716 lines
25 KiB
Python
Executable File
716 lines
25 KiB
Python
Executable File
#!/usr/bin/env python3
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import sys
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import os
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import numpy as np
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import cv2
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import time
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import ctypes
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import multiprocessing
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from astropy.coordinates import EarthLocation
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from astropy.time import Time
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from astropy.io import fits
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import astropy.units as u
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from stvid.utils import get_sunset_and_sunrise
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import logging
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import configparser
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import argparse
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import zwoasi as asi
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# XXX Requires non-libre libbcm_host.so ?
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#from picamerax.array import PiRGBArray
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#from picamerax import PiCamera
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# Capture images from pi
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def capture_pi(image_queue, z1, t1, z2, t2, nx, ny, nz, tend, device_id, live, cfg):
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# Intialization
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first = True
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slow_CPU = False
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# Initialize cv2 device
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camera = PiCamera(sensor_mode=2)
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camera.resolution = (nx, ny)
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# Turn off any thing automatic.
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camera.exposure_mode = 'off'
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camera.awb_mode = 'off'
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# ISO needs to be 0 otherwise analog and digital gain won't work.
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camera.iso = 0
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# set the camea settings
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camera.framerate = cfg.getfloat(camera_type, 'framerate')
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camera.awb_gains = (cfg.getfloat(camera_type, 'awb_gain_red'), cfg.getfloat(camera_type, 'awb_gain_blue'))
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camera.analog_gain = cfg.getfloat(camera_type, 'analog_gain')
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camera.digital_gain = cfg.getfloat(camera_type, 'digital_gain')
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camera.shutter_speed = cfg.getint(camera_type, 'exposure')
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rawCapture = PiRGBArray(camera, size=(nx, ny))
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# allow the camera to warmup
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time.sleep(0.1)
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try:
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# Loop until reaching end time
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while float(time.time()) < tend:
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# Wait for available capture buffer to become available
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if (image_queue.qsize() > 1):
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logger.warning("Acquiring data faster than your CPU can process")
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slow_CPU = True
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while (image_queue.qsize() > 1):
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time.sleep(0.1)
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if slow_CPU:
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lost_video = time.time() - t
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logger.info("Waited %.3fs for available capture buffer" % lost_video)
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slow_CPU = False
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# Get frames
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i = 0
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for frameA in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
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# Store start time
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t0 = float(time.time())
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# grab the raw NumPy array representing the image, then initialize the timestamp
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frame = frameA.array
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# Compute mid time
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t = (float(time.time())+t0)/2.0
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# Skip lost frames
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if frame is not None:
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# Convert image to grayscale
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z = np.asarray(cv2.cvtColor(
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frame, cv2.COLOR_BGR2GRAY)).astype(np.uint8)
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# optionally rotate the frame by 2 * 90 degrees.
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# z = np.rot90(z, 2)
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# Display Frame
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if live is True:
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cv2.imshow("Capture", z)
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cv2.waitKey(1)
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# Store results
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if first:
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z1[i] = z
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t1[i] = t
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else:
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z2[i] = z
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t2[i] = t
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# clear the stream in preparation for the next frame
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rawCapture.truncate(0)
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# count up to nz frames, then break out of the for loop.
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i += 1
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if i >= nz:
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break
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if first:
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buf = 1
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else:
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buf = 2
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image_queue.put(buf)
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logger.debug("Captured z%d" % buf)
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# Swap flag
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first = not first
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reason = "Session complete"
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except KeyboardInterrupt:
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print()
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reason = "Keyboard interrupt"
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except ValueError as e:
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logger.error("%s" % e)
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reason = "Wrong image dimensions? Fix nx, ny in config."
