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MRT_FUNC_PY4_influxDB.py
606 lines (561 loc) · 18 KB
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MRT_FUNC_PY4_influxDB.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Tue Jun 26 12:35:20 2018
@author: oscartinney
"""
import serial
import numpy as np
#import healpy as hp
import astropy as ap
import matplotlib.pyplot as plt
import time
import MRTtools as mrt
import mrtstate
from scipy.interpolate import griddata
from influxdb import InfluxDBClient
client = InfluxDBClient('localhost', 8086, 'root', 'root', 'test')
#%%
# Don't yet have a good way of auto-detecting which port is Arduino
#port='/dev/cu.usbmodem1421'
#port='/dev/cu.usbmodem1411'
#port = '/dev/ttyACM0'
#port = '/dev/cu.usbmodem14521'
#port = '/dev/cu.usbmodem14431'
#CLport = '/dev/cu.usbmodem14421'
#port = '/dev/cu.usbmodem14611'
#port = '/dev/cu.usbmodem14631'
#port = '/dev/cu.usbmodem14621'
# RHS USB connection on James' Mac 2019/04/26
#port = '/dev/cu.usbmodem14201'
# LHS USB conection on James' Mac 2019/07/19
#port = '/dev/cu.usbmodem14101'
#port = '/dev/cu.usbmodem14331'
port = '/dev/ttyACM0'
#port = '/dev/cu.usbmodem14601'
baud = 115200
nIDBytes = 18
# Should remove this and do the initialization of the serial port in the main
# body of the program. That will mean re-writing a lot of functions to explicitly
# accept `ser` as a variable. :(
ser = serial.Serial(port, baud)
#%%
EOT = b'ZZZ\r\n'
#BTX = 'AAA\r\n'
BDTX = b'BDTX\r\n'
EDTX = b'EDTX\r\n'
# Arduino commands
REPORT_STATE = b'X'
ELEVATION = b'L'
AZIMUTH = b'A'
FORWARD = b'F'
REVERSE = b'R'
SCAN = b'S'
ENABLE = b'E'
DISABLE = b'D'
MICRO = b'm'
EIGHTH = b'e'
QUARTER = b'q'
HALF = b'h'
FULL = b'f'
##<<<<<<< HEAD
#=======
# For the nominal mounting in the observatory
#eloff = 35.5
#azoff = -191.
# For a general setup facing south
#eloff = 35.5
#azoff = -180.
# Just start at zero
eloff = 0.
azoff = -180.
#>>>>>>> f03f1fb8914fd815361cea8904e5a6926da6b4ef
def WaitForInputBytes(timeout=10,nbytesExpected=1):
""" Wait for bytes to appear on the input serial buffer up to the timeout
specified, in seconds """
bytesFound=False
t0 = time.time()
dt = time.time()-t0
while (not bytesFound and dt < timeout):
nbytes = ser.inWaiting()
if nbytes == nbytesExpected:
bytesFound = True
dt = time.time()-t0
return nbytes, dt
def ResetArduinoUno(ser,timeout=10,nbytesExpected=1):
"""Reset the Arduino to clear previous data"""
ser.setDTR(False)
time.sleep(1)
ser.setDTR(True)
nbytes,dt=WaitForInputBytes(nbytesExpected=nbytesExpected)
print (nbytes,'bytes found after',dt,'seconds')
return
def FlushSerialBuffers(ser):
"""Flush previous data out of the buffers"""
ser.flushInput()
ser.flushOutput()
return
def initState():
""" Initialize a dictionary to hold the state """
state = {}
for state_var in mrtstate.state_vars:
state[state_var] = []
return state
def numpyState(state):
"""Get the state going"""
ndata = {}
for i in np.arange(len(mrtstate.state_vars)):
ndata[mrtstate.state_vars[i]] = np.array(state[mrtstate.state_vars[i]],
dtype=mrtstate.state_dtypes[i])
ndata['pwr'] = mrt.zx47_60(ndata['voltage'])
