From 5e3f9e8f5c0d59d96563e71b50c2eaf442abdcbb Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Tue, 21 Dec 2021 20:10:55 +0900
Subject: [PATCH 01/17] v.0.2.4a guide lab debug

---
 pyproject.toml                            |   2 +-
 python/lvmagp/actor/commands/__init__.py  |   5 +-
 python/lvmagp/actor/commands/autofocus.py | 116 +++++++++++++++------
 python/lvmagp/actor/commands/guide.py     |  54 +++++-----
 python/lvmagp/actor/commands/slew.py      |  38 ++-----
 python/lvmagp/actor/commands/test.py      | 120 ++++++++++++++++++++--
 python/lvmagp/actor/commfunc.py           |   6 +-
 python/lvmagp/actor/internalfunc.py       |   9 +-
 python/lvmagp/actor/user_parameters.py    |   9 +-
 9 files changed, 255 insertions(+), 104 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index bd86c9a..b03f1f0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -33,7 +33,7 @@ generate-setup-file = false
 lvmagp = "lvmagp.__main__:lvmagp"
 
 [tool.poetry.dependencies]
-python = "^3.7"
+python = ">3.7, <3.10"
 sdss-tree = ">=2.15.2"
 sdss-access = ">=0.2.3"
 sdsstools = ">=0.4.0"
diff --git a/python/lvmagp/actor/commands/__init__.py b/python/lvmagp/actor/commands/__init__.py
index 18376ef..a2e011b 100644
--- a/python/lvmagp/actor/commands/__init__.py
+++ b/python/lvmagp/actor/commands/__init__.py
@@ -11,17 +11,18 @@
 import os
 
 import click
-from clu.parsers.click import CluGroup, help_, ping, version
+from clu.parsers.click import CluGroup, help_, ping, version, command_parser
+from cluplus.parsers.click import __commands
 
 
 @click.group(cls=CluGroup)
 def parser(*args):
     pass
 
-
 parser.add_command(ping)
 parser.add_command(version)
 parser.add_command(help_)
+command_parser.add_command(__commands)
 
 # Autoimport all modules in this directory so that they are added to the parser.
 
diff --git a/python/lvmagp/actor/commands/autofocus.py b/python/lvmagp/actor/commands/autofocus.py
index 76e1a82..4982313 100644
--- a/python/lvmagp/actor/commands/autofocus.py
+++ b/python/lvmagp/actor/commands/autofocus.py
@@ -3,9 +3,11 @@
 import click
 from clu.command import Command
 
-from lvmagp.actor.commfunc import *  # noqa: F403
-from lvmagp.actor.internalfunc import *  # noqa: F403
-
+from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
+                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
+                                   LVMTelescope, LVMWestCamera)
+from lvmagp.actor.internalfunc import GuideImage, findfocus  # noqa: F403
+from lvmagp.actor.user_parameters import usrpars
 from . import parser
 
 
@@ -16,7 +18,13 @@ def autofocus(*args):
 
 @autofocus.command()
 @click.argument("TEL", type=str)
-async def coarse(command: Command, tel: str):
+async def coarse(command: Command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel: str,):
     """
     Find the focus coarsely by scanning whole reachable position.
 
@@ -30,7 +38,13 @@ async def coarse(command: Command, tel: str):
 
 @autofocus.command()
 @click.argument("TEL", type=str)
-async def fine(command: Command, tel: str):
+async def fine(command: Command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel: str):
     """
     Find the optimal focus position which is near the current position.
 
@@ -40,10 +54,10 @@ async def fine(command: Command, tel: str):
         The telescope to be focused
     """
     position, fwhm = [], []
-    incremental = 100
-    repeat = 5
-    exptime = 3  # noqa: F841  # in seconds
+    incremental = usrpars.af_incremental
+    repeat = usrpars.af_repeat
 
+    '''
     # For test
     pwd = os.path.dirname(os.path.abspath(__file__))
     agpwd = pwd + "/../../../../"
@@ -61,17 +75,13 @@ async def fine(command: Command, tel: str):
         "testimg/focus_series/synthetic_image_median_field_5s_seeing_06.0.fits",  # noqa: E501
     ]
     guideimgidx = [0, 1, 2, 4]
-
+    '''
     # get current pos of focus stage
-    foc1 = LVMFocuser(tel)  # noqa: F405
-    cam1 = LVMCamera(tel + "e")  # noqa: F405
-    cam2 = LVMCamera(tel + "w")  # noqa: F405, F841
-    cam1 = LVMCamera("test")  # noqa: F405, F841  # this is for lab test..
-
-    currentposition = await foc1.getposition(command)
+    currentposition = await focusers[tel].getposition(command)
 
     # Move focus
     """
+    # For test
     reachablelow = await send_message(command, lvmtan, "isreachable %d" % (currentposition - (incremental * (repeat - 1)) / 2.0), returnval=True,  # noqa: E501
                                    body="Reachable")
     reachablehigh = await send_message(command, lvmtan, "isreachable %d" % (currentposition + (incremental * (repeat - 1)) / 2.0),  # noqa: E501
@@ -80,7 +90,7 @@ async def fine(command: Command, tel: str):
         return command.fail(text="Target position is not reachable.")
     """
     targetposition = currentposition - (incremental * (repeat - 1)) / 2.0
-    movecmd = await foc1.moveabs(command, targetposition)
+    movecmd = await focusers[tel].moveabs(command, targetposition)
 
     if movecmd:
         currentposition = targetposition
@@ -89,22 +99,25 @@ async def fine(command: Command, tel: str):
         return command.fail(text="Focus move failed")
 
     # Take picture
-    guideimg = GuideImage(guideimglist[3])  # noqa: F405
     """
-    try:
-        imgcmd = await cam1.single_exposure(command, tel, exptime)
-    except Exception as e:
-        return command.fail(fail='Camera error')
+    For test
+    guideimg = GuideImage(guideimglist[3])  # noqa: F405
     """
 
+
     # Picture analysis
-    starposition = guideimg.findstars()
-    guideimg.update_guidestar_properties()
-    fwhm.append(guideimg.FWHM)
+    fwhm_tmp = await get_fwhm(command,
+                telescopes,
+                eastcameras,
+                westcameras,
+                focusers,
+                kmirrors,
+                tel)
+    fwhm.append(fwhm_tmp)
 
     for iteration in range(repeat - 1):
         targetposition = currentposition + incremental
-        movecmd = await foc1.moveabs(command, targetposition)
+        movecmd = await focusers[tel].moveabs(command, targetposition)
 
         if movecmd:
             currentposition = targetposition
@@ -112,12 +125,53 @@ async def fine(command: Command, tel: str):
         else:
             return command.fail(text="Focus move failed")
 
-        guideimg = GuideImage(guideimglist[guideimgidx[iteration]])  # noqa: F405
-        guideimg.guidestarposition = starposition
-        guideimg.update_guidestar_properties()
-        fwhm.append(guideimg.FWHM)
+        fwhm_tmp = await get_fwhm(command,
+                telescopes,
+                eastcameras,
+                westcameras,
+                focusers,
+                kmirrors,
+                tel,
+                starlist=starposition)
+        fwhm.append(fwhm_tmp)
 
     # Fitting
-    bestposition, bestfocus = findfocus(position, fwhm)  # noqa: F405
-    movecmd = await foc1.moveabs(command, bestposition)
+    bestposition, bestfocus = findfocus(position, fwhm)
+    movecmd = await focusers[tel].moveabs(command, bestposition)
     return command.finish(text="Auto-focus done")
+
+
+async def get_fwhm(command: Command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel: str,
+    starlist=None):
+    """
+    Take a testshot and return FWHM of the image.
+
+    Parameters
+    ----------
+    tel
+        The telescope to be focused
+    starlist
+        List of stars whose FWHMs will be measured
+        If ''starlist`` is None, this function finds star in the testshot.
+    """
+    exptime = usrpars.af_exptime
+
+    try:
+        imgcmd = await westcameras[tel].test_exposure(command, exptime)
+    except Exception as e:
+        return command.fail(fail='Camera error')
+
+    guideimg = GuideImage(imgcmd)
+    if starlist is not None:
+        guideimg.guidestarposition = starlist
+        guideimg.update_guidestar_properties()
+    else:
+        guideimg.findstars()
+
+    return guideimg.FWHM
\ No newline at end of file
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 7ec4b15..b154dea 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -137,6 +137,8 @@ async def calibration(
     if tel not in telescopes:
         return command.fail(text="Telescope '%s' does not exist" % tel)
 
