cgse 2023.38.0__py3-none-any.whl → 2024.1.3__py3-none-any.whl

scripts/csl_model.py

@@ -1,436 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-Created on Tue Dec 10 17:09:04 2019
-
-@author: pierre
-"""
-
-"""
-MGSE MODEL wrt Coordinate Systems
-
-Two models are necessary, representing the same MGSE, but on diff. bases
-* model M (for Mec)
-          - based on GL_FIX as a master
-          - filled progressively during the mechanical alignment of the MGSE
-          - never used to represent any actual movement
-          - only used to gather information, and then it is transfered to model A
-
-* model A (for Alignment, or Active)
-          - based on HEX_MEC as a master
-          - filled in one go from a model M once it's complete
-          - used for the entire optical alignment
-
-"""
-
-
-import sys
-#sys.path.append("/Users/pierre/plato/plato-common-egse/src")
-sys.path
-
-
-import numpy as np
-
-# egse
-from egse.coordinates.referenceFrame import ReferenceFrame
-from egse.state import GlobalState
-
-# Hexapod
-from egse.hexapod.symetrie.puna import PunaController
-from egse.hexapod.symetrie.puna import PunaSimulator
-from egse.hexapod.symetrie.puna import HexapodError
-
-from egse.coordinates.point import Points
-
-def printm(matrix,rounding=2):
-    import numpy as np
-    print(np.round(matrix,rounding))
-
-
-################################################################################
-
-# PREDEFINED CONSTANTS    
-# Rotation - identity
-rdef = np.identity(3)
-# Translation - null
-tdef = np.array([0,0,0])
-# Zoom - unit
-zdef = np.array([1,1,1])
-# Shear
-sdef = np.array([0,0,0])
-
-pi4 = np.pi/4.
-I   = np.identity(4)
-
-# Rotation around static axis, and around x, y and z in that order
-rot_config = "sxyz"
-
-try:
-   hex = PunaController()
-   hex.connect()
-except HexapodError:
-   hex = PunaSimulator()
-   
-
-print(f"Hexapod is a simulator: {hex.is_simulator()}")
-
-
-degrees=True
-
-################################################################################
-# MODEL M : mechanical alignment of the MGSE
-################################################################################
-
-## TODO : READ translations and rotations FROM CALIBRATION FILE
-testtr  = np.array([-2,-2,-2])
-testrot = np.array([-3,-4,-5])
-
-
-"""
-## WORKING WITH GL_FIX = master until the end of the alignment.
-
-# Master
-master0 = ReferenceFrame.createMaster()
-
-# GL_FIX = Identity
-glfix0 = ReferenceFrame(transformation=np.identity(4), ref=master0,name="glfix0", rot_config=rot_config)
-glfix0.addLink(master0)#,transformation=np.identity(4))
-
-#print(glfix in masterM.linkedTo)
-
-# GL_ROT --> GL_FIX  --  no link
-glrot0 = ReferenceFrame(transformation=np.identity(4), ref=glfix0,name="glrot0", rot_config=rot_config)
-
-# GL_ISO --> GL_ROT
-tr_gliso  = testtr
-rot_gliso = testrot
-gliso0 = ReferenceFrame.fromTranslationRotation(tr_gliso,rot_gliso,rot_config=rot_config, ref=glrot0,name="gliso0",degrees=degrees)
-gliso0.addLink(glrot0)#,transformation=gliso.transformation)
-"""
-
-
-
-# Master
-master0fix = ReferenceFrame.createMaster()
-
-##################
-# REFERENCE FRAMES   ##  A. MGSE ALIGNMENT : GL_FIX as a master
-##################
-
-# GL_FIX = Identity
