Inheritance diagram for guardians.roket.Roket:

Collaboration diagram for guardians.roket.Roket:

Public Member Functions
def	__init__ (self, str=None, N_preloop=1000, gamma=1.)
	Initializes an instance of Roket class. More...

def	init_config (self)
	Initializes the COMPASS simulation and the ROKET buffers. More...

def	next (self, **kwargs)

def	loop (self, monitoring_freq=100, **kwargs)
	Performs the AO loop for n iterations. More...

def	error_breakdown (self)

def	save_in_hdf5 (self, savename)
	Saves all the ROKET buffers + simuation parameters in a HDF5 file. More...

def	cov_cor (self)
	Computes covariance matrix and correlation matrix between all the contributors. More...

Public Member Functions inherited from shesha.supervisor.compassSupervisor.CompassSupervisor
def	__init__ (self, config, bool cacao=False)

None	next (self, *bool move_atmos=True, int nControl=0, Iterable[int] tar_trace=None, Iterable[int] wfs_trace=None, bool do_control=True, bool apply_control=True, bool compute_tar_psf=True)
	Iterates the AO loop, with optional parameters. More...

def	record_ao_circular_buffer (self, int cb_count, np.ndarray projection_matrix, int sub_sample=1, int controller_index=0, int tar_index=0, bool see_atmos=True, str cube_data_type=None, str cube_data_file_path="", int ncpa=0, np.ndarray ncpa_wfs=None, np.ndarray ref_slopes=None, bool ditch_strehl=True)
	Used to record a synchronized circular buffer AO loop data. More...

Public Member Functions inherited from shesha.supervisor.genericSupervisor.GenericSupervisor
def	__init__ (self, config)

def	get_config (self)
	Returns the configuration in use, in a supervisor specific format ? More...

int	get_frame_counter (self)
	Return the current iteration number of the loop. More...

None	force_context (self)
	Active all the GPU devices specified in the parameters file. More...

def	loop (self, int number_of_iter, int monitoring_freq=100, bool compute_tar_psf=True, *kwargs)
	Perform the AO loop for <number_of_iter> iterations. More...

def	reset (self)
	Reset the simulation to return to its original state. More...

Public Attributes
	N_preloop

	gamma

	iter_number

	n

	nfiltered

	nactus

	nslopes

	com

	noise_com

	alias_wfs_com

	alias_meas

	wf_com

	tomo_com

	trunc_com

	trunc_meas

	H_com

	mod_com

	bp_com

	fit

	psf_ortho

	centroid_gain

	centroid_gain2

	slopes

	IFpzt

	TT

	P

	cmat

	D

	RD

	gRD

	Nact

	SR2

	SR

	cov

	cor

Public Attributes inherited from shesha.supervisor.compassSupervisor.CompassSupervisor
	cacao
	Instantiates a CompassSupervisor object. More...

	basis

	calibration

	tel

	atmos

	dms

	target

	wfs

	rtc

Public Attributes inherited from shesha.supervisor.genericSupervisor.GenericSupervisor
	context

	config

	telescope

	atmos

	target

	wfs

	dms

	rtc

	is_init

	iter
	Init the a supervisor. More...

Detailed Description

Definition at line 33 of file roket.py.

Constructor & Destructor Documentation

◆ init()

def guardians.roket.Roket.__init__	(	self,
		str = `None`,
		N_preloop = `1000`,
		gamma = `1.`
	)

Initializes an instance of Roket class.

   :parameters:

str (str): (optional) path to a parameter file N_preloop (int): (optional) number of iterations before starting error breakdown estimation gamma (float): (optional) centroid gain

Definition at line 43 of file roket.py.

         """
         super().__init__(str)
         self.N_preloop = N_preloop
         self.gamma = gamma
  

Member Function Documentation

◆ cov_cor()

def guardians.roket.Roket.cov_cor ( self )

Computes covariance matrix and correlation matrix between all the contributors.

Definition at line 396 of file roket.py.

