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Telecontrol.py
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Telecontrol.py
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########################################################################
########################################################################
############### Nexstar 8SE Telescope Ground Control API ###############
########################################################################
########################################################################
"""
This API is used to controll the Nexstar 8SE Telescope from the ground using Python
"""
import serial
import threading as tr
import time
import math
two_inTwentyFour=16777216
class Telcontrol(tr.Thread):
""" The main class, all function that enables the telescope control can be found here
...
Attributes
----------
telescopeX_Direction : int
The target of the telescope on the X axis, in pixels.
telescopeX_Speed : int
Speed of the telescope's movement on the X axis, [0,9] - the higher the faster
telescopeY_Direction : int
The target of the telescope on the Y axis, in pixels.
telescopeY_Speed : int
Speed of the telescope's movement on the Y axis, [0,9] - the higer the faster
Methods
-------
Telecontol (init) (self,port,baudrate,mindx,mindy,maxdx,maxdy)
Inits the Telecontrol
connect(self)
Start the connection to the telescope
disconnect(self)
End the connection to the telescope
stop(self)
Stops the telescope's movement on both axiss
moveX(self,direction,speed)
Move the telescope on the X axis towards pixel direction(int) in the speed specified(int[0-9])
moveY(self,direction,speed)
Move the telescope on the X axis towards pixel direction(int) in the speed specified(int[0-9])
goToZero(self)
Move the telescope to [0,0]
manualLeft(self,speed)
Go left in speed specified(int[0-9])
manualRight(self,speed)
Go right in speed specified(int[0-9])
manualUp(self,speed)
Go up in speed specified(int[0-9])
manualDown(self,speed)
Go down in speed specified(int[0-9])
"""
telescopeX_Direction = 0
telescopeX_Speed = 0
telescopeY_Direction = 0
telescopeY_Speed = 0
def __init__(self,port = 'com8' ,baudrate="9600", mindx=10, mindy=10, maxdx=1000, maxdy=1000):
""" Init the Telescope
Parameters
----------
port : string
for Windows port should be 'com[x]', x is a number, look for it in the Device Manager, without []'s
for Linux port should be '/dev/ttyUSB[x]',x is a number, look for it in the 'dev' folder, without []'s
baudrate : string
number of bits being sent at a time
mindx : int
min pixel in x axis
mindy : int
min pixel in y axis
maxdx : int
max pixel in x axis
maxdy : int
max pixel in y axis
"""
tr.Thread.__init__(self);
self.ser = serial.Serial()
self.ser.port = port # may be called something different
self.ser.baudrate = 9600 # may be different
isopenend = self.ser.open()
print("Connected to Telescope Controll");
self.initProtocol()
self.mindx=mindx
self.mindy=mindy
self.maxdy=maxdy
self.maxdx=maxdx
self.isReady=True
self.whileLock = tr.Semaphore(value=0)
self.readyLock = tr.Lock()
self.diffaz = 0
self.diffelv = 0
self.start()
self.oldx=0
self.oldy=0
def angle_to_24bit(self,ang):
num = int((ang / 360) * two_inTwentyFour)
#print(num)
high = int(num / 65536)
res = num % 65536
# print(res)
medium = int(res / 256)
res = res % 256
low = res
return [high, medium, low]
def resetAltTelescope(self):
to_send = chr(80) + chr(4) + chr(17) + chr(4) + chr(0) + chr(0) + chr(0) + chr(0)
self.ser.write(to_send.encode())
def resetAzmTelescope(self, resetang=[0, 0, 0]):
to_send = chr(80) + chr(4) + chr(16) + chr(4) + chr(0) + chr(0) + chr(0) + chr(0)
self.ser.write(to_send.encode())
def setAzimut(self, ang):
if(ang<0):
ang=360+ang
if (ang > 360):
ang = ang-360
angtosend = self.angle_to_24bit(ang)
to_send = chr(80) + chr(4) + chr(16) + chr(23) + chr(angtosend[0]) + chr(angtosend[1]) + chr(angtosend[2]) + chr(0)
