merge v3.0.0

hypernets/__init__.py

@@ -1,4 +1,4 @@
-__version__ = "2.3.0"
+__version__ = "3.0.0"
 
 import sys
 MIN_PYTHON = (3, 9)

hypernets/geometry/pan_tilt.py

@@ -140,7 +140,7 @@ def print_position(ser):
         print("Failed to read current position from pan-tilt!")
 
 
-def move_to(ser, pan=None, tilt=None, wait=False):
+def move_to(ser, pan=None, tilt=None, wait=False, tilt_limiter=True):
 
     if ser is None:
         ser = open_serial()
@@ -178,6 +178,10 @@ def move_to(ser, pan=None, tilt=None, wait=False):
 
     info(f"Requested Position :\t({pan}, {tilt})\t(10^-2 degrees)")
 
+    # Tilt no-go-zone: abs_deg (130.0, 181.0); abs_tilt (13000, 18100)
+    if tilt_limiter is True and tilt is not None and tilt > 13000 and tilt < 18010:
+        raise Exception(f"Requested absolute tilt position {tilt/100:.2f} is in no-go zone (130.0, 181.0) !!")
+
     if wait:
         initial_position = query_position(ser)
         estimated_time = pt_time_estimation(initial_position, (pan, tilt))
@@ -259,8 +263,8 @@ def move_to(ser, pan=None, tilt=None, wait=False):
         return position_1
 
 
-def move_to_geometry(geometry, wait=False):
-    return move_to(None, geometry.pan_abs, geometry.tilt_abs, wait=wait)
+def move_to_geometry(geometry, wait=False, tilt_limiter=True):
+    return move_to(None, geometry.pan_abs, geometry.tilt_abs, wait=wait, tilt_limiter=True)
 
 
 def open_serial():
@@ -343,6 +347,9 @@ def restricted_float(x):
     if args.get:
         print_position(ser)
     else:
-        print(move_to(ser, args.pan, args.tilt, wait=args.wait))
+        try:
+            print(move_to(ser, args.pan, args.tilt, wait=args.wait))
+        except Exception as e:
+            error(f"{e}")
 
     ser.close()

hypernets/gui/__main__.py

@@ -59,7 +59,7 @@ def configure_gui(self):
         # self.resizable(0, 0)
 
     def create_logo(self):
-        logo_hypernets = resources.read_binary(img, "logo.png")
+        logo_hypernets = resources.files(img).joinpath("logo.png").read_bytes()
         self.img_hyp = PhotoImage(data=logo_hypernets)
         logo_lbl = Label(self, image=self.img_hyp)
         logo_lbl.grid(column=0, row=0, columnspan=2)

hypernets/gui/frame_pantilt.py

@@ -6,6 +6,8 @@
 from tkinter import Tk, Button
 from tkinter.ttk import Combobox
 
+from logging import error
+
 from hypernets.abstract.geometry import Geometry
 from hypernets.geometry.pan_tilt import move_to_geometry
 
@@ -56,7 +58,10 @@ def callback(self):
 
         geometry = Geometry(pan=pan, tilt=tilt, reference=reference)
         geometry.get_absolute_pan_tilt()
-        move_to_geometry(geometry)
+        try:
+            move_to_geometry(geometry)
+        except Exception as e:
+            error(f"{e}")
 
 
 if __name__ == '__main__':

hypernets/open_sequence.py

@@ -29,6 +29,7 @@
 
 
 yoctoWDTflag = threading.Event()
+tilt_limiter = True
 
 class yoctoWathdogTimeout(Exception):
     pass
@@ -41,6 +42,33 @@ def run_sequence_file(sequence_file, instrument_port, instrument_br, # noqa C901
                       DATA_DIR="DATA",
                       check_rain=False):
 
+    ## check tilt limiter
+    ## if key is missing, defaults False
+    ## if key exists and is not "no", defaults True
+    ##
+    ## use global variable because we need to access it in park_to_nadir()
+    global tilt_limiter
+
+    if instrument_standalone:
+        tilt_limiter = False
+        debug("Standalone mode, tilt_limiter = no")
+    else:
+        try:
+            from configparser import ConfigParser
+            config = ConfigParser()
+            config.read("config_static.ini")
+            config_value = config["pantilt"]["tilt_limiter"]
+            if config_value == "no":
+                tilt_limiter = False
+                debug("tilt_limiter = no in config_static.ini")
+            else:
+                tilt_limiter = True
+                debug("tilt_limiter = yes because not explicitly disabled in config_static.ini")
+        except KeyError as key:
+            tilt_limiter = False
+            debug("pantilt/tilt_limiter not found in config_static.ini, defaults to tilt_limiter = no")
+
+
     # Check if it is raining
     if not instrument_standalone and check_rain:
         try:
@@ -280,7 +308,7 @@ def run_sequence_file(sequence_file, instrument_port, instrument_br, # noqa C901
                     yoctoWDTwatcher.join()
 
                 try:
-                    pan_real, tilt_real = move_to_geometry(geometry, wait=True)
+                    pan_real, tilt_real = move_to_geometry(geometry, wait=True, tilt_limiter=tilt_limiter)
                     pan_real = float(pan_real) / 100
                     tilt_real = float(tilt_real) / 100
 