-glfix0fix = ReferenceFrame(transformation=np.identity(4), ref=master0fix, name="glfix0fix", rot_config=rot_config)
-glfix0fix.addLink(master0fix)
-
-#print(glfix in masterM.linkedTo)
-
-# GL_ROT --> GL_FIX  --  no link
-glrot0fix = ReferenceFrame(transformation=np.identity(4), ref=glfix0fix, name="glrot0fix", rot_config=rot_config)
-
-# GL_ISO --> GL_ROT
-tr_gliso  = testtr
-rot_gliso = testrot
-gliso0fix = ReferenceFrame.fromTranslationRotation(tr_gliso,rot_gliso,rot_config=rot_config, ref=glrot0fix, name="gliso0fix",degrees=degrees)
-gliso0fix.addLink(glrot0fix)
-
-
-##################
-# CHANGE OF REFERENCE --> GL_ISO BECOMES THE MASTER
-##################
-
-# Master
-master0 = ReferenceFrame.createMaster()
-
-gliso0 = ReferenceFrame(transformation=np.identity(4), ref=master0, name="gliso0", rot_config=rot_config)
-gliso0.addLink(master0)
-
-
-# GL_ROT --> GL_ISO
-transformation = glrot0fix.getActiveTransformationFrom(gliso0fix)
-glrot0 = ReferenceFrame(transformation=transformation,ref=gliso0, name="glrot0", rot_config=rot_config)
-glrot0.addLink(gliso0)
-
-
-# GL_FIX
-transformation = glfix0fix.getActiveTransformationFrom(glrot0fix)
-glfix0 = ReferenceFrame(transformation=transformation,ref=glrot0, name="glfix0", rot_config=rot_config)
-
-
-##################
-# PROCEED DEFINING THE MODEL. GL_ISO IS NOW THE MASTER
-##################
-
-# HEX_IS0 --> GL_ISO
-tr_hexiso  = testtr
-rot_hexiso = testrot
-hexiso0 = ReferenceFrame.fromTranslationRotation(tr_hexiso,rot_hexiso,rot_config=rot_config, ref=gliso0,name="hexiso0",degrees=degrees)
-hexiso0.addLink(gliso0)
-
-# HEX_MEC --> HEX_ISO
-hexmec0 = ReferenceFrame(transformation=np.identity(4), ref=hexiso0, name="hexmec0", rot_config=rot_config)
-hexmec0.addLink(hexiso0)
-
-
-# HEX_PLT --> HEX_MEC -- no link
-tr_hexplt  = testtr
-rot_hexplt = testrot
-hexplt0 = ReferenceFrame(transformation=np.identity(4), ref=hexmec0, name="hexplt0", rot_config=rot_config)
-
-# FPA_ALN --> GL_ISO -- no link
-tr_fpaaln  = testtr
-rot_fpaaln = testrot
-fpaaln0 = ReferenceFrame.fromTranslationRotation(tr_fpaaln,rot_fpaaln,rot_config=rot_config, ref=gliso0, name="fpaaln0",degrees=degrees)
-
-# FPA_SEN --> FPA_ALN
-tr_fpasen  = testtr
-rot_fpasen = testrot
-fpasen0 = ReferenceFrame.fromTranslationRotation(tr_fpasen,rot_fpasen,rot_config=rot_config, ref=fpaaln0, name="fpasen0",degrees=degrees)
-fpasen0.addLink(fpaaln0)
-
-# HEX_OBJ --> FPA_SEN
-transformation = fpasen0.getActiveTransformationFrom(hexplt0)
-hexobj0 = ReferenceFrame(transformation=transformation,ref=hexplt0, name="hexobj0", rot_config=rot_config)
-hexobj0.addLink(fpasen0)
-
-# FPA_MEC --> FPA_ALN
-tr_fpamec  = testtr
-rot_fpamec = testrot
-fpamec0 = ReferenceFrame.fromTranslationRotation(tr_fpamec,rot_fpamec,rot_config=rot_config, ref=fpaaln0, name="fpamec0",degrees=degrees)
-fpamec0.addLink(fpaaln0)
-
-# THE FOLLOWING ARE FOR CSL PURPOSE : TOU_ALN, TOU_OPT, CAM_MEC, MARI_ALN, CAM_BOR
-# MARI_ALN wrt TOU_ALN and CAM_BOR wrt TOU_ALN are deliverables from CSL to the TH and the CM resp.
-# The order in which we get the absolute location of these systems is TBD, cos it may differ
-# from the order in which they are derived, because some may only positioned in orientation 
-# to start with. TBD.