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finally:
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# End capture
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logger.info("Capture: %s - Exiting" % reason)
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camera.close()
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# Capture images from cv2
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def capture_cv2(image_queue, z1, t1, z2, t2, nx, ny, nz, tend, device_id, live, cfg):
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# Intialization
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first = True
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slow_CPU = False
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# Initialize cv2 device
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device = cv2.VideoCapture(device_id)
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# Test for software binning
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try:
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software_bin = cfg.getint(camera_type, 'software_bin')
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except configparser.Error:
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software_bin = 1
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# Set properties
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device.set(3, nx * software_bin)
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device.set(4, ny * software_bin)
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try:
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# Loop until reaching end time
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while float(time.time()) < tend:
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# Wait for available capture buffer to become available
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if (image_queue.qsize() > 1):
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logger.warning("Acquiring data faster than your CPU can process")
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slow_CPU = True
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while (image_queue.qsize() > 1):
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time.sleep(0.1)
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if slow_CPU:
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lost_video = time.time() - t
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logger.info("Waited %.3fs for available capture buffer" % lost_video)
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slow_CPU = False
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# Get frames
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for i in range(nz):
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# Store start time
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t0 = float(time.time())
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# Get frame
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res, frame = device.read()
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# Compute mid time
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t = (float(time.time())+t0)/2.0
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# Skip lost frames
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if res is True:
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# Convert image to grayscale
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z = np.asarray(cv2.cvtColor(
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frame, cv2.COLOR_BGR2GRAY)).astype(np.uint8)
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# Apply software binning
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if software_bin > 1:
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my, mx = z.shape
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z = cv2.resize(z, (mx // software_bin, my // software_bin))
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# Display Frame
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if live is True:
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cv2.imshow("Capture", z)
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cv2.waitKey(1)
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# Store results
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if first:
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z1[i] = z
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t1[i] = t
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else:
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z2[i] = z
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t2[i] = t
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if first:
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buf = 1
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else:
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buf = 2
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image_queue.put(buf)
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logger.debug("Captured z%d" % buf)
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# Swap flag
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first = not first
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reason = "Session complete"
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except KeyboardInterrupt:
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print()
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reason = "Keyboard interrupt"
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except ValueError as e:
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logger.error("%s" % e)
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reason = "Wrong image dimensions? Fix nx, ny in config."
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finally:
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# End capture
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logger.info("Capture: %s - Exiting" % reason)
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device.release()
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# Capture images
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def capture_asi(image_queue, z1, t1, z2, t2, nx, ny, nz, tend, device_id, live, cfg):
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first = True # Array flag
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slow_CPU = False # Performance issue flag
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camera_type = "ASI"
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gain = cfg.getint(camera_type, 'gain')
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maxgain = cfg.getint(camera_type, 'maxgain')
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autogain = cfg.getboolean(camera_type, 'autogain')
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exposure = cfg.getint(camera_type, 'exposure')
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binning = cfg.getint(camera_type, 'bin')
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brightness = cfg.getint(camera_type, 'brightness')
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bandwidth = cfg.getint(camera_type, 'bandwidth')
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high_speed = cfg.getint(camera_type, 'high_speed')
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hardware_bin = cfg.getint(camera_type, 'hardware_bin')
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sdk = cfg.get(camera_type, 'sdk')
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try:
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software_bin = cfg.getint(camera_type, 'software_bin')
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except configparser.Error:
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software_bin = 0
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# Initialize device
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asi.init(sdk)
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num_cameras = asi.get_num_cameras()
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if num_cameras == 0:
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logger.error("No ZWOASI cameras found")
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raise ValueError
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sys.exit()
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cameras_found = asi.list_cameras() # Models names of the connected cameras
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if num_cameras == 1:
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device_id = 0
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logger.info("Found one camera: %s" % cameras_found[0])
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else:
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logger.info("Found %d ZWOASI cameras" % num_cameras)
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for n in range(num_cameras):
