Derotator offset

pyobs/background_task.py

@@ -0,0 +1,39 @@
+import asyncio
+import logging
+from typing import Optional, Coroutine, Any, Callable
+
+from pyobs.utils.exceptions import SevereError
+
+log = logging.getLogger(__name__)
+
+
+class BackgroundTask:
+    def __init__(self, func: Callable[..., Coroutine[Any, Any, None]], restart: bool) -> None:
+        self._func: Callable[..., Coroutine[Any, Any, None]] = func
+        self._restart: bool = restart
+        self._task: Optional[asyncio.Future] = None
+
+    def start(self) -> None:
+        self._task = asyncio.create_task(self._func())
+        self._task.add_done_callback(self._callback_function)
+
+    def _callback_function(self, args=None) -> None:
+        try:
+            exception = self._task.exception()
+        except asyncio.CancelledError:
+            return
+
+        if isinstance(exception, SevereError):
+            raise exception
+        elif exception is not None:
+            log.error("Exception %s in task %s.", exception, self._func.__name__)
+
+        if self._restart:
+            log.error("Background task for %s has died, restarting...", self._func.__name__)
+            self.start()
+        else:
+            log.error("Background task for %s has died, quitting...", self._func.__name__)
+
+    def stop(self) -> None:
+        if self._task is not None:
+            self._task.cancel()

pyobs/modules/telescope/basetelescope.py

@@ -1,7 +1,9 @@
 import asyncio
 from abc import ABCMeta, abstractmethod
 from typing import Dict, Any, Tuple, Union, List, Optional
-from astropy.coordinates import SkyCoord, ICRS, AltAz
+
+from astroplan import Observer
+from astropy.coordinates import SkyCoord, ICRS, AltAz, EarthLocation
 import astropy.units as u
 import logging
 
@@ -308,5 +310,12 @@ async def _update_celestial_headers(self) -> None:
             "SUNDIST": (None if sun_dist is None else float(sun_dist.degree), "Solar Distance from Target"),
         }
 
+    def _get_derotator_offset_from_header(self, hdr, obstime):
+        lat, lon, height = hdr["LATITUDE"][0], hdr["LONGITUD"][0], hdr["HEIGHT"][0]
+        location = EarthLocation(lat=lat * u.deg, lon=lon * u.deg, height=height * u.m)
+        target = SkyCoord(ra=hdr["TEL-RA"][0] * u.deg, dec=hdr["TEL-DEC"][0] * u.deg, frame="gcrs")
+        parallactic = Observer(location=location).parallactic_angle(time=obstime, target=target).deg
+        return float(parallactic - hdr["TEL-ALT"][0] - hdr["TEL-ROT"][0])
+
 
 __all__ = ["BaseTelescope"]

pyobs/object.py

@@ -23,6 +23,7 @@
 from astroplan import Observer
 from astropy.coordinates import EarthLocation
 
+from pyobs.background_task import BackgroundTask
 from pyobs.comm import Comm
 from pyobs.comm.dummy import DummyComm
 
@@ -270,33 +271,31 @@ def __init__(
         self._opened = False
 
         # background tasks
-        self._background_tasks: Dict[
-            Callable[..., Coroutine[Any, Any, None]], Tuple[Optional[asyncio.Task[bool]], bool]
-        ] = {}
-        self._watchdog_task: Optional[asyncio.Task[None]] = None
+        self._background_tasks: List[Tuple[BackgroundTask, bool]] = []
 
-    def add_background_task(self, func: Callable[..., Coroutine[Any, Any, None]], restart: bool = True) -> None:
+    def add_background_task(self, func: Callable[..., Coroutine[Any, Any, None]],
+                            restart: bool = True, autostart: bool = True) -> BackgroundTask:
         """Add a new function that should be run in the background.
 
         MUST be called in constructor of derived class or at least before calling open() on the object.
 