self.ser.write(to_send.encode())
def setAltitude(self,ang):
if(ang<0):
ang=0
if(ang>180):
ang=0
angtosend = self.angle_to_24bit(ang)
to_send = chr(80) + chr(4) + chr(17) + chr(23) + chr(angtosend[0]) + chr(angtosend[1]) + chr(angtosend[2]) + chr(0)
self.ser.write(to_send.encode())
def connect(self):
""" Connects the telescope """
if not self.ser.is_open:
self.ser.open()
def disconnect(self):
if not self.ser.closed:
self.ser.close()
def initProtocol(self):
self.midLeft = chr(80) + chr(2) + chr(16) + chr(37) + chr(6) + chr(142) + chr(56) + chr(0) # go left slow speed
self.midRight = chr(80) + chr(2) + chr(16) + chr(36) + chr(6) + chr(142) + chr(56) + chr(0) # going right at speed of 4
self.stop_r = chr(80) + chr(2) + chr(16) + chr(36) + chr(0) + chr(0) + chr(0) + chr(0) # Stop
self.stop_l = chr(80) + chr(2) + chr(16) + chr(37) + chr(0) + chr(0) + chr(0) + chr(0)
self.midUp = chr(80) + chr(2) + chr(17) + chr(36) + chr(6) + chr(142) + chr(56) + chr(0) # up
self.midDown = chr(80) + chr(2) + chr(17) + chr(37) + chr(6) + chr(142) + chr(56) + chr(0) # down
self.Stop_d = chr(80) + chr(2) + chr(17) + chr(37) + chr(0) + chr(0) + chr(0) + chr(0) # stop
self.Stop_u = chr(80) + chr(2) + chr(17) + chr(36) + chr(0) + chr(0) + chr(0) + chr(0)
self.StopX = (b':K1\r=\r')
self.StopY = (b':K2\r=\r')
self.ImmidiateStop= (b'4c0a\r')
def getIsReady(self):
self.readyLock.acquire()
ans = self.isReady
self.readyLock.release()
return ans
def setReady(self ,isReady):
self.readyLock.acquire()
self.isReady=isReady
self.readyLock.release()
def setCorrection(self,az=0,elv=0):
if self.getIsReady():
self.oldx=self.myAz
self.oldy = self.myElv
self.diffelv=elv
self.diffaz=az
self.myAz=self.myAz+az
if (self.myElv < 0):
self.myElv=self.myElv+elv
if (self.myAz<0):
self.myAz=360-self.myAz
if(self.myAz>360):
self.myAz=self.myAz-360
# self.myAz = self.myAz +0.1
# self.myElv = self.myElv + 0.1
self.setReady(False)
self.whileLock.release()
print("my elv",self.myElv ,"my az", self.myAz)
def correct_x(self, rl=0, isStop=0):# right + left - up+ down -
print("correct_x")
#print(math.fabs(self.diffaz), "fabs")
if( rl>self.mindx):
self.ser.write(self.midRight.encode())
#time.sleep(5)
#self.ser.write(self.stop_rl.encode())
#self.ser.write(self.stop_rl.encode())
print(" move right ", rl)
if (rl <-self.mindx):
self.ser.write(self.midLeft.encode())
#time.sleep(5)
#self.ser.write(self.stop_rl.encode())
#self.ser.write(self.stop_rl.encode())
print(" move left ",rl)
if (math.fabs(rl)> self.maxdx or math.fabs(rl)< self.mindx or isStop==1):
self.ser.write(self.stop_r.encode())
self.ser.write(self.stop_l.encode())
print("stop x")
#time.sleep(0.1)
#time.sleep(math.abs(self.dy / self.maxdy))
#print("up down")
def correct_y(self, ud=0, isStop=0):# right + left - up+ down -
print("correct_y")
#print(math.fabs(self.diffaz), "fabs")
if (ud > self.mindy):
self.ser.write(self.midUp.encode())
#time.sleep(5)
#self.ser.write(self.Stop_ud.encode())
print(" move up ", ud)
if (ud <- self.mindy):
self.ser.write(self.midDown.encode())
#time.sleep(5)
#self.ser.write(self.Stop_ud.encode())
print(" move down ", ud)
if(math.fabs(ud)> self.maxdy or math.fabs(ud)< self.mindy or isStop==1):
self.ser.write(self.Stop_d.encode())
self.ser.write(self.Stop_u.encode())
print("stop y")
def stop_x(self):
""" Stops the telescope's movement on the x axis """
self.ser.write(self.stop_r.encode())
self.ser.write(self.stop_l.encode())
def stop_y(self):
""" Stops the telescope's movement on the y axis """
self.ser.write(self.Stop_d.encode())
self.ser.write(self.Stop_u.encode())
def run(self):
while True:
self.whileLock.acquire()
self.correct()
self.setReady(True)
def stopTelescope(self):
self.ser.write(self.StopX)
self.ser.write(self.StopY)
self.disconnect()
print("Telescope stopped")
# b12AB0500,40000500
def goToZero(self):
""" Move the telescope the [0,0] """