-
-# Originally TOU_ALN only measured in orientation, no abs. location wrt GL_ISO
-# Changed later on : will be provided wrt TOU_MEC 
-# in order to be able to locate CAM_BOR (deliverable) and express MARI_ALN (deliverable)
-
-# TOU_MEC --> GL_ISO
-tr_toumec  = testtr
-rot_toumec = testrot
-toumec0 = ReferenceFrame.fromTranslationRotation(tr_toumec,rot_toumec,rot_config=rot_config, ref=gliso0, name="toumec0",degrees=degrees)
-toumec0.addLink(gliso0)
-
-
-# TOU_ALN --> TOU_MEC  --> here or in B.
-tr_toualn  = testtr
-rot_toualn = testrot
-toualn0 = ReferenceFrame.fromTranslationRotation(tr_toualn,rot_toualn,rot_config=rot_config, ref=toumec0, name="toualn0",degrees=degrees)
-toualn0.addLink(toumec0)
-
-# MARI_ALN --> TOU_ALN --> here or in B.
-tr_marialn  = testtr
-rot_marialn = testrot
-marialn0 = ReferenceFrame.fromTranslationRotation(tr_marialn,rot_marialn,rot_config=rot_config, ref=toualn0, name="marialn0",degrees=degrees)
-marialn0.addLink(toualn0)
-
-# TOU_OPT --> TOU_ALN -- optional
-tr_touopt  = testtr
-rot_touopt = testrot
-touopt0 = ReferenceFrame.fromTranslationRotation(tr_touopt,rot_touopt,rot_config=rot_config, ref=toualn0, name="touopt0",degrees=degrees)
-touopt0.addLink(toualn0)
-
-# CAM_MEC --> TOU_ALN -- optional
-tr_cammec  = testtr
-rot_cammec = testrot
-cammec0 = ReferenceFrame.fromTranslationRotation(tr_cammec,rot_cammec,rot_config=rot_config, ref=toualn0, name="cammec0",degrees=degrees)
-cammec0.addLink(toualn0)
-
-
-# Note we establish the full model and then transfer it to another master (hexmec)
-# In reality a number of frames could be established directly in the final master:
-# fpasen, fpamec, toul6, hexusr
-# In practice they will certainly be communicated at this stage -> more logical this way
-
-# TOU_L6 --> TOU_MEC
-tr_toul6  = testtr
-rot_toul6 = testrot
-toul60 = ReferenceFrame.fromTranslationRotation(tr_toul6,rot_toul6,rot_config=rot_config, ref=toumec0, name="toul60",degrees=degrees)
-toul60.addLink(toumec0)
-
-# HEX_USR
-# USR, defined in MEC --> first define a virtual frame in TOU_L6, then redefine it in HEX_MEC
-tr_hexusr  = [0,0,-1.65]
-rot_hexusr = [0,0,0]
-hexusrtou = ReferenceFrame.fromTranslationRotation(tr_hexusr,rot_hexusr,rot_config=rot_config, ref=toul60, name="hexusrtou",degrees=degrees)
-transformation = hexusrtou.getActiveTransformationFrom(hexmec0)
-hexusr0 = ReferenceFrame(transformation=transformation,ref=hexmec0, name="hexusr0", rot_config=rot_config)
-hexusr0.addLink(hexmec0)
-
-del hexusrtou
-
-# HEX_OBUSR
-transformation = hexusr0.getActiveTransformationTo(hexobj0)
-hexobusr0 = ReferenceFrame(transformation=transformation,rot_config=rot_config, ref=hexusr0, name="hexobusr0")
-hexobusr0.addLink(hexobj0)
-
-"""
-# At this stage, hexapod movements could intervene to recenter the FPA wrt TOU
-
-# This should be delayed as long as hexusr (L6S2) and hexobj (FPA_SEN) 
-# haven't been properly defined, the avoidance volume can't be checked
-
-# From this point on it's doable though (use is_avoidance_ok)
-
-"""
-
-##################
-# REFERENCE FRAMES   ##  B. ALIGNMENT : TRANSFER MASTER to HEX_MEC & MODEL SIMPLIFICATION
