rtc_init.py

 
 
import shesha.config as conf
import shesha.constants as scons
from shesha.constants import CONST
 
from shesha.ao import imats, cmats, tomo, basis, modopti
 
from shesha.util import utilities, rtc_util
from shesha.init import dm_init
from typing import List
 
import numpy as np
from shesha.sutra_wrap import (carmaWrap_context, Sensors, Dms, Target, Rtc_brahma,
                               Rtc_cacao_FFF, Atmos, Telescope)
from shesha.sutra_wrap import Rtc_FFF as Rtc
 
 
def rtc_init(context: carmaWrap_context, tel: Telescope, wfs: Sensors, dms: Dms,
             atmos: Atmos, p_wfss: list, p_tel: conf.Param_tel, p_geom: conf.Param_geom,
             p_atmos: conf.Param_atmos, ittime: float, p_centroiders=None,
             p_controllers=None, p_dms=None, do_refslp=False, brahma=False, cacao=False,
             tar=None, dataBase={}, use_DB=False):
    """Initialize all the SutraRtc objects : centroiders and controllers
 
    Args:
        context: (carmaWrap_context): context
 
        tel: (Telescope) : Telescope object
 
        wfs: (Sensors) : Sensors object
 
        dms: (Dms) : Dms object
 
        atmos: (Atmos) : Atmos object
 
        p_wfss: (list of Param_wfs) : wfs settings
 
        p_tel: (Param_tel) : telescope settings
 
        p_geom: (Param_geom) : geom settings
 
        p_atmos: (Param_atmos) : atmos settings
 
        ittime: (float) : iteration time [s]
 
    Kwargs:
        p_centroiders : (list of Param_centroider): centroiders settings
 
        p_controllers : (list of Param_controller): controllers settings
 
        p_dms: (list of Param_dms) : dms settings
 
        do_refslp : (bool): do ref slopes flag, default=False
 
        brahma: (bool) : brahma flag
 
        cacao: (bool) : cacao flag
 
        tar: (Target) : Target object
 
        dataBase: (dict): dict containig paths to files to load
 
        use_DB: (bool): use dataBase flag
 
    Returns:
        Rtc : (Rtc) : Rtc object
    """
    # initialisation var
    # ________________________________________________
    if brahma:
        rtc = Rtc_brahma(context, wfs, tar, "rtc_brahma")
    elif cacao:
        rtc = Rtc_cacao_FFF(p_controllers[0].calpix_name, p_controllers[0].loopdata_name)
    else:
        rtc = Rtc()
 
    if p_wfss is None:
        return rtc
 
    if p_centroiders:
        ncentro = len(p_centroiders)
    else:
        ncentro = 0
 
    if p_controllers:
        ncontrol = len(p_controllers)
    else:
        ncontrol = 0
 
    if p_centroiders is not None:
        for i in range(ncentro):
            nwfs = p_centroiders[i].nwfs
            init_centroider(context, nwfs, p_wfss[nwfs], p_centroiders[i], p_tel,
                            p_atmos, wfs, rtc)
 
    if p_controllers is not None:
        if (p_wfss is not None and p_dms is not None):
            for i in range(ncontrol):
                if not "dm" in dataBase:
                    imat = imats.imat_geom(wfs, dms, p_wfss, p_dms, p_controllers[i],
                                           meth=0)
                else:
                    imat = None
 
                if p_dms[0].type == scons.DmType.PZT:
                    dm_init.correct_dm(context, dms, p_dms, p_controllers[i], p_geom,
                                       imat, dataBase=dataBase, use_DB=use_DB)
 
                init_controller(context, i, p_controllers[i], p_wfss, p_geom, p_dms,
                                p_atmos, ittime, p_tel, rtc, dms, wfs, tel, atmos,
                                p_centroiders, do_refslp, dataBase=dataBase,
                                use_DB=use_DB)
 