+    decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
+
     xpositions, ypositions = [], []
 
     initposition, initflux = await find_guide_stars(
@@ -145,6 +147,8 @@ async def calibration(
     xpositions.append(initposition[:, 0])
     ypositions.append(initposition[:, 1])
 
+    await asyncio.sleep(3)
+
     # dec axis calibration
     for step in range(1, num_step + 1):
         await telescopes[tel].offset_radec(command, 0, offset_per_step)
@@ -163,14 +167,14 @@ async def calibration(
 
     await telescopes[tel].offset_radec(command, 0, -num_step * offset_per_step)
 
-    xpositions = np.array(xpositions) - xpositions[0]
-    ypositions = np.array(ypositions) - ypositions[0]
+    xoffsets = np.array(xpositions) - xpositions[0]
+    yoffsets = np.array(ypositions) - ypositions[0]
     xscale_dec = (
-        np.sum(xpositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+        np.average(xoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
         offset_per_step
     )  # displacement along x-axis by ra offset in pixel per arcsec. exclude the first index (0,0)
     yscale_dec = (
-        np.sum(ypositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+        np.average(yoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
         offset_per_step
     )  # exclude the first index (0,0)
 
@@ -179,33 +183,30 @@ async def calibration(
     ypositions = [initposition[:, 1]]
 
     for step in range(1, num_step + 1):
-        await telescopes[tel].offset_radec(command, offset_per_step, 0)
+        await telescopes[tel].offset_radec(command, offset_per_step/np.cos(np.deg2rad(decj2000_deg)), 0)
         position, flux = await find_guide_stars(
             command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel
         )
         xpositions.append(position[:, 0])
         ypositions.append(position[:, 1])
 
-    await telescopes[tel].offset_radec(command, -num_step * offset_per_step, 0)
+    await telescopes[tel].offset_radec(command, -num_step * offset_per_step/np.cos(np.deg2rad(decj2000_deg)), 0)
 
-    decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
 
     xpositions = np.array(xpositions) - xpositions[0]
     ypositions = np.array(ypositions) - ypositions[0]
     xscale_ra = (
         np.sum(xpositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
-        offset_per_step /
-        np.cos(np.deg2rad(decj2000_deg))
+        offset_per_step
     )  # exclude the first index (0,0)
     yscale_ra = (
         np.sum(ypositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
-        offset_per_step /
-        np.cos(np.deg2rad(decj2000_deg))
+        offset_per_step
     )  # exclude the first index (0,0)
 
-    telescopes[tel].scale_matrix = np.matrix(
-        [[xscale_ra, yscale_ra], [xscale_dec, yscale_dec]]
-    )
+    telescopes[tel].scale_matrix = np.linalg.inv(np.array(
+        [[xscale_ra, xscale_dec], [yscale_ra, yscale_dec]]
+    ))  # inverse matrix.. linear system of equations..
     return command.finish(
         xscale_ra="%.3f pixel/arcsec" % xscale_ra,
         yscale_ra="%.3f pixel/arcsec" % yscale_ra,
@@ -236,7 +237,7 @@ async def autoguide_supervisor(
         If ``useteldata`` is flagged,
         the sequence will use the pixel scale and rotation angle from LVMTelescope.
         Otherwise, the sequence will get pixel scale from LVMCamera, and
-        it assumes that the camera is north-oriented.
+        it assumes that the camera is north-oriented and both axes of mount are orthogonal.
     """
     global KHU_inner_test
     if 0:
@@ -362,7 +363,7 @@ async def find_guide_stars(
 ):
     """
     Expose an image, and find three guide stars from the image.
-    Also calculate the center coordinates and flux of found stars.
+    Also calculate the center coordinates and fluxes of found stars.
 
     Parameters
     ----------
@@ -446,8 +447,7 @@ async def autoguiding(
         tel,
         positionguess=initposition,
     )
-    print(starflux)
-    print(initflux)
+
     if (
         np.abs(
             np.average(starflux / initflux - 1, weights=2.5 * np.log10(initflux * 10))
@@ -466,28 +466,28 @@ async def autoguiding(
     offset = np.mean(starposition - initposition, axis=0)  # in x,y [pixel]
 
     if useteldata:
-        offset_arcsec = np.matmul(
-            telescopes[tel].scale_matrix.I, offset
+        offset_arcsec = np.dot(
+            telescopes[tel].scale_matrix, offset
         )  # in x,y(=ra,dec) [arcsec]
-        offset_arcsec = np.array(offset_arcsec)
+        correction_arcsec = -np.array(offset_arcsec)[0]
     else:
         theta = np.radians(westcameras[tel].rotationangle)
         c, s = np.cos(theta), np.sin(theta)
         R = np.array(((c, -s), (s, c)))
-        offset_arcsec = (
+        correction_arcsec = -(
             np.dot(R, offset) * westcameras[tel].pixelscale
         )  # in x,y(=ra,dec) [arcsec]
 
     decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
-    offset_arcsec[0] = offset_arcsec[0] / np.cos(np.deg2rad(decj2000_deg))
+    correction_arcsec[0] = correction_arcsec[0] / np.cos(np.deg2rad(decj2000_deg))
 
     if (np.sqrt(offset[0] ** 2 + offset[1] ** 2)) > usrpars.ag_min_offset:
         print(
-            "compensate: ra %.2f arcsec dec %.2f arcsec   x %.2f pixel y %.2f pixel"
-            % (offset_arcsec[0], offset_arcsec[1], offset[0], offset[1])
+            "compensate signal: ra %.2f arcsec dec %.2f arcsec   x %.2f pixel y %.2f pixel"
+            % (correction_arcsec[0], correction_arcsec[1], -offset[0], -offset[1])
         )
-        await telescopes[tel].offset_radec(command, *offset_arcsec)
-        return offset_arcsec
+        await telescopes[tel].offset_radec(command, *correction_arcsec)
+        return correction_arcsec
 
     else:
         return [0.0, 0.0]
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index c9f6824..41ca0c4 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -3,6 +3,8 @@
 
 import click
 import numpy as np
+from astropy import units as u
+from astropy.coordinates import Angle
 from clu.command import Command
 
 from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
@@ -14,25 +16,6 @@
 from . import parser
 
 
-async def deg_to_dms(deg):
-    """
-    Convert the number in degree unit into a tuple consists of degree, minutes, and seconds.
-    Degree and minutes is integer, and seconds is float.
-
-    Parameters
-    ----------
-    exptime
-        Exposure time
-    """
-    absdeg = np.abs(deg)
-    d = np.floor(absdeg)
-    m = np.floor((absdeg - d) * 60)
-    s = (absdeg - d - m / 60) * 3600
-    if deg < 0:
-        d = -d
-    return (d, m, s)
-
-
 @parser.command()
 @click.argument("TEL", type=str)
 @click.argument("TARGET_RA_H", type=float)
@@ -141,17 +124,18 @@ async def slew(
         westcameras[tel].rotationangle = westguideimg.pa
         eastcameras[tel].rotationangle = eastguideimg.pa
 
-        ra2000_hms = await deg_to_dms(ra2000_d / 15)
-        dec2000_dms = await deg_to_dms(dec2000_d)
+        ra2000 = Angle(ra2000_d, u.degree)
+        dec2000 = Angle(dec2000_d, u.degree)
+
+        target_ra = Angle(target_ra_h, u.hour)
+        target_dec = Angle(target_dec_d, u.degree)
 
-        comp_ra_arcsec = (target_ra_h * 15 - ra2000_d) * 3600
-        comp_dec_arcsec = (target_dec_d - dec2000_d) * 3600
+        comp_ra_arcsec = (target_ra - ra2000).s
+        comp_dec_arcsec = (target_dec - dec2000).s
 
         command.info(
-            Img_ra2000="%02dh %02dm %06.3fs"
-            % (ra2000_hms[0], ra2000_hms[1], ra2000_hms[2]),
-            Img_dec2000="%02dd %02dm %06.3fs"
-            % (dec2000_dms[0], dec2000_dms[1], dec2000_dms[2]),
+            Img_ra2000=ra2000.to_string(unit=u.hour),
+            Img_dec2000=dec2000.to_string(unit=u.degree),
             Img_pa="%.3f deg" % pa_d,
             offset_ra="%.3f arcsec" % comp_ra_arcsec,
             offset_dec="%.3f arcsec" % comp_dec_arcsec,
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index 21c9a2e..f19a631 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -5,8 +5,13 @@
                                    LVMTelescope, LVMWestCamera)
 from lvmagp.actor.internalfunc import GuideImage
 from lvmagp.actor.user_parameters import usrpars  # noqa: F401
+import numpy as np
+#from . import parser
 