-##################
-
-master = ReferenceFrame.createMaster()
-
-# HEX_MEC
-hexmec = ReferenceFrame(transformation=np.identity(4), ref=master, name="hexmec", rot_config=rot_config)
-hexmec.addLink(master)
-
-# HEX_PLT
-transformation = hexplt0.getActiveTransformationFrom(hexmec0)
-hexplt = ReferenceFrame(transformation=transformation,ref=hexmec, name="hexplt", rot_config=rot_config)
-
-# HEX_OBJ
-transformation = hexobj0.getActiveTransformationFrom(hexplt0)
-hexobj = ReferenceFrame(transformation=transformation,ref=hexplt, name="hexobj", rot_config=rot_config)
-hexobj.addLink(hexplt)
-
-# FPA_MEC
-transformation = fpamec0.getActiveTransformationFrom(hexobj0)
-fpamec = ReferenceFrame(transformation=transformation,ref=hexobj, name="fpamec", rot_config=rot_config)
-fpamec.addLink(hexobj)
-
-# TOU_MEC
-transformation = toumec0.getActiveTransformationFrom(hexmec0)
-toumec = ReferenceFrame(transformation=transformation,ref=hexmec, name="toumec", rot_config=rot_config)
-toumec.addLink(hexmec)
-
-# HEX_USR
-transformation = hexusr0.getActiveTransformationFrom(hexmec0)
-hexusr = ReferenceFrame(transformation=transformation,ref=hexmec, name="hexusr", rot_config=rot_config)
-hexusr.addLink(hexmec)
-
-# CHANGE HEX_USR DEFINITION IN THE HEXAPOD CONTROLLER
-
-# HEX_OBUSR
-transformation = hexobj0.getActiveTransformationFrom(hexusr0)
-hexobusr = ReferenceFrame(transformation=transformation,ref=hexusr, name="hexobusr", rot_config=rot_config)
-hexobusr.addLink(hexobj)
-
-# Deliverables : MARI_ALN & CAM_BOR --> unnecessary for the alignment
-# but easier to represent them and get them for free in the end
-# TOU_ALN  --> TOU_MEC
-transformation = toualn0.getActiveTransformationFrom(toumec0)
-toualn = ReferenceFrame(transformation=transformation,ref=toumec, name="toualn", rot_config=rot_config)
-toualn.addLink(toumec)
-
-# MARI_ALN --> TOU_ALN
-transformation = marialn0.getActiveTransformationFrom(toualn0)
-marialn = ReferenceFrame(transformation=transformation,ref=toualn, name="marialn", rot_config=rot_config)
-marialn.addLink(toualn)
-
-######
-# CAM_BOR is only established after the alignment. This is a "placeholder"
-# CAM_BOR is // TOU_OPT with its origin == that of FPA_SEN
-# 0. get TOU_OPT (fixed wrt TOU_ALN)
-# 1. Define CAM_BOR == TOU_OPT with CAM_BOR.ref = TOU_ALN
-# 2. Determine the translation vector from TOU_OPT.origin to FPA_SEN.origin (HEX_OBJ.origin)
-# 3. Apply that translation to CAM_BOR. It is now properly defined
-# 4. Deliverables : its translation-rotation vectors wrt TOU_ALN
-
-#0. 
-# TOU_OPT  --> TOU_ALN
-transformation = touopt0.getActiveTransformationFrom(toualn0)
-touopt = ReferenceFrame(transformation=transformation,ref=toualn, name="touopt", rot_config=rot_config)
-touopt.addLink(toualn)
-
-# 1.
-transformation = touopt.getActiveTransformationFrom(toualn)
-cambor = ReferenceFrame(transformation=transformation,ref=toualn, name="cambor", rot_config=rot_config)
-
-# 2. & 3.
-translation = hexobj.getOrigin().expressIn(touopt)[:3]
-rotation = [0.,0.,0.]
-cambor.applyTranslationRotation(translation,rotation,rot_config=rot_config,degrees=degrees)
-
-# 4.
