rtcStandalone.py

 
from shesha.init.rtc_init import rtc_standalone
from shesha.supervisor.components.sourceCompass import SourceCompass
import shesha.constants as scons
import numpy as np
from typing import Union
 
from shesha.supervisor.components.rtc.rtcAbstract import RtcAbstract, carmaWrap_context
 
 
class RtcStandalone(RtcAbstract):
    """ RTC handler for compass standalone
    """
 
    def __init__(self, context: carmaWrap_context, config, nwfs: int, nvalid: list,
                 nactu: int, centroider_type: list, delay: list, offset: list,
                 scale: list, *, brahma: bool = False, fp16: bool = False,
                 cacao: bool = False):
        """ Initialize a RtcStandalone component for rtc related supervision
 
        Args:
            context : (carmaContext) : CarmaContext instance
 
            config : (config module) : Parameters configuration structure module
 
            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, optional) : If True, enables BRAHMA features in RTC (Default is False)
                                      Requires BRAHMA to be installed
 
            fp16 : (bool, optional) : If True, enables FP16 features in RTC (Default is False)
                                      Requires CUDA_SM>60 to be installed
 
            cacao : (bool) : If True, enables CACAO features in RTC (Default is False)
                                      Requires OCTOPUS to be installed
        """
        RtcAbstract.__init__(self, context, config, brahma=brahma, fp16=fp16,
                             cacao=cacao)
 
        self.rtc_initrtc_initrtc_init(nwfs, nvalid, nactu, centroider_type, delay, offset, scale)
 
    def rtc_init(self, nwfs: int, nvalid: list, nactu: int, centroider_type: list,
                 delay: list, offset: list, scale: list):
        """ Initialize a RtcStandalone component for rtc related supervision
 
        Args:
            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
        """
        self._rtc_rtc_rtc = rtc_standalone(self._context_context, nwfs, nvalid, nactu, centroider_type,
                                   delay, offset, scale, brahma=self.brahmabrahma,
                                   fp16=self.fp16fp16, cacao=self.cacaocacao)