-from . import parser
+import sys
+import uuid
+from cluplus.proxy import Proxy, ProxyPartialInvokeException, invoke, unpack
+from clu import AMQPClient, CommandStatus
 
 
 # import logging
@@ -19,7 +24,7 @@
 # log.sh.setLevel(logging.DEBUG)
 
 
-@parser.command()
+#@parser.command()
 # @click.argument("TEL", type=str)
 async def test(
     command: Command,
@@ -30,17 +35,120 @@ async def test(
     kmirrors: dict[str, LVMKMirror],
 ):
 
+    '''
+    try:
+        amqpc = AMQPClient(name=f"{sys.argv[0]}.proxy-{uuid.uuid4().hex[:8]}")
+        await amqpc.start()
+        tcs = Proxy(amqpc, 'lvm.sci.foc')
+        await tcs.start()
+    except Exception as e:
+        amqpc.log.error(f"Exception: {e}")
+
+    try:
+        # sequential
+        result = await tcs.ping()
+        #await tcs.ping()
+
+        # parallel
+        #await invoke(
+        #    lvm_sci_pwi.ping(),
+        #    lvm_sci_foc.ping()
+        #)
+
+    except Exception as e:
+        amqpc.log.error(f"Exception: {e}")
+
+    #result = await tcs.ping()
+    command.finish(result["text"])
+    '''
     filepath = \
-        "/home/sumin/lvmcam/python/lvmcam/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000107.fits"
+        "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000170.fits"
     guideimg1 = GuideImage(filepath)
 
     filepath = \
-        "/home/sumin/lvmcam/python/lvmcam/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000110.fits"
+        "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000170.fits"
     guideimg2 = GuideImage(filepath)
+
     pos = guideimg1.findstars()
-    print(pos)
+    print(pos, guideimg1.guidestarflux)
 
     guideimg2.guidestarposition = pos
     guideimg2.update_guidestar_properties()
     starposition = guideimg2.guidestarposition
-    print(starposition)
+    print(starposition, guideimg2.guidestarflux)
+
+
+def test1():
+    filepath = \
+        "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000170.fits"
+    guideimg1 = GuideImage(filepath)
+
+    filepath = \
+        "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000172.fits"
+    guideimg2 = GuideImage(filepath)
+
+    global KHU_inner_test
+    offset_per_step = usrpars.ag_cal_offset_per_step
+    num_step = usrpars.ag_cal_num_step
+
+    decj2000_deg = 60.0
+
+    xpositions, ypositions = [], []
+
+    xpositions = [[100, 500, 1200]]
+    ypositions = [[40, 150, 700]]
+
+    # dec axis calibration
+    xpositions = [[100, 500, 1200], [101.1, 501.0, 1201.2], [102.1, 502.1, 1202.3], [103.2, 503.5, 1203.1]]
+    ypositions = [[40, 150, 700], [42.2, 152.0, 701.9], [44.0, 153.8, 703.8], [45.9, 155.9, 706.3]]
+
+    xpositions = np.array(xpositions) - xpositions[0]
+    ypositions = np.array(ypositions) - ypositions[0]
+    xscale_dec = (
+            np.average(xpositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+            offset_per_step
+    )  # displacement along x-axis by ra offset in pixel per arcsec. exclude the first index (0,0)
+    yscale_dec = (
+            np.average(ypositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+            offset_per_step
+    )  # exclude the first index (0,0)
+
+    # ra axis calibration
+    xpositions = [[100, 500, 1200]]
+    ypositions = [[40, 150, 700]]
+
+    xpositions = [[100, 500, 1200], [102.2, 502.0, 1201.9], [104.0, 503.8, 1203.8], [105.9, 505.9, 1206.3]]
+    ypositions = [[40, 150, 700], [38.9, 148.8, 699.1], [38.0, 147.7, 698.1], [37.1, 147.1, 696.9]]
+
+    xpositions = np.array(xpositions) - xpositions[0]
+    ypositions = np.array(ypositions) - ypositions[0]
+    xscale_ra = (
+            np.average(xpositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+            offset_per_step
+    )  # exclude the first index (0,0)
+    yscale_ra = (
+            np.average(ypositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+            offset_per_step
+    )  # exclude the first index (0,0)
+
+    #scale_matrix = np.linalg.inv(np.array(
+    #    [[xscale_ra, xscale_dec], [yscale_ra, yscale_dec]]
+    #))
+    scale_matrix = np.linalg.inv(np.array(
+        [[0.2, 0.4], [0.4, -0.2]]
+    ))
+
+    offset = np.array([0.4, 0.2])
+    offset_arcsec = np.dot(
+        scale_matrix, offset
+    )  # in x,y(=ra,dec) [arcsec]
+    correction_arcsec = -np.array(offset_arcsec)[0]
+
+    return scale_matrix, offset_arcsec
+
+
+
+if (__name__ == "__main__"):
+    scale_matrix, offset_arcsec = test1()
+    print(scale_matrix)
+    print (offset_arcsec)
\ No newline at end of file
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index c3ccde4..650a7ee 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -159,9 +159,9 @@ def __init__(self, tel, sitename="LCO"):
         self.latitude = site.lat
         self.longitude = site.long
 
-        self.scale_matrix = np.matrix(
-            [[1, 1], [1, 1]]  # [x_ra , y_ra ]
-        )  # [x_dec, y_dec]
+        self.scale_matrix = np.array(
+            [[0, 0], [0, 0]]
+        )  # (ra, dec) = (scale_matrix)*(x, y)
 
         self.ag_task = None
         self.ag_break = False
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 86286cf..651e495 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -51,10 +51,13 @@ def findstars(self, nstar=3):
         nstar
             The number of stars to be found
         """
+        edgewidth = 20
+        mask = np.ones(self.data.shape, dtype=bool)
+        mask[edgewidth:-edgewidth, edgewidth:-edgewidth] = False
         daofind = DAOStarFinder(
             fwhm=self.initFWHM, threshold=3.0 * self.std, peakmax=60000 - self.median
         )  # 1sigma = FWHM/(2*sqrt(2ln2)); FWHM = sigma * (2*sqrt(2ln2))
-        sources = daofind(self.data[10:-10, 10:-10] - self.median)
+        sources = daofind(self.data - self.median, mask=mask)
         posnflux = np.array(
             [sources["xcentroid"], sources["ycentroid"], sources["flux"]]
         )  # xcoord, ycoord, flux
@@ -91,13 +94,13 @@ def twoDgaussianfit(self):
         """
         Conduct 2D Gaussian fitting to find center, flux of stars in ``self.guidestarposition``.
         """
-        windowradius = 10  # only integer
+        windowradius = 5  # only integer
         plist = []
 
         for i in range(len(self.guidestarposition[:, 0])):
             xcenter = int(self.guidestarposition[i, 0])
             ycenter = int(self.guidestarposition[i, 1])
-            p_init = models.Gaussian2D(amplitude=10000, x_mean=xcenter, y_mean=ycenter)
+            p_init = models.Gaussian2D(amplitude=30000, x_mean=xcenter, y_mean=ycenter)
             fit_p = fitting.LevMarLSQFitter()
             xrange = np.arange(xcenter - windowradius, xcenter + windowradius)
             yrange = np.arange(ycenter - windowradius, ycenter + windowradius)
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index 6629460..845829f 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -1,5 +1,8 @@
 class usrpars:
     # autofocus parameters
+    af_incremental = 100  # step size for each movement
+    af_repeat = 5  # the number of steps
+    af_exptime = 3  # in seconds
 
