test_rtc_cacao.py

import numpy as np
import naga as ng
import os, time
import pytest
 
from shesha.sutra_wrap import Rtc_cacao_FFF as Rtc
from shesha.supervisor.compassSupervisor import CompassSupervisor as Supervisor
from scipy.ndimage.measurements import center_of_mass
from Octopus import CacaoInterface
from shesha.util.utilities import load_config_from_file
 
precision = 1e-5
 
config = load_config_from_file(os.getenv("COMPASS_ROOT") +
        "/shesha/tests/pytest/par/test_sh.py")
sup = Supervisor(config)
sup.next()
sup.rtc.open_loop(0)
sup.rtc.close_loop(0)
sup.rtc.do_control(0)
rtc = Rtc("compass_calPix", "compass_loopData")
rtc.add_centroider(sup.context, sup.config.p_wfs0._nvalid,
                   sup.config.p_wfs0.npix / 2 - 0.5, sup.config.p_wfs0.pixsize, False, 0,
                   "cog")
rtc.add_controller(sup.context, sup.config.p_wfs0._nvalid,
                   sup.config.p_wfs0._nvalid * 2, sup.config.p_controller0.nactu,
                   sup.config.p_controller0.delay, 0, "generic", idx_centro=np.zeros(1),
                   ncentro=1)
centro = rtc.d_centro[0]
control = rtc.d_control[0]
rtc.d_centro[0].set_npix(sup.config.p_wfs0.npix)
xvalid = np.array(sup.rtc.rtc.d_centro[0].d_validx)
yvalid = np.array(sup.rtc.rtc.d_centro[0].d_validy)
rtc.d_centro[0].load_validpos(xvalid, yvalid, xvalid.size)
cmat = sup.rtc.get_command_matrix(0)
rtc.d_control[0].set_cmat(cmat)
rtc.d_control[0].set_gain(sup.config.p_controller0.gain)
frame = sup.wfs.get_wfs_image(0)
frame /= frame.max()
rtc.d_centro[0].load_img(frame, frame.shape[0])
rtc.d_centro[0].calibrate_img()
 
rtc.do_centroids(0)
slp = ng.array(rtc.d_control[0].d_centroids)
rtc.do_control(0)
com = ng.array(rtc.d_control[0].d_com)
 
dark = np.random.random(frame.shape)
flat = np.random.random(frame.shape)
centro.set_dark(dark, frame.shape[0])
centro.set_flat(flat, frame.shape[0])
 
 
def relative_array_error(array1, array2):
    return np.abs((array1 - array2) / array2.max()).max()
 
 
def test_initCentro_nvalid():
    assert (centro.nvalid - sup.config.p_wfs0._nvalid < precision)
 
 
def test_initCentro_offset():
    assert (centro.offset - (sup.config.p_wfs0.npix / 2 - 0.5) < precision)
 
 
def test_initCentro_scale():
    assert (centro.scale - sup.config.p_wfs0.pixsize < precision)
 
 
def test_initCentro_type():
    assert (centro.type == "cog")
 
 
def test_initControl_nslope():
    assert (control.nslope - sup.config.p_wfs0._nvalid * 2 < precision)
 
 
def test_initControl_nactu():
    assert (control.nactu - sup.config.p_controller0.nactu < precision)
 
 
def test_initControl_type():
    assert (control.type == "generic")
 
 
def test_initControl_delay():
    assert (control.delay - sup.config.p_controller0.delay < precision)
 
 
def test_set_npix():
    assert (centro.npix - sup.config.p_wfs0.npix < precision)
 
 
def test_load_validposX():
    assert (relative_array_error(np.array(centro.d_validx), xvalid) < precision)
 
 
def test_load_validposY():
    assert (relative_array_error(np.array(centro.d_validy), yvalid) < precision)
 
 
def test_set_cmat():
    assert (relative_array_error(ng.array(control.d_cmat).toarray(), cmat) < precision)
 
 
def test_set_gain():
    assert (control.gain - sup.config.p_controller0.gain < precision)
 
 
def test_load_img():
    assert (relative_array_error(np.array(centro.d_img_raw), frame) < precision)
 