            # add a geometric controller for processing error breakdown
            roket_flag = True in [w.roket for w in p_wfss]
            if (roket_flag):
                p_controller = p_controllers[0]
                Nphi = np.where(p_geom._spupil)[0].size
 
                list_dmseen = [p_dms[j].type for j in p_controller.ndm]
                nactu = np.sum([p_dms[j]._ntotact for j in p_controller.ndm])
 
                nmodes = 0
                if(p_controller.nmodes is not None):
                    nmodes = p_controller.nmodes
 
                rtc.add_controller(context, scons.ControllerType.GEO, context.active_device,
                    0, p_controller.nslope, p_controller.nactu,
                    p_controller.nslope_buffer, p_controller.nstates, p_controller.nstate_buffer,
                    nmodes, p_controller.n_iir_in, p_controller.n_iir_out,
                    p_controller.polc, p_controller.modal, dms, p_controller.ndm,
                    p_controller.ndm.size, p_controller.nwfs, p_controller.nwfs.size, Nphi, True)
                init_controller_geo(ncontrol, rtc, dms, p_geom, p_controller, p_dms,
                                    roket=True)
 
    return rtc
 
 
def rtc_standalone(context: carmaWrap_context, nwfs: int, nvalid: list, nactu: int,
                   centroider_type: list, delay: list, offset: list, scale: list,
                   brahma: bool = False, fp16: bool = False, cacao: bool = False) -> Rtc:
    """Initialize all the SutraRtc objects : centroiders and controllers
 
    Args:
        context: (carmaWrap_context): context
 
        nwfs: (int): number of wavefront sensors
 
        nvalid: (int): number of valid measures as input
 
        nactu: (int): number of actuators as output
 
        centroider_type: (list): type of centroiders
 
        delay: (list): delay of each controller
 
        offset: (list): offset added in the cog computation of each WFS
 
        scale: (list): scale factor used in the cog computation of each WFS
 
    Kwargs:
        brahma: (bool) : brahma flag (default=False)
 
        fp16: (bool) : fp16 flag (default=False)
 
        cacao: (bool) : cacao flag (default=False)
 
    Returns:
        Rtc : (Rtc) : Rtc object
    """
    print("start rtc_standalone")
    if brahma:
        rtc = Rtc_brahma(context, None, None, "rtc_brahma")
    elif cacao:
        if fp16:
            from shesha.sutra_wrap import Rtc_cacao_FHF
            rtc = Rtc_cacao_FHF("compass_calPix", "compass_loopData")
        else:
            rtc = Rtc_cacao_FFF("compass_calPix", "compass_loopData")
    else:
        if fp16:
            from shesha.sutra_wrap import Rtc_FHF
            rtc = Rtc_FHF()
        else:
            rtc = Rtc()
    for k in range(nwfs):
        # print(context, nvalid[k], offset[k], scale[k], False,
        #                 context.active_device, centroider_type[k])
        rtc.add_centroider(context, nvalid[k], offset[k], scale[k], False,
                           context.active_device, centroider_type[k])
 
    nslopes = sum([c.nslopes for c in rtc.d_centro])
 
    rtc.add_controller(context, "generic", context.active_device,delay[0],
                        nslopes, nactu, idx_centro=np.arange(nwfs),
                        ncentro=nwfs)
 
    print("rtc_standalone set")
    return rtc
 
 
def init_centroider(context, nwfs: int, p_wfs: conf.Param_wfs,
                    p_centroider: conf.Param_centroider, p_tel: conf.Param_tel,
                    p_atmos: conf.Param_atmos, wfs: Sensors, rtc: Rtc):
    """ Initialize a centroider object in Rtc
 
    Args:
        context: (carmaWrap_context): context
 
        nwfs : (int) : index of wfs
 
        p_wfs : (Param_wfs): wfs settings
 
        p_centroider : (Param_centroider) : centroider settings
 
        wfs: (Sensors): Sensor object
 
        rtc : (Rtc) : Rtc object
    """
    if (p_wfs.type == scons.WFSType.SH):
        if (p_centroider.type != scons.CentroiderType.CORR):
            s_offset = p_wfs.npix // 2. - 0.5
        else:
            if (p_centroider.type_fct == scons.CentroiderFctType.MODEL):
                if (p_wfs.npix % 2 == 0):
                    s_offset = p_wfs.npix // 2 - 0.5
                else:
                    s_offset = p_wfs.npix // 2
            else:
                s_offset = p_wfs.npix // 2 - 0.5
        s_scale = p_wfs.pixsize
 
