test_rtc_standalone.py

"""script to test rtc_standalone feature
 
Usage:
  test_rtc_standalone <parameters_filename> [options]
 
with 'parameters_filename' the path to the parameters file
 
Options:
  -h --help          Show this help message and exit
  -d, --devices devices      Specify the devices
"""
 
from docopt import docopt
from tqdm import tqdm
 
from carmaWrap import threadSync
import numpy as np
import shesha.sim
import shesha.init
import time
 
arguments = docopt(__doc__)
param_file = arguments["<parameters_filename>"]
 
# Get parameters from file
sim = shesha_sim.Simulator(param_file)
 
if arguments["--devices"]:
    devices = []
    for k in range(len(arguments["--devices"])):
        devices.append(int(arguments["--devices"][k]))
    sim.config.p_loop.set_devices(devices)
 
sim.init_sim()
nactu = sim.config.p_controller0.nactu
nvalid = sim.config.p_controller0.nvalid
rtc_standalone = shesha_init.rtc_standalone(
        sim.c, len(sim.config.p_wfss), nvalid, nactu, sim.config.p_centroider0.type,
        sim.config.p_controller0.delay, sim.config.p_wfs0.npix // 2 - 0.5,
        sim.config.p_wfs0.pixsize)
rtc_standalone.set_cmat(0, sim.rtc.get_cmat(0))
rtc_standalone.set_decayFactor(0, np.ones(nactu, dtype=np.float32))
rtc_standalone.set_matE(0, np.identity(nactu, dtype=np.float32))
rtc_standalone.set_modal_gains(
        0,
        np.ones(nactu, dtype=np.float32) * sim.config.p_controller0.gain)
 
s_ref = np.zeros((sim.config.p_loop.niter, 2 * nvalid.sum()), dtype=np.float32)
s = s_ref.copy()
c = np.zeros((sim.config.p_loop.niter, nactu), dtype=np.float32)
c_ref = c.copy()
img = sim.wfs.get_binimg(0)
img = np.zeros((sim.config.p_loop.niter, img.shape[0], img.shape[1]), dtype=np.float32)
 
for k in tqdm(range(sim.config.p_loop.niter)):
    sim.next()
    img[k, :, :] = sim.wfs.get_binimg(0)
    s_ref[k, :] = sim.rtc.get_centroids(0)
    c_ref[k, :] = sim.rtc.get_com(0)
 
rtc_standalone.load_rtc_validpos(0, sim.config.p_wfs0._validsubsx,
                                 sim.config.p_wfs0._validsubsy)
rtc_standalone.set_open_loop(0, 1)
rtc_standalone.set_open_loop(0, 0)
 
rtc_time = 0
for k in tqdm(range(sim.config.p_loop.niter)):
    rtc_standalone.load_rtc_img(0, img[k, :, :].copy())
    a = time.time()
    rtc_standalone.fill_rtc_bincube(0, sim.config.p_wfs0.npix)
    rtc_standalone.do_centroids(0)
    rtc_standalone.do_control(0)
    rtc_standalone.save_com(0)
    threadSync()
    rtc_time += time.time() - a
    s[k, :] = rtc_standalone.get_centroids(0)
    c[k, :] = rtc_standalone.get_com(0)
 
print("RTC speed : ", 1 / (rtc_time / sim.config.p_loop.niter), " fps")