moveToZero = "b00000000,00000000"
self.ser.write(moveToZero.encode())
time.sleep(0.1)
def getPosition(self):
# moveRight = chr(69)
moveRight = chr(122)
self.ser.write(moveRight.encode())
time.sleep(0.1)
dataIn = self.ser.read_all()
dataStr = str(dataIn)
print("got from telescope str: " + dataStr)
dataStr = dataStr.split(",")
angle_horizontal = dataStr[0].replace('#','').split("'")[1]
angle_horizontal = int(angle_horizontal,16)
angle_horizontal = angle_horizontal/4294967296*360
print ("horizontal: "+str(angle_horizontal))
angle_vertical = dataStr[1].split("#")[0]
angle_vertical = int(angle_vertical, 16)
angle_vertical = angle_vertical / 4294967296 * 360
print("vertical: " + str(angle_vertical))
def manualRight(self,speed=3):
""" Go right in the speed specified
Parameters
----------
speed : int
the speed of the movement of the telescope to the right
"""
moveRight = chr(80) + chr(2) + chr(16) + chr(36) + chr(speed) + chr(0) + chr(0) + chr(0)
self.ser.write(moveRight.encode())
def manualLeft(self,speed=3):
""" Go left in the speed specified
Parameters
----------
speed : int
the speed of the movement of the telescope to the left
"""
moveLeft = chr(80) + chr(2) + chr(16) + chr(37) + chr(speed) + chr(0) + chr(0) + chr(0)
self.ser.write(moveLeft.encode())
def manualUp(self,speed=3):
""" Go up in the speed specified
Parameters
----------
speed : int
the speed of the movement of the telescope upwards
"""
moveUp = chr(80) + chr(2) + chr(17) + chr(36) + chr(speed) + chr(0) + chr(0) + chr(0)
self.ser.write(moveUp.encode())
def manualDown(self,speed=3):
""" Go down in the speed specified
Parameters
----------
speed : int
the speed of the movement of the telescope downwards
"""
moveDown = chr(80) + chr(2) + chr(17) + chr(37) + chr(speed) + chr(0) + chr(0) + chr(0)
self.ser.write(moveDown.encode())
def stopX(self):
""" Stops the movement of the telescope on the X axis """
print("stop x")
stopMoveX = chr(80) + chr(2) + chr(16) + chr(36) + chr(0) + chr(0) + chr(0) + chr(0)
self.ser.write(stopMoveX.encode())
time.sleep(0.1)
def stopY(self):
""" Stops the movement of the telescope on the Y axis """
print("stop y")
stopMoveY = chr(80) + chr(2) + chr(17) + chr(36) + chr(0) + chr(0) + chr(0) + chr(0)
self.ser.write(stopMoveY.encode())
time.sleep(0.1)
def stop(self):
print("calling stop...")
self.stopX()
self.stopY()
def moveX(self,direction,speed):
""" Moves the telescope on the X axis
Parameters
----------
direction : int
the target of the telescope on the x axis in pixels
speed : int
the speed of the telescope's movement on the x axis in int
"""
if abs(direction)<2:
if (self.telescopeX_Speed != 0):
self.stopX()
self.telescopeX_Speed = 0
else:
if (self.telescopeX_Direction != direction | self.telescopeX_Speed != speed):
self.telescopeX_Direction = direction
self.telescopeX_Speed = speed
if (direction > 0):
self.manualRight(speed)
else:
self.manualLeft(speed)
def moveY(self,direction,speed):
""" Moves the telescope on the Y axis
Parameters
----------
direction : int
the target of the telescope on the Y axis in pixels
speed : int
the speed of the telescope's movement on the Y axis in int
"""
if abs(direction)<2:
if (self.telescopeY_Speed != 0):
self.stopY()
self.telescopeY_Speed = 0
else:
if (self.telescopeY_Direction != direction | self.telescopeY_Speed != speed):
self.telescopeY_Direction = direction
self.telescopeY_Speed = speed
if (direction > 0):
self.manualDown(speed)
else:
self.manualUp(speed)
########################################################################
########################################################################
###################### Written by Semyon Pikollov ######################
######## Documented by Eldar Takach, Dor Getter and Oren Lacker ########
########################################################################
########################################################################