Merge pull request #435 from jluhrs/oiwfs_probe_tracking

Oiwfs probe tracking configuration
gemini-hlsw · Oct 19, 2023 · 40bcb96 · 40bcb96
2 parents 9f243d3 + a437875
commit 40bcb96
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Showing 32 changed files with 392 additions and 203 deletions.
diff --git a/modules/epics/src/main/scala/navigate/epics/EpicsService.scala b/modules/epics/src/main/scala/navigate/epics/EpicsService.scala
@@ -36,7 +36,7 @@ object EpicsService {
       .map(x => Channel.build[F, T, tjt.javaType](x)(Async[F], tjt.convert))
   }
 
-  final case class Builder(
+  case class Builder(
     addrList:          Option[List[InetAddress]],
     autoAddrList:      Option[Boolean],
     connectionTimeout: Option[FiniteDuration],

diff --git a/modules/model/jvm/src/main/scala/navigate/model/config/AuthenticationConfig.scala b/modules/model/jvm/src/main/scala/navigate/model/config/AuthenticationConfig.scala
@@ -23,7 +23,7 @@ import scala.concurrent.duration.FiniteDuration
  * @param ldap
  *   URL of the ldap servers
  */
-final case class AuthenticationConfig(
+case class AuthenticationConfig(
   sessionLifeHrs: FiniteDuration,
   cookieName:     String,
   secretKey:      String,

diff --git a/modules/model/jvm/src/main/scala/navigate/model/config/NavigateEngineConfiguration.scala b/modules/model/jvm/src/main/scala/navigate/model/config/NavigateEngineConfiguration.scala
@@ -31,7 +31,7 @@ trait GpiSettings
  * @param ioTimeout
  *   Timeout to listen for EPICS events
  */
-final case class NavigateEngineConfiguration(
+case class NavigateEngineConfiguration(
   odb:                     Uri,
   systemControl:           SystemsControlConfiguration,
   odbNotifications:        Boolean,

diff --git a/modules/model/jvm/src/main/scala/navigate/model/config/SystemsControlConfiguration.scala b/modules/model/jvm/src/main/scala/navigate/model/config/SystemsControlConfiguration.scala
@@ -8,7 +8,7 @@ import cats._
 /**
  * Indicates how each subsystems is treated, e.g. full connection or simulated
  */
-final case class SystemsControlConfiguration(
+case class SystemsControlConfiguration(
   altair: ControlStrategy,
   gems:   ControlStrategy,
   gcal:   ControlStrategy,

diff --git a/modules/model/shared/src/main/scala/navigate/common/FixedLengthBuffer.scala b/modules/model/shared/src/main/scala/navigate/common/FixedLengthBuffer.scala
@@ -14,7 +14,7 @@ import cats.syntax.all._
 import mouse.all._
 
 object FixedLengthBuffer {
-  private final case class FixedLengthBufferImpl[A](maxLength: Int, data: Chain[A])
+  private case class FixedLengthBufferImpl[A](maxLength: Int, data: Chain[A])
       extends FixedLengthBuffer[A] {
     // Sanity check
     require(maxLength >= data.length)

diff --git a/modules/model/shared/src/main/scala/navigate/model/NavigateCommand.scala b/modules/model/shared/src/main/scala/navigate/model/NavigateCommand.scala
@@ -56,6 +56,7 @@ object NavigateCommand {
   case object Slew                        extends NavigateCommand
   case object InstSpecifics               extends NavigateCommand
   case object OiwfsTarget                 extends NavigateCommand
+  case object OiwfsProbeTracking          extends NavigateCommand
 
   given Eq[NavigateCommand] = Eq.fromUniversalEquals
 
@@ -96,6 +97,7 @@ object NavigateCommand {
       case Slew                => "Slew"
       case InstSpecifics       => "Instrument Specifics"
       case OiwfsTarget         => "OIWFS"
+      case OiwfsProbeTracking  => "OIWFS Probe Tracking"
     }
   }
 

diff --git a/modules/model/shared/src/main/scala/navigate/model/NavigateEvent.scala b/modules/model/shared/src/main/scala/navigate/model/NavigateEvent.scala
@@ -14,7 +14,7 @@ import java.time.Instant
 sealed trait NavigateEvent
 