# Both readState and readStream run through here.
# Apply offsets
ndata['azDeg'] = np.round(np.mod(-ndata['azDeg'] - mrtstate.offsets['azoff'] ,360),3)
ndata['elDeg'] = np.round(ndata['elDeg'] - mrtstate.offsets['eloff'], 3)
return ndata
def parseState(buffer,state):
""" Take the raw string returned by the Arduino ("buffer") for the current state,
and parse it into the state dictionary defined by the state_vars """
vars = buffer[0].split()
#assert len(buf[0].split()) == len(state_vars)
if len(vars) != len(mrtstate.state_vars):
print('Cannot parse the returned state')
FlushSerialBuffers(ser)
state = mrtstate.state #initState()
else:
for i,var in enumerate(vars):
state[mrtstate.state_vars[i]].append(var)
#ndata = numpyState(state.copy()) #MAY ALSO BE TAKING UP TIME
""" Formats data to InfluxDC readable strings and writes to InfluxDB database"""
#for i in np.arange(len(ndata['azDeg'])):
#format --> identify field key + field value
#MRTData = 'MRT,location=lab azimuth=%(az)f,elevation=%(el)f,power=%(pwr)f \n' % {'az': ndata['azDeg'], 'el': ndata['elDeg'], 'pwr': ndata['pwr']}
#MRTData = 'MRT,location=lab azimuth=%(az)f,elevation=%(el)f,power=%(pwr)f \n' % {'az': ndata['azDeg'][i], 'el': ndata['elDeg'][i], 'pwr': ndata['pwr'][i]}
#send string to influxdb
#client.write_points([MRTData], protocol='line')
return state
def readState(ser,init=None):
"""Initialize the dictionary, unless a previous state is passed in"""
if init == None:
data = initState()
else:
data = init
buf = read_ser_buffer_to_eot(ser)
data = parseState(buf,data)
ndata = numpyState(data)
mrtstate.state = ndata
""" Formats data to InfluxDC readable strings and writes to InfluxDB database"""
client = InfluxDBClient('localhost', 8086, 'root', 'root', 'test')
#format --> identify field key + field value
MRTData = 'MRT,location=lab azimuth=%(az)f,elevation=%(el)f,power=%(pwr)f \n' % {'az': ndata['azDeg'], 'el': ndata['elDeg'], 'pwr': ndata['pwr']}
timestamp = str(int(round(time.time() * 1000000000)))
MRTData_with_timestamp = MRTData + " " + timestamp
#send string to influxdb
client.write_points([MRTData], protocol='line')
#print("Writing data to InfluxDB...")
return ndata
def readStream(ser):
""" Generalize read_data to read an arbitrary list """
data = initState()
# Begin reading serial port
buf = read_ser_buffer_to_eot(ser) #ser.readline()
#print('1 BUFFER', buf[0])
# Read anything you see until you see BDTX
while (buf[0] != BDTX):
buf = read_ser_buffer_to_eot(ser) #ser.readline()
#print('2 BUFFER:', buf[0])
# Then read states
while(buf[0] != EDTX):
buf = read_ser_buffer_to_eot(ser)
if (buf[0] != EDTX):
#print(buf[0])
data = parseState(buf, data)
ndata = numpyState(data)
#StdCmd(ser,REPORT_STATE)
return ndata
def StdCmd(ser,cmd):
"""Use instead of writing ser.write all the time"""
ser.write(cmd)
return readState(ser)
def PrintState():
""" Make a pretty version of the current state """
print ('AZ:',mrtstate.state['azDeg'][0],'EL:',mrtstate.state['elDeg'][0])
print ('Current axis:',mrtstate.state['axis'][0])
print ('Step Mode:' ,mrtstate.state['mode'][0])
return
def read_ser_buffer_to_eot(ser):
output = []
buf = ser.readline()
while(buf != EOT):
output.append(buf)
#print(buf[:-1])
buf = ser.readline()
return output
def Scan(ser,deg):
"""Scan a specified number of degrees on the current axis in the current direction"""
StdCmd(ser, ENABLE)
ser.write(SCAN)