         Args:
             func: Func to add.
             restart: Whether to restart this function.
+            autostart: Whether to start this function when the module is opened
+        Returns:
+            Background task
         """
 
-        # create thread
-        self._background_tasks[func] = (None, restart)
+        background_task = BackgroundTask(func, restart)
+        self._background_tasks.append((background_task, autostart))
+
+        return background_task
 
     async def open(self) -> None:
         """Open module."""
 
-        # start background tasks
-        for func, (task, restart) in self._background_tasks.items():
-            log.info("Starting background task for %s...", func.__name__)
-            self._background_tasks[func] = (asyncio.create_task(self._background_func(func)), restart)
-        if len(self._background_tasks) > 0:
-            self._watchdog_task = asyncio.create_task(self._watchdog())
+        self._perform_background_task_autostart()
 
         # open child objects
         for obj in self._child_objects:
@@ -309,6 +308,11 @@ async def open(self) -> None:
         # success
         self._opened = True
 
+    def _perform_background_task_autostart(self) -> None:
+        todo = filter(lambda b: b[1] is True, self._background_tasks)
+        for task, _ in todo:
+            task.start()
+
     @property
     def opened(self) -> bool:
         """Whether object has been opened."""
@@ -322,58 +326,16 @@ async def close(self) -> None:
             if hasattr(obj, "close"):
                 await obj.close()
 
-        # join watchdog and then all threads
-        if self._watchdog_task and not self._watchdog_task.done():
-            self._watchdog_task.cancel()
-        for func, (task, restart) in self._background_tasks.items():
-            if task and not task.done():
-                task.cancel()
-
-    @staticmethod
-    async def _background_func(target: Callable[..., Coroutine[Any, Any, None]]) -> None:
-        """Run given function.
-
-        Args:
-            target: Function to run.
-        """
-        try:
-            await target()
-
-        except asyncio.CancelledError:
-            # task was canceled
-            return
+        self._stop_background_tasks()
 
-        except:
-            log.exception("Exception in thread method %s." % target.__name__)
+    def _stop_background_tasks(self) -> None:
+        for task, _ in self._background_tasks:
+            task.stop()
 
     def quit(self) -> None:
         """Can be overloaded to quit program."""
         pass
 
-    async def _watchdog(self) -> None:
-        """Watchdog thread that tries to restart threads if they quit."""
-
-        while True:
-            # get dead taks that need to be restarted
-            dead = {}
-            for func, (task, restart) in self._background_tasks.items():
-                if task.done():
-                    dead[func] = restart
-
-            # restart dead tasks or quit
-            for func, restart in dead.items():
-                if restart:
-                    log.error("Background task for %s has died, restarting...", func.__name__)
-                    del self._background_tasks[func]
-                    self._background_tasks[func] = (asyncio.create_task(self._background_func(func)), restart)
-                else:
-                    log.error("Background task for %s has died, quitting...", func.__name__)
-                    self.quit()
-                    return
-
-            # sleep a little
-            await asyncio.sleep(1)
-
     @overload
     def get_object(
         self,

tests/modules/telescope/test_basetelescope.py

@@ -0,0 +1,18 @@
+import numpy as np
+from pyobs.modules.telescope import DummyTelescope
+from pyobs.utils.time import Time
+
+
+def test_get_derotator_offset_from_header():
+    telescope = DummyTelescope()
+    obstime = Time("2024-03-21T20:11:52.281735")
+    hdr = {
+        "LATITUDE": (-32.375823, None),
+        "LONGITUD": (20.810807999999998, None),
+        "HEIGHT": (1798.0000000004793, None),
+        "TEL-RA": (138.01290730636728, None),
+        "TEL-DEC": (-64.86351112618202, None),
+        "TEL-ROT": (-138.68173828124998, None),
+        "TEL-ALT": (57.24036032917521, None),
+    }
+    np.testing.assert_almost_equal(telescope._get_derotator_offset_from_header(hdr, obstime), 90.22, decimal=2)