 object NavigateEvent {
-  final case class ServerLogMessage(level: ServerLogLevel, timestamp: Instant, msg: String)
+  case class ServerLogMessage(level: ServerLogLevel, timestamp: Instant, msg: String)
       extends NavigateEvent
   object ServerLogMessage {
     private given Order[Instant]  =
@@ -25,7 +25,7 @@ object NavigateEvent {
 
   case object NullEvent extends NavigateEvent
 
-  final case class ConnectionOpenEvent(
+  case class ConnectionOpenEvent(
     userDetails:   Option[UserDetails],
     clientId:      ClientId,
     serverVersion: String
@@ -36,22 +36,22 @@ object NavigateEvent {
       Eq.by(x => (x.userDetails, x.clientId, x.serverVersion))
   }
 
-  final case class CommandStart(cmd: NavigateCommand) extends NavigateEvent
+  case class CommandStart(cmd: NavigateCommand) extends NavigateEvent
   object CommandStart {
     given Eq[CommandStart] = Eq.by(_.cmd)
   }
 
-  final case class CommandSuccess(cmd: NavigateCommand) extends NavigateEvent
+  case class CommandSuccess(cmd: NavigateCommand) extends NavigateEvent
   object CommandSuccess {
     given Eq[CommandSuccess] = Eq.by(_.cmd)
   }
 
-  final case class CommandPaused(cmd: NavigateCommand) extends NavigateEvent
+  case class CommandPaused(cmd: NavigateCommand) extends NavigateEvent
   object CommandPaused {
     given Eq[CommandPaused] = Eq.by(_.cmd)
   }
 
-  final case class CommandFailure(cmd: NavigateCommand, msg: String) extends NavigateEvent
+  case class CommandFailure(cmd: NavigateCommand, msg: String) extends NavigateEvent
   object CommandFailure {
     given Eq[CommandFailure] = Eq.by(x => (x.cmd, x.msg))
   }

diff --git a/modules/model/shared/src/main/scala/navigate/model/package.scala b/modules/model/shared/src/main/scala/navigate/model/package.scala
@@ -8,7 +8,7 @@ import cats.Eq
 import java.util.UUID
 
 package model {
-  final case class ClientId(self: UUID) extends AnyVal
+  case class ClientId(self: UUID) extends AnyVal
 }
 package object model {
 

diff --git a/modules/schema-util/src/main/scala/edu/gemini/schema/util/SchemaStitcher.scala b/modules/schema-util/src/main/scala/edu/gemini/schema/util/SchemaStitcher.scala
@@ -82,7 +82,7 @@ object SchemaStitcher {
 
   sealed trait Elements
   case object AllElements                                      extends Elements
-  final case class ElementList(l: NonEmptySet[NonEmptyString]) extends Elements
+  case class ElementList(l: NonEmptySet[NonEmptyString]) extends Elements
 
   extension (el: Elements) {
     def union(other: Elements): Elements = (el, other) match {

diff --git a/modules/server/src/main/scala/navigate/server/NavigateEngine.scala b/modules/server/src/main/scala/navigate/server/NavigateEngine.scala
@@ -8,23 +8,12 @@ import cats.effect.{Async, Concurrent, Ref, Temporal}
 import cats.effect.kernel.Sync
 import cats.syntax.all.*
 import org.typelevel.log4cats.Logger
-import navigate.model.NavigateCommand.{
-  CrcsFollow,
-  CrcsMove,
-  CrcsPark,
-  CrcsStop,
-  EcsCarouselMode,
-  InstSpecifics,
-  McsFollow,
-  McsPark,
-  OiwfsTarget,
-  Slew
-}
+import navigate.model.NavigateCommand.{CrcsFollow, CrcsMove, CrcsPark, CrcsStop, EcsCarouselMode, InstSpecifics, McsFollow, McsPark, OiwfsProbeTracking, OiwfsTarget, Slew}
 import navigate.model.{NavigateCommand, NavigateEvent}
 import navigate.model.NavigateEvent.{CommandFailure, CommandPaused, CommandStart, CommandSuccess}
 import navigate.model.config.NavigateEngineConfiguration
 import navigate.model.enums.{DomeMode, ShutterMode}
-import navigate.server.tcs.{SlewConfig, Target}
+import navigate.server.tcs.{InstrumentSpecifics, SlewConfig, Target, TrackingConfig}
 import navigate.stateengine.StateEngine
 import NavigateEvent.NullEvent
 import fs2.{Pipe, Stream}
@@ -33,7 +22,6 @@ import lucuma.core.math.Angle
 import monocle.{Focus, Lens}
 