@@ -303,6 +331,11 @@ def run_sequence_file(sequence_file, instrument_port, instrument_br, # noqa C901
                     warning(f"Failed to read the final position from pan-tilt")
                     pan_real, tilt_real = -999, -999
 
+                except Exception as e:
+                    error(f"{e}")
+                    # Don't retry if this was the first attempt
+                    i = 1
+
             logger.setLevel(old_loglevel)
 
         for request in requests:
@@ -442,11 +475,14 @@ def park_to_nadir():
     import serial
     while True:
         try:
-            move_to(ser=None, tilt=park.tilt_abs, wait=True)
+            move_to(ser=None, tilt=park.tilt_abs, wait=True, tilt_limiter=tilt_limiter)
             break
         except serial.serialutil.SerialException:
             debug("Previous pan-tilt move in progress. Waiting...")
             sleep(1)
+        except Exception as e:
+            error(f"{e}")
+            break
 
 
 def relay3_delayed_on():

hypernets/rain_sensor/__main__.py

@@ -2,7 +2,6 @@
 from logging import basicConfig, getLogger, info, error  # noqa
 from time import sleep
 from .rain_sensor import RainSensor
-import gpiod
 
 
 if __name__ == '__main__':

hypernets/resources/config_dynamic.ini.template

@@ -1,3 +1,4 @@
+##########################################################################
 [general]
 
 # keep_pc - control the system status after the end of the automated sequence
@@ -18,35 +19,50 @@ start_sequence = no
 # Allowed values: yes/no - do/don't check the Yocto wakeup reason
 #
 # If the wakeup reason check is enabled, the sequence is chosen as follows:
-# SCHEDULE1 - run default sequence (sequence_file)
-# SCHEDULE2 - run alternative sequence (sequence_file_alt)
+# SCHEDULE1 - run default sequence (sequence_file or sequence_file_sched1)
+# SCHEDULE2 - run LED measurement sequence (sequence_file_alt or sequence_file_sched2)
+# SCHEDULE3 - run custom sequence (sequence_file_sched3
+#             available only on host units V4 and newer)
 # Any other wakeup reason - don't start the sequence
 #
-# If Yocto deep sleep mode is disabled, then both wakeup schedules report the
-# wakeup reason as SCHEDULE2 and the alternative sequence is started. This is
-# caused by a bug in the Yocto firmware.
+# If Yocto deep sleep mode is disabled, then all wakeup schedules report the
+# wakeup reason as SCHEDULE2 and the sequence defined by sequence_file_alt or
+# sequence_file_sched2 is started. This is caused by a bug in the Yocto firmware.
 check_wakeup_reason = yes
 
-# sequence_file - the default sequence that is executed 
+# sequence_file_sched1 - the default sequence that is executed 
+# For backwards compatibility sequence_file is also accepted as the parameter name
 # 
-# runseq shortcut always executes the default sequence
 # Yocto Schedule1 always executes the default sequence
 # Yocto Schedule2 executes the default sequence if check_wakeup_reason = no
+# Yocto Schedule3 executes the default sequence if check_wakeup_reason = no
 # 
 # If any modifications are made to the sample sequence file it is strongly
 # recommended to edit a copy instead of the original sample file in order to 
 # avoid git conflicts in the future.
-sequence_file = hypernets/resources/sequences_samples/your_sequence.txt
+sequence_file_sched1 = hypernets/resources/sequences_samples/your_sequence.txt
 
-# sequence_file_alt - the alternative sequence that is executed
+# sequence_file_sched2 - the alternative sequence that is executed, typically LED source measurement
+# For backwards compatibility sequence_file_alt is also accepted as the parameter name
 # 
 # Yocto Schedule1 executes the alternative sequence if Yocto deep sleep mode is disabled
 # Yocto Schedule2 executes the alternative sequence if check_wakeup_reason = yes
+# Yocto Schedule3 executes the alternative sequence if Yocto deep sleep mode is disabled
 # 
 # If any modifications are made to the sample sequence file it is strongly
 # recommended to edit a copy instead of the original sample file in order to 
 # avoid git conflicts in the future.
-sequence_file_alt = hypernets/resources/sequences_samples/your_validation_sequence.txt
+sequence_file_sched2 = hypernets/resources/sequences_samples/your_validation_sequence.txt
+
+# sequence_file_sched3 - another alternative sequence, e.g site-specific custom acquisition
+# Yocto Schedule3 is available on host units V4 and newer with Yocto-Pictor-GPS boards
+# 
+# Yocto Schedule3 executes the sequence_file_sched3 sequence if check_wakeup_reason = yes
+# 
+# If any modifications are made to the sample sequence file it is strongly
+# recommended to edit a copy instead of the original sample file in order to 
+# avoid git conflicts in the future.
+sequence_file_sched3 = hypernets/resources/sequences_samples/your_custom_sequence.txt
 
 # check_rain - check the rain sensor and skip or abort the sequence if rain is detected
 # Allowed values: yes/no
@@ -71,6 +87,7 @@ auto_update = no
 verbosity = INFO
 