         """
         self.cov = np.zeros((6, 6))
         self.cor = np.zeros((6, 6))
         bufdict = {
                 "0": self.noise_com.T,
                 "1": self.trunc_com.T,
                 "2": self.alias_wfs_com.T,
                 "3": self.H_com.T,
                 "4": self.bp_com.T,
                 "5": self.tomo_com.T
         }
         for i in range(self.cov.shape[0]):
             for j in range(self.cov.shape[1]):
                 if (j >= i):
                     tmpi = self.P.dot(bufdict[str(i)])
                     tmpj = self.P.dot(bufdict[str(j)])
                     self.cov[i, j] = np.sum(
                             np.mean(tmpi * tmpj, axis=1) -
                             np.mean(tmpi, axis=1) * np.mean(tmpj, axis=1))
                 else:
                     self.cov[i, j] = self.cov[j, i]
  
         s = np.reshape(np.diag(self.cov), (self.cov.shape[0], 1))
         sst = np.dot(s, s.T)
         ok = np.where(sst)
         self.cor[ok] = self.cov[ok] / np.sqrt(sst[ok])
  
  

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◆ error_breakdown()

def guardians.roket.Roket.error_breakdown ( self )

Definition at line 165 of file roket.py.

         """
         g = self.config.p_controllers[0].gain
         Dcom = self.get_command(0)
         Derr = self.get_err(0)
         self.com[self.iter_number, :] = Dcom
         tarphase = self.get_tar_phase(0)
         self.slopes[self.iter_number, :] = self.get_slopes(0)
  
         ###########################################################################
         ## Noise contribution
         ###########################################################################
         if (self.config.p_wfss[0].type == scons.WFSType.SH):
             ideal_img = np.array(self._sim.wfs.d_wfs[0].d_binimg_notnoisy)
             binimg = np.array(self._sim.wfs.d_wfs[0].d_binimg)
             if (self.config.p_centroiders[0].type == scons.CentroiderType.TCOG
                 ):  # Select the same pixels with or without noise
                 invalidpix = np.where(binimg <= self.config.p_centroiders[0].thresh)
                 ideal_img[invalidpix] = 0
                 self.set_centroider_threshold(0, -1e16)
             self._sim.wfs.d_wfs[0].set_binimg(ideal_img, ideal_img.size)
         elif (self.config.p_wfss[0].type == scons.centroiderType.PYRHR):
             ideal_pyrimg = np.array(self._sim.wfs.d_wfs[0].d_binimg_notnoisy)
             self._sim.wfs.d_wfs[0].set_binimg(ideal_pyrimg, ideal_pyrimg.size)
  
         self._sim.doCentroids(0)
         if (self.config.p_centroiders[0].type == scons.CentroiderType.TCOG):
             self.set_centroider_threshold(0, config.p_centroiders[0].thresh)
  
