443853155 #0.035337
    # todo, pass this as dictionary per positioner
    posid = '4852' # string
    hardstop_ang = {"4852": -163.88353} # in deg
    R1 = {"4852": 2.9134069  } # R theta
    R2 = {"4852":  3.0696125} # R phi
    center = {"4852": [69.96182, 30.92488]} # in mm

    pos_speed = {"4852":{"cruise": 33, "spinramp": 12, }}#"spindown": 12}}
    pos_backlash = {"4852": 1.9}

    # Todo: copy session config to remote
    #  session db should have
    #    session_label, pos_speed, pos_ramp, dev_bb, R1_pos, R2_pos, center_pos,
    #    pix2mm
    #  session_to_remove should have:
    #    scp: -> pos_speed, pos_ramp, dev_bb,

    #todo: activate a flag for xy in ini file
    xyflag = True


    parser = argparse.ArgumentParser()
    parser.add_argument('--config', '-c', dest='config', 
                        required=True, 
                        type=str, 
                        help="Configuration filename .ini at 'conf/' folder")

    args = parser.parse_args() 
    sess_config = args.config
    # e.g. example.ini


    cfg = configparser.ConfigParser()
    cfg.read(f'{sess_config}')

    pipeline = cfg.get('run', 'pipeline').split(" ")
    dryrun = cfg.getboolean('run', 'dryrun')
    session_label = cfg.get('run', 'session_label')

    pbroot = cfg.get('run', 'pbroot')
    rootout = cfg.get('run', 'rootout')

    hascam = 'cam' in pipeline
    hasmount = 'mount' in pipeline
    haspos = 'positioners' in pipeline
    hasspot = 'spotfinder' in pipeline

    # if haspos: 
    movetablefn = cfg.get('run', 'movetable') 
    
    # if hasmount: 
    mounttablefn = cfg.get('run', 'mounttable')
    
    if session_label is None:
        session_label = time.strftime("%Y%m%d-%H%M%S")
    else:
        _suf = time.strftime("%Y%m%d-%H%M%S")
        session_label = f"{session_label}-{_suf}"
    
   
    print("--"*8)
    print(pipeline)
    print(session_label, '\n')
    print("--"*35,f"\n\t# {movetablefn}\n","--"*35 )

    dbname = "output/database.csv"
    dbsess = "output/sessions.csv"

    # -------------------------------------
    # Session Setup
    
    # Connecting to PB
    sh = connect2pb()

    if hascam:# and (not dryrun):
        cam = start_cam()

    picpath = os.path.join(rootout, session_label)

    if (not os.path.exists(picpath)) and (not dryrun):
        os.makedirs(picpath)
        print("----"*10 + "\nsession imgs in: ", picpath) 

    sys_status=True

    # 1. get_movetable
    # 2. get_mounttable
    # 3. PRINT Planning
    """
    LOOP MOUNT
        LOOP POSITIONERS
    """
    mounttable = read_mounttable(mounttablefn)
    if xyflag:
        movetable = read_xytable(movetablefn)
    else:
        movetable = read_movetable(movetablefn)
    
    print(f" Loop positioner size: {len(movetable)}" )

    x_here = None
    y_here = None
    prevdir = {'theta':None, 'phi':None}
    nextdir = None

    n_corrections = 0 # todo, read from ini file
    for i, imount in enumerate(mounttable):
        if imount !=0:  
            sys.exit("NotImplemented: Only position 0 for mount is allowed now")
        else: 
            mtang1, mtang2 = 0,0 
            print(f"starting positioners loop for MOUNT in {imount}")
            movemount(imount)        

        for j, imove in enumerate(movetable):

            #MOVE THIS BECAUSE OF ROWS
            mvlabel = time.strftime("%Y%m%d-%H%M%S")
            ihash = np.random.randint(100000,1000000-1 )
           
            if not xyflag:
                mvargs = f"{imove[0]} {imove[1]} {imove[2]} {imove[3]} {ihash}"
            else:
                x_tgt, y_tgt = float(imove[0]), float(imove[1])