# The round statement is necessary to prevent a problem with interpretation
# by the Arduino when converted to an ASCII string.
# Is it possible to send floats directly to the Arduino?
deg_str = str.encode(str(np.round(deg,3)))
ser.write(deg_str)
data = readStream(ser)
#StdCmd(ser,REPORT_STATE)
StdCmd(ser, DISABLE)
return data
def PlotData(ndata):
"""Plot the data for the Scan function"""
plt.figure(1,figsize=(10,7))
plt.clf()
#plt.subplot(311)
if (ndata['axis'][0] == 'L'):
x = ndata['elDeg']
if (ndata['axis'][0] == 'A'):
x = ndata['azDeg']
plt.plot(x,ndata['pwr'])
plt.xlabel('Angle (degrees)')
plt.ylabel(r'Power ($\mu$W)')
#plt.subplot(312)
#plt.plot(ndata['ax'],label='ax')
#plt.plot(ndata['ay'],label='ay')
#plt.plot(ndata['az'],label='az')
#plt.legend()
#plt.subplot(313)
#plt.plot(ndata['mx'],label='mx')
#plt.plot(ndata['my'],label='my')
#plt.plot(ndata['mz'],label='mz')
#plt.legend()
#plt.plot(x,np.convolve(pwr, np.ones((N,))/N, mode='same'),'r')
plt.savefig(mrtstate.directory+time.ctime().replace(' ','_')+'.png')
plt.show()
return
def GoTo(azG=None,elG=None):
"""Travel to a specified azimuth and elevation"""
#user inputs for coordinates
if azG == None:
azG = input("Az: ")
azG = float(azG)
if elG == None:
elG = input("El: ")
elG = float(elG)
d_az = azG - float(mrtstate.state['azDeg'][0])
d_el = elG - float(mrtstate.state['elDeg'][0])
print ('d_az: ',d_az)
print ('d_el: ',d_el)
#check to make sure it's clear to move
if (azG >=0. and azG <= 360.):
az_ok = True
else:
print ('Requested azimuth out of bounds')
var = input("Are you sure? (Y/N) ")
if var == 'Y':
az_ok = True
else:
az_ok = False
if (elG >= -mrtstate.offsets['eloff'] and elG <= 120.):
el_ok = True
else:
print ('Requested elevation out of bounds')
var = input("Are you sure? (Y/N) ")
if var == 'Y':
el_ok = True
else:
el_ok = False
#Move
if (az_ok and el_ok):
# Do the azimuth move
StdCmd(ser,AZIMUTH)
StdCmd(ser,QUARTER)
StdCmd(ser,ENABLE)
print ('Azimuth move starting')
PrintState()
if d_az < 0:
# If moving to a less positive azimuth, go CCW
StdCmd(ser,FORWARD)
else:
StdCmd(ser,REVERSE)
Scan(ser,np.abs(d_az))
# Elevation move
StdCmd(ser,ELEVATION)
StdCmd(ser,HALF)
StdCmd(ser,ENABLE)
print ('Elevation move starting')
PrintState()
if d_el < 0:
StdCmd(ser,REVERSE)
else:
StdCmd(ser,FORWARD)
Scan(ser,np.abs(d_el))
StdCmd(ser,DISABLE)
StdCmd(ser,AZIMUTH)
StdCmd(ser,ENABLE)
print ('Final state')
PrintState()
return
def GoAz(azGa=None):
"""Go to a specific Azimuth without changing elevation"""
if azGa == None:
azGa = input("Az: ")
azGa = float(azGa)
d_azga = azGa - float(mrtstate.state['azDeg'][0])
print ('d_az: ',d_azga)
if (azGa >=0. and azGa <= 360.):
az_ok = True
else:
print ('Requested azimuth out of bounds')
var = input("Are you sure? (Y/N) ")
if var == 'Y':
az_ok = True
else:
az_ok = False
#move
if (az_ok):
