Add waitUntilMoving, rename speed_az

__init__.py

@@ -9,6 +9,7 @@ import os.path
 import numpy as np
 import threading
 import select
+import time
 
 config = ConfigParser()
 config.readfp(open(os.path.join(os.path.dirname(__file__), 'telescope.ini')))
@@ -30,6 +31,9 @@ class telescope():
         if consoleHost == 'console':
             logging.warning("You are using the actual console, not a demo!")
 
+        self.dist_az = None
+        self.dist_el = None
+
         self.outsocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
         if self.setmode == 'J2000':
             self.outsocket.connect((consoleHost,
@@ -98,8 +102,8 @@ class telescope():
             self.el = (float(vals[1])*u.rad).to(u.deg)
             self.dist_az = (float(vals[2])*u.rad).to(u.deg)
             self.dist_el = (float(vals[3])*u.rad).to(u.deg)
-            self.az_speed = float(vals[4])
-            self.el_speed = float(vals[5])
+            self.speed_az = float(vals[4])
+            self.speed_el = float(vals[5])
 
     def setRaDec(self, setpoint):
         '''
@@ -117,7 +121,7 @@ class telescope():
 
         (ra, dec)  = setpoint.to_string('hmsdms').split()
 
-        cmd = '{:s}\t{:s}\n'.format(ra, dec).decode('UTF-8')
+        cmd = '{:s}\t{:s}\n'.format(ra, dec.strip('+'))
         logging.info('J2000 setpoint sent to DT: {}'.format(cmd))
         self.outsocket.send(cmd)
 
@@ -137,7 +141,7 @@ class telescope():
         if isinstance(el, u.Quantity):
             el = el.to(u.deg).value
 
-        cmd = '{:f}\t{:f}\n'.format(az, el).decode('UTF-8')
+        cmd = '{:f}\t{:f}\n'.format(az, el)
         logging.info('AzEl sent to DT: {}'.format(cmd))
         self.outsocket.send(cmd)
 
@@ -170,7 +174,17 @@ class telescope():
         Wait until distance to the setpoint gets within tolerance
         '''
 
-        while abs(self.dist_el)>0.01*u.deg or abs(self.dist_az)>0.01*u.deg:
-            # No time.sleep here, because getDistToSetpoint already blocks with an interval
+        time.sleep(2)
+        logging.info("Waiting to reach setpoint")
+        while self.dist_el is None or self.dist_az is None or \
+              abs(self.dist_el)>0.01*u.deg or abs(self.dist_az)>0.01*u.deg:
             continue
 
+    def waitUntilMoving(self):
+        '''
+        Wait until the telescope reckognizes that it is not at its setpoint
+        '''
+        logging.info("Waiting to set setpoint")
+        while self.dist_el is None or self.dist_az is None or \
+              (abs(self.dist_el)<0.01*u.deg and abs(self.dist_az)<0.01*u.deg):
+            continue