     # acquisition parameters
     aqu_exptime = 5  # exposure time for acquisition in seconds
@@ -11,9 +14,7 @@ class usrpars:
     ag_halfboxsize = 15  # 1/2 of box in pixel
     # ag_minsnr = 6
     ag_min_offset = 0.3  # minimum offset to do correction in pixel
-    ag_flux_tolerance = (
-        0.3  # maximum variability of flux due to seeing to identify the guide star
-    )
+    ag_flux_tolerance = 0.3  # maximum variability of flux due to seeing to identify the guide star
 
-    ag_cal_offset_per_step = 3.0  # Step size for calibration in arcseconds
+    ag_cal_offset_per_step = 5.0  # Step size for calibration in arcseconds
     ag_cal_num_step = 3  # number of steps of calibration per axis

From ce6f9f25343734534d47b7b2d1b8a63e8f96ef20 Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Wed, 22 Dec 2021 04:17:41 +0900
Subject: [PATCH 02/17] v0.2.3a debug guide command -observatory

---
 .idea/lvmagp.iml                          |   2 +-
 .idea/misc.xml                            |   2 +-
 poetry.lock                               | 364 ++++++++++++++++++++--
 pyproject.toml                            |   1 +
 python/lvmagp/actor/astrometry_result.txt |  22 +-
 python/lvmagp/actor/commands/guide.py     |  31 +-
 python/lvmagp/actor/commands/slew.py      |   4 +-
 python/lvmagp/actor/commfunc.py           |   9 +-
 python/lvmagp/actor/internalfunc.py       |   4 +-
 python/lvmagp/etc/lvmagp.yml              |   2 +-
 10 files changed, 379 insertions(+), 62 deletions(-)

diff --git a/.idea/lvmagp.iml b/.idea/lvmagp.iml
index 081e1d5..aa24706 100644
--- a/.idea/lvmagp.iml
+++ b/.idea/lvmagp.iml
@@ -4,7 +4,7 @@
     <content url="file://$MODULE_DIR$">
       <sourceFolder url="file://$MODULE_DIR$/python" isTestSource="false" />
     </content>
-    <orderEntry type="jdk" jdkName="Python 3.9 (lvmagp-env)" jdkType="Python SDK" />
+    <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
   <component name="PyDocumentationSettings">
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 4bdaaea..6b89373 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (lvmagp-env)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (lvmagp-with-3.9.7)" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/poetry.lock b/poetry.lock
index d3fe76f..68babe2 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,3 +1,33 @@
+[[package]]
+name = "aio-pika"
+version = "6.8.0"
+description = "Wrapper for the aiormq for asyncio and humans."
+category = "main"
+optional = false
+python-versions = ">3.5.*, <4"
+
+[package.dependencies]
+aiormq = ">=3.2.3,<4"
+yarl = "*"
+
+[package.extras]
+develop = ["aiomisc (>=10.1.6,<10.2.0)", "async-generator", "coverage (!=4.3)", "coveralls", "pylava", "pytest", "pytest-cov", "shortuuid", "nox", "sphinx", "sphinx-autobuild", "timeout-decorator", "tox (>=2.4)"]
+
+[[package]]
+name = "aiormq"
+version = "3.3.1"
+description = "Pure python AMQP asynchronous client library"
+category = "main"
+optional = false
+python-versions = ">3.5.*"
+
+[package.dependencies]
+pamqp = "2.3.0"
+yarl = "*"
+
+[package.extras]
+develop = ["aiomisc (>=11.0,<12.0)", "async-generator", "coverage (!=4.3)", "coveralls", "pylava", "pytest", "pytest-cov", "tox (>=2.4)"]
+
 [[package]]
 name = "alabaster"
 version = "0.7.12"
@@ -44,7 +74,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 name = "attrs"
 version = "21.2.0"
 description = "Classes Without Boilerplate"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
@@ -89,10 +119,7 @@ platformdirs = ">=2"
 regex = ">=2021.4.4"
 tomli = ">=0.2.6,<2.0.0"
 typed-ast = {version = ">=1.4.2", markers = "python_version < \"3.8\" and implementation_name == \"cpython\""}
-typing-extensions = [
-    {version = ">=3.10.0.0", markers = "python_version < \"3.10\""},
-    {version = "!=3.10.0.1", markers = "python_version >= \"3.10\""},
-]
+typing-extensions = ">=3.10.0.0"
 
 [package.extras]
 colorama = ["colorama (>=0.4.3)"]
@@ -336,7 +363,6 @@ python-versions = ">=2.7"
 [package.dependencies]
 decorator = {version = "*", markers = "python_version > \"3.6\""}
 ipython = {version = ">=7.17.0", markers = "python_version > \"3.6\""}
-setuptools = "*"
 toml = {version = ">=0.10.2", markers = "python_version > \"3.6\""}
 
 [[package]]
@@ -358,7 +384,6 @@ pexpect = {version = ">4.3", markers = "sys_platform != \"win32\""}
 pickleshare = "*"
 prompt-toolkit = ">=2.0.0,<3.0.0 || >3.0.0,<3.0.1 || >3.0.1,<3.1.0"
 pygments = "*"
-setuptools = ">=18.5"
 traitlets = ">=4.2"
 
 [package.extras]
@@ -415,6 +440,32 @@ MarkupSafe = ">=2.0"
 [package.extras]
 i18n = ["Babel (>=2.7)"]
 
+[[package]]
+name = "jsonpickle"
+version = "1.3"
+description = "Python library for serializing any arbitrary object graph into JSON"
+category = "main"
+optional = false
+python-versions = "*"
+
+[[package]]
+name = "jsonschema"
+version = "3.2.0"
+description = "An implementation of JSON Schema validation for Python"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+attrs = ">=17.4.0"
+importlib-metadata = {version = "*", markers = "python_version < \"3.8\""}
+pyrsistent = ">=0.14.0"
+six = ">=1.11.0"
+
+[package.extras]
+format = ["idna", "jsonpointer (>1.13)", "rfc3987", "strict-rfc3339", "webcolors"]
+format_nongpl = ["idna", "jsonpointer (>1.13)", "webcolors", "rfc3986-validator (>0.1.0)", "rfc3339-validator"]
+
 [[package]]
 name = "kiwisolver"
 version = "1.3.2"
@@ -469,6 +520,14 @@ category = "dev"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "multidict"
+version = "5.2.0"
+description = "multidict implementation"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "mypy-extensions"
 version = "0.4.3"
@@ -496,6 +555,17 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 [package.dependencies]
 pyparsing = ">=2.0.2"
 
+[[package]]
+name = "pamqp"
+version = "2.3.0"
+description = "RabbitMQ Focused AMQP low-level library"
+category = "main"
+optional = false
+python-versions = "*"
+
+[package.extras]
+codegen = ["lxml"]
+
 [[package]]
 name = "parso"
 version = "0.8.3"
@@ -599,7 +669,7 @@ testing = ["pytest", "pytest-benchmark"]
 name = "prompt-toolkit"
 version = "3.0.23"
 description = "Library for building powerful interactive command lines in Python"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6.2"
 
@@ -683,6 +753,14 @@ python-versions = ">=3.6"
 [package.extras]
 diagrams = ["jinja2", "railroad-diagrams"]
 
+[[package]]
+name = "pyrsistent"
+version = "0.18.0"
+description = "Persistent/Functional/Immutable data structures"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "pytest"
 version = "6.2.5"
@@ -855,6 +933,39 @@ tqdm = ">=4.46.0"
 dev = ["Sphinx (>=2.1.0)", "sphinx-bootstrap-theme (>=0.4.12)", "recommonmark (>=0.6)", "sphinx-issues (>=1.2.0)", "importlib-metadata (>=1.6.0)", "ipython (>=7.9.0)", "matplotlib (>=3.1.1)", "flake8 (>=3.7.9)", "doc8 (>=0.8.0)", "pytest (>=5.2.2)", "pytest-cov (>=2.8.1)", "pytest-mock (>=1.13.0)", "pytest-sugar (>=0.9.2)", "isort (>=4.3.21)", "codecov (>=2.0.15)", "coverage[toml] (>=5.0)", "coveralls (>=1.7)", "ipdb (>=0.12.3)", "sdsstools[dev] (>=0.4.0)", "invoke (>=1.3.0)", "twine (>=3.1.1)", "wheel (>=0.33.6)"]
 docs = ["Sphinx (>=2.1.0)", "sphinx-bootstrap-theme (>=0.4.12)", "recommonmark (>=0.6)", "sphinx-issues (>=1.2.0)", "importlib-metadata (>=1.6.0)"]
 