         self._sim.do_control(0)
         E = self.get_err(0)
         E_meas = self.get_slopes(0)
         # Apply loop filter to get contribution of noise on commands
         if (self.iter_number + 1 < self.config.p_loop.niter):
             self.noise_com[self.iter_number + 1, :] = self.gRD.dot(
                     self.noise_com[self.iter_number, :]) + g * (Derr - E)
         ###########################################################################
         ## Sampling/truncature contribution
         ###########################################################################
         self._sim.doCentroidsGeom(0)
         self._sim.do_control(0)
         F = self.get_err(0)
         F_meas = self.get_slopes(0)
         self.trunc_meas[self.iter_number, :] = E_meas - F_meas
         # Apply loop filter to get contribution of sampling/truncature on commands
         if (self.iter_number + 1 < self.config.p_loop.niter):
             self.trunc_com[self.iter_number + 1, :] = self.gRD.dot(
                     self.trunc_com[self.iter_number, :]) + g * (E - self.gamma * F)
         self.centroid_gain += centroid_gain(E, F)
         self.centroid_gain2 += centroid_gain(Derr, F)
         ###########################################################################
         ## Aliasing contribution on WFS direction
         ###########################################################################
         self._sim.do_control(1, 0, wfs_direction=True)
         self._sim.applyControl(1)
         for w in range(len(self.config.p_wfss)):
             self._sim.raytrace_wfs(w, "dm", rst=False)
         """
             wfs.sensors_compimg(0)
         if(config.p_wfss[0].type == scons.WFSType.SH):
             ideal_img = wfs.get_binimgNotNoisy(0)
             binimg = wfs.get_binimg(0)
             if(config.p_centroiders[0].type == scons.CentroiderType.TCOG): # Select the same pixels with or without noise
                 invalidpix = np.where(binimg <= config.p_centroiders[0].thresh)
                 ideal_img[self.iter_numbernvalidpix] = 0
                 rtc.setthresh(0,-1e16)
             wfs.set_binimg(0,ideal_img)
         elif(config.p_wfss[0].type == scons.centroiderType.PYRHR):
             ideal_pyrimg = wfs.get_binimg_notnoisy(0)
             wfs.set_pyrimg(0,ideal_pyrimg)
         """
         self._sim.doCentroidsGeom(0)
         self._sim.do_control(0)
         Ageom = self.get_err(0)
         self.alias_meas[self.iter_number, :] = self.get_slopes(0)
         if (self.iter_number + 1 < self.config.p_loop.niter):
             self.alias_wfs_com[self.iter_number + 1, :] = self.gRD.dot(
                     self.alias_wfs_com[self.iter_number, :]) + self.gamma * g * (
                             Ageom)  # - (E-F))
  
         ###########################################################################
         ## Wavefront + filtered modes reconstruction
         ###########################################################################
         self._sim.raytraceTar(0, "atmos")
         self._sim.do_control(1, 0, wfs_direction=False)
         B = self.get_command(1)
  
         ###########################################################################
         ## Fitting
         ###########################################################################
         self._sim.applyControl(1)
         self._sim.raytraceTar(0, "dm", rst=False)
  
         self._sim.comp_tar_image(0, compLE=False)
         self._sim.compStrehl(0)
         self.fit[self.iter_number] = self.get_strehl(0)[2]
         if (self.iter_number >= self.N_preloop):
             self.psf_ortho += self.get_tar_image(0, 'se')
  
         ###########################################################################
         ## Filtered modes error & Commanded modes
         ###########################################################################
         modes = self.P.dot(B)
         modes_filt = modes.copy() * 0.
         modes_filt[-self.nfiltered - 2:-2] = modes[-self.nfiltered - 2:-2]
         self.H_com[self.iter_number, :] = self.Btt.dot(modes_filt)
         modes[-self.nfiltered - 2:-2] = 0
         self.mod_com[self.iter_number, :] = self.Btt.dot(modes)
  
         ###########################################################################
         ## Bandwidth error
         ###########################################################################
         C = self.mod_com[self.iter_number, :] - self.mod_com[self.iter_number - 1, :]
  
         self.bp_com[self.iter_number, :] = self.gRD.dot(
                 self.bp_com[self.iter_number - 1, :]) - C
  
         ###########################################################################
         ## Tomographic error
         ###########################################################################
         #G = F - (mod_com[self.iter_number,:] + Ageom - np.dot(RDgeom,com[self.iter_number-1,:]))
         for w in range(len(self.config.p_wfss)):
             self._sim.raytrace_wfs(w, "atmos")
  
         self._sim.do_control(1, 0, wfs_direction=True)
         G = self.get_command(1)
         modes = self.P.dot(G)
         modes[-self.nfiltered - 2:-2] = 0
         self.wf_com[self.iter_number, :] = self.Btt.dot(modes)
  
         G = self.mod_com[self.iter_number, :] - self.wf_com[self.iter_number, :]
         if (self.iter_number + 1 < self.config.p_loop.niter):
             self.tomo_com[self.iter_number + 1, :] = self.gRD.dot(
                     self.tomo_com[self.iter_number, :]) - g * self.gamma * self.RD.dot(G)
  
         # Without anyone noticing...
         self._sim.tar.d_targets[0].set_phase(tarphase)
         self._sim.rtc.d_control[0].set_com(Dcom, Dcom.size)
  

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◆ init_config()

def guardians.roket.Roket.init_config ( self )

Initializes the COMPASS simulation and the ROKET buffers.

