auto_correct_gui

#!/usr/bin/ruby

require 'thread'
require 'timeout'
require 'socket'
require 'resolv'
require 'libglade2'

Thread.abort_on_exception = true

### define the main GUI window
class MainWindow

# SRV routine

def srv_lookup(name)
  srv = "_#{name.downcase.gsub(/_/,"-")}._tcp.mmto.arizona.edu"
  dns =  Resolv::DNS.open
  begin
      resource = dns.getresource(srv, Resolv::DNS::Resource::IN::SRV)
  rescue Resolv::ResolvError
      return nil
  end
  port = resource.port
  host = resource.target.to_s
  return host, port
end

# end of SRV routine

# MSG routines from msg.rb

  def sockopen(host, port)
    socket = nil
    status = nil
    timeout = 5.0
    begin
      timeout(5) {
        socket = TCPSocket.open(host, port)
      }
    rescue Timeout::Error
      status = "Timeout"
      return nil
    rescue Errno::ECONNREFUSED
      status = "Refusing connection"
      return nil
    rescue => why
      status = "Error: #{why}"
      return nil
    end
    return socket
  end
  def msg_get(socket, par)
    return nil unless socket
    begin
      socket.send("1 get #{par}\n", 0)
      result = socket.gets
    rescue => why
      status = "Error: #{why}"
      return status
    end
    if (result =~ /ack/)
      answer = result.split('ack')[1].chomp
    else 
      answer = nil
    end
    return answer
  end
  def msg_cmd(socket, command, value)
    return nil unless socket
    begin
      if value
	socket.send("1 #{command} #{value}\n", 0)
      else
	socket.send("1 #{command}\n", 0)
      end
      answer = socket.gets
    rescue => why
      status = "Error: #{why}"
      return status
    end
    if (answer =~ /ack/)
      return true
    else 
      return false
    end
  end
  def msg_set(socket, par, value)
    return nil unless socket
    begin
      socket.send("1 set #{par} #{value}\n", 0)
      answer = socket.gets
    rescue => why
      status = "Error: #{why}"
      return status
    end
    if (answer =~ /ack/)
      return true
    else 
      return false
    end
  end

# end of MSG routines
  
  def initialize(mode, inst)
    @mode = mode
    @inst = inst

    @hexhost, @hexport = srv_lookup('hexapod')
    @mounthost, @mountport = srv_lookup('mount-mini')
    @cellhost, @cellport = srv_lookup('cell-mini')
    @whost, @wport = srv_lookup('wfs')
    @hhost, @hport = srv_lookup('hexapod-msg')
    @hostname = "hacksaw"

    if ENV['WFSROOT']
      @path = ENV['WFSROOT']
      @dir = "#{@path}/datadir"
      @netdir = "/net/#{@hostname}#{@path}/datadir"
    else
      @path = "/mmt/shwfs"
      @dir = "/mmt/shwfs/datadir"
      @netdir = "/net/#{@hostname}/home/mmt/shwfs/datadir"
    end

    @glade = GladeXML.new("#{@path}/glade/auto_correct.glade") {|handler| method(handler)}

    @mainwindow = @glade.get_widget("MainWindow")
    @mainwindow.set_title("AutoWFS GUI")
    @status = @glade.get_widget("StatusBar")
    @menubar = @glade.get_widget("menubar1")

    @list = ""

    # load reference X and Y values for pupil
    @xref = 256.0
    @yref = 256.0

    @rotoff = Hash.new
    @rotoff['F9'] = -225.0
    @rotoff['F5'] = 234.0

    @hexscale = Hash.new
    #@hexscale['F9'] = 6.0*0.12
    #@hexscale['F5'] = 0.135/0.297

    @hexscale['F9'] = 0.12
    @hexscale['F5'] = 0.135

    @xparity = Hash.new
    @yparity = Hash.new
    @xparity['F5'] = -1.0
    @yparity['F5'] = 1.0
    @xparity['F9'] = 1.0
    @yparity['F9'] = -1.0