-translation,rotation = cambor.getActiveTranslationRotationVectorsFrom(toualn)
-
-
-
-csl_model = [master,hexmec,hexplt,hexobj,hexusr,hexobusr,fpamec,toumec,toualn,touopt,marialn,cambor]
-
-
-
-
-##################
-# AVOIDANCE VOLUME
-##################
-
-"""
-# NECESSARY FIELDS IN THE SETUP
-
-setup.camera.fpa.avoidance.clearance_xy    # Horizontal clearance around L6
-setup.camera.fpa.avoidance.clearance_z     # Vertical uncertainty on teh CCD location
-setup.camera_fpa.avoidance.vertices_nb     # nb of points to represent the avoidance volume above the FPA
-setup.camera_fpa.avoidance.vertices_radius # radius of the circle to represend the avoidance volume above the FPA
-
-"""
-
-
-
-setup = GlobalState.setup
-
-"""
-A. HORIZONTAL AVOIDANCE
-  Ensure that the center of L6, materialised by HEX_USR (incl. z-direction security wrt TOU_L6)
-  stays within a given radius of the origin of FPA_SEN
-"""
-
-# Clearance = the tolerance in every horizontal direction (3 mm; PLATO-KUL-PL-ICD-0001 v1.2)
-clearance_xy = setup.camera.fpa.avoidance.clearance_xy
-
-# l6xy = the projection of the origin of HEX_USR on the X-Y plane of FPA_SEN
-l6xy = hexusr.getOrigin().expressIn(hexobj)[:2]
-
-
-# !! This is a verification of the current situation --> need to replace by a simulation of the forthcoming movement in the building block
-assert((l6xy[0]**2.+l6xy[1]**2.)< clearance_xy*clearance_xy)
-
-
-"""
-B. VERTICAL AVOIDANCE
-   Ensure that the CCD never hits L6.
-   The definition of HEX_USR includes a tolerance below L6 (1.65 mm)
-   We include a tolerance above FPA_SEN here (0.3 mm)
-   We define a collection of points to act at the vertices of the avoidance volume above the FPA
-"""
-
-# Clearance = vertical uncertainty on the CCD location (0.3 mm; PLATO-KUL-PL-ICD-0001 v1.2)
-clearance_z = setup.camera.fpa.avoidance.clearance_z
-
-# Vertices = Points representing the vertices of the avoidance volume above the FPA (60)
-vertices_nb     = setup.camera.fpa.avoidance.vertices_nb
-# All vertices are on a circle of radius 'vertices_radius' (100 mm)
-vertices_radius = setup.camera.fpa.avoidance.vertices_radius
-
-angles = np.linspace(0,np.pi * 2,vertices_nb,endpoint=False)
-vertices_x = np.cos(angles) * vertices_radius
-vertices_y = np.sin(angles) * vertices_radius
-vertices_z = np.ones_like(angles) * clearance_z
-
-# The collection of Points defining the avoidance volume around FPA_SEN
-vert_obj = Points(coordinates=np.array([vertices_x,vertices_y,vertices_z]),ref=hexobj,name="vertices")
-
-# Their coordinates in HEX_USR
-# NB: vert_obj is a Points, vert_usr is an array
-vert_usr = vert_obj.expressIn(hexusr)
-
-
-# !! Same as above : this is verifying the current situation, not the one after a planned movement
-# Verify that all vertices ("protecting" FPA_SEN) are below the x-y plane of HEX_USR ("protecting" L6)
-assert(np.all(vert_usr[2,:] < 0.))