    elif (p_wfs.type == scons.WFSType.PYRHR or p_wfs.type == scons.WFSType.PYRLR):
        s_offset = 0.
        s_scale = (p_wfs.Lambda * 1e-6 / p_tel.diam) * \
            p_wfs.pyr_ampl * CONST.RAD2ARCSEC
 
    rtc.add_centroider(context, p_wfs._nvalid, s_offset, s_scale, p_centroider.filter_TT,
                       context.active_device, p_centroider.type, wfs.d_wfs[nwfs])
    rtc.d_centro[-1].load_validpos(p_wfs._validsubsx, p_wfs._validsubsy,
                                   p_wfs._nvalid * p_wfs.nPupils)
 
    rtc.d_centro[-1].set_npix(p_wfs.npix)
 
    if (p_centroider.type != scons.CentroiderType.MASKEDPIX):
        p_centroider._nslope = 2 * p_wfs._nvalid
    else:
        p_centroider._nslope = p_wfs._validsubsx.size
 
    if (p_centroider.type == scons.CentroiderType.PYR):
        # FIXME SIGNATURE CHANGES
        rtc.d_centro[nwfs].set_pyr_method(p_centroider.method)
        rtc.d_centro[nwfs].set_pyr_thresh(p_centroider.thresh)
 
    elif (p_wfs.type == scons.WFSType.SH):
        if (p_centroider.type == scons.CentroiderType.TCOG or 
            p_centroider.type == scons.CentroiderType.WCOG):
            rtc.d_centro[nwfs].set_threshold(p_centroider.thresh)
        if (p_centroider.type == scons.CentroiderType.BPCOG):
            rtc.d_centro[nwfs].set_nmax(p_centroider.nmax)
        if (p_centroider.type == scons.CentroiderType.WCOG or
              p_centroider.type == scons.CentroiderType.CORR):
            r0 = p_atmos.r0 * (p_wfs.Lambda / 0.5)**(6 / 5.)
            seeing = CONST.RAD2ARCSEC * (p_wfs.Lambda * 1.e-6) / r0
            npix = seeing // p_wfs.pixsize
            comp_weights(p_centroider, p_wfs, npix)
            if p_centroider.type == scons.CentroiderType.WCOG:
                rtc.d_centro[nwfs].init_weights()
                rtc.d_centro[nwfs].load_weights(p_centroider.weights,
                                                p_centroider.weights.ndim)
            else:
                corrnorm = np.ones((2 * p_wfs.npix, 2 * p_wfs.npix), dtype=np.float32)
                p_centroider.sizex = 3
                p_centroider.sizey = 3
                p_centroider.interpmat = rtc_util.create_interp_mat(
                        p_centroider.sizex, p_centroider.sizey).astype(np.float32)
 
                if (p_centroider.weights is None):
                    raise ValueError("p_centroider.weights is None")
                rtc.d_centro[nwfs].init_corr(p_centroider.sizex, p_centroider.sizey,
                                             p_centroider.interpmat)
                rtc.d_centro[nwfs].load_corr(p_centroider.weights, corrnorm,
                                             p_centroider.weights.ndim)
 
 
def comp_weights(p_centroider: conf.Param_centroider, p_wfs: conf.Param_wfs, npix: int):
    """ Compute the weights used by centroider wcog and corr
 
    Args:
        p_centroider : (Param_centroider) : centroider settings
 
        p_wfs : (Param_wfs) : wfs settings
 
        npix: (int):
    """
    if (p_centroider.type_fct == scons.CentroiderFctType.MODEL):
 
        if (p_wfs.gsalt > 0):
            tmp = p_wfs._lgskern
            tmp2 = utilities.makegaussian(tmp.shape[1],
                                          npix * p_wfs._nrebin).astype(np.float32)
            tmp3 = np.zeros((tmp.shape[1], tmp.shape[1], p_wfs._nvalid),
                            dtype=np.float32)
 
            for j in range(p_wfs._nvalid):
                tmp3[:, :, j] = np.fft.ifft2(
                        np.fft.fft2(tmp[:, :, j]) * np.fft.fft2(tmp2.T)).real
                tmp3[:, :, j] *= tmp3.shape[0] * tmp3.shape[1]
                tmp3[:, :, j] = np.fft.fftshift(tmp3[:, :, j])
 
