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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,143 +1,53 @@ | ||
| import os | ||
| import numpy as np | ||
|
|
||
| from panoptes.utils import error | ||
| from panoptes.utils.time import current_time | ||
|
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||
| from panoptes.pocs.focuser.astromechanics import Focuser as AstromechFocuser | ||
| from panoptes.pocs.utils.plotting import make_autofocus_plot | ||
|
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||
| from huntsman.pocs.utils.focus import AutofocusSequence | ||
| from huntsman.pocs.focuser.serial import HuntsmanSerialFocuser | ||
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| class Focuser(AstromechFocuser): | ||
| class Focuser(AstromechFocuser, HuntsmanSerialFocuser): | ||
| def __init__(self, *args, **kwargs): | ||
| """Initialize an AbstractSerialMount for the port defined in the config. | ||
| Opens a connection to the serial device, if it is valid. | ||
| """ | ||
| self._position = None | ||
| super().__init__(*args, **kwargs) | ||
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| initial_position = kwargs.get("initial_position", None) | ||
| self.logger.debug(f"Initial position for {self}: {initial_position}") | ||
| if initial_position is not None: | ||
| self.position = initial_position | ||
| @HuntsmanSerialFocuser.position.getter | ||
| def position(self): | ||
| return int(self._position) | ||
|
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| def _autofocus(self, *args, **kwargs): | ||
| focus_event = kwargs.pop("focus_event") | ||
| def move_to(self, new_position): | ||
| """ Override to use panoptes utils serial code. """ | ||
| self._is_moving = True | ||
| try: | ||
| return self._run_autofocus(*args, **kwargs) | ||
| self._send_command(f'M{int(new_position):d}#') | ||
| self._position = new_position | ||
| finally: | ||
| if focus_event is not None: | ||
| focus_event.set() | ||
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||
| def _run_autofocus(self, seconds, focus_range, focus_step, cutout_size, keep_files=False, | ||
| take_dark=True, coarse=False, make_plots=False, max_exposure_retries=3, | ||
| **kwargs): | ||
| """ | ||
| Focuses the camera using the specified merit function. Optionally performs | ||
| a coarse focus to find the approximate position of infinity focus, which | ||
| should be followed by a fine focus before observing. | ||
| Args: | ||
| seconds (scalar, optional): Exposure time for focus exposures, if not | ||
| specified will use value from config. | ||
| focus_range (2-tuple, optional): Coarse & fine focus sweep range, in | ||
| encoder units. Specify to override values from config. | ||
| focus_step (2-tuple, optional): Coarse & fine focus sweep steps, in | ||
| encoder units. Specify to override values from config. | ||
| cutout_size (int, optional): Size of square central region of image | ||
| to use, default 500 x 500 pixels. | ||
| keep_files (bool, optional): If True will keep all images taken | ||
| during focusing. If False (default) will delete all except the | ||
| first and last images from each focus run. | ||
| take_dark (bool, optional): If True will attempt to take a dark frame | ||
| before the focus run, and use it for dark subtraction and hot | ||
| pixel masking, default True. | ||
| coarse (bool, optional): Whether to perform a coarse focus, otherwise will perform | ||
| a fine focus. Default False. | ||
| make_plots (bool, optional): Whether to write focus plots to images folder. If not | ||
| given will fall back on value of `autofocus_make_plots` set on initialisation, | ||
| and if it wasn't set then will default to False. | ||
| blocking (bool, optional): Whether to block until autofocus complete, default False. | ||
| """ | ||
| start_time = start_time = current_time(flatten=True) | ||
| imagedir = os.path.join(self.camera.get_config('directories.images'), 'focus', | ||
| self.camera.uid, start_time) | ||
| initial_position = self.position | ||
|
|
||
| # Get focus range | ||
| idx = 1 if coarse else 0 | ||
| position_step = focus_step[idx] | ||
| position_min = initial_position - focus_range[idx] / 2 | ||
| position_max = initial_position + focus_range[idx] / 2 | ||
|
|
||
| # Make sequence object | ||
| sequence = AutofocusSequence(position_min=position_min, position_max=position_max, | ||
| position_step=position_step, bit_depth=self.camera.bit_depth, | ||