-
-
-
-

scripts/csl_restore_setup.py

@@ -1,230 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-Created on Thu Sep 10 16:54:25 2020
-
-@author: pierre
-"""
-
-import os
-
-
-import numpy as np
-
-#import pandas
-
-# egse
-#from egse.coordinates.referenceFrame import ReferenceFrame
-from egse.coordinates.cslmodel import CSLReferenceFrameModel
-from egse.state import GlobalState, Setup
-from scripts.laser_tracker_to_dict import laser_tracker_to_dict
-
-# Hexapod
-#from egse.hexapod.symetrie.puna import PunaController
-from egse.hexapod.symetrie.puna import PunaSimulator
-#from egse.hexapod.symetrie.puna import HexapodError
-
-#from egse.coordinates.point import Points
-
-from egse.coordinates import ref_model_to_dict, dict_to_ref_model
-
-from camtest import list_setups, load_setup
-
-from camtest.core import submit_setup
-
-# submit_setup
-
-from scripts.avoidance import is_avoidance_ok
-
-
-def printm(matrix,rounding=2):
-    import numpy as np
-    print(np.round(matrix,rounding))
-    
-"""
-def check_positions(out, expected, rel=0.0001, abs=0.0001):
-    assert len(out) == len(expected)
-    for idx, element in enumerate(out):
-        assert element == approx(expected[idx], rel=rel, abs=abs)
-"""
-
-def positions_match(hexapod,hexsim,atol=0.0001,rtol=0.0001):
-    return np.allclose(hexapod.get_user_positions(), hexsim.get_user_positions(), atol=atol, rtol=rtol)
-
-confdir = os.getenv("PLATO_CONF_DATA_LOCATION")
-
-
-################################################################################
-
-list_setups()
-
-setupnr = 9
-
-setup = load_setup(setupnr)
-
-
-#===================== Ingest model from xls file =============================
-
-
-
-filexls = "/Users/pierre/plato/csl_refFrames.xls"
-
-
-refFrames = laser_tracker_to_dict(filexls)
-
-print(refFrames)
-
-dict_model = dict_to_ref_model(refFrames)
-
-csl_model = CSLReferenceFrameModel(refFrames)
-
-transformation = csl_model.get_frame("hexusr").getActiveTransformationTo(csl_model.get_frame("hexobj"))
-csl_model.add_frame(name="hexobusr", transformation=transformation, ref="hexusr")
-
-# create hex_iso ?
-
-## Add the links
-csl_model.add_link("hexplt","hexobj")
-csl_model.add_link("hexobj","hexobusr")
-csl_model.add_link("hexmec","hexusr")
-
-# fpa links ?
-
-
-#=============================== POSITION 2 ===================================
-
-# Run csl_model up to the definition of HEX_OBUSR  (egse/scripts)
-
-## Instantiate a hexapod simulator
-
-#hexsim = PunaSimulator(hex_mec=hexmec0, hex_plt=hexplt0, hex_obj=hexobj0, hex_usr=hexusr0, hex_obusr=hexobusr0)
-
-
-
-
-
-# 1. Save setup before going to retracted position == save FPA_SEN position
-"""
-csl_list = [master0, gliso0, glrot0, glfix0, hexmec0,hexplt0, fpaaln0, fpasen0, \
-            hexobj0,fpamec0,toumec0,toualn0,marialn0,touopt0,cammec0,toul60, \
-            hexusr0,hexobusr0]
-
-csl_dict = ref_model_to_dict(csl_list)
-    
-#setup.csl_model =  csl_dict
-
-
-csl_model = CSLReferenceFrameModel(csl_dict)
-"""
-
-
-csl_dict =  csl_model.serialize()
-
-setup.csl_model =  csl_dict
-
-
-
-#newsetupfile = confdir+f"setup_{setupnr}_cslmodel.yaml"
-
-#setup.to_yaml_file(newsetupfile)
-
-setup = submit_setup(setup, "STM - FPA in place")
-
-
-# 2. Goto retracted position
-
-# 2a. simulation
-
-hexsim.goto_retracted_position()
-
-# 2b. hardware
-
-execute(hexapod_puna_goto_retracted_position,wait=True)
-
-# 2c. Check that model still coincides with new HW position
-#     MAKE SURE HEX IS NOT A SIMULATOR...