+[[package]]
+name = "sdss-clu"
+version = "1.5.5"
+description = "A new protocol for SDSS actors."
+category = "main"
+optional = false
+python-versions = ">=3.7,<4.0"
+
+[package.dependencies]
+aio_pika = ">=6.4.1,<7.0.0"
+aiormq = ">=3.2.0,<4.0.0"
+click = ">=8.0,<9.0"
+jsonschema = ">=3.0.1,<4.0.0"
+prompt_toolkit = ">=3.0.6,<4.0.0"
+sdsstools = ">=0.4.13,<0.5.0"
+
+[[package]]
+name = "sdss-cluplus"
+version = "0.0.16"
+description = "Additional functionality for sdss-clu"
+category = "main"
+optional = false
+python-versions = ">=3.7,<4.0"
+
+[package.dependencies]
+click-default-group = ">=1.2.2,<2.0.0"
+daemonocle = ">=1.1.1,<2.0.0"
+jsonpickle = "1.3"
+sdss-access = ">=0.2.3"
+sdss-clu = ">=1.2.0"
+sdss-tree = ">=2.15.2"
+sdsstools = ">=0.4.0"
+
 [[package]]
 name = "sdss-tree"
 version = "3.1.0"
@@ -883,7 +994,6 @@ python-versions = ">=3.6,<4.0"
 [package.dependencies]
 daemonocle = ">=1.0.2,<2.0.0"
 docutils = ">=0.16,<0.17"
-importlib_metadata = {version = "*", markers = "python_version <= \"3.7\""}
 invoke = ">=1.3.0,<2.0.0"
 packaging = ">=20.4,<21.0"
 pygments = ">=2.5.2,<3.0.0"
@@ -899,18 +1009,6 @@ category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
-[[package]]
-name = "setuptools"
-version = "59.4.0"
-description = "Easily download, build, install, upgrade, and uninstall Python packages"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-docs = ["sphinx", "jaraco.packaging (>=8.2)", "rst.linker (>=1.9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "sphinx-inline-tabs", "sphinxcontrib-towncrier", "furo"]
-testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "mock", "flake8-2020", "virtualenv (>=13.0.0)", "pytest-virtualenv (>=1.2.7)", "wheel", "paver", "pip (>=19.1)", "jaraco.envs (>=2.2)", "pytest-xdist", "sphinx", "jaraco.path (>=3.2.0)", "pytest-black (>=0.3.7)", "pytest-mypy"]
-
 [[package]]
 name = "setuptools-scm"
 version = "6.3.2"
@@ -921,7 +1019,6 @@ python-versions = ">=3.6"
 
 [package.dependencies]
 packaging = ">=20.0"
-setuptools = "*"
 tomli = ">=1.0.0"
 
 [package.extras]
@@ -961,7 +1058,6 @@ Jinja2 = ">=2.3"
 packaging = "*"
 Pygments = ">=2.0"
 requests = ">=2.5.0"
-setuptools = "*"
 snowballstemmer = ">=1.1"
 sphinxcontrib-applehelp = "*"
 sphinxcontrib-devhelp = "*"
@@ -1142,10 +1238,23 @@ socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
 name = "wcwidth"
 version = "0.2.5"
 description = "Measures the displayed width of unicode strings in a terminal"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "yarl"
+version = "1.7.2"
+description = "Yet another URL library"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+idna = ">=2.0"
+multidict = ">=4.0"
+typing-extensions = {version = ">=3.7.4", markers = "python_version < \"3.8\""}
+
 [[package]]
 name = "zipp"
 version = "3.6.0"
@@ -1160,10 +1269,18 @@ testing = ["pytest (>=4.6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytes
 
 [metadata]
 lock-version = "1.1"
-python-versions = "^3.7"
-content-hash = "a302b2f2db11f5c79194d902a636062cc1bfd803d7eb25939f8b9406b596ac2d"
+python-versions = ">3.7, <3.10"
+content-hash = "7be3affd459b0a3a6fcadacc13c7bef0110401fce866cc88e910a0816d7c2f04"
 
 [metadata.files]
+aio-pika = [
+    {file = "aio-pika-6.8.0.tar.gz", hash = "sha256:1d4305a5f78af3857310b4fe48348cdcf6c097e0e275ea88c2cd08570531a369"},
+    {file = "aio_pika-6.8.0-py3-none-any.whl", hash = "sha256:e69afef8695f47c5d107bbdba21bdb845d5c249acb3be53ef5c2d497b02657c0"},
+]
+aiormq = [
+    {file = "aiormq-3.3.1-py3-none-any.whl", hash = "sha256:e584dac13a242589aaf42470fd3006cb0dc5aed6506cbd20357c7ec8bbe4a89e"},
+    {file = "aiormq-3.3.1.tar.gz", hash = "sha256:8218dd9f7198d6e7935855468326bbacf0089f926c70baa8dd92944cb2496573"},
+]
 alabaster = [
     {file = "alabaster-0.7.12-py2.py3-none-any.whl", hash = "sha256:446438bdcca0e05bd45ea2de1668c1d9b032e1a9154c2c259092d77031ddd359"},
     {file = "alabaster-0.7.12.tar.gz", hash = "sha256:a661d72d58e6ea8a57f7a86e37d86716863ee5e92788398526d58b26a4e4dc02"},
@@ -1354,6 +1471,14 @@ jinja2 = [
     {file = "Jinja2-3.0.3-py3-none-any.whl", hash = "sha256:077ce6014f7b40d03b47d1f1ca4b0fc8328a692bd284016f806ed0eaca390ad8"},
     {file = "Jinja2-3.0.3.tar.gz", hash = "sha256:611bb273cd68f3b993fabdc4064fc858c5b47a973cb5aa7999ec1ba405c87cd7"},
 ]
+jsonpickle = [
+    {file = "jsonpickle-1.3-py2.py3-none-any.whl", hash = "sha256:efc6839cb341985f0c24f98650a4c1063a2877c236ffd3d7e1662f0c482bac93"},
+    {file = "jsonpickle-1.3.tar.gz", hash = "sha256:71bca2b80ae28af4e3f86629ef247100af7f97032b5ca8d791c1f8725b411d95"},
+]
+jsonschema = [
+    {file = "jsonschema-3.2.0-py2.py3-none-any.whl", hash = "sha256:4e5b3cf8216f577bee9ce139cbe72eca3ea4f292ec60928ff24758ce626cd163"},
+    {file = "jsonschema-3.2.0.tar.gz", hash = "sha256:c8a85b28d377cc7737e46e2d9f2b4f44ee3c0e1deac6bf46ddefc7187d30797a"},
+]
 kiwisolver = [
     {file = "kiwisolver-1.3.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:1d819553730d3c2724582124aee8a03c846ec4362ded1034c16fb3ef309264e6"},
     {file = "kiwisolver-1.3.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:8d93a1095f83e908fc253f2fb569c2711414c0bfd451cab580466465b235b470"},
@@ -1481,6 +1606,80 @@ mccabe = [
     {file = "mccabe-0.6.1-py2.py3-none-any.whl", hash = "sha256:ab8a6258860da4b6677da4bd2fe5dc2c659cff31b3ee4f7f5d64e79735b80d42"},
     {file = "mccabe-0.6.1.tar.gz", hash = "sha256:dd8d182285a0fe56bace7f45b5e7d1a6ebcbf524e8f3bd87eb0f125271b8831f"},
 ]
+multidict = [
+    {file = "multidict-5.2.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:3822c5894c72e3b35aae9909bef66ec83e44522faf767c0ad39e0e2de11d3b55"},
+    {file = "multidict-5.2.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:28e6d883acd8674887d7edc896b91751dc2d8e87fbdca8359591a13872799e4e"},
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+    {file = "yarl-1.7.2-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:0cba38120db72123db7c58322fa69e3c0efa933040ffb586c3a87c063ec7cae8"},
+    {file = "yarl-1.7.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:59218fef177296451b23214c91ea3aba7858b4ae3306dde120224cfe0f7a6ee8"},
+    {file = "yarl-1.7.2-cp39-cp39-win32.whl", hash = "sha256:1edc172dcca3f11b38a9d5c7505c83c1913c0addc99cd28e993efeaafdfaa18d"},
+    {file = "yarl-1.7.2-cp39-cp39-win_amd64.whl", hash = "sha256:797c2c412b04403d2da075fb93c123df35239cd7b4cc4e0cd9e5839b73f52c58"},
+    {file = "yarl-1.7.2.tar.gz", hash = "sha256:45399b46d60c253327a460e99856752009fcee5f5d3c80b2f7c0cae1c38d56dd"},
+]
 zipp = [
     {file = "zipp-3.6.0-py3-none-any.whl", hash = "sha256:9fe5ea21568a0a70e50f273397638d39b03353731e6cbbb3fd8502a33fec40bc"},
     {file = "zipp-3.6.0.tar.gz", hash = "sha256:71c644c5369f4a6e07636f0aa966270449561fcea2e3d6747b8d23efaa9d7832"},
diff --git a/pyproject.toml b/pyproject.toml
index b03f1f0..4f73e0f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -42,6 +42,7 @@ click = "^8.0.1"
 photutils = "^1.1.0"
 numpy = "^1.21.1"
 black = "^21.7-beta.0"
+sdss-cluplus = "^0.0.16"
 