 import scala.concurrent.duration.{DurationInt, FiniteDuration}
-import navigate.server.tcs.InstrumentSpecifics
 
 trait NavigateEngine[F[_]] {
   val systems: Systems[F]
@@ -55,6 +43,7 @@ trait NavigateEngine[F[_]] {
   def slew(slewConfig:                               SlewConfig): F[Unit]
   def instrumentSpecifics(instrumentSpecificsParams: InstrumentSpecifics): F[Unit]
   def oiwfsTarget(target:                            Target): F[Unit]
+  def oiwfsProbeTracking(config: TrackingConfig): F[Unit]
 }
 
 object NavigateEngine {
@@ -169,6 +158,13 @@ object NavigateEngine {
       systems.tcsSouth.oiwfsTarget(target),
       Focus[State](_.oiwfsInProgress)
     )
+
+    override def oiwfsProbeTracking(config: TrackingConfig): F[Unit] = command(
+      engine,
+      OiwfsProbeTracking,
+      systems.tcsSouth.oiwfsProbeTracking(config),
+      Focus[State](_.oiwfsProbeTrackingInProgress)
+    )
   }
 
   def build[F[_]: Concurrent: Logger](
@@ -191,7 +187,8 @@ object NavigateEngine {
     slewInProgress:                Boolean,
     oiwfsInProgress:               Boolean,
     instrumentSpecificsInProgress: Boolean,
-    rotIaaInProgress:              Boolean
+    rotIaaInProgress:              Boolean,
+    oiwfsProbeTrackingInProgress:  Boolean
   ) {
     lazy val tcsActionInProgress: Boolean =
       mcsParkInProgress ||
@@ -205,7 +202,8 @@ object NavigateEngine {
         slewInProgress ||
         oiwfsInProgress ||
         instrumentSpecificsInProgress ||
-        rotIaaInProgress
+        rotIaaInProgress ||
+        oiwfsProbeTrackingInProgress
   }
 
   val startState: State = State(
@@ -220,7 +218,8 @@ object NavigateEngine {
     slewInProgress = false,
     oiwfsInProgress = false,
     instrumentSpecificsInProgress = false,
-    rotIaaInProgress = false
+    rotIaaInProgress = false,
+    oiwfsProbeTrackingInProgress = false
   )
 
   private def command[F[_]: MonadThrow: Logger](

diff --git a/modules/server/src/main/scala/navigate/server/NavigateFailure.scala b/modules/server/src/main/scala/navigate/server/NavigateFailure.scala
@@ -8,13 +8,13 @@ sealed trait NavigateFailure extends Exception with Product with Serializable
 object NavigateFailure {
 
   /** Something went wrong while applying a configuration. * */
-  final case class Execution(errMsg: String) extends NavigateFailure
+  case class Execution(errMsg: String) extends NavigateFailure
 
-  final case class Unexpected(msg: String) extends NavigateFailure
+  case class Unexpected(msg: String) extends NavigateFailure
 
-  final case class Timeout(msg: String) extends NavigateFailure
+  case class Timeout(msg: String) extends NavigateFailure
 
-  final case class NullEpicsError(channel: String) extends NavigateFailure
+  case class NullEpicsError(channel: String) extends NavigateFailure
 
   def explain(f: NavigateFailure): String = f match {
     case Execution(errMsg)       => s"Configuration action failed with error: $errMsg"

diff --git a/modules/server/src/main/scala/navigate/server/Systems.scala b/modules/server/src/main/scala/navigate/server/Systems.scala
@@ -15,7 +15,7 @@ import lucuma.core.enums.Site
 
 import scala.annotation.nowarn
 
-final case class Systems[F[_]](
+case class Systems[F[_]](
   odb:      OdbProxy[F],
   tcsSouth: TcsSouthController[F],
   tcsNorth: TcsNorthController[F]