Definition at line 51 of file roket.py.

         """
         super().init_config()
         self.iter_number = 0
         self.n = self.config.p_loop.niter + self.N_preloop
         self.nfiltered = int(self.config.p_controllers[0].maxcond)
         self.nactus = self.get_command(0).size
         self.nslopes = self.get_slopes(0).size
         self.com = np.zeros((self.n, self.nactus), dtype=np.float32)
         self.noise_com = np.zeros((self.n, self.nactus), dtype=np.float32)
         self.alias_wfs_com = np.copy(self.noise_com)
         self.alias_meas = np.zeros((self.n, self.nslopes), dtype=np.float32)
         self.wf_com = np.copy(self.noise_com)
         self.tomo_com = np.copy(self.noise_com)
         self.trunc_com = np.copy(self.noise_com)
         self.trunc_meas = np.copy(self.alias_meas)
         self.H_com = np.copy(self.noise_com)
         self.mod_com = np.copy(self.noise_com)
         self.bp_com = np.copy(self.noise_com)
         self.fit = np.zeros(self.n)
         self.psf_ortho = self.get_tar_image(0) * 0
         self.centroid_gain = 0
         self.centroid_gain2 = 0
         self.slopes = np.zeros((self.n, self.nslopes), dtype=np.float32)
         #gamma = 1.0
         self.config.p_loop.set_niter(self.n)
         self.IFpzt = self.get_influ_basis_sparse(1)
         self.TT = self.get_tt_influ_basis(1)
  
         self.Btt, self.P = compute_btt(self.IFpzt.T, self.TT)
         tmp = self.Btt.dot(self.Btt.T)
         self._sim.rtc.d_control[1].load_Btt(tmp[:-2, :-2], tmp[-2:, -2:])
         compute_cmat_with_Btt(self._sim.rtc, self.Btt, self.nfiltered)
         self.cmat = self.get_command_matrix(0)
         self.D = self.get_interaction_matrix(0)
         self.RD = np.dot(self.cmat, self.D)
         self.gRD = np.identity(
                 self.RD.
                 shape[0]) - self.config.p_controllers[0].gain * self.gamma * self.RD
  
         self.Nact = create_nact_geom(self.config.p_dms[0])
  

◆ loop()

def guardians.roket.Roket.loop	(		self,
			monitoring_freq = `100`,
		**	kwargs
	)

Performs the AO loop for n iterations.

   :parameters:

monitoring_freq (int): (optional) Loop monitoring frequency [frames] in the terminal

Definition at line 114 of file roket.py.

         """
         print("-----------------------------------------------------------------")
         print("iter# | SE SR | LE SR | FIT SR | PH SR | ETR (s) | Framerate (Hz)")
         print("-----------------------------------------------------------------")
         t0 = time.time()
         for i in range(self.n):
             self.next(**kwargs)
             if ((i + 1) % monitoring_freq == 0):
                 framerate = (i + 1) / (time.time() - t0)
                 self._sim.comp_tar_image(0)
                 self._sim.compStrehl(0)
                 strehltmp = self.get_strehl(0)
                 etr = (self.n - i) / framerate
                 print("%d \t %.2f \t  %.2f\t %.2f \t %.2f \t    %.1f \t %.1f" %
                       (i + 1, strehltmp[0], strehltmp[1], np.exp(-strehltmp[2]),
                        np.exp(-strehltmp[3]), etr, framerate))
         t1 = time.time()
  
         print(" loop execution time:", t1 - t0, "  (", self.n, "iterations), ",
               (t1 - t0) / self.n, "(mean)  ", self.n / (t1 - t0), "Hz")
  
         #self.tar.comp_image(0)
         SRs = self.get_strehl(0)
         self.SR2 = np.exp(SRs[3])
         self.SR = SRs[1]
  

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◆ next()

def guardians.roket.Roket.next	(		self,
		**	kwargs
	)

Definition at line 102 of file roket.py.