            offset = (p_wfs._Ntot - p_wfs._nrebin * p_wfs.npix) // 2
            j = offset + p_wfs._nrebin * p_wfs.npix
            tmp = np.zeros((j - offset + 1, j - offset + 1, tmp3.shape[2]),
                           dtype=np.float32)
            tmp3 = np.cumsum(tmp3[offset:j, offset:j, :], axis=0)
            tmp[1:, 1:, :] = np.cumsum(tmp3, axis=1)
            tmp = np.diff(tmp[::p_wfs._nrebin, ::p_wfs._nrebin, :], axis=0)
            tmp = np.diff(tmp, axis=1)
 
            p_centroider.weights = tmp
        else:
            p_centroider.type_fct = scons.CentroiderFctType.GAUSS
            print("No LGS found, centroider weighting function becomes gaussian")
 
    if (p_centroider.type_fct == scons.CentroiderFctType.GAUSS):
        if p_centroider.width is None:
            p_centroider.width = npix
        if (p_wfs.npix % 2 == 1):
            p_centroider.weights = utilities.makegaussian(
                    p_wfs.npix, p_centroider.width, p_wfs.npix // 2,
                    p_wfs.npix // 2).astype(np.float32)
        elif (p_centroider.type == scons.CentroiderType.CORR):
            p_centroider.weights = utilities.makegaussian(
                    p_wfs.npix, p_centroider.width, p_wfs.npix // 2,
                    p_wfs.npix // 2).astype(np.float32)
        else:
            p_centroider.weights = utilities.makegaussian(
                    p_wfs.npix, p_centroider.width, p_wfs.npix // 2 - 0.5,
                    p_wfs.npix // 2 - 0.5).astype(np.float32)
 
 
def init_controller(context, i: int, p_controller: conf.Param_controller, p_wfss: list,
                    p_geom: conf.Param_geom, p_dms: list, p_atmos: conf.Param_atmos,
                    ittime: float, p_tel: conf.Param_tel, rtc: Rtc, dms: Dms,
                    wfs: Sensors, tel: Telescope, atmos: Atmos,
                    p_centroiders: List[conf.Param_centroider], do_refslp=False,
                    dataBase={}, use_DB=False):
    """ Initialize the controller part of rtc
 
    Args:
        context: (carmaWrap_context): context
 
        i : (int) : controller index
 
        p_controller: (Param_controller) : controller settings
 
        p_wfss: (list of Param_wfs) : wfs settings
 
        p_geom: (Param_geom) : geom settings
 
        p_dms: (list of Param_dms) : dms settings
 
        p_atmos: (Param_atmos) : atmos settings
 
        ittime: (float) : iteration time [s]
 
        p_tel: (Param_tel) : telescope settings
 
        rtc: (Rtc) : Rtc objet
 
        dms: (Dms) : Dms object
 
        wfs: (Sensors) : Sensors object
 
        tel: (Telescope) : Telescope object
 
        atmos: (Atmos) : Atmos object
 
        p_centroiders: (list of Param_centroider): centroiders settings
 
    Kwargs:
        do_refslp: (bool): do the reference slopes at startup,
 
        dataBase: (dict): database used
 
        use_DB: (bool): use database or not
    """
    if (p_controller.type != scons.ControllerType.GEO):
        nwfs = p_controller.nwfs
        if (len(p_wfss) == 1):
            nwfs = p_controller.nwfs
            # TODO fixing a bug ... still not understood
        p_controller.set_nvalid(int(np.sum([p_wfss[k]._nvalid for k in nwfs])))
        tmp = 0
        for c in p_centroiders:
            if (c.nwfs in nwfs):
                tmp = tmp + c._nslope
        p_controller.set_nslope(int(tmp))
    else:
        nslope = np.sum([c._nslope for c in p_centroiders])
        p_controller.set_nslope(int(nslope))
 