    @centol = 25.0

    @abort = false

    # exposure configuration
    @abort_but = @glade.get_widget("Abort")
    @abort_but.set_sensitive(false)
    @correct = @glade.get_widget("Correct")
    @niter = @glade.get_widget("NIter")
    @exptime = @glade.get_widget("ExpTime")
    @fileentry = @glade.get_widget("FileEntry")
    @fileentry.set_text("auto_wfs")
    @tweak = @glade.get_widget("Tweak")
    @tweakm2 = @glade.get_widget("TweakM2")
    @megacam = @glade.get_widget("MegaCam")
    @megacam.child.set_text("Offset Hexapod to #{inst} Center")
    @wfsock = nil
  end

  def wfsopen
    unless @wfsock
      # report("Before srv_lookup")
      # whost, wport = srv_lookup('wfs')
      # whost = "localhost"
      # wport = 6868
      report("Opening connection to #{@whost} on port #{@wport} (wfs via msg)")
      @wfsock = sockopen(@whost, @wport)
      # report("After srv_lookup")
    end
  end

  def wfsclose
    if @wfsock
      report("Connection to port #{@wport} (wfs via msg) closed")
      @wfsock.close
      @wfsock = nil
    end
  end

  def on_Abort_clicked
    @abort = true
  end

  # check to see if there's a pupil in the image and, if so, where it is
  def check_pupil(fitsfile)
    # report("Before Center")
    # center = `#{@path}/get_pupil_center #{fitsfile} #{@mode} 2> /dev/null`
    f = IO.popen("#{@path}/get_pupil_center #{fitsfile} #{@mode}")
    center = f.gets
    # report("After Center")
    if center =~ /No pupil/
      return false
    else
      xcen, ycen = center.split()
      xcen = xcen.to_f
      ycen = ycen.to_f
      return [xcen, ycen]
    end
  end

  # given current pupil center, calc hexapod move to center it on WFS
  def center_pupil(x, y)
    # check if we're close enough
    xdist = x - @xref
    ydist = y - @yref
    xdist = xdist*@xparity[@mode]
    ydist = ydist*@yparity[@mode]

    dist = Math::sqrt(xdist*xdist + ydist*ydist)
    if dist < @centol 
      return true
    else
      # get instrument rotator angle
      # rotangle = `echo "get rot" | nc #{@mounthost} #{@mountport}`.to_f
      f = IO.popen("echo 'get rot' | nc #{@mounthost} #{@mountport}")
      rotangle = f.gets.chomp.to_f
      angle = Math::PI*(rotangle + @rotoff[@mode])/180.0
      daz = @hexscale[@mode]*(xdist*Math::cos(angle) + ydist*Math::sin(angle))
      del = @hexscale[@mode]*(-1.0*xdist*Math::sin(angle) + 
			      ydist*Math::cos(angle))

      report("Moving hexapod to center pupil....")

      puts "X = #{x}, Y = #{y}"
      puts "Xcen = #{@xref}, Ycen = #{@yref}"
      puts "Del = #{del}, Daz = #{daz}"

#      socket = sockopen("hacksaw", 5350)
#      msg_cmd(socket, 'tiltxerr_zc', del)
#      msg_cmd(socket, 'tiltyerr_zc', daz)
#      socket.close
#      socket = nil
      system("echo \"offset_zc wfs tx #{del}\" | nc -w 5 #{@hexhost} #{@hexport}")
      system("echo \"offset_zc wfs ty #{daz}\" | nc -w 5 #{@hexhost} #{@hexport}")
      system("echo \"apply_offsets\" | nc -w 5 #{@hexhost} #{@hexport}")
      wait4hexapod
      wait4hexapod
      return false
    end
  end