diff --git a/modules/server/src/main/scala/navigate/server/tcs/GuiderConfig.scala b/modules/server/src/main/scala/navigate/server/tcs/GuiderConfig.scala
@@ -0,0 +1,9 @@
+// Copyright (c) 2016-2023 Association of Universities for Research in Astronomy, Inc. (AURA)
+// For license information see LICENSE or https://opensource.org/licenses/BSD-3-Clause
+
+package navigate.server.tcs
+
+case class GuiderConfig (
+  target: Target,
+  tracking: TrackingConfig
+)
diff --git a/modules/server/src/main/scala/navigate/server/tcs/InstrumentSpecifics.scala b/modules/server/src/main/scala/navigate/server/tcs/InstrumentSpecifics.scala
@@ -6,7 +6,7 @@ package navigate.server.tcs
 import lucuma.core.math.Angle
 import navigate.model.Distance
 
-final case class InstrumentSpecifics(
+case class InstrumentSpecifics(
   iaa:         Angle,
   focusOffset: Distance,
   agName:      String,

diff --git a/modules/server/src/main/scala/navigate/server/tcs/Origin.scala b/modules/server/src/main/scala/navigate/server/tcs/Origin.scala
@@ -4,7 +4,7 @@
 package navigate.server.tcs
 import navigate.model.Distance
 
-final case class Origin(
+case class Origin(
   x: Distance,
   y: Distance
 )
diff --git a/modules/server/src/main/scala/navigate/server/tcs/SlewConfig.scala b/modules/server/src/main/scala/navigate/server/tcs/SlewConfig.scala
@@ -3,11 +3,9 @@
 
 package navigate.server.tcs
 
-import lucuma.core.math.Angle
-
 case class SlewConfig(
   slewOptions:         SlewOptions,
   baseTarget:          Target,
   instrumentSpecifics: InstrumentSpecifics,
-  oiwfsTarget:         Option[Target]
+  oiwfs:               Option[GuiderConfig]
 )
diff --git a/modules/server/src/main/scala/navigate/server/tcs/Target.scala b/modules/server/src/main/scala/navigate/server/tcs/Target.scala
@@ -20,7 +20,7 @@ sealed trait Target extends Product with Serializable {
 }
 
 object Target {
-  final case class SiderealTarget(
+  case class SiderealTarget(
     override val objectName: String,
     override val wavelength: Wavelength,
     coordinates:             Coordinates,
@@ -30,19 +30,19 @@ object Target {
     parallax:                Option[Parallax]
   ) extends Target
 
-  final case class Azimuth(toAngle: Angle)
+  case class Azimuth(toAngle: Angle)
 
-  final case class Elevation(toAngle: Angle)
+  case class Elevation(toAngle: Angle)
 
-  final case class AzElCoordinates(azimuth: Azimuth, elevation: Elevation)
+  case class AzElCoordinates(azimuth: Azimuth, elevation: Elevation)
 
-  final case class AzElTarget(
+  case class AzElTarget(
     override val objectName: String,
     override val wavelength: Wavelength,
     coordinates:             AzElCoordinates
   ) extends Target
 
-  final case class EphemerisTarget(
+  case class EphemerisTarget(
     override val objectName: String,
     override val wavelength: Wavelength,
     ephemerisFile:           String

diff --git a/modules/server/src/main/scala/navigate/server/tcs/TcsBaseController.scala b/modules/server/src/main/scala/navigate/server/tcs/TcsBaseController.scala
@@ -3,12 +3,12 @@
 
 package navigate.server.tcs
 
+import lucuma.core.math.Angle
 import navigate.model.enums.{DomeMode, ShutterMode}
 import navigate.server.ApplyCommandResult
-import lucuma.core.math.{Angle, Coordinates, Epoch, Parallax, ProperMotion, RadialVelocity}
 
 trait TcsBaseController[F[_]] {
-  import TcsBaseController._
+  import TcsBaseController.*
   def mcsPark: F[ApplyCommandResult]
   def mcsFollow(enable:           Boolean): F[ApplyCommandResult]
   def rotStop(useBrakes:          Boolean): F[ApplyCommandResult]
@@ -28,11 +28,12 @@ trait TcsBaseController[F[_]] {
   def instrumentSpecifics(config: InstrumentSpecifics): F[ApplyCommandResult]
   def oiwfsTarget(target:         Target): F[ApplyCommandResult]
   def rotIaa(angle:               Angle): F[ApplyCommandResult]
+  def oiwfsProbeTracking(config: TrackingConfig): F[ApplyCommandResult]
 }
 