| **kwargs) | ||
| # Add a dark exposure | ||
| if take_dark: | ||
| self.logger.info(f"Taking dark frame before autofocus on {self}.") | ||
| filename = os.path.join(imagedir, f"dark.{self.camera.file_extension}") | ||
| cutout = self.camera.get_cutout(seconds, filename, cutout_size, keep_file=keep_files, | ||
| dark=True) | ||
| sequence.dark_image = cutout | ||
|
|
||
| # Take the focusing exposures | ||
| exposure_retries = 0 | ||
| while not sequence.is_finished: | ||
| self.logger.info(f"Autofocus status on {self}: {sequence.status}") | ||
|
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| new_position = sequence.get_next_position() | ||
|
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| basename = f"{new_position}-{sequence.exposure_idx:02d}.{self.camera.file_extension}" | ||
| filename = os.path.join(imagedir, basename) | ||
|
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||
| # Move the focuser | ||
| self.move_to(new_position) | ||
|
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||
| # Get the exposure cutout | ||
| try: | ||
| cutout = self.camera.get_cutout(seconds, filename, cutout_size, | ||
| keep_file=keep_files) | ||
| exposure_retries = 0 # Reset exposure retries | ||
| except error.PanError as err: | ||
| self.logger.warning(f"Exception encountered in get_cutout on {self}: {err!r}") | ||
|
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||
| # Abort the sequence if max exposure retries is reached | ||
| exposure_retries += 1 | ||
| if exposure_retries >= max_exposure_retries: | ||
| raise error.PanError(f"Max exposure retries reached during autofocus on" | ||
| f" {self}.") | ||
| self.logger.warning("Continuing with autofocus sequence after exposure error on" | ||
| f" {self}.") | ||
| continue | ||
|
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||
| # Update the sequence | ||
| sequence.update(cutout, position=self.position) | ||
| # Focuser move commands block until the move is finished, so if the command has | ||
| # returned then the focuser is no longer moving. | ||
| self._is_moving = False | ||
|
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||
| # Get the best position and move to it | ||
| best_position = sequence.best_position | ||
| best_position_actual = self.move_to(best_position) | ||
| self.logger.info(f"Best focus position for {self}: {best_position}") | ||
| self.logger.debug(f"Moved to encoder position {self.position}") | ||
| return self.position | ||
|
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||
| if make_plots: | ||
| focus_type = "coarse" if coarse else "fine" | ||
| plot_filename = os.path.join(imagedir, f'{focus_type}-focus-{self.camera.uid}.png') | ||
| plot_title = f'{self} {focus_type} focus at {start_time}' | ||
| def move_by(self, *args, **kwargs): | ||
| """ Override to set position. """ | ||
| self._position = super().move_by(*args, **kwargs) | ||
|
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||
| metrics = sequence.metrics | ||
| focus_positions = sequence.positions | ||
| merit_function = sequence.merit_function_name | ||
| def _send_command(self, command): | ||
| """ Override method to use panoptes-utils code. """ | ||
| if not self.is_connected: | ||
| self.logger.critical(f"Attempt to send command to {self} when not connected!") | ||
| return | ||
|
|
||
| initial_idx = np.argmin(abs(focus_positions - initial_position)) | ||
| initial_cutout = sequence.images[initial_idx] | ||
| # Clear the input buffer in case there's anything left over in there. | ||
| self._serial.reset_input_buffer() | ||
|
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||
| final_idx = np.argmin(abs(focus_positions - best_position)) | ||
| final_cutout = sequence.images[final_idx] | ||
| # Send command | ||
| self._serial.write(command + '\r') | ||
|
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||
| self.logger.info(f"Writing focus plot for {self} to {plot_filename}.") | ||
| make_autofocus_plot(plot_filename, initial_cutout, final_cutout, initial_position, | ||
| best_position_actual, focus_positions, metrics, merit_function, | ||
| plot_title=plot_title) | ||
| return self._serial.read() | ||
|
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||
| return initial_position, best_position | ||
| def _move_zero(self): | ||
| """ Override to set position. """ | ||
| super()._move_zero() | ||
| self._position = 0 |
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