           
            if (x_here is None) or (y_here is None):
                print("Find current position XY; Assuming last ")

                prevdir = {'theta':'ccw', 'phi':'ccw'} # Assuming parked at hardstop
                get_picture(cam, mvlabel, rootout=picpath, dryrun=dryrun)
                centroids = get_spot(f"{mvlabel}.fits", 
                                     f"sbigpics/{session_label}", verbose=False)

                # todo: should be positioner-wise
                # TODO: assuming a single positioner    
                x_here = centroids['x'][0] 
                y_here = centroids['y'][0]                 

            # todo: id-wise this should be outside the loop
            xc, yc = center[posid] 
            xpos, ypos = xylib.refpix2pos(pix2mm, xc,yc, x_here, y_here)
            print(f"\n\nxy here: {xpos:.4f} {ypos:.4f}\n\n")

            rows = xylib.calc_movetables(hardstop_ang[posid],
                                         R1[posid],R2[posid], 
                                         xpos,ypos,
                                         x_tgt,y_tgt)
            
            if len(rows[0])==0:
                print("No Move!")

            # Move WITHOUT updating targets
            mvlabel = time.strftime("%Y%m%d-%H%M%S")
            ihash = np.random.randint(100000,1000000-1 )
            n_rows = len(rows)
            for ii, irow in enumerate(rows): 
                if ii == n_rows-1: 
                    xytgt = 1
                else:
                    xytgt =0

                _dir, _motor, _ang = irow
                # todo : change to creep if it is a correction move
                ispeed = 'cruise'
                
                mv2 = argscorrection(_dir, ispeed, _motor, _ang, 
                                      pos_speed[posid], prevdir, 
                                      val_backlash=pos_backlash[posid]) 
                _dir, ispeed, _motor, _ang =  mv2

                mvargs = f"{_dir} {ispeed} {_motor} {_ang:.5f} {ihash}"
                # print(prevdir)
                print(mvargs)
                prevdir.update({_motor:_dir})

                #fao
                # sys.exit(1)
                # ----- move it ------------------------------------
                send_posmove(mvargs, verbose=False)    
                sys_status = confirm_move(ihash, get_remotehash(sh))
                
                if not sys_status:
                    print("PB not replied")
                    sys.exit(1) 

            #fao
            time.sleep(0.3) # trying to solve central fit issue

            # getting picture after trying to perform the 2 arms moves!        
            get_picture(cam, mvlabel, rootout=picpath, dryrun=dryrun)
            centroids = get_spot(f"{mvlabel}.fits", 
                                 f"sbigpics/{session_label}", verbose=False)
            
            # todo: Adapt for multiple 
            x_here = centroids['x'][0] 
            y_here = centroids['y'][0] 
            xpos, ypos = xylib.refpix2pos(pix2mm, xc,yc, x_here, y_here)
            # print(f"curpos: ({xpos} {ypos}) ({xc}, {yc})")
            print_info(centroids, posid)


            # todo: assuming centroids is len(1) lists
            assert len(centroids['x']) == 1, \
                  f"Not implemented for list {len(centroids['x'])}"
            

            jmove = [_dir, ispeed, _motor, _ang]      
            # write_db(session_label, imount, mvlabel, posid, jmove, centroids, 
            #          dbname=dbname)
            #fao todo: put this inside the rows loop for register steps
            write_db(session_label, mtang1, mtang2, mvlabel, posid, jmove, centroids, 
                        xytgt=xytgt, dbname=dbname)            

            # corrections 
            i_corr = 0
            if (n_corrections>0) and (np.hypot(xpos-x_tgt, ypos-ytgt)<=0.100):
                while i_corr<=n_corrections:

                    xpos, ypos = xylib.refpix2pos(pix2mm, xc,yc, x_here, y_here)
                    print(f"\n\nxy here: {xpos:.4f} {ypos:.4f}\n\n")

                    rows = xylib.calc_movetables(hardstop_ang[posid],
                                             R1[posid],R2[posid], 
                                             xpos,ypos,
                                             x_tgt,y_tgt)
                    # fao add move rows here
                    i_corr +=1
                    if (np.hypot(xpos-x_tgt, ypos-ytgt)<=0.100):
                        # save_to_database
                        break 
                        

            """
            todo: correction move here, after the target
            while corrections:
                run a loop of get_mov->send_mov-> get_position
            """


    if hascam and (not dryrun):
        cam.close_camera()
    # todo generate a log!!!