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logger.info(" %d: %s" % (n, cameras_found[n]))
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logger.info("Using #%d: %s" % (device_id, cameras_found[device_id]))
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camera = asi.Camera(device_id)
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camera_info = camera.get_camera_property()
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logger.debug("ASI Camera info:")
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for (key, value) in camera_info.items():
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logger.debug(" %s : %s" % (key,value))
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camera.set_control_value(asi.ASI_BANDWIDTHOVERLOAD, bandwidth)
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camera.disable_dark_subtract()
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camera.set_control_value(asi.ASI_GAIN, gain, auto=autogain)
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camera.set_control_value(asi.ASI_EXPOSURE, exposure, auto=False)
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camera.set_control_value(asi.ASI_AUTO_MAX_GAIN, maxgain)
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camera.set_control_value(asi.ASI_AUTO_MAX_BRIGHTNESS, 20)
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camera.set_control_value(asi.ASI_WB_B, 99)
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camera.set_control_value(asi.ASI_WB_R, 75)
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camera.set_control_value(asi.ASI_GAMMA, 50)
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camera.set_control_value(asi.ASI_BRIGHTNESS, brightness)
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camera.set_control_value(asi.ASI_FLIP, 0)
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try:
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camera.set_control_value(asi.ASI_HIGH_SPEED_MODE, high_speed)
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except:
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pass
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try:
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camera.set_control_value(asi.ASI_HARDWARE_BIN, hardware_bin)
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except:
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pass
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camera.set_roi(bins=binning)
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camera.start_video_capture()
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camera.set_image_type(asi.ASI_IMG_RAW8)
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try:
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# Fix autogain
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if autogain:
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while True:
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# Get frame
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z = camera.capture_video_frame()
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# Break on no change in gain
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settings = camera.get_control_values()
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if gain == settings["Gain"]:
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break
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gain = settings["Gain"]
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camera.set_control_value(asi.ASI_GAIN, gain, auto=autogain)
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# Loop until reaching end time
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while float(time.time()) < tend:
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# Wait for available capture buffer to become available
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if (image_queue.qsize() > 1):
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logger.warning("Acquiring data faster than your CPU can process")
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slow_CPU = True
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while (image_queue.qsize() > 1):
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time.sleep(0.1)
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if slow_CPU:
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lost_video = time.time() - t
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logger.info("Waited %.3fs for available capture buffer" % lost_video)
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slow_CPU = False
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# Get settings
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settings = camera.get_control_values()
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gain = settings["Gain"]
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temp = settings["Temperature"]/10.0
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logger.info("Capturing frame with gain %d, temperature %.1f" % (gain, temp))
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# Set gain
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if autogain:
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camera.set_control_value(asi.ASI_GAIN, gain, auto=autogain)
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# Get frames
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for i in range(nz):
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# Store start time
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t0 = float(time.time())
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# Get frame
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z = camera.capture_video_frame()
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# Apply software binning
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if software_bin > 1:
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my, mx = z.shape
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z = cv2.resize(z, (mx // software_bin, my // software_bin))
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# Compute mid time
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t = (float(time.time())+t0)/2.0
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# Display Frame
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if live is True:
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cv2.imshow("Capture", z)
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cv2.waitKey(1)
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# Store results
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if first:
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z1[i] = z
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t1[i] = t
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else:
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z2[i] = z
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t2[i] = t
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if first:
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buf = 1
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else:
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buf = 2
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image_queue.put(buf)
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logger.debug("Captured buffer %d (%dx%dx%d)" % (buf, nx, ny, nz))
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# Swap flag
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first = not first
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reason = "Session complete"
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except KeyboardInterrupt:
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print()
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reason = "Keyboard interrupt"
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except ValueError as e:
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logger.error("%s" % e)
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reason = "Wrong image dimensions? Fix nx, ny in config."
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except MemoryError as e:
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logger.error("Capture: Memory error %s" % e)
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finally:
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# End capture
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logger.info("Capture: %s - Exiting" % reason)
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camera.stop_video_capture()
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camera.close()
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def compress(image_queue, z1, t1, z2, t2, nx, ny, nz, tend, path, device_id, cfg):
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""" compress: Aggregate nframes of observations into a single FITS file, with statistics.