    # parameter for add_controller(_geo)
    ndms = p_controller.ndm.tolist()
    nactu = np.sum([p_dms[j]._ntotact for j in ndms])
    p_controller.set_nactu(int(nactu))
 
    alt = np.array([p_dms[j].alt for j in p_controller.ndm], dtype=np.float32)
 
    list_dmseen = [p_dms[j].type for j in p_controller.ndm]
    if (p_controller.type == scons.ControllerType.GEO):
        Nphi = np.where(p_geom._spupil)[0].size
    else:
        Nphi = -1
 
    #nslope = np.sum([c._nslope for c in p_centroiders])
    #p_controller.set_nslope(int(nslope))
 
    nmodes = 0
    if(p_controller.nmodes is not None):
        nmodes = p_controller.nmodes
 
    if (p_controller.type == scons.ControllerType.GENERIC_LINEAR):
        configure_generic_linear(p_controller)
        nmodes = p_controller.nmodes
 
    #TODO : find a proper way to set the number of slope (other than 2 times nvalid)
    rtc.add_controller(context, p_controller.type, context.active_device,p_controller.delay,
                    p_controller.nslope, p_controller.nactu, p_controller.nslope_buffer,
                    p_controller.nstates, p_controller.nstate_buffer, nmodes,
                    p_controller.n_iir_in, p_controller.n_iir_out,
                    p_controller.polc, p_controller.modal, dms, p_controller.ndm,
                    p_controller.ndm.size, p_controller.nwfs, p_controller.nwfs.size, Nphi, False)
 
    print("CONTROLLER ADDED")
    if (p_wfss is not None and do_refslp):
        rtc.do_centroids_ref(i)
 
    if (p_controller.type == scons.ControllerType.GEO):
        init_controller_geo(i, rtc, dms, p_geom, p_controller, p_dms)
 
    if (p_controller.type == scons.ControllerType.LS):
        init_controller_ls(i, p_controller, p_wfss, p_geom, p_dms, p_atmos, ittime,
                           p_tel, rtc, dms, wfs, tel, atmos, dataBase=dataBase,
                           use_DB=use_DB)
 
    if (p_controller.type == scons.ControllerType.CURED):
        init_controller_cured(i, rtc, p_controller, p_dms, p_wfss)
 
    if (p_controller.type == scons.ControllerType.MV):
        init_controller_mv(i, p_controller, p_wfss, p_geom, p_dms, p_atmos, p_tel, rtc,
                           dms, wfs, atmos)
 
    elif (p_controller.type == scons.ControllerType.GENERIC):
        init_controller_generic(i, p_controller, p_dms, rtc)
        try:
            p_controller._imat = imats.imat_geom(wfs, dms, p_wfss, p_dms, p_controller,
                                                 meth=0)
        except:
            print("p_controller._imat not set")
 
 
def init_controller_geo(i: int, rtc: Rtc, dms: Dms, p_geom: conf.Param_geom,
                        p_controller: conf.Param_controller, p_dms: list, roket=False):
    """ Initialize geometric controller
 
    Args:
        i: (int): controller index
 
        rtc: (Rtc): rtc object
 
        dms: (Dms): Dms object
 
        p_geom: (Param_geom): geometry settings
 
        p_controller: (Param_controller): controller settings
 
        p_dms: (list of Param_dms): dms settings
 
    Kwargs
        roket: (bool): Flag to initialize ROKET
    """
    indx_pup = np.where(p_geom._spupil.flatten('F'))[0].astype(np.int32)
    indx_mpup = np.where(p_geom._mpupil.flatten('F'))[0].astype(np.int32)
    cpt = 0
    indx_dm = np.zeros((p_controller.ndm.size * indx_pup.size), dtype=np.int32)
    for dmn in range(p_controller.ndm.size):
        tmp_s = (p_geom._ipupil.shape[0] - (p_dms[dmn]._n2 - p_dms[dmn]._n1 + 1)) // 2
        tmp_e0 = p_geom._ipupil.shape[0] - tmp_s
        tmp_e1 = p_geom._ipupil.shape[1] - tmp_s
        pup_dm = p_geom._ipupil[tmp_s:tmp_e0, tmp_s:tmp_e1]
        indx_dm[cpt:cpt + np.where(pup_dm)[0].size] = np.where(pup_dm.flatten('F'))[0]
        cpt += np.where(pup_dm)[0].size
    # convert unitpervolt list to a np.ndarray
    unitpervolt = np.array([p_dms[j].unitpervolt
                            for j in range(len(p_dms))], dtype=np.float32)
 