StdCmd(ser,AZIMUTH)
StdCmd(ser,QUARTER)
StdCmd(ser,ENABLE)
print ('Azimuth move starting')
PrintState()
if d_azga < 0:
# If moving to a less positive azimuth, go CCW
StdCmd(ser,FORWARD)
else:
StdCmd(ser,REVERSE)
print(str(np.abs(d_azga)))
Scan(ser,np.abs(d_azga))
print('Azimuth move ended at')
StdCmd(ser,AZIMUTH)
PrintState()
print ('Final state')
PrintState()
return
def GoEl(elGe=None):
"""Go to a specific elevation without changing azimuth"""
if elGe == None:
elGe = input("El: ")
elGe = float(elGe)
d_elge = elGe - float(mrtstate.state['elDeg'][0])
print ('d_el: ',d_elge)
if (elGe >= -mrtstate.offsets['eloff'] and elGe <= 120.):
el_ok = True
else:
print('Requested elevation out of bounds')
var = input("Are you sure? (Y/N) ")
if var == 'Y':
el_ok = True
else:
el_ok = False
#move
if (el_ok):
StdCmd(ser,ELEVATION)
StdCmd(ser,HALF)
StdCmd(ser,ENABLE)
print ('Elevation move starting')
PrintState()
if d_elge < 0:
StdCmd(ser,REVERSE)
else:
StdCmd(ser,FORWARD)
print(str(np.abs(d_elge)))
Scan(ser,np.abs(d_elge))
StdCmd(ser,DISABLE)
print('Elevation move ended at')
StdCmd(ser,ELEVATION)
PrintState()
print ('Final state')
PrintState()
return
def RasterMap():
"""Make a map centered at a given point, with given dimensions"""
#center point input
azG = input("Az: ")
azG = float(azG)
elG = input("El: ")
elG = float(elG)
#dimensions input
DIMA = input("Azimuth Dimension: ")
DIMAF = float(DIMA)
ONE = 1.0
ONEF = float(ONE)
DIME = input("Elevation Dimension: ")
DIMEF = float(DIME)
DIMEI = int(DIME)/2
azM = azG-DIMAF/2.
elM = elG+DIMEI
#determine figure size based on inputs
if (DIMAF<DIMEF):
x = 8
y = (DIMEF/DIMAF)*8
elif (DIMAF>DIMEF):
x =(DIMAF/DIMEF)*8
y = 8
else:
x = 8
y = 8
#Calculate approximate time to completion
AZT = DIMAF*.35*DIMEF
ELT = DIMEF
TT = (AZT + ELT)/60
#move to starting point
GoTo(azG=azM,elG=elM)
#plt.figure(1)
#plt.clf()
#collect data
az = np.array([])
el = np.array([])
pwr = np.array([])
print('Aproximate time to completion: ', TT, ' minutes')
for i in np.arange(DIMEI):
print (i,'of ',DIMEI)
StdCmd(ser,AZIMUTH)
StdCmd(ser,REVERSE)
d = Scan(ser,DIMAF)
#plt.subplot(10,1,i+1)
#plt.plot(d['azDeg'],d['pwr'])
az = np.append(az,d['azDeg'])
el = np.append(el,d['elDeg'])
pwr = np.append(pwr,d['pwr'])
StdCmd(ser,ELEVATION)
StdCmd(ser,HALF)
StdCmd(ser,ENABLE)
StdCmd(ser,REVERSE)
d= Scan(ser,ONEF)
StdCmd(ser,DISABLE)
StdCmd(ser,AZIMUTH)
StdCmd(ser,FORWARD)
d = Scan(ser,DIMAF)
#plt.subplot(10,1,i+1)
#plt.plot(d['azDeg'],d['pwr'])
az = np.append(az,d['azDeg'])
el = np.append(el,d['elDeg'])
pwr = np.append(pwr,d['pwr'])
StdCmd(ser,ELEVATION)
StdCmd(ser,HALF)
StdCmd(ser,ENABLE)
StdCmd(ser,REVERSE)
d = Scan(ser,ONEF)
StdCmd(ser,DISABLE)
#plot data
plt.figure(2,figsize=(x,y))
plt.clf()
eli = np.linspace(az.min(),az.max(),DIMAF)
azi = np.linspace(el.min(),el.max(),DIMEF)