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ImageHDU[0]: mean pixel value nframes (zmax)
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ImageHDU[1]: standard deviation of nframes (zstd)
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ImageHDU[2]: maximum pixel value of nframes (zmax)
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ImageHDU[3]: maximum pixel value frame number (znum)
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Also updates a [observations_path]/control/state.txt for interfacing with satttools/runsched and sattools/slewto
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"""
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# Force a restart
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controlpath = os.path.join(path, "control")
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if not os.path.exists(controlpath):
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try:
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os.makedirs(controlpath)
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except PermissionError:
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logger.error("Can not create control path directory: %s" % controlpath)
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raise
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if not os.path.exists(os.path.join(controlpath, "position.txt")):
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with open(os.path.join(controlpath, "position.txt"), "w") as fp:
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fp.write("\n")
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with open(os.path.join(controlpath, "state.txt"), "w") as fp:
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fp.write("restart\n")
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try:
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# Start processing
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while True:
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# Check mount state
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restart = False
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with open(os.path.join(controlpath, "state.txt"), "r") as fp:
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line = fp.readline().rstrip()
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if line == "restart":
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restart = True
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# Restart
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if restart:
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# Log state
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with open(os.path.join(controlpath, "state.txt"), "w") as fp:
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fp.write("observing\n")
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# Get obsid
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trestart = time.gmtime()
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obsid = "%s_%d/%s" % (time.strftime("%Y%m%d", trestart), device_id, time.strftime("%H%M%S", trestart))
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filepath = os.path.join(path, obsid)
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logger.info("Storing files in %s" % filepath)
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# Create output directory
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if not os.path.exists(filepath):
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try:
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os.makedirs(filepath)
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except PermissionError:
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logger.error("Can not create output directory: %s" % filepath)
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raise
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# Get mount position
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with open(os.path.join(controlpath, "position.txt"), "r") as fp:
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line = fp.readline()
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with open(os.path.join(filepath, "position.txt"), "w") as fp:
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fp.write(line)
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# Wait for completed capture buffer to become available
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while (image_queue.qsize == 0):
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time.sleep(0.1)
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# Get next buffer # from the work queue
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proc_buffer = image_queue.get()
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logger.debug("Processing buffer %d" % proc_buffer)
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# Log start time
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tstart = time.time()
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# Process first buffer
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if proc_buffer == 1:
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t = t1
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z = z1
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elif proc_buffer == 2:
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t = t2
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z = z2
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# Format time
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nfd = "%s.%03d" % (time.strftime("%Y-%m-%dT%T",
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time.gmtime(t[0])), int((t[0] - np.floor(t[0])) * 1000))
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t0 = Time(nfd, format='isot')
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dt = t - t[0]
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# Cast to 32 bit float
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z = z.astype("float32")
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# Compute statistics
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zmax = np.max(z, axis=0)
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znum = np.argmax(z, axis=0)
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zs1 = np.sum(z, axis=0) - zmax
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zs2 = np.sum(z * z, axis=0) - zmax * zmax
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zavg = zs1 / float(nz - 1)
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zstd = np.sqrt((zs2 - zs1 * zavg) / float(nz - 2))
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# Convert to float and flip
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zmax = np.flipud(zmax.astype("float32"))
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znum = np.flipud(znum.astype("float32"))
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zavg = np.flipud(zavg.astype("float32"))
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zstd = np.flipud(zstd.astype("float32"))
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# Generate fits
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fname = "%s.fits" % nfd
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# Format header
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hdr = fits.Header()
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hdr['DATE-OBS'] = "%s" % nfd
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hdr['MJD-OBS'] = t0.mjd
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hdr['EXPTIME'] = dt[-1]-dt[0]
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hdr['NFRAMES'] = nz
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hdr['CRPIX1'] = float(nx)/2.0
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hdr['CRPIX2'] = float(ny)/2.0
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hdr['CRVAL1'] = 0.0
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hdr['CRVAL2'] = 0.0
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hdr['CD1_1'] = 1.0/3600.0
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hdr['CD1_2'] = 0.0
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hdr['CD2_1'] = 0.0
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hdr['CD2_2'] = 1.0/3600.0
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hdr['CTYPE1'] = "RA---TAN"
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hdr['CTYPE2'] = "DEC--TAN"
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hdr['CUNIT1'] = "deg"
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hdr['CUNIT2'] = "deg"
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hdr['CRRES1'] = 0.0
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hdr['CRRES2'] = 0.0
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hdr['EQUINOX'] = 2000.0
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hdr['RADECSYS'] = "ICRS"
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hdr['COSPAR'] = cfg.getint('Common', 'observer_cospar')
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hdr['OBSERVER'] = cfg.get('Common', 'observer_name')
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hdr['SITELONG'] = cfg.getfloat('Common', 'observer_lon')
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hdr['SITELAT'] = cfg.getfloat('Common', 'observer_lat')
|
|
hdr['ELEVATIO'] = cfg.getfloat('Common', 'observer_height')
|
|
if cfg.getboolean('Astrometry', 'tracking_mount'):
|
|
hdr['TRACKED'] = 1
|
|
else:
|
|
hdr['TRACKED'] = 0
|
|
for i in range(nz):
|
|
hdr['DT%04d' % i] = dt[i]
|
|
for i in range(10):
|
|
hdr['DUMY%03d' % i] = 0.0
|
|
|
|
# Write fits file
|
|
hdu = fits.PrimaryHDU(data=np.array([zavg, zstd, zmax, znum]),
|
|
header=hdr)
|
|
hdu.writeto(os.path.join(filepath, fname))
|
|
logger.info("Compressed %s in %.2f sec" % (fname, time.time() - tstart))
|
|
|
|
# Exit on end of capture
|
|
if t[-1] > tend:
|
|
break
|
|
logger.debug("Processed buffer %d" % proc_buffer)
|
|
|
|
|
|
except KeyboardInterrupt:
|
|
pass
|
|
except MemoryError as e:
|
|
logger.error("Compress: Memory error %s" % e)
|
|
finally:
|
|
# Exiting
|
|
logger.info("Exiting compress")
|
|
|
|
|
|
# Main function
|
|
if __name__ == '__main__':
|
|
|
|
# Read commandline options
|
|
conf_parser = argparse.ArgumentParser(description='Capture and compress' +
|
|
' live video frames.')