 object TcsBaseController {
 
-  final case class TcsConfig(
+  case class TcsConfig(
     sourceATarget: Target
   )
 

diff --git a/modules/server/src/main/scala/navigate/server/tcs/TcsBaseControllerEpics.scala b/modules/server/src/main/scala/navigate/server/tcs/TcsBaseControllerEpics.scala
@@ -7,11 +7,11 @@ import cats.effect.Async
 import navigate.server.{ApplyCommandResult, ConnectionTimeout}
 
 import scala.concurrent.duration.FiniteDuration
-import navigate.epics.VerifiedEpics._
+import navigate.epics.VerifiedEpics.*
 import navigate.model.Distance
 import navigate.model.enums.{DomeMode, ShutterMode}
-import navigate.server.tcs.Target._
-import navigate.server.tcs.TcsEpicsSystem.{TargetCommand, TcsCommands}
+import navigate.server.tcs.Target.*
+import navigate.server.tcs.TcsEpicsSystem.{ProbeTrackingCommand, TargetCommand, TcsCommands}
 import lucuma.core.math.{Angle, Parallax, ProperMotion, RadialVelocity, Wavelength}
 import monocle.Getter
 
@@ -226,9 +226,10 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
       .compose(setFocusOffset(config.instrumentSpecifics.focusOffset))
       .compose(setOrigin(config.instrumentSpecifics.origin))
       .compose(
-        config.oiwfsTarget
-          .map(
-            setTarget(Getter[TcsCommands[F], TargetCommand[F, TcsCommands[F]]](_.oiwfsTargetCmd), _)
+        config.oiwfs
+          .map( o =>
+            setTarget(Getter[TcsCommands[F], TargetCommand[F, TcsCommands[F]]](_.oiwfsTargetCmd), o.target)
+              .compose(setProbeTracking(Getter[TcsCommands[F], ProbeTrackingCommand[F, TcsCommands[F]]](_.oiwfsProbeTrackingCommand), o.tracking))
           )
           .getOrElse(identity[TcsCommands[F]])
       )(
@@ -257,4 +258,18 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
       tcsEpics.startCommand(timeout)
     ).post
       .verifiedRun(ConnectionTimeout)
+
+
+  def setProbeTracking(l: Getter[TcsCommands[F], ProbeTrackingCommand[F, TcsCommands[F]]], config: TrackingConfig): TcsCommands[F] => TcsCommands[F] =
+    { (x: TcsCommands[F]) => l.get(x).nodAchopA(config.nodAchopA) }
+        .compose[TcsCommands[F]](l.get(_).nodAchopB(config.nodAchopB))
+        .compose[TcsCommands[F]](l.get(_).nodBchopA(config.nodBchopA))
+        .compose[TcsCommands[F]](l.get(_).nodBchopB(config.nodBchopB))
+
+  override def oiwfsProbeTracking(config: TrackingConfig): F[ApplyCommandResult] =
+    setProbeTracking(Getter[TcsCommands[F], ProbeTrackingCommand[F, TcsCommands[F]]](_.oiwfsProbeTrackingCommand), config)(
+      tcsEpics.startCommand(timeout)
+    ).post
+      .verifiedRun(ConnectionTimeout)
+
 }
diff --git a/modules/server/src/main/scala/navigate/server/tcs/TcsBaseControllerSim.scala b/modules/server/src/main/scala/navigate/server/tcs/TcsBaseControllerSim.scala
@@ -52,4 +52,7 @@ class TcsBaseControllerSim[F[_]: Applicative] extends TcsBaseController[F] {
 
   override def rotIaa(angle: Angle): F[ApplyCommandResult] =
     Applicative[F].pure(ApplyCommandResult.Completed)
+
+  override def oiwfsProbeTracking(config: TrackingConfig): F[ApplyCommandResult] =
+    Applicative[F].pure(ApplyCommandResult.Completed)
 }