 
def test_set_dark():
    assert (relative_array_error(ng.array(centro.d_dark).toarray(), dark) < precision)
 
 
def test_set_flat():
    assert (relative_array_error(ng.array(centro.d_flat).toarray(), flat) < precision)
 
 
def test_calibrate_img():
    centro.calibrate_img()
    imgCal = (frame - dark) * flat
    assert (relative_array_error(ng.array(centro.d_img).toarray(), imgCal) < precision)
 
 
def test_doCentroids_cog():
    bincube = np.array(sup.wfs.wfs.d_wfs[0].d_bincube)
    slopes = np.zeros(sup.config.p_wfs0._nvalid * 2)
    offset = centro.offset
    scale = centro.scale
    for k in range(sup.config.p_wfs0._nvalid):
        tmp = center_of_mass(bincube[:, :, k])
        slopes[k] = (tmp[0] - offset) * scale
        slopes[k + sup.config.p_wfs0._nvalid] = (tmp[1] - offset) * scale
    assert (relative_array_error(ng.array(control.d_centroids).toarray(), slopes) <
            precision)
 
 
def test_do_control_generic():
    slopes = ng.array(control.d_centroids).toarray()
    gain = control.gain
    cmat = ng.array(control.d_cmat).toarray()
    commands = cmat.dot(slopes) * gain * (-1)
    assert (relative_array_error(ng.array(control.d_com).toarray(), commands) <
            precision)
 
 
def test_set_comRange():
    control.set_comRange(-1, 1)
    assert (control.comRange == (-1, 1))
 
 
def test_clipping():
    control.set_comRange(-1, 1)
    C = (np.random.random(sup.config.p_controller0.nactu) - 0.5) * 4
    control.set_com(C, C.size)
    rtc.do_clipping(0)
    C_clipped = C.copy()
    C_clipped[np.where(C > 1)] = 1
    C_clipped[np.where(C < -1)] = -1
    assert (relative_array_error(ng.array(control.d_com_clipped).toarray(), C_clipped) <
            precision)
 
 
def test_add_perturb_voltage():
    C = np.random.random(sup.config.p_controller0.nactu)
    control.add_perturb_voltage("test", C, 1)
    assert (relative_array_error(
            ng.array(control.d_perturb_map["test"][0]).toarray(), C) < precision)
 
 
def test_remove_perturb_voltage():
    control.remove_perturb_voltage("test")
    assert (control.d_perturb_map == {})
 
 
def test_add_perturb():
    C = np.random.random(sup.config.p_controller0.nactu)
    control.add_perturb_voltage("test", C, 1)
    com = ng.array(control.d_com_clipped).toarray()
    control.add_perturb()
    assert (relative_array_error(ng.array(control.d_com_clipped).toarray(), com + C) <
            precision)
 
 
def test_disable_perturb_voltage():
    control.disable_perturb_voltage("test")
    com = ng.array(control.d_com).toarray()
    control.add_perturb()
    assert (relative_array_error(ng.array(control.d_com).toarray(), com) < precision)
 
 
def test_enable_perturb_voltage():
    control.enable_perturb_voltage("test")
    com = ng.array(control.d_com_clipped).toarray()
    C = ng.array(control.d_perturb_map["test"][0]).toarray()
    control.add_perturb()
    assert (relative_array_error(ng.array(control.d_com_clipped).toarray(), com + C) <
            precision)
 
 
def test_reset_perturb_voltage():
    control.reset_perturb_voltage()
    assert (control.d_perturb_map == {})
 
 
def test_comp_voltage():
    volt_min = -1
    volt_max = 1
    control.set_comRange(volt_min, volt_max)
    control.comp_voltage()
    C = np.random.random(sup.config.p_controller0.nactu)
    control.add_perturb_voltage("test", C, 1)
    control.set_com(C, C.size)
    com0 = ng.array(control.d_circularComs0).toarray()
    com1 = ng.array(control.d_circularComs1).toarray()
    control.comp_voltage()
    delay = sup.config.p_controller0.delay
    a = delay - int(delay)
    b = 1 - a
    commands = a * com0 + b * com1
    comPertu = commands + C
    comPertu[np.where(comPertu > volt_max)] = volt_max
    comPertu[np.where(comPertu < volt_min)] = volt_min
    assert (relative_array_error(ng.array(control.d_voltage).toarray(), comPertu) <
            precision)
 