|
|
conf_parser.add_argument('-c', '--conf_file',
|
|
help="Specify configuration file. If no file" +
|
|
" is specified 'configuration.ini' is used.",
|
|
metavar="FILE")
|
|
conf_parser.add_argument('-t', '--test',
|
|
nargs='?',
|
|
action='store',
|
|
default=False,
|
|
help='Testing mode - Start capturing immediately for (optional) seconds',
|
|
metavar="s")
|
|
conf_parser.add_argument('-l', '--live', action='store_true',
|
|
help='Display live image while capturing')
|
|
|
|
args = conf_parser.parse_args()
|
|
|
|
# Process commandline options and parse configuration
|
|
cfg = configparser.ConfigParser(inline_comment_prefixes=('#', ';'))
|
|
|
|
conf_file = args.conf_file if args.conf_file else "configuration.ini"
|
|
result = cfg.read([conf_file])
|
|
|
|
if not result:
|
|
print("Could not read config file: %s\nExiting..." % conf_file)
|
|
sys.exit()
|
|
|
|
# Setup logging
|
|
logFormatter = logging.Formatter("%(asctime)s [%(threadName)-12.12s] " +
|
|
"[%(levelname)-5.5s] %(message)s")
|
|
logger = logging.getLogger()
|
|
|
|
# Generate directory
|
|
path = os.path.abspath(cfg.get('Common', 'observations_path'))
|
|
if not os.path.exists(path):
|
|
try:
|
|
os.makedirs(path)
|
|
except PermissionError:
|
|
logger.error("Can not create observations_path: %s" % path)
|
|
sys.exit()
|
|
|
|
fileHandler = logging.FileHandler(os.path.join(path, "acquire.log"))
|
|
fileHandler.setFormatter(logFormatter)
|
|
logger.addHandler(fileHandler)
|
|
|
|
consoleHandler = logging.StreamHandler(sys.stdout)
|
|
consoleHandler.setFormatter(logFormatter)
|
|
logger.addHandler(consoleHandler)
|
|
logger.setLevel(logging.DEBUG)
|
|
|
|
logger.info("Using config: %s" % conf_file)
|
|
|
|
# Testing mode
|
|
if args.test is None:
|
|
test_duration = 31
|
|
testing = True
|
|
elif args.test is not False:
|
|
test_duration = int(args.test)
|
|
testing = True
|
|
else:
|
|
testing = False
|
|
logger.info("Test mode: %s" % testing)
|
|
if (testing):
|
|
logger.info("Test duration: %ds" % test_duration)
|
|
|
|
# Live mode
|
|
live = True if args.live else False
|
|
logger.info("Live mode: %s" % live)
|
|
|
|
# Get camera type
|
|
camera_type = cfg.get('Camera', 'camera_type')
|
|
|
|
# Get device id
|
|
device_id = cfg.getint(camera_type, 'device_id')
|
|
|
|
# Current time
|
|
tnow = Time.now()
|
|
|
|
# Set location
|
|
loc = EarthLocation(lat=cfg.getfloat('Common', 'observer_lat')*u.deg,
|
|
lon=cfg.getfloat('Common', 'observer_lon')*u.deg,
|
|
height=cfg.getfloat('Common', 'observer_height')*u.m)
|
|
|
|
if not testing:
|
|
# Reference altitudes
|
|
refalt_set = cfg.getfloat('Control', 'alt_sunset')*u.deg
|
|
refalt_rise = cfg.getfloat('Control', 'alt_sunrise')*u.deg
|
|
|
|
# FIXME: The following will fail without internet access
|
|
# due to failure to download finals2000A.all
|
|
# Get sunrise and sunset times
|
|
state, tset, trise = get_sunset_and_sunrise(tnow, loc, refalt_set, refalt_rise)
|
|
|
|
# Start/end logic
|
|
if state == "sun never rises":
|
|
logger.info("The sun never rises. Exiting program.")
