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Merged
BrianJKoopman merged 1 commit into from
May 20, 2025
Merged

ACU: support passive axes in go_to #880

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60 changes: 44 additions & 16 deletions socs/agents/acu/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1039,6 +1039,10 @@ def _get_limit_func(self, axis):
tuple of limits (lower, upper).

"""
if axis == 'az':
axis = 'azimuth'
elif axis == 'el':
axis = 'elevation'
limits = self.motion_limits[axis.lower()]
limits = limits['lower'], limits['upper']

Expand Down Expand Up @@ -1160,13 +1164,13 @@ def get_active(_self):
class AzAxis(AxisControl):
@inlineCallbacks
def goto(_self, target):
result = yield self.acu_control.go_to(az=target)
result = yield self.acu_control.go_to(az=target, set_mode='target')
return result

class ElAxis(AxisControl):
@inlineCallbacks
def goto(_self, target):
result = yield self.acu_control.go_to(el=target)
result = yield self.acu_control.go_to(el=target, set_mode='target')
return result

class ThirdAxis(AxisControl):
Expand Down Expand Up @@ -1378,7 +1382,7 @@ def _go_to_axes(self, session, el=None, az=None, third=None,
move_defs.append(
(short_name, (session, axis_name, target)))

if len(move_defs) is None:
if len(move_defs) == 0:
return True, 'No motion requested.'

if clear_faults:
Expand Down Expand Up @@ -1413,22 +1417,32 @@ def _go_to_axes(self, session, el=None, az=None, third=None,
for (name, args), msg in zip(move_defs, msgs)])
return all_ok, msg

@ocs_agent.param('az', type=float)
@ocs_agent.param('el', type=float)
@ocs_agent.param('az', type=float, default=None)
@ocs_agent.param('el', type=float, default=None)
@ocs_agent.param('end_stop', default=False, type=bool)
@inlineCallbacks
def go_to(self, session, params):
"""go_to(az, el, end_stop=False)

**Task** - Move the telescope to a particular point (azimuth,
elevation) in Preset mode. When motion has ended and the telescope
reaches the preset point, it returns to Stop mode and ends.
reaches the preset point, the function returns.

Parameters:
az (float): destination angle for the azimuth axis
el (float): destination angle for the elevation axis
end_stop (bool): put the telescope in Stop mode at the end of
the motion
end_stop (bool): put the commanded axes in Stop mode at
the end of the motion

Notes:
If az or el is unspecified (None), the axis will not be
commanded to a new position and will not be put in Preset
mode, and will not be put in Stop (if end_stop) after motion.

When omitting el, and if Sun Avoidance path-finding
decides an elevation change is required to travel from the
current position to the implicit target position, the
task will exit with error.

"""
with self.azel_lock.acquire_timeout(0, job='go_to') as acquired:
Expand All @@ -1446,24 +1460,30 @@ def go_to(self, session, params):
if not ok:
return False, msg

target_az = params['az']
target_el = params['el']
targets = {k: params[k] for k in ['az', 'el']}

def axis_filter_args(az, el):
return {k: v for k, v in [('az', az), ('el', el)]
if targets[k] is not None}

for axis, target in {'azimuth': target_az, 'elevation': target_el}.items():
for axis, target in targets.items():
limit_func, limits = self._get_limit_func(axis)
if target != limit_func(target):
if target is not None and target != limit_func(target):
raise ocs_agent.ParamError(
f'{axis}={target} not in accepted range, '
f'[{limits[0]}, {limits[1]}].')

self.log.info(f'Requested position: az={target_az}, el={target_el}')
self.log.info('Requested position: ' + ', '.join(
[f'{axis}={target}' for axis, target in targets.items()]))

legs, msg = yield self._get_sunsafe_moves(target_az, target_el)
legs, msg = yield self._get_sunsafe_moves(targets['az'], targets['el'])
if msg is not None:
self.log.error(msg)
return False, msg

if len(legs) > 2:
if None in targets.values():
return False, "Sun-safe path requires multiple moves, but simple path requested."
self.log.info(f'Executing move via {len(legs) - 1} separate legs (sun optimized)')

# Check HWP safety
Expand All @@ -1473,12 +1493,12 @@ def go_to(self, session, params):
return False, msg

for leg_az, leg_el in legs[1:]:
all_ok, msg = yield self._go_to_axes(session, az=leg_az, el=leg_el)
all_ok, msg = yield self._go_to_axes(session, **axis_filter_args(leg_az, leg_el))
if not all_ok:
break

if all_ok and params['end_stop']:
yield self._set_modes(az='Stop', el='Stop')
yield self._set_modes(**axis_filter_args('Stop', 'Stop'))

return all_ok, msg

Expand Down Expand Up @@ -2714,6 +2734,9 @@ def _get_sunsafe_moves(self, target_az, target_el):
will either be a direct move, or else an ordered slew in az
before el (or vice versa).

If target_az or target_el are None, they are taken to be the
current axis position.

Returns (legs, msg). If legs is None, it indicates that no
Sun-safe path could be found; msg is an error message. If a
path can be found, the legs is a list of intermediate move
Expand All @@ -2736,6 +2759,11 @@ def _get_sunsafe_moves(self, target_az, target_el):
if az0 is None:
return None, msg

if target_az is None:
target_az = az0
if target_el is None:
target_el = el0

if not self._get_sun_policy('sunsafe_moves'):
if self.motion_limits.get('axes_sequential'):
# Move in az first, then el.
Expand Down