# grid the data.
zi = griddata((az, el), pwr, (eli[None,:], azi[:,None]), method='nearest')
# contour the gridded data
np.savez(file=mrtstate.directory+'map_'+time.ctime().replace(' ','_')+'.npz',
az=az,el=el,pwr=pwr,zi=zi,azi=azi,eli=eli)
plt.imshow(np.flipud(zi),aspect='auto',cmap=plt.cm.jet,
extent=[eli.min(),eli.max(),azi.min(),azi.max()])
plt.colorbar()
#CS = plt.contour(zi,5,linewidths=1,colors='w')
plt.contour(eli,azi,zi,5,linewidths=1,colors='w')
#CS = plt.contourf(eli,azi,zi,10,cmap=plt.cm.jet)
plt.axis('equal')
plt.xlabel('Azimuth (degrees)')
plt.ylabel('Elevation (degrees)')
plt.savefig(mrtstate.directory+time.ctime().replace(' ','_')+'.png')
plt.show()
print('Final State')
PrintState()
return (az,el,pwr,zi,azi,eli)
def PrintMenu():
""" Provide the user the available commands """
print('A: Set Azimuth')
print('L: Set Elevation')
print('E: Enable')
print('D: Disable')
print('F: Set Forward Direction')
print('R: Set Reverse Direction')
print('S: Scan')
print('G: Go to specific coordinates')
print('GA: Go to specific Azimuth')
print('GE: Go to specific Elevation')
print('M: Map a grid around a specific coordinate with variable dimensions')
print('MS: Map the entire south sky')
print('CS: Get the full current state of the telescope')
print('Q: Quit program')
return
def ETGOHOME():
if(int(mrtstate.state['el_lower_limit'][0])==1):
print("Elevation already homed.")
else:
StdCmd(ser,ELEVATION)
StdCmd(ser,EIGHTH)
StdCmd(ser,ENABLE)
StdCmd(ser,REVERSE)
PrintState()
print ('Elevation home starting')
while(int(mrtstate.state['el_lower_limit'][0])==0):
Scan(ser,1.0)
StdCmd(ser,REPORT_STATE)
print("Elevation homing done.")
return
def ScanSouthSky():
"""Scan the entire south sky, except between 80 and 90 degrees for elevation limited by telescope design"""
#define and convert variables for input to the scan function
DIM = 180
DIMF = float(DIM)
ONE = 1
ONEF = float(ONE)
#starting point of scan
Ac = 90
Acf = float(Ac)
Ec = 80
Ecf = float(Ec)
GoTo(azG=Acf,elG=Ecf)
#start data collection
az = np.array([])
el = np.array([])
pwr = np.array([])
for i in np.arange(44):
print (i,'of 44')
StdCmd(ser,AZIMUTH)
StdCmd(ser,ENABLE)
StdCmd(ser,REVERSE)
d= Scan(ser,DIMF)
az = np.append(az,d['azDeg'])
el = np.append(el,d['elDeg'])
pwr = np.append(pwr,d['pwr'])
StdCmd(ser,ELEVATION)
StdCmd(ser,ENABLE)
StdCmd(ser,HALF)
StdCmd(ser,REVERSE)
d = Scan(ser,ONEF)
StdCmd(ser,DISABLE)
StdCmd(ser,AZIMUTH)
StdCmd(ser,FORWARD)
d = Scan(ser,DIMF)
az = np.append(az,d['azDeg'])
el = np.append(el,d['elDeg'])
pwr = np.append(pwr,d['pwr'])
StdCmd(ser,ELEVATION)
StdCmd(ser,ENABLE)
StdCmd(ser,HALF)
StdCmd(ser,REVERSE)
d = Scan(ser, ONEF)
StdCmd(ser,DISABLE)
#plot data
plt.figure(2,figsize=(16,8))
plt.clf()
eli = np.linspace(az.min(),az.max(),180)
azi = np.linspace(el.min(),el.max(),90)
#grid the data.
zi = griddata((az, el), pwr, (eli[None,:], azi[:,None]), method='nearest')
#contour the gridded data
np.savez(file=mrtstate.directory+'map_'+time.ctime().replace(' ','_')+'.npz',
az=az,el=el,pwr=pwr,zi=zi,azi=azi,eli=eli)
plt.imshow(np.flipud(zi),aspect='auto',cmap=plt.cm.jet,
extent=[eli.min(),eli.max(),azi.min(),azi.max()])
plt.colorbar()
#CS = plt.contour(zi,5,linewidths=1,colors='w')
plt.contour(eli,azi,zi,5,linewidths=1,colors='w')
#CS = plt.contourf(eli,azi,zi,10,cmap=plt.cm.jet)
plt.axis('equal')
plt.xlabel('Azimuth (degrees)')
plt.ylabel('Elevation (degrees)')
plt.savefig(mrtstate.directory+time.ctime().replace(' ','_')+'.png')
plt.show()
print('Final State')
PrintState()
return