  # calc hexapod move to center up on megacam 
  def center_megacam
    unless @inst == 'MegaCam' || @inst == 'SWIRC' || @inst == 'Hecto' || @inst == 'Maestro'
      return
    end
    # check if we're close enough
    if @inst == 'SWIRC'
#      xdist = 256 - 240.7
#      ydist = 256 - 240.86
      xdist = 256 - 231.5
      ydist = 256 - 212.4
    else
      xdist = 256 - 231.5
      ydist = 256 - 212.4
    end
    if @inst == 'Maestro'
      xdist = 0
      ydist = 0
    end


    xdist = xdist*@xparity[@mode]
    ydist = ydist*@yparity[@mode]

    dist = Math::sqrt(xdist*xdist + ydist*ydist)

    # get instrument rotator angle
    # rotangle = `echo "get rot" | nc #{@mounthost} #{@mountport}`.to_f
    f = IO.popen("echo 'get rot' | nc #{@mounthost} #{@mountport}")
    rotangle = f.gets.chomp.to_f
    angle = Math::PI*(rotangle + @rotoff[@mode])/180.0
    daz = @hexscale[@mode]*(xdist*Math::cos(angle) + ydist*Math::sin(angle))
    del = @hexscale[@mode]*(-1.0*xdist*Math::sin(angle) + 
			    ydist*Math::cos(angle))

    report("Moving hexapod to center up on #{@inst}....")

    #puts "Xcen = #{@xref}, Ycen = #{@yref}"
    #puts "Del = #{del}, Daz = #{daz}"

    system("echo \"offset_zc wfs tx #{del}\" | nc -w 5 #{@hexhost} #{@hexport}")
    system("echo \"offset_zc wfs ty #{daz}\" | nc -w 5 #{@hexhost} #{@hexport}")
    if @inst == 'SWIRC'
      system("echo \"offset_inc wfs z -30.0\" | nc -w 5 #{@hexhost} #{@hexport}")
    end
    if @inst == 'Maestro'
      #This applied a 800 micron focus shift for MAESTRO that should no longer be needed
      #as the instrument was raised.  Keeping code here for future use if needed - RJC Sept 2 2014
      #system("echo \" offset_inc wfs z -800.0\" | nc -w 5 #{@hexhost} #{@hexport}")
    end

    system("echo \"apply_offsets\" | nc -w 5 #{@hexhost} #{@hexport}")
    wait4hexapod
    wait4hexapod
    report("Hexapod aligned for #{@inst}.")
    return true
  end

  # kill the main window on a destroy
  def on_MainWindow_destroy
    wfsclose
    Gtk.main_quit
  end

  # routine to print to statusbar
  def report(text)
    @status.pop(0)
    @status.push(0, text)
  end

  # menubar callbacks
  def on_quit_activate
    wfsclose
    Gtk.main_quit
  end

  def hexapod_log
    hexlog = "#{@dir}/hexapod.log"
    # date = `date -u +'%H_%M_%S'`.chomp
    f = IO.popen("date -u +'%H_%M_%S'")
    date = f.gets.chomp
    celllog = "#{@dir}/#{date}.celllog"
    offsetlog = "#{@dir}/#{date}.offsets"
    system("touch #{hexlog}")
    system("touch #{celllog}")
    system("/mmt/shwfs/getm2info >> #{hexlog}")
    system("echo \"all\" | nc #{@cellhost} #{@cellport} > #{celllog}")
    system("echo \"all\" | nc #{@hexhost} #{@hexport} | grep off_ | grep applied > #{offsetlog}")
  end

  def disable
    @megacam.set_sensitive(false)
    @correct.set_sensitive(false)
    @tweak.set_sensitive(false)
    @tweakm2.set_sensitive(false)
    @abort_but.set_sensitive(true)
  end

  def enable
    @abort_but.set_sensitive(false)
    @correct.set_sensitive(true)
    @tweak.set_sensitive(true)
    @tweakm2.set_sensitive(true)
    @megacam.set_sensitive(true)
  end