    rtc.d_control[i].init_proj_sparse(dms, indx_dm, unitpervolt, indx_pup, indx_mpup,
                                      roket=roket)
 
 
def init_controller_ls(i: int, p_controller: conf.Param_controller, p_wfss: list,
                       p_geom: conf.Param_geom, p_dms: list, p_atmos: conf.Param_atmos,
                       ittime: float, p_tel: conf.Param_tel, rtc: Rtc, dms: Dms,
                       wfs: Sensors, tel: Telescope, atmos: Atmos, dataBase: dict = {},
                       use_DB: bool = False):
    """ Initialize the least square controller
 
    Args:
        i : (int) : controller index
 
        p_controller: (Param_controller) : controller settings
 
        p_wfss: (list of Param_wfs) : wfs settings
 
        p_geom: (Param_geom) : geom settings
 
        p_dms: (list of Param_dms) : dms settings
 
        p_atmos: (Param_atmos) : atmos settings
 
        ittime: (float) : iteration time [s]
 
        p_tel: (Param_tel) : telescope settings
 
        rtc: (Rtc) : Rtc objet
 
        dms: (Dms) : Dms object
 
        wfs: (Sensors) : Sensors object
 
        tel: (Telescope) : Telescope object
 
        atmos: (Atmos) : Atmos object
 
    Kwargs:
        dataBase: (dict): database used
 
        use_DB: (bool): use database or not
    """
    from shesha.ao import basis
    M2V = None
    if p_controller.do_kl_imat:
        IF = basis.compute_IFsparse(dms, p_dms, p_geom).T
        M2V, _ = basis.compute_btt(IF[:, :-2], IF[:, -2:].toarray())
        print("Filtering ", p_controller.nModesFilt, " modes based on mode ordering")
        M2V = M2V[:, list(range(M2V.shape[1] - 2 - p_controller.nModesFilt)) + [-2, -1]]
 
        if len(p_controller.klpush) == 1:  # Scalar allowed, now we expand
            p_controller.klpush = p_controller.klpush[0] * np.ones(M2V.shape[1])
    imats.imat_init(i, rtc, dms, p_dms, wfs, p_wfss, p_tel, p_controller, M2V,
                    dataBase=dataBase, use_DB=use_DB)
 
    if p_controller.modopti:
        print("Initializing Modal Optimization : ")
        p_controller.nrec = int(2**np.ceil(np.log2(p_controller.nrec)))
        if p_controller.nmodes is None:
            p_controller.nmodes = sum([p_dms[j]._ntotact for j in range(len(p_dms))])
 
        IF = basis.compute_IFsparse(dms, p_dms, p_geom).T
        M2V, _ = basis.compute_btt(IF[:, :-2], IF[:, -2:].toarray())
        M2V = M2V[:, list(range(p_controller.nmodes - 2)) + [-2, -1]]
 
        rtc.d_control[i].init_modalOpti(p_controller.nmodes, p_controller.nrec, M2V,
                                        p_controller.gmin, p_controller.gmax,
                                        p_controller.ngain, 1. / ittime)
        ol_slopes = modopti.open_loopSlp(tel, atmos, wfs, rtc, p_controller.nrec, i,
                                         p_wfss)
        rtc.d_control[i].loadopen_loopSlp(ol_slopes)
        rtc.d_control[i].modalControlOptimization()
    else:
        cmats.cmat_init(i, rtc, p_controller, p_wfss, p_atmos, p_tel, p_dms,
                        nmodes=p_controller.nmodes)
 
        rtc.d_control[i].set_gain(p_controller.gain)
        mgain = np.ones(
                sum([p_dms[j]._ntotact for j in range(len(p_dms))]), dtype=np.float32)
        cc = 0
        for ndm in p_dms:
            mgain[cc:cc + ndm._ntotact] = ndm.gain
            cc += ndm._ntotact
        rtc.d_control[i].set_modal_gains(mgain)
 
 
def init_controller_cured(i: int, rtc: Rtc, p_controller: conf.Param_controller,
                          p_dms: list, p_wfss: list):
    """ Initialize the CURED controller
 