 
+##########################################################################
 [GPS] 
 # The geographic coordinates of the system which are used for calculating the Sun angles
 # and copied to the metadata.txt of each sequence
@@ -89,6 +106,7 @@ latitude = 0.0
 longitude = 0.0
 
 
+##########################################################################
 [SPA]
 # elevation - elevation of the HYPSTAR in meters from WGS-84 ellipsoid used for 
 # calculating the Sun angles
@@ -99,6 +117,7 @@ longitude = 0.0
 elevation = 0
 
 
+##########################################################################
 [pantilt]
 # offset_pan - the offset from geographic north in degrees when HYPSTAR is pointing 
 # at pan(abs) = 0, tilt(hyper) = 90
@@ -131,6 +150,7 @@ pantilt_port = /dev/ttyS0
 azimuth_switch = 0
 
 
+##########################################################################
 [hypstar]
 # pantilt_port - link to the radiometer serial port device file
 # 
@@ -167,10 +187,12 @@ loglevel = INFO
 swir_tec = 0
 
 
+##########################################################################
 [metadata]
 # The fields in the [metadata] section are directly copied into metadata.txt of each sequence.
 # In addition, the following fields are automatically populated in metadata.txt: 
 # datetime, hypstar_sn, led_sn, latitude, longitude, protocol_file_name, offset_pan, 
 # offset_tilt, azimuth_switch
 principal_investigator = Investigator Name
 site_id = A Site ID
+

hypernets/resources/config_static.ini.template

@@ -1,11 +1,21 @@
+#########################################################################
 [yoctopuce]
+# HYPSTAR host systems V1-V3 use Yocto-Pictor-Wifi and need 
+# yocto_prefix1, yocto_prefix2, and yocto_gps parameters
+# 
+# HYPSTAR host systems from V4 onward use Yocto-Pictor-GPS and need
+# yocto_prefix1 and yocto_prefix3 parameters
+
 # yocto_prefix1 - Yocto-Pictor (relay board) serial number
 yocto_prefix1 = OBSVLFR1-XXXXXX
 
-# yocto_prefix2 - Yocto-Pictor-Wifi (upper board) serial number
+# yocto_prefix2 - Yocto-Pictor-Wifi (upper board up to V3) serial number
 yocto_prefix2 = OBSVLFR2-XXXXXX
 
-# yocto_gps - Yocto-GPS-V2 (gps board) serial number
+# yocto_prefix3 - Yocto-Pictor-GPS (upper board from V4 onward) serial number
+yocto_prefix3 = OBSVLFR3-XXXXXX
+
+# yocto_gps - Yocto-GPS-V2 (gps board up to V3) serial number
 yocto_gps = YGNSSMK2-XXXXXX
 
 # bypass_yocto - disable all Yocto functionality 
@@ -19,6 +29,7 @@ bypass_yocto = no
 debug_yocto = no
 
 
+#########################################################################
 [network]
 # credentials - the ssh credentials of the network server
 credentials = user@server
@@ -38,7 +49,7 @@ ssh_port = 22
 #
 # remote ssh port must be unused on the network server and unique for each site 
 # connected to the same server
-remote_ssh_port = 20213
+remote_ssh_port = unique_for_each_site
 
 # ssh_loglevel - the verbosity of the reverse ssh tunnel client
 # Allowed values: ERROR, DEBUG, DEBUG2, DEBUG3
@@ -63,14 +74,33 @@ backup_ssh_ip = 10.42.0.1
 dhcp_server = yes
 
 
+#########################################################################
 [webcam]
 # For disabling either webcam and suppressing warnings about inaccessible or invalid IP
 # comment out the respective webcam_... parameter
 #
 # ip_cam_... must be an IPv4 address
+# 
+# Note that for PoE cameras the first address of the camera subnet (i.e. X.Y.Z.1) is reserved 
+# for rugged PC enp2s0 interface (eth port 2)
 
 # webcam_site - site webcam (relay 5) credentials
 webcam_site = user:pass@ip_cam_site
 
 # webcam_sky - sky webcam (relay 6) credentials
 webcam_sky = user:pass@ip_cam_sky
+
+# Both PoE cameras are powered by relay 5 so relay switching logic is different for PoE cameras
+# Allowed values: yes/no
+poe_cameras = no
+
+
+#########################################################################
+[pantilt]
+# If the mechanical tilt axis limiter is installed, tilt movement commands into 
+# (130.0, 181.0) absolute position no-go zone are rejected.
+#
+# NB!! The tilt axis gearbox can be damaged when driven into the limiter at full speed!
+#
+# Allowed values: yes/no
+tilt_limiter = no

hypernets/yocto/get_FW_ver.py

@@ -22,7 +22,8 @@ def get_module_FW_ver(url_base):
     for url_base in [get_url_base(), get_url_base_prefixed(), get_url_gps()]:
         values.append((get_module_FW_ver(url_base)))
 
-    return values
+    # return only unique values
+    return list(set(values))
 
 if __name__ == "__main__":
     out="Yocto firmware versions: "