  def on_about1_activate
    report("First cut at a remote WFS interface")
  end

  def m2correct
    report("Applying Hexapod Corrections....")
    wfsopen
    msg_cmd(@wfsock, "recenter", nil)
    msg_cmd(@wfsock, "corr_coma", nil)
    msg_cmd(@wfsock, "corr_focus", nil)
    wfsclose
    wait4hexapod
    wait4hexapod
    report("Corrections Applied.")
    hexapod_log
    return true
  end

  def fullcorrect
    report("Applying Cell and Hexapod Corrections....")
    wfsopen
    msg_cmd(@wfsock, "recenter", nil)
    msg_cmd(@wfsock, "corr_coma", nil)
    msg_cmd(@wfsock, "corr_focus", nil)
    msg_cmd(@wfsock, "corr_primary", nil)
    wfsclose
    wait4hexapod
    wait4hexapod
    report("Corrections Applied.")
    hexapod_log
    return true
  end

  def wait4hexapod
    socket = sockopen(@hhost, @hport)
    inmotion = 1
    sleep(2)
    loop do
      inmotion = msg_get(socket, 'motionFlag').to_i
      break if inmotion == 0
      sleep(1)
    end
    socket.close if socket
    socket = nil
    sleep(2)
  end

  def corr_dialog(type)
    dialog = Gtk::Dialog.new
    dialog.title = "OK to Apply Corrections?"
    #dialog.transient_for = @mainwindow
    dialog.set_default_size(100, 100)
    dialog.vbox.add(Gtk::Label.new("Apply Corrections?"))
    
    dialog.add_button("OK", Gtk::Dialog::RESPONSE_OK)
    dialog.add_button(Gtk::Stock::CANCEL, Gtk::Dialog::RESPONSE_CANCEL)
    dialog.set_default_response(Gtk::Dialog::RESPONSE_CANCEL)

    dialog.signal_connect("response") do |widget, response|
      case response
      when Gtk::Dialog::RESPONSE_OK
	if type == "full"
	  fullcorrect
	else
	  m2correct
	end
	dialog.destroy
	@continue = true
	@cancel = false
	report("Corrections Applied.")
      when Gtk::Dialog::RESPONSE_CANCEL
	report("Correction Application Canceled.")
	dialog.destroy
	@continue = true
	@cancel = true
      end
    end
    dialog.show_all
  end

  # configure and take exposures
  def Expose(nexp)
    exptime = @exptime.value.to_f
    file = @fileentry.text

    n = 1
    ngood = 0
    ntry = 0
    until (ngood == nexp) || (ntry == 2) || @abort
      # figure out the filename
      if file == "test"
	fullfilename = "#{@dir}/#{file}.fits"
	netfullfilename = "#{@netdir}/#{file}.fits"
	filename = "#{file}.fits"
	system("rm -f #{fullfilename}")
      else
	num = 0
	fullfilename = sprintf("%s/%s_%04d.fits", @dir, file, num)
	netfullfilename = sprintf("%s/%s_%04d.fits", @netdir, file, num)
	filename = sprintf("%s_%04d.fits", file, num)
	while test(?e, fullfilename) 
	  num = num + 1
	  fullfilename = sprintf("%s/%s_%04d.fits", @dir, file, num)
	  netfullfilename = sprintf("%s/%s_%04d.fits", @netdir, file, num)
	  filename = sprintf("%s_%04d.fits", file, num)
	end
      end

      # get exposure timer going....
      if exptime > 1
	count = Thread.new {
	  left = exptime.to_i
	  left.times {
	    report("Exposing \##{n} (#{filename})...#{left} sec left.")
	    sleep(1)
	    left = left - 1
	  }
	  report("Reading out \##{n} (#{filename})....")
	}
      else
	report("Exposing \##{n} (#{filename})....")
      end