tests/test_background_task.py

@@ -0,0 +1,76 @@
+import asyncio
+import logging
+from unittest.mock import AsyncMock, Mock
+
+import pytest
+import pyobs.utils.exceptions as exc
+from pyobs.background_task import BackgroundTask
+
+
+@pytest.mark.asyncio
+async def test_callback_canceled(caplog):
+    test_function = AsyncMock()
+    task = asyncio.create_task(test_function())
+    task.exception = Mock(side_effect=asyncio.CancelledError())
+
+    bg_task = BackgroundTask(test_function, False)
+    bg_task._task = task
+
+    with caplog.at_level(logging.ERROR):
+        bg_task._callback_function()
+
+    assert len(caplog.messages) == 0
+
+
+@pytest.mark.asyncio
+async def test_callback_exception(caplog):
+    test_function = AsyncMock()
+    test_function.__name__ = "test_function"
+
+    task = asyncio.create_task(test_function())
+    task.exception = Mock(return_value=Exception("TestError"))
+
+    bg_task = BackgroundTask(test_function, False)
+    bg_task._task = task
+
+    with caplog.at_level(logging.ERROR):
+        bg_task._callback_function()
+
+    assert caplog.messages[0] == "Exception TestError in task test_function."
+    assert caplog.messages[1] == "Background task for test_function has died, quitting..."
+
+
+@pytest.mark.asyncio
+async def test_callback_pyobs_error():
+    test_function = AsyncMock()
+    test_function.__name__ = "test_function"
+
+    task = asyncio.create_task(test_function())
+    task.exception = Mock(return_value=exc.SevereError(exc.ImageError("TestError")))
+
+    bg_task = BackgroundTask(test_function, False)
+    bg_task._task = task
+
+    with pytest.raises(exc.SevereError):
+        bg_task._callback_function()
+
+
+@pytest.mark.asyncio
+async def test_callback_restart(caplog):
+    test_function = AsyncMock()
+    test_function.__name__ = "test_function"
+
+    task = asyncio.create_task(test_function())
+    task.exception = Mock(return_value=None)
+
+    bg_task = BackgroundTask(test_function, True)
+    bg_task._task = task
+
+    bg_task.start = Mock()
+
+    with caplog.at_level(logging.ERROR):
+        bg_task._callback_function()
+
+    assert caplog.messages[0] == "Background task for test_function has died, restarting..."
+    bg_task.start.assert_called_once()
+

tests/test_object.py

@@ -0,0 +1,53 @@
+from unittest.mock import AsyncMock
+
+import pyobs
+from pyobs.background_task import BackgroundTask
+from pyobs.object import Object
+
+
+def test_add_background_task():
+    obj = Object()
+    test_function = AsyncMock()
+
+    task = obj.add_background_task(test_function, False, False)
+
+    assert task._func == test_function
+    assert task._restart is False
+
+    assert obj._background_tasks[0] == (task, False)
+
+
+def test_perform_background_task_autostart(mocker):
+    mocker.patch("pyobs.background_task.BackgroundTask.start")
+
+    obj = Object()
+    test_function = AsyncMock()
+
+    obj.add_background_task(test_function, False, True)
+    obj._perform_background_task_autostart()
+
+    pyobs.background_task.BackgroundTask.start.assert_called_once()
+
+
+def test_perform_background_task_no_autostart(mocker):
+    mocker.patch("pyobs.background_task.BackgroundTask.start")
+
+    obj = Object()
+    test_function = AsyncMock()
+
+    obj.add_background_task(test_function, False, False)
+    obj._perform_background_task_autostart()
+
+    pyobs.background_task.BackgroundTask.start.assert_not_called()
+
+
+def test_stop_background_task(mocker):
+    mocker.patch("pyobs.background_task.BackgroundTask.stop")
+
+    obj = Object()
+    test_function = AsyncMock()
+
+    obj.add_background_task(test_function, False, False)
+    obj._stop_background_tasks()
+
+    pyobs.background_task.BackgroundTask.stop.assert_called_once()