 [tool.poetry.dev-dependencies]
 ipython = ">=7.11.0"
diff --git a/python/lvmagp/actor/astrometry_result.txt b/python/lvmagp/actor/astrometry_result.txt
index ab1f8c8..35ce3c2 100644
--- a/python/lvmagp/actor/astrometry_result.txt
+++ b/python/lvmagp/actor/astrometry_result.txt
@@ -2,25 +2,23 @@ Reading input file 1 of 1: "/home/sumin/lvmcam/python/lvmcam/assets/testshot.fit
 Extracting sources...
 This looks like a multi-color image: processing the first image plane only.  (NAXIS=3)
 Downsampling by 2...
-simplexy: found 663 sources.
+simplexy: found 611 sources.
 Solving...
 Reading file "/home/sumin/lvmcam/python/lvmcam/assets/testshot.axy"...
-Only searching for solutions within 1 degrees of RA,Dec (92.25,24.33)
+Only searching for solutions within 3 degrees of RA,Dec (105,0)
 Field 1 did not solve (index index-4211.fits, field objects 1-10).
 Field 1 did not solve (index index-4210.fits, field objects 1-10).
 Field 1 did not solve (index index-4209.fits, field objects 1-10).
-Field 1 did not solve (index index-4208.fits, field objects 1-10).
-Field 1 did not solve (index index-4207-05.fits, field objects 1-10).
-  log-odds ratio 574.743 (4.05134e+249), 117 match, 0 conflict, 311 distractors, 137 index.
-  RA,Dec = (92.2496,24.3312), pixel scale 2.59625 arcsec/pix.
-  Hit/miss:   Hit/miss: +++++++++-+++++++++++++++-+++-+--+++-++++++-+-++-+-++-+-+-++-+-++-++---++--++-+++-++-++++-+++-++-+--
-Field 1: solved with index index-4206-05.fits.
+  log-odds ratio 150.194 (1.69249e+65), 27 match, 0 conflict, 194 distractors, 33 index.
+  RA,Dec = (105,0.00107933), pixel scale 2.5971 arcsec/pix.
+  Hit/miss:   Hit/miss: +++++--++++-++--++-------++------------+-+-+-------------------+-++-------------------+-------------
+Field 1: solved with index index-4208.fits.
 Field 1 solved: writing to file /home/sumin/lvmcam/python/lvmcam/assets/testshot.solved to indicate this.
 Field: /home/sumin/lvmcam/python/lvmcam/assets/testshot.fits
-Field center: (RA,Dec) = (92.250015, 24.331394) deg.
-Field center: (RA H:M:S, Dec D:M:S) = (06:09:00.004, +24:19:53.018).
-Field size: 69.2532 x 47.6139 arcminutes
-Field rotation angle: up is 99.4551 degrees E of N
+Field center: (RA,Dec) = (105.000696, 0.001028) deg.
+Field center: (RA H:M:S, Dec D:M:S) = (07:00:00.167, +00:00:03.702).
+Field size: 69.2444 x 47.6004 arcminutes
+Field rotation angle: up is 143.535 degrees E of N
 Field parity: pos
 Creating new FITS file "/home/sumin/lvmcam/python/lvmcam/assets/testshot.new"...
 
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index b154dea..580df57 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -169,6 +169,12 @@ async def calibration(
 
     xoffsets = np.array(xpositions) - xpositions[0]
     yoffsets = np.array(ypositions) - ypositions[0]
+
+    print(xpositions)
+    print(xoffsets)
+    print(ypositions)
+    print(yoffsets)
+
     xscale_dec = (
         np.average(xoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
         offset_per_step
@@ -185,22 +191,27 @@ async def calibration(
     for step in range(1, num_step + 1):
         await telescopes[tel].offset_radec(command, offset_per_step/np.cos(np.deg2rad(decj2000_deg)), 0)
         position, flux = await find_guide_stars(
-            command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel
+            command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel, positionguess=initposition
         )
         xpositions.append(position[:, 0])
         ypositions.append(position[:, 1])
 
     await telescopes[tel].offset_radec(command, -num_step * offset_per_step/np.cos(np.deg2rad(decj2000_deg)), 0)
 
+    xoffsets = np.array(xpositions) - xpositions[0]
+    yoffsets = np.array(ypositions) - ypositions[0]
+
+    print(xpositions)
+    print(xoffsets)
+    print(ypositions)
+    print(yoffsets)
 
-    xpositions = np.array(xpositions) - xpositions[0]
-    ypositions = np.array(ypositions) - ypositions[0]
     xscale_ra = (
-        np.sum(xpositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+        np.sum(xoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
         offset_per_step
     )  # exclude the first index (0,0)
     yscale_ra = (
-        np.sum(ypositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+        np.sum(yoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
         offset_per_step
     )  # exclude the first index (0,0)
 
@@ -469,20 +480,22 @@ async def autoguiding(
         offset_arcsec = np.dot(
             telescopes[tel].scale_matrix, offset
         )  # in x,y(=ra,dec) [arcsec]
-        correction_arcsec = -np.array(offset_arcsec)[0]
+        correction_arcsec = -np.array(offset_arcsec)
+
     else:
         theta = np.radians(westcameras[tel].rotationangle)
         c, s = np.cos(theta), np.sin(theta)
-        R = np.array(((c, -s), (s, c)))
+        R = np.array(((c, -s), (s, c)))  # inverse rotation matrix
         correction_arcsec = -(
             np.dot(R, offset) * westcameras[tel].pixelscale
         )  # in x,y(=ra,dec) [arcsec]
 
     decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
-    correction_arcsec[0] = correction_arcsec[0] / np.cos(np.deg2rad(decj2000_deg))
+    correction_arcsec[0] /= np.cos(np.deg2rad(decj2000_deg))
+    correction_arcsec[1] *= -1
 
     if (np.sqrt(offset[0] ** 2 + offset[1] ** 2)) > usrpars.ag_min_offset:
-        print(
+        command.info(
             "compensate signal: ra %.2f arcsec dec %.2f arcsec   x %.2f pixel y %.2f pixel"
             % (correction_arcsec[0], correction_arcsec[1], -offset[0], -offset[1])
         )
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 41ca0c4..e424117 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -130,8 +130,8 @@ async def slew(
         target_ra = Angle(target_ra_h, u.hour)
         target_dec = Angle(target_dec_d, u.degree)
 