 
def test_remove_centroider():
    rtc.remove_centroider(0)
    assert (rtc.d_centro == [])
 
 
def test_doCentroids_tcog():
    rtc.add_centroider(sup.context, sup.config.p_wfs0._nvalid,
                       sup.config.p_wfs0.npix / 2 - 0.5, sup.config.p_wfs0.pixsize,
                       False, 0, "tcog")
 
    centro = rtc.d_centro[-1]
    threshold = 0.1
    centro.set_threshold(threshold)
    centro.set_npix(sup.config.p_wfs0.npix)
    centro.load_validpos(xvalid, yvalid, xvalid.size)
    centro.load_img(frame, frame.shape[0])
    centro.calibrate_img()
    rtc.do_centroids(0)
    bincube = np.array(sup.wfs.wfs.d_wfs[0].d_bincube)
    bincube /= bincube.max()
    slopes = np.zeros(sup.config.p_wfs0._nvalid * 2)
    offset = centro.offset
    scale = centro.scale
    bincube = bincube - threshold
    bincube[np.where(bincube < 0)] = 0
    for k in range(sup.config.p_wfs0._nvalid):
        tmp = center_of_mass(bincube[:, :, k])
        slopes[k] = (tmp[0] - offset) * scale
        slopes[k + sup.config.p_wfs0._nvalid] = (tmp[1] - offset) * scale
    assert (relative_array_error(ng.array(control.d_centroids).toarray(), slopes) <
            precision)
 
 
def test_doCentroids_bpcog():
    rtc.remove_centroider(0)
    rtc.add_centroider(sup.context, sup.config.p_wfs0._nvalid,
                       sup.config.p_wfs0.npix / 2 - 0.5, sup.config.p_wfs0.pixsize,
                       False, 0, "bpcog")
 
    centro = rtc.d_centro[-1]
    bpix = 8
    centro.set_nmax(8)
    centro.set_npix(sup.config.p_wfs0.npix)
    centro.load_validpos(xvalid, yvalid, xvalid.size)
    centro.load_img(frame, frame.shape[0])
    centro.calibrate_img()
    rtc.do_centroids(0)
    bincube = np.array(sup.wfs.wfs.d_wfs[0].d_bincube)
    bincube /= bincube.max()
    slopes = np.zeros(sup.config.p_wfs0._nvalid * 2)
    offset = centro.offset
    scale = centro.scale
    for k in range(sup.config.p_wfs0._nvalid):
        imagette = bincube[:, :, k]
        threshold = np.sort(imagette, axis=None)[-(bpix + 1)]
        imagette -= threshold
        imagette[np.where(imagette < 0)] = 0
        tmp = center_of_mass(imagette)
        slopes[k] = (tmp[0] - offset) * scale
        slopes[k + sup.config.p_wfs0._nvalid] = (tmp[1] - offset) * scale
    assert (relative_array_error(ng.array(control.d_centroids).toarray(), slopes) <
            precision)
 
 
def test_publish_calPix():
    centro = rtc.d_centro[-1]
    rtc.publish()
    interface = CacaoInterface.getInterface("compass_calPix")
    tmp = np.array(interface)
    assert (relative_array_error(np.array(centro.d_img), tmp) < precision)
 
 
@pytest.mark.skip(reason="intensities disabled")
def test_publish_loopData():
    centro = rtc.d_centro[-1]
    rtc.publish()
    it = CacaoInterface.getInterface("compass_loopData")
    data = np.array(it)
    nvalid = sup.config.p_wfs0._nvalid
    nslopes = sup.config.p_controller0.nslope
    nactus = sup.config.p_controller0.nactu
    tmp = np.zeros(nvalid + nslopes + nactus)
    tmp[:nvalid] = np.array(centro.d_intensities)
    tmp[nvalid:nvalid + nslopes] = np.array(control.d_centroids)
    tmp[nvalid + nslopes:] = np.array(control.d_com)
    assert (relative_array_error(data, tmp) < precision)