Add reading threads, remove getter functions

__init__.py

@@ -7,6 +7,8 @@ from astropy import units as u
 from configparser import ConfigParser
 import os.path
 import numpy as np
+import threading
+import select
 
 config = ConfigParser()
 config.readfp(open(os.path.join(os.path.dirname(__file__), 'telescope.ini')))
@@ -23,10 +25,6 @@ class telescope():
             raise Exception("Mode must be None, 'J2000' or 'AZEL', not " + mode)
         self.setmode = setmode
 
-        self.readsocketj2000 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.readsocketj2000.connect((config.get('Console','HostName'),
-                                      config.getint('Console','Port_Read_J2000')))
-
         self.outsocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
         if self.setmode == 'J2000':
             self.outsocket.connect((config.get('Console','HostName'),
@@ -41,25 +39,50 @@ class telescope():
             self.offsetsocket.connect((config.get('Console','HostName'),
                                        config.getint('Console','Port_Write_Offset')))
 
-        # Initialize other traces
-        try:
-            self.tracesocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            self.tracesocket.connect((config.get('Trace2Port', 'Hostname'),
-                                      config.getint('Trace2Port', 'Port')))
-        except:
-            logging.info("trace2port not found running, some features won't work")
-            self.tracesocket = None
-
-
-    def getRaDec(self):
-        '''
-        Get the J200 coordinates of the telescope as an astropy SkyCoord
-        '''
-        msg = self.readsocketj2000.recv(1024)
-        statusData = msg.strip().split('\n')[-1].split()
-        ra = statusData[2]
-        dec = statusData[3]
-        return SkyCoord(ra, dec, frame='icrs')
+        if consoleHost is None:
+            consoleHost = config.get('Console','HostName')
+        self.j2000readthread = threading.Thread(target=self.readj2000, args=(
+                                   consoleHost,
+                                   config.getint('Console','Port_Read_J2000')))
+        self.j2000readthread.daemon = True
+        self.j2000readthread.start()
+
+        self.tracereadthread = threading.Thread(target=self.readtraces, args=(
+                                   config.get('Trace2Port', 'Hostname'),
+                                   config.getint('Trace2Port', 'Port')))
+        self.tracereadthread.daemon = True
+        self.tracereadthread.start()
+
+    def readj2000(self, consolehost, j2000_read_port):
+        '''
+        Poll the socket with the j2000 info, store its values in class members
+        '''
+        self.j2000socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.j2000socket.connect((consolehost, j2000_read_port))
+        while True:
+            readable, writable, exceptional = select.select(
+                  [self.j2000socket], [], [])
+            msg = readable[0].recv(4096)
+            vals = msg.strip().split()
+            ra = vals[2]
+            dec = vals[3]
+            self.radec = SkyCoord(ra, dec, frame='icrs')
+
+    def readtraces(self, tracehost, traceport):
+        '''
+        Poll the socket with the traces, store their values in class members
+        '''
+        self.tracesocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.tracesocket.connect((tracehost, traceport))
+        while True:
+            readable, writable, exceptional = select.select(
+                  [self.tracesocket], [], [])
+            msg = readable[0].recv(4096)
+            vals = msg.strip().split()
+            self.az = (float(vals[0])*u.rad).to(u.deg)
+            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)
 
     def setRaDec(self, setpoint):
         '''
@@ -86,7 +109,7 @@ class telescope():
         Set the AzEl setpoint of the telescope.
         Only works if the setmode is 'AZEL'
 
-        setpoint should be a tuple of radians or of astropy Quantity
+        setpoint should be a tuple of degrees or of astropy Quantity
         '''
         if self.setmode != 'AZEL':
             raise Exception("Cannot set Az/El if mode is not AZEL")
@@ -105,76 +128,32 @@ class telescope():
         '''
         Set the offset of the telescope in Az / El.
 
-        offset should be a tuple of radians or of astropy Quantity
+        offset should be a tuple of degrees or of astropy Quantity
         '''
         if self.setmode is None:
             raise Exception("Cannot set offset if mode is None")
+
         (off_az, off_el) = offset
         if isinstance(off_az, u.Quantity):
             off_az = off_az.to(u.rad).value
+        else:
+            off_az = np.deg2rad(off_az)
         if isinstance(off_el, u.Quantity):
             off_el = off_el.to(u.rad).value
+        else:
+            off_el = np.deg2rad(off_el)
 
         cmd = '{:f}\t{:f}\n'.format(off_az, off_el)
         logging.info('Offset sent to DT: {}'.format(cmd))
         self.offsetsocket.send(cmd)
 
-    def getDistToSetpoint(self):
-        '''
-        Get the distance to the current setpoint, as a numpy array with astropy Quantity
-        This corresponds to the values in the upper right of the console window
-
-        Note that this value can be negative
-
-        If also other trace values are required, use getTraces()
-        '''
-        traces = self.getTraces()
-        return np.array([traces['azimuth_setpoint_error.difference'].value,
-                         traces['elevation_setpoint_error.difference'].value])*traces['azimuth_setpoint_error.difference'].unit
-
-
-    def getAzEl(self):
-        '''
-        Get the current azimuth and elevation, as a numpy array with astropy Quantity
-        This corresponds to the values in the upper left of the console window
-
-        If also other trace values are required, use getTraces()
-        '''
-        traces = self.getTraces()
-        return np.array([traces['Azimuth_Position'].value,
-                         traces['Elevation_Position'].value])*traces['Azimuth_Position'].unit
-
-    def getTraces(self):
-        '''
-        Get a dict with the traces of trace2port.
-        '''
-        if self.tracesocket is None:
-            raise Exception("getTraces only works when trace2port is running")
-
-        msg = self.tracesocket.recv(1024)
-        logging.debug(msg)
-
-        if not msg:
-            raise Exception("trace2port socket has gone away")
-        statusData = msg.strip().split('\n')[-1].split()
-        if len(statusData) < 4:
-            statusData = msg.strip().split('\n')[-2].split()
-
-        ret = dict()
-        for tracename in ['Azimuth_Position', 'Elevation_Position',
-                          'azimuth_setpoint_error.difference', 'elevation_setpoint_error.difference']:
-            traceval = float(statusData[config.getint("Trace2Port", tracename)])
-            ret[tracename] = (traceval*u.rad).to(u.deg)
-
-        return ret
 
     def waitUntilThere(self):
         '''
         Wait until distance to the setpoint gets within tolerance
         '''
-        
-        while not np.all(np.abs(self.getDistToSetpoint())<0.01*u.deg):
+
+        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
             continue
 
-# Socket poll, bitmask met filedesc van socket.open (poll is blocking)