-        comp_ra_arcsec = (target_ra - ra2000).s
-        comp_dec_arcsec = (target_dec - dec2000).s
+        comp_ra_arcsec = (target_ra - ra2000).arcsecond
+        comp_dec_arcsec = (target_dec - dec2000).arcsecond
 
         command.info(
             Img_ra2000=ra2000.to_string(unit=u.hour),
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 650a7ee..5a1fed5 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -203,10 +203,11 @@ async def offset_radec(self, command, ra_arcsec, dec_arcsec):
             Distance to move along declination axis in arcseconds
         """
         await send_message(
-            command, self.lvmpwi, "offset --ra_add_arcsec %f" % ra_arcsec
+            command, self.lvmpwi, "offset --dec_add_arcsec %f" % dec_arcsec
         )
+
         await send_message(
-            command, self.lvmpwi, "offset --dec_add_arcsec %f" % dec_arcsec
+            command, self.lvmpwi, "offset --ra_add_arcsec %f" % ra_arcsec
         )
 
         return True
@@ -228,8 +229,8 @@ class LVMCamera:
     """
 
     def __init__(self):
-        self.lvmcam = "lvmcam"
-        self.cam = "lvmcam"
+        self.lvmcam = "lvmcam"  # actor name
+        self.cam = "lvmcam"  # cam name
         self.offset_x = -999
         self.offset_y = -999
         self.pixelscale = -999
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 651e495..b4e85fe 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -94,7 +94,7 @@ def twoDgaussianfit(self):
         """
         Conduct 2D Gaussian fitting to find center, flux of stars in ``self.guidestarposition``.
         """
-        windowradius = 5  # only integer
+        windowradius = 10  # only integer
         plist = []
 
         for i in range(len(self.guidestarposition[:, 0])):
@@ -163,7 +163,7 @@ async def astrometry(self, ra_h=-999, dec_d=-999):
         timeout = 10
         scalelow = 2
         scalehigh = 3
-        radius = 1
+        radius = 3
 
         if ra_h == -999:
             cmd = (
diff --git a/python/lvmagp/etc/lvmagp.yml b/python/lvmagp/etc/lvmagp.yml
index 844cced..f8d2bf3 100644
--- a/python/lvmagp/etc/lvmagp.yml
+++ b/python/lvmagp/etc/lvmagp.yml
@@ -11,7 +11,7 @@ sci:
     pixelscale: 2.60
     offset_x: 0.0
     offset_y: 0.0
-    rotationangle: 100.0
+    rotationangle: 140.0
   foc:
     varA: null
   km:

From a20aedc110884368d2a6fcb0e5ce906947f52ee9 Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Tue, 11 Jan 2022 16:27:58 +0900
Subject: [PATCH 03/17] v.0.2.5a guide lab debug

---
 .idea/dataSources.xml                     |  12 +
 .idea/misc.xml                            |   2 +-
 poetry.lock                               |   6 +-
 python/lvmagp/actor/actor.py              |  18 +-
 python/lvmagp/actor/commands/__init__.py  |   3 +-
 python/lvmagp/actor/commands/autofocus.py | 132 ++----
 python/lvmagp/actor/commands/cam.py       |   2 +-
 python/lvmagp/actor/commands/focus.py     |  19 +-
 python/lvmagp/actor/commands/guide.py     | 177 +++-----
 python/lvmagp/actor/commands/slew.py      |  45 +-
 python/lvmagp/actor/commands/system.py    |   2 +-
 python/lvmagp/actor/commands/tel.py       |   2 +-
 python/lvmagp/actor/commands/test.py      | 154 -------
 python/lvmagp/actor/commfunc.py           | 502 +++++++++++++++++-----
 python/lvmagp/actor/internalfunc.py       |   1 +
 python/lvmagp/actor/user_parameters.py    |  18 +-
 python/lvmagp/exceptions.py               |  63 +++
 17 files changed, 593 insertions(+), 565 deletions(-)
 create mode 100644 .idea/dataSources.xml

diff --git a/.idea/dataSources.xml b/.idea/dataSources.xml
new file mode 100644
index 0000000..cf7569e
--- /dev/null
+++ b/.idea/dataSources.xml
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="DataSourceManagerImpl" format="xml" multifile-model="true">
+    <data-source source="LOCAL" name="" uuid="284f9f22-029c-4aeb-a8f2-5bd22025b703">
+      <driver-ref>sqlite.xerial</driver-ref>
+      <synchronize>true</synchronize>
+      <jdbc-driver>org.sqlite.JDBC</jdbc-driver>
+      <jdbc-url>jdbc:sqlite:$PROJECT_DIR$/python/lvmagp/actor/commands/.coverage</jdbc-url>
+      <working-dir>$ProjectFileDir$</working-dir>
+    </data-source>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 6b89373..4bdaaea 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (lvmagp-with-3.9.7)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9 (lvmagp-env)" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/poetry.lock b/poetry.lock
index 68babe2..099d988 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -4,7 +4,7 @@ version = "6.8.0"
 description = "Wrapper for the aiormq for asyncio and humans."
 category = "main"
 optional = false
-python-versions = ">3.5.*, <4"
+python-versions = ">3.5, <4"
 
 [package.dependencies]
 aiormq = ">=3.2.3,<4"
@@ -19,7 +19,7 @@ version = "3.3.1"
 description = "Pure python AMQP asynchronous client library"
 category = "main"
 optional = false
-python-versions = ">3.5.*"
+python-versions = ">3.5"
 
 [package.dependencies]
 pamqp = "2.3.0"
@@ -880,7 +880,7 @@ version = "2.26.0"
 description = "Python HTTP for Humans."
 category = "main"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5"
 
 [package.dependencies]
 certifi = ">=2017.4.17"
diff --git a/python/lvmagp/actor/actor.py b/python/lvmagp/actor/actor.py
index 9c8d826..0c41970 100644
--- a/python/lvmagp/actor/actor.py
+++ b/python/lvmagp/actor/actor.py
@@ -2,11 +2,16 @@
 
 from clu.actor import AMQPActor
 
-from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
-                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
-                                   LVMTelescope, LVMWestCamera)
+from lvmagp.actor.commfunc import (
+    LVMEastCamera,  # noqa: F401
+    LVMFibselector,
+    LVMFocuser,
+    LVMKMirror,
+    LVMTelescope,
+    LVMWestCamera,
+)
 
-from .commands import parser as lvm_command_python
+from .commands import command_parser as lvm_command_python
 
 
 # from scpactor import __version__
@@ -31,6 +36,7 @@ def __init__(
         westcameras: tuple[LVMEastCamera, ...] = (),
         focusers: tuple[LVMFocuser, ...] = (),
         kmirrors: tuple[LVMKMirror, ...] = (),
+        fiberselectors: tuple[LVMFibselector, ...] = (),
         **kwargs,
     ):
         super().__init__(*args, **kwargs)
@@ -58,6 +64,7 @@ def __init__(
         self.westcameras = {s.name: s for s in westcameras}
         self.focusers = {s.name: s for s in focusers}
         self.kmirrors = {s.name: s for s in kmirrors}
+        self.fibserselctors = {s.name: s for s in fiberselectors}
 
     @classmethod
     def from_config(cls, config, *args, **kwargs):
@@ -90,6 +97,8 @@ def from_config(cls, config, *args, **kwargs):
 
                 instance.kmirrors.update({ctrname: LVMKMirror(ctrname)})
 
+                instance.fibserselctors.update({ctrname: LVMFibselector(ctrname)})
+
                 # print(ctrname,ctr)
 
         # print(instance.telescopes)
@@ -100,5 +109,6 @@ def from_config(cls, config, *args, **kwargs):
             instance.westcameras,
             instance.focusers,
             instance.kmirrors,
+            instance.fibserselctors
         ]
         return instance
diff --git a/python/lvmagp/actor/commands/__init__.py b/python/lvmagp/actor/commands/__init__.py
index a2e011b..9f28b39 100644
--- a/python/lvmagp/actor/commands/__init__.py
+++ b/python/lvmagp/actor/commands/__init__.py
@@ -11,7 +11,7 @@
 import os
 
 import click
-from clu.parsers.click import CluGroup, help_, ping, version, command_parser
+from clu.parsers.click import CluGroup, command_parser, help_, ping, version
 from cluplus.parsers.click import __commands
 
 
@@ -19,6 +19,7 @@
 def parser(*args):
     pass
 
+
 parser.add_command(ping)
 parser.add_command(version)
 parser.add_command(help_)
diff --git a/python/lvmagp/actor/commands/autofocus.py b/python/lvmagp/actor/commands/autofocus.py
index 4982313..5b5af8d 100644
--- a/python/lvmagp/actor/commands/autofocus.py
+++ b/python/lvmagp/actor/commands/autofocus.py
@@ -1,14 +1,19 @@
-import os  # this should be removed after connecting lvmcam
-
 import click
 from clu.command import Command
 
-from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
-                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
-                                   LVMTelescope, LVMWestCamera)
-from lvmagp.actor.internalfunc import GuideImage, findfocus  # noqa: F403
+from lvmagp.actor.commfunc import (
+    LVMEastCamera,
+    LVMFibselector,  # noqa: F401
+    LVMFocuser,
+    LVMKMirror,
+    LVMTelescope,
+    LVMTelescopeUnit,
+    LVMWestCamera,
+)
+from lvmagp.actor.internalfunc import GuideImage
 from lvmagp.actor.user_parameters import usrpars
-from . import parser
+
+from . import command_parser as parser
 
 
 @parser.group()
@@ -18,13 +23,15 @@ def autofocus(*args):
 
 @autofocus.command()
 @click.argument("TEL", type=str)
-async def coarse(command: Command,
+async def coarse(
+    command: Command,
     telescopes: dict[str, LVMTelescope],
     eastcameras: dict[str, LVMEastCamera],
     westcameras: dict[str, LVMWestCamera],
     focusers: dict[str, LVMFocuser],
     kmirrors: dict[str, LVMKMirror],
-    tel: str,):
+    tel: str,
+):
     """
     Find the focus coarsely by scanning whole reachable position.
 