|
|
sys.exit()
|
|
elif state == "sun never sets":
|
|
logger.info("The sun never sets.")
|
|
tend = tnow+24*u.h
|
|
elif (trise < tset):
|
|
logger.info("The sun is below the horizon.")
|
|
tend = trise
|
|
elif (trise >= tset):
|
|
dt = np.floor((tset-tnow).to(u.s).value)
|
|
logger.info("The sun is above the horizon. Sunset at %s."
|
|
% tset.isot)
|
|
logger.info("Waiting %.0f seconds." % dt)
|
|
tend = trise
|
|
try:
|
|
time.sleep(dt)
|
|
except KeyboardInterrupt:
|
|
sys.exit()
|
|
else:
|
|
tend = tnow + test_duration*u.s
|
|
|
|
logger.info("Starting data acquisition")
|
|
logger.info("Acquisition will end after "+tend.isot)
|
|
|
|
# Get settings
|
|
nx = cfg.getint(camera_type, 'nx')
|
|
ny = cfg.getint(camera_type, 'ny')
|
|
nz = cfg.getint(camera_type, 'nframes')
|
|
|
|
# Initialize arrays
|
|
z1base = multiprocessing.Array(ctypes.c_uint8, nx*ny*nz)
|
|
z1 = np.ctypeslib.as_array(z1base.get_obj()).reshape(nz, ny, nx)
|
|
t1base = multiprocessing.Array(ctypes.c_double, nz)
|
|
t1 = np.ctypeslib.as_array(t1base.get_obj())
|
|
z2base = multiprocessing.Array(ctypes.c_uint8, nx*ny*nz)
|
|
z2 = np.ctypeslib.as_array(z2base.get_obj()).reshape(nz, ny, nx)
|
|
t2base = multiprocessing.Array(ctypes.c_double, nz)
|
|
t2 = np.ctypeslib.as_array(t2base.get_obj())
|
|
|
|
image_queue = multiprocessing.Queue()
|
|
|
|
# Set processes
|
|
pcompress = multiprocessing.Process(target=compress,
|
|
args=(image_queue, z1, t1, z2, t2, nx, ny,
|
|
nz, tend.unix, path, device_id, cfg))
|
|
if camera_type == "PI":
|
|
pcapture = multiprocessing.Process(target=capture_pi,
|
|
args=(image_queue, z1, t1, z2, t2,
|
|
nx, ny, nz, tend.unix, device_id, live, cfg))
|
|
elif camera_type == "CV2":
|
|
pcapture = multiprocessing.Process(target=capture_cv2,
|
|
args=(image_queue, z1, t1, z2, t2,
|
|
nx, ny, nz, tend.unix, device_id, live, cfg))
|
|
elif camera_type == "ASI":
|
|
pcapture = multiprocessing.Process(target=capture_asi,
|
|
args=(image_queue, z1, t1, z2, t2,
|
|
nx, ny, nz, tend.unix, device_id, live, cfg))
|
|
|
|
# Start
|
|
pcapture.start()
|
|
pcompress.start()
|
|
|
|
# End
|
|
try:
|
|
pcapture.join()
|
|
pcompress.join()
|
|
except (KeyboardInterrupt, ValueError):
|
|
time.sleep(0.1) # Allow a little time for a graceful exit
|
|
except MemoryError as e:
|
|
logger.error("Memory error %s" % e)
|
|
finally:
|
|
pcapture.terminate()
|
|
pcompress.terminate()
|
|
|
|
# Release device
|
|
if live is True:
|
|
cv2.destroyAllWindows()
|