         """
         self._sim.next(apply_control=False)
         self.error_breakdown()
         self._sim.applyControl(0)
         self.iter_number += 1
  

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◆ save_in_hdf5()

def guardians.roket.Roket.save_in_hdf5	(	self,
		savename
	)

Saves all the ROKET buffers + simuation parameters in a HDF5 file.

   :parameters:

savename (str): name of the output file

Definition at line 309 of file roket.py.

         """
         tmp = (self.config.p_geom._ipupil.shape[0] -
                (self.config.p_dms[0]._n2 - self.config.p_dms[0]._n1 + 1)) // 2
         tmp_e0 = self.config.p_geom._ipupil.shape[0] - tmp
         tmp_e1 = self.config.p_geom._ipupil.shape[1] - tmp
         pup = self.config.p_geom._ipupil[tmp:tmp_e0, tmp:tmp_e1]
         indx_pup = np.where(pup.flatten() > 0)[0].astype(np.int32)
         dm_dim = self.config.p_dms[0]._n2 - self.config.p_dms[0]._n1 + 1
         self.cov_cor()
         psf = self.get_tar_image(0, "le")
  
         fname = os.getenv("DATA_GUARDIAN") + savename
         pdict = {
                 "noise":
                         self.noise_com[self.N_preloop:, :].T,
                 "aliasing":
                         self.alias_wfs_com[self.N_preloop:, :].T,
                 "tomography":
                         self.tomo_com[self.N_preloop:, :].T,
                 "filtered modes":
                         self.H_com[self.N_preloop:, :].T,
                 "non linearity":
                         self.trunc_com[self.N_preloop:, :].T,
                 "bandwidth":
                         self.bp_com[self.N_preloop:, :].T,
                 "wf_com":
                         self.wf_com[self.N_preloop:, :].T,
                 "P":
                         self.P,
                 "Btt":
                         self.Btt,
                 "IF.data":
                         self.IFpzt.data,
                 "IF.indices":
                         self.IFpzt.indices,
                 "IF.indptr":
                         self.IFpzt.indptr,
                 "TT":
                         self.TT,
                 "dm_dim":
                         dm_dim,
                 "indx_pup":
                         indx_pup,
                 "fitting":
                         np.mean(self.fit[self.N_preloop:]),
                 "SR":
                         self.SR,
                 "SR2":
                         self.SR2,
                 "cov":
                         self.cov,
                 "cor":
                         self.cor,
                 "psfortho":
                         np.fft.fftshift(self.psf_ortho) /
                         (self.config.p_loop.niter - self.N_preloop),
                 "centroid_gain":
                         self.centroid_gain / (self.config.p_loop.niter - self.N_preloop),
                 "centroid_gain2":
                         self.centroid_gain2 /
                         (self.config.p_loop.niter - self.N_preloop),
                 "dm.xpos":
                         self.config.p_dms[0]._xpos,
                 "dm.ypos":
                         self.config.p_dms[0]._ypos,
                 "R":
                         self.get_command_matrix(0),
                 "D":
                         self.get_interaction_matrix(0),
                 "Nact":
                         self.Nact,
                 "com":
                         self.com[self.N_preloop:, :].T,
                 "slopes":
                         self.slopes[self.N_preloop:, :].T,
                 "alias_meas":
                         self.alias_meas[self.N_preloop:, :].T,
                 "trunc_meas":
                         self.trunc_meas[self.N_preloop:, :].T
         }
         h5u.save_h5(fname, "psf", self.config, psf)
         for k in list(pdict.keys()):
             h5u.save_hdf5(fname, k, pdict[k])
  

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Member Data Documentation

◆ alias_meas

guardians.roket.Roket.alias_meas

Definition at line 61 of file roket.py.

◆ alias_wfs_com

guardians.roket.Roket.alias_wfs_com

Definition at line 60 of file roket.py.

◆ bp_com

guardians.roket.Roket.bp_com

Definition at line 68 of file roket.py.