-
-print(f"Hexapod & Model match: {positions_match(hex,hexsim)}")
-
-# 3. Save setup in retracted position
-
-# 3a. Save full model, for the record
-    
-csl_dict = ref_model_to_dict(csl_model)
-    
-setup.csl_model =  csl_dict
-
-
-# 3b. Save partial model, to be restored after the egse_sleep --> exclude glfix and glrot
-csl_model_to_restore = [master0, gliso0, hexmec0,hexplt0, fpaaln0, fpasen0, \
-            hexobj0,fpamec0,toumec0,toualn0,marialn0,touopt0,cammec0,toul60, \
-            hexusr0,hexobusr0]
-
-csl_dict = ref_model_to_dict(csl_model_to_restore)
-    
-setup.csl_model_to_restore =  csl_dict
-
-setup = submit_setup(setup, "STM - Retracted")
-
-
-
-#=============== EGSE SLEEP --> POSITION 1 -->  WAKEUP ========================
-
-#=============================== POSITION 1 ===================================
-
-list_setups()
-
-# 1. Restore the retracted setup
-
-setup = load_setup(TODO)  #   "STM - Retracted"
-
-#setreup = Setup.from_yaml_file(newsetupfile)
-
-# 2. Extract the csl_model from the setup  --  select the retracted setup, without 
-
-csl_dict = setup.csl_model_to_restore
-
-csl_model = dict_to_ref_model(csl_dict)
-
-# 3. Instantiate hexapod model
-
-hexsim = PunaSimulator(hex_mec=csl_model["hexmec0"],hex_plt=csl_model["hexplt0"],hex_obj=csl_model["hexobj0"],hex_usr=csl_model["hexusr0"],hex_obusr=csl_model["hexobusr0"])
-
-
-# 4. Read model with FPA_SEN in position
-
-newsetupfile = confdir + "TODO.yaml"
-
-# TODO : REPLACE NEXT LINE BY get_setup(setup_id)
-setup_high = Setup.from_yaml_file(newsetupfile) #    "STM - FPA in place"
-
-
-# 5. Extract model with FPA high
-
-csl_dict_high = setup_high.csl_model
-
-csl_model_high = dict_to_ref_model(csl_dict_high)
-
-
-# 6.  Extract FPA_SEN position to be restored
-
-vtrans, vrot = csl_model_high["fpasen0"].getActiveTranslationRotationVectorsFrom(csl_model_high["hexmec0"])
-
-
-# 7. Command the hexapod to that same location
-
-hexsim.move_absolute(*vtrans,*vrot)
-
-avoidance_respected = is_avoidance_ok(csl_model["hexusr0"], csl_model["hexobj0"], setup=None, verbose=True)
-
-print(f"Avoidance OK after movement : {avoidance_respected}")
-    
-if avoidance_respected:
-
-    execute(hexapod_puna_move_absolute_user,*vtrans,*vrot,wait=True)
-
-else:
-    
-    print("Call your local EGSE manager")
-
-

scripts/export-grafana-dashboards.py

@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-
-"""
-Grafana dashboard exporter
-
-The exported dashboards are saved in a directory 'exported-dashboards-<datetime>'
-"""
-
-import json
-import os
-from pathlib import Path
-from rich import print_json
-
-import requests
-
-from egse.system import format_datetime
-
-HOST = 'http://lin-plato-2.sron.rug.nl:3000'
-API_KEY = os.environ["GRAFANA_API_KEY"]
-
-DIR = f'exported-dashboards-{format_datetime(fmt="%Y%m%d%H%M%S")}'
-
-
-def main():
-    headers = {'Authorization': f'Bearer {API_KEY}'}
-    response = requests.get(f'{HOST}/api/search?query=&', headers=headers)
-    response.raise_for_status()
-    dashboards = response.json()
-    # print_json(data=dashboards)
-
-    if not os.path.exists(DIR):
-        print(f"Creating folder {DIR}")
-        os.makedirs(DIR)
-
-    for dashboard in dashboards:
-        response = requests.get(f"{HOST}/api/dashboards/uid/{dashboard['uid']}", headers=headers)
-        # print_json(data=response.json())
-        data = response.json()['dashboard']
-        dash = json.dumps(data, sort_keys=True, indent=4, separators=(',', ': '))
-        name = data['title'].replace(' ', '_').replace('/', '_').replace(':', '').replace('[', '').replace(']', '').replace('.', '_')
-
-        print(f"Saving: {dashboard['title']} as {name}")
-
-        with open(Path(DIR,  name).with_suffix('.json'), 'w') as fd:
-            fd.write(dash)
-            fd.write('\n')
-
-
-if __name__ == '__main__':
-    main()