    Args:
        i : (int) : controller index
 
        rtc: (Rtc) : Rtc objet
 
        p_controller: (Param_controller) : controller settings
 
        p_dms: (list of Param_dms) : dms settings
 
        p_wfss: (list of Param_wfs) : wfs settings
    """
 
    print("initializing cured controller")
    if (scons.DmType.TT in [p_dms[j].type for j in range(len(p_dms))]):
        tt_flag = True
    else:
        tt_flag = False
    rtc.d_control[i].init_cured(p_wfss[0].nxsub, p_wfss[0]._isvalid,
                                p_controller.cured_ndivs, tt_flag)
    rtc.d_control[i].set_gain(p_controller.gain)
 
 
def init_controller_mv(i: int, p_controller: conf.Param_controller, p_wfss: list,
                       p_geom: conf.Param_geom, p_dms: list, p_atmos: conf.Param_atmos,
                       p_tel: conf.Param_tel, rtc: Rtc, dms: Dms, wfs: Sensors,
                       atmos: Atmos):
    """ Initialize the MV controller
 
    Args:
        i : (int) : controller index
 
        p_controller: (Param_controller) : controller settings
 
        p_wfss: (list of Param_wfs) : wfs settings
 
        p_geom: (Param_geom) : geom settings
 
        p_dms: (list of Param_dms) : dms settings
 
        p_atmos: (Param_atmos) : atmos settings
 
        p_tel: (Param_tel) : telescope settings
 
        rtc: (Rtc) : Rtc objet
 
        dms: (Dms) : Dms object
 
        wfs: (Sensors) : Sensors object
 
        atmos: (Atmos) : Atmos object
    """
    p_controller._imat = imats.imat_geom(wfs, dms, p_wfss, p_dms, p_controller)
    # imat_init(i,rtc,p_rtc,dms,wfs,p_wfss,p_tel,clean=1,simul_name=simul_name)
    rtc.d_control[i].set_imat(p_controller._imat)
    rtc.d_control[i].set_gain(p_controller.gain)
    size = sum([p_dms[j]._ntotact for j in range(len(p_dms))])
    mgain = np.ones(size, dtype=np.float32)
    rtc.d_control[i].set_modal_gains(mgain)
    tomo.do_tomo_matrices(i, rtc, p_wfss, dms, atmos, wfs, p_controller, p_geom, p_dms,
                          p_tel, p_atmos)
    cmats.cmat_init(i, rtc, p_controller, p_wfss, p_atmos, p_tel, p_dms)
 
 
def init_controller_generic(i: int, p_controller: conf.Param_controller, p_dms: list,
                            rtc: Rtc):
    """ Initialize the generic controller
 
    Args:
        i: (int): controller index
 
        p_controller: (Param_controller): controller settings
 
        p_dms: (list of Param_dm): dms settings
 
        rtc: (Rtc): Rtc object
    """
    size = sum([p_dms[j]._ntotact for j in range(len(p_dms))])
    decayFactor = np.ones(size, dtype=np.float32)
    mgain = np.ones(size, dtype=np.float32) * p_controller.gain
    matE = np.identity(size, dtype=np.float32)
    cmat = np.zeros((size, p_controller.nslope), dtype=np.float32)
 
    if p_controller.command_law is not None:
        rtc.d_control[i].set_commandlaw(p_controller.command_law)
 
    rtc.d_control[i].set_decayFactor(decayFactor)
    rtc.d_control[i].set_modal_gains(mgain)
    rtc.d_control[i].set_cmat(cmat)
    rtc.d_control[i].set_matE(matE)
 
def configure_generic_linear(p_controller: conf.Param_controller):
    """ Configures the generic controller based on set parameters.
 
    Args:
        i: (int): controller index
 
        p_controller: (Param_controller): controller settings
 
        p_dms: (list of Param_dm): dms settings
 
        rtc: (Rtc): Rtc object
    """
    if not p_controller.get_modal() or p_controller.get_nmodes() is None:
        p_controller.set_nmodes(p_controller.get_nactu())
    if p_controller.get_nstate_buffer() == 0:
        p_controller.set_nstates(p_controller.get_nmodes())