Fix Python3, fix bug with waitUntilThere, rename some members

__init__.py

@@ -82,7 +82,7 @@ class telescope():
                   [self._j2000socket], [], [])
             if len(exceptional)>0:
                 raise Exception("Error with j2000 read socket")
-            msg = readable[0].recv(4096)
+            msg = readable[0].recv(4096).decode("UTF-8")
             vals = msg.strip().split()
             (ra, dec) = (vals[2], vals[3])
             self.radec = SkyCoord(ra, dec, frame='icrs')
@@ -105,7 +105,7 @@ class telescope():
                   [self._tracesocket], [], [])
             if len(exceptional)>0:
                 raise Exception("Error with trace read socket")
-            msg = readable[0].recv(4096)
+            msg = readable[0].recv(4096).decode("UTF-8")
             vals = msg.strip().split()
             self.az = (float(vals[0])*u.rad).to(u.deg)
             self.el = (float(vals[1])*u.rad).to(u.deg)
@@ -211,6 +211,17 @@ class telescope():
             self._event_traces.wait()
         return self.radec
 
+    def getSetpoint_RaDec(self, waitForUpdate=False):
+        '''
+        Get current Ra/Dec setpoint. If waitForUpdate=True, it waits for the
+        next signal from the socket.
+        Returns an astropy SkyCoord
+        '''
+        if waitForUpdate or self.radec is None:
+            self._event_traces.clear()
+            self._event_traces.wait()
+        return self.setpoint_radec
+
     def waitUntilThere(self):
         '''
         Wait until distance to the setpoint gets within tolerance
@@ -220,7 +231,7 @@ class telescope():
         distIsSmall = False
         while not distIsSmall:
             diff = self.getDistance(waitForUpdate=True)
-            distIsSmall = abs(self.dist_el)<0.01*u.deg and abs(self.dist_az)>0.01*u.deg
+            distIsSmall = abs(self.dist_el)<0.01*u.deg and abs(self.dist_az)<0.01*u.deg
 
     def waitUntilMoving(self):
         '''
@@ -234,16 +245,16 @@ class telescope():
 
     def getJ2000(self):
         '''
-        Generates a list of dicts with 'current_position_j2000' and
-        'setpoint_j2000', containing radec and setpoint_radec, at whichever
+        Generates dicts with 'radec' and 'setpoint_radec',
+        containing radec and setpoint_radec, at whichever
         speed the console is outputting them (probably once a second).
         '''
         self._event_traces.clear()
         while True:
             self._event_j2000.wait()
             self._event_j2000.clear()
-            yield({'position_j2000': self.radec,
-                   'setpoint_j2000': self.setpoint_radec})
+            yield({'radec': self.radec,
+                   'setpoint_radec': self.setpoint_radec})
 
     def getTraces(self):
         '''