      # perform exposure
      begin
	timeout(exptime+30) {
	  if (@mode == "F5")
	    system("#{@path}/getimage #{exptime} #{fullfilename}")
	  else
	    system("sudo -u mmtop /usr/bin/rsh -n -l tim f9wfs \"/home/tim/get_apogee_image.tcl #{exptime} #{filename} \> /dev/null\"")
	    system("sudo -u mmtop /usr/bin/rcp tim@f9wfs:/home/tim/#{filename} #{fullfilename}")
	    system("sudo -u mmtop /usr/bin/rsh -n -l tim f9wfs \"rm -f #{filename} \> /dev/null\"")
	    system("sudo -u mmtop chmod g+w #{fullfilename}")
	  end
	  if test(?e, fullfilename) 
	    system("#{@path}/header.pl #{fullfilename} #{exptime} #{@mode}")
	  else
	    report("Image acquisition failed. Check WFS Computer.")
	    @abort = true
	    return
	  end
	}
      rescue Timeout::Error
	report("Exposure Timed Out.")
	@abort = true
	return
      rescue => why
	report("Exposure Failed: #{why}.")
	@abort = true
	return
      end

      system("/usr/bin/xpaset -p WFS zoom to 1.0")
      system("/usr/bin/xpaset -p WFS file #{fullfilename}")

      # got the image, now check it to see if anything is there
      pupil = check_pupil(fullfilename)
      if pupil
	# got a pupil, do something
	x, y = pupil
	centered = center_pupil(x, y)
	if centered
	  if @list == ""
	    @list = "#{fullfilename}"
	  else 
	    @list = @list + ",#{fullfilename}"
	  end
	  ngood = ngood + 1
	else 
	  @list = ""
	end
      else
	if ntry == 0
	  exptime = 2.0*exptime
	  report("No pupil found. Doubling exposure time.")
	else
	  exptime = exptime/(ntry+1)
	  report("Reducing exposure time in case of bad seeing.")
	end
	sleep(1)
	ntry = ntry + 1
      end
      n = n + 1
    end
    report("Completed Exposures")
  end

  def on_Correct_clicked
    disable
    Thread.new {
      iter = @niter.value_as_int
      iter.times {
	Expose(3)
	if @abort || @list == ""
	  @list = ""
	  report("Analysis Aborted.")
	  break
	else
	  centroid
	  @continue = false
	  @cancel = false
	  corr_dialog("full")
	  loop do
	    break if @continue
	    sleep(1)
	  end
	  @list = ""
	  break if @cancel
	end
      }
      if @cancel || @abort 
	@abort = false
	@cancel = false
	enable
	@list = ""
	report("Analysis Aborted.")
      else
	@list = ""
	Expose(3)
        if @abort || @list == ""
          @list = ""
          report("Analysis Aborted.")
        else
	  centroid
	  @list = ""
	end
      end
      enable
    }
  end

  def on_Tweak_clicked
    disable
    Thread.new {
      fullcorrect
      Expose(3)
      if @abort || @list == ""
	@abort = false
	enable
	@list = ""
	report("Analysis Aborted.")
      else
	centroid
	@list = ""
	enable
      end
    }
  end    

  def on_MegaCam_clicked
    disable
    Thread.new {
      center_megacam
      enable
    }
  end

  def on_TweakM2_clicked
    disable
    Thread.new {
      m2correct
      Expose(1)
      if @abort || @list == ""
	@abort = false
	enable
	@list = ""
	report("Analysis Aborted.")
      else
	centroid
	@list = ""
	enable
      end
    }
  end

  def centroid
    report("Centroiding....")
    wfsopen
    report("Before msg_cmd centroid....")
    msg_cmd(@wfsock, "centroid", @list)
    # report("After msg_cmd centroid....")
    wfsclose
    report("Centroiding Complete.")
  end

end

if !(ARGV[0] == "F5" || ARGV[0] == "F9")
  puts "Specify F5 or F9."
else
  # get the ball rolling!
  Gtk.init
  MainWindow.new(ARGV[0], ARGV[1])
  Gtk.main
end