◆ centroid_gain

guardians.roket.Roket.centroid_gain

Definition at line 71 of file roket.py.

◆ centroid_gain2

guardians.roket.Roket.centroid_gain2

Definition at line 72 of file roket.py.

◆ cmat

guardians.roket.Roket.cmat

Definition at line 83 of file roket.py.

◆ com

guardians.roket.Roket.com

Definition at line 58 of file roket.py.

◆ cor

guardians.roket.Roket.cor

Definition at line 398 of file roket.py.

◆ cov

guardians.roket.Roket.cov

Definition at line 397 of file roket.py.

◆ D

guardians.roket.Roket.D

Definition at line 84 of file roket.py.

◆ fit

guardians.roket.Roket.fit

Definition at line 69 of file roket.py.

◆ gamma

guardians.roket.Roket.gamma

Definition at line 46 of file roket.py.

◆ gRD

guardians.roket.Roket.gRD

Definition at line 86 of file roket.py.

◆ H_com

guardians.roket.Roket.H_com

Definition at line 66 of file roket.py.

◆ IFpzt

guardians.roket.Roket.IFpzt

Definition at line 76 of file roket.py.

◆ iter_number

guardians.roket.Roket.iter_number

Definition at line 53 of file roket.py.

◆ mod_com

guardians.roket.Roket.mod_com

Definition at line 67 of file roket.py.

◆ n

guardians.roket.Roket.n

Definition at line 54 of file roket.py.

◆ N_preloop

guardians.roket.Roket.N_preloop

Definition at line 45 of file roket.py.

◆ Nact

guardians.roket.Roket.Nact

Definition at line 90 of file roket.py.

◆ nactus

guardians.roket.Roket.nactus

Definition at line 56 of file roket.py.

◆ nfiltered

guardians.roket.Roket.nfiltered

Definition at line 55 of file roket.py.

◆ noise_com

guardians.roket.Roket.noise_com

Definition at line 59 of file roket.py.

◆ nslopes

guardians.roket.Roket.nslopes

Definition at line 57 of file roket.py.

◆ P

guardians.roket.Roket.P

Definition at line 79 of file roket.py.

◆ psf_ortho

guardians.roket.Roket.psf_ortho

Definition at line 70 of file roket.py.

◆ RD

guardians.roket.Roket.RD

Definition at line 85 of file roket.py.

◆ slopes

guardians.roket.Roket.slopes

Definition at line 73 of file roket.py.

◆ SR

guardians.roket.Roket.SR

Definition at line 138 of file roket.py.

◆ SR2

guardians.roket.Roket.SR2

Definition at line 137 of file roket.py.

◆ tomo_com

guardians.roket.Roket.tomo_com

Definition at line 63 of file roket.py.

◆ trunc_com

guardians.roket.Roket.trunc_com

Definition at line 64 of file roket.py.

◆ trunc_meas

guardians.roket.Roket.trunc_meas

Definition at line 65 of file roket.py.

◆ TT

guardians.roket.Roket.TT

Definition at line 77 of file roket.py.

◆ wf_com

guardians.roket.Roket.wf_com

Definition at line 62 of file roket.py.

The documentation for this class was generated from the following file:

roket.py

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ cov_cor()

◆ error_breakdown()

◆ init_config()

◆ loop()

◆ next()

◆ save_in_hdf5()

Member Data Documentation

◆ alias_meas

◆ alias_wfs_com

◆ bp_com

◆ centroid_gain

◆ centroid_gain2

◆ cmat

◆ com

◆ cor

◆ cov

◆ D

◆ fit

◆ gamma

◆ gRD

◆ H_com

◆ IFpzt

◆ iter_number

◆ mod_com

◆ n

◆ N_preloop

◆ Nact

◆ nactus

◆ nfiltered

◆ noise_com

◆ nslopes

◆ P

◆ psf_ortho

◆ RD

◆ slopes

◆ SR

◆ SR2

◆ tomo_com

◆ trunc_com

◆ trunc_meas

◆ TT

◆ wf_com

◆ init()