@@ -38,13 +45,7 @@ async def coarse(command: Command,
 
 @autofocus.command()
 @click.argument("TEL", type=str)
-async def fine(command: Command,
-    telescopes: dict[str, LVMTelescope],
-    eastcameras: dict[str, LVMEastCamera],
-    westcameras: dict[str, LVMWestCamera],
-    focusers: dict[str, LVMFocuser],
-    kmirrors: dict[str, LVMKMirror],
-    tel: str):
+async def fine(command: Command, tel: str):
     """
     Find the optimal focus position which is near the current position.
 
@@ -53,102 +54,23 @@ async def fine(command: Command,
     tel
         The telescope to be focused
     """
-    position, fwhm = [], []
-    incremental = usrpars.af_incremental
-    repeat = usrpars.af_repeat
-
-    '''
-    # For test
-    pwd = os.path.dirname(os.path.abspath(__file__))
-    agpwd = pwd + "/../../../../"
-
-    guideimglist = [
-        agpwd +
-        "testimg/focus_series/synthetic_image_median_field_5s_seeing_02.5.fits",  # noqa: E501
-        agpwd +
-        "testimg/focus_series/synthetic_image_median_field_5s_seeing_03.0.fits",  # noqa: E501
-        agpwd +
-        "testimg/focus_series/synthetic_image_median_field_5s_seeing_04.0.fits",  # noqa: E501
-        agpwd +
-        "testimg/focus_series/synthetic_image_median_field_5s_seeing_05.0.fits",  # noqa: E501
-        agpwd +
-        "testimg/focus_series/synthetic_image_median_field_5s_seeing_06.0.fits",  # noqa: E501
-    ]
-    guideimgidx = [0, 1, 2, 4]
-    '''
-    # get current pos of focus stage
-    currentposition = await focusers[tel].getposition(command)
-
-    # Move focus
-    """
-    # For test
-    reachablelow = await send_message(command, lvmtan, "isreachable %d" % (currentposition - (incremental * (repeat - 1)) / 2.0), returnval=True,  # noqa: E501
-                                   body="Reachable")
-    reachablehigh = await send_message(command, lvmtan, "isreachable %d" % (currentposition + (incremental * (repeat - 1)) / 2.0),  # noqa: E501
-                                      returnval=True, body="Reachable")
-    if not (reachablelow and reachablehigh):
-        return command.fail(text="Target position is not reachable.")
-    """
-    targetposition = currentposition - (incremental * (repeat - 1)) / 2.0
-    movecmd = await focusers[tel].moveabs(command, targetposition)
-
-    if movecmd:
-        currentposition = targetposition
-        position.append(currentposition)
-    else:
-        return command.fail(text="Focus move failed")
-
-    # Take picture
-    """
-    For test
-    guideimg = GuideImage(guideimglist[3])  # noqa: F405
-    """
-
+    telunit = LVMTelescopeUnit(tel)
+    telunit.fine_autofocus()
+    del telunit
 
-    # Picture analysis
-    fwhm_tmp = await get_fwhm(command,
-                telescopes,
-                eastcameras,
-                westcameras,
-                focusers,
-                kmirrors,
-                tel)
-    fwhm.append(fwhm_tmp)
-
-    for iteration in range(repeat - 1):
-        targetposition = currentposition + incremental
-        movecmd = await focusers[tel].moveabs(command, targetposition)
-
-        if movecmd:
-            currentposition = targetposition
-            position.append(currentposition)
-        else:
-            return command.fail(text="Focus move failed")
-
-        fwhm_tmp = await get_fwhm(command,
-                telescopes,
-                eastcameras,
-                westcameras,
-                focusers,
-                kmirrors,
-                tel,
-                starlist=starposition)
-        fwhm.append(fwhm_tmp)
-
-    # Fitting
-    bestposition, bestfocus = findfocus(position, fwhm)
-    movecmd = await focusers[tel].moveabs(command, bestposition)
     return command.finish(text="Auto-focus done")
 
 
-async def get_fwhm(command: Command,
+async def get_fwhm(
+    command: Command,
     telescopes: dict[str, LVMTelescope],
     eastcameras: dict[str, LVMEastCamera],
     westcameras: dict[str, LVMWestCamera],
     focusers: dict[str, LVMFocuser],
     kmirrors: dict[str, LVMKMirror],
     tel: str,
-    starlist=None):
+    starlist=None,
+):
     """
     Take a testshot and return FWHM of the image.
 
@@ -164,8 +86,8 @@ async def get_fwhm(command: Command,
 
     try:
         imgcmd = await westcameras[tel].test_exposure(command, exptime)
-    except Exception as e:
-        return command.fail(fail='Camera error')
+    except Exception:
+        return command.fail(fail="Camera error")
 
     guideimg = GuideImage(imgcmd)
     if starlist is not None:
@@ -174,4 +96,4 @@ async def get_fwhm(command: Command,
     else:
         guideimg.findstars()
 
-    return guideimg.FWHM
\ No newline at end of file
+    return guideimg.FWHM
diff --git a/python/lvmagp/actor/commands/cam.py b/python/lvmagp/actor/commands/cam.py
index 8588b4e..5b1d823 100644
--- a/python/lvmagp/actor/commands/cam.py
+++ b/python/lvmagp/actor/commands/cam.py
@@ -3,7 +3,7 @@
 
 from lvmagp.actor.internalfunc import send_message  # noqa: F403
 
-from . import parser
+from . import command_parser as parser
 
 
 lvmcam = "lvmcam"
diff --git a/python/lvmagp/actor/commands/focus.py b/python/lvmagp/actor/commands/focus.py
index ca1f94c..ec9246e 100644
--- a/python/lvmagp/actor/commands/focus.py
+++ b/python/lvmagp/actor/commands/focus.py
@@ -3,7 +3,7 @@
 
 from lvmagp.actor.internalfunc import send_message  # noqa: F403
 
-from . import parser
+from . import command_parser as parser
 
 
 lvmtan = "lvm.sci.foc"
@@ -17,17 +17,7 @@ def focus(*args):
 @focus.command()
 @click.argument("STEPS", type=int)
 async def moverel(command: Command, steps: int):
-    """
-    pos = await send_message(
-        command, lvmtan, "getposition", returnval=True, body="Position"
-    )
 
-    reachable = await send_message(
-    command, lvmtan, "isreachable %d" % (pos+steps), returnval=True, body="Reachable"
-    )
-    if not reachable:
-        return command.fail(text="Target position is not reachable.")
-    """
     movecmd = await send_message(command, lvmtan, "moverelative %d" % steps)
     if movecmd:
         return command.finish(text="Move completed.")
@@ -36,13 +26,6 @@ async def moverel(command: Command, steps: int):
 @focus.command()
 @click.argument("POSITION", type=int)
 async def moveabs(command: Command, position: int):
-    """
-    reachable = await send_message(
-    command, lvmtan, "isreachable %d" % position, returnval=True, body="Reachable"
-    )
-    if not reachable:
-        return command.fail(text="Target position is not reachable.")
-    """
     movecmd = await send_message(command, lvmtan, "moveabsolute %d" % position)
     if movecmd:
         return command.finish(text="Move completed.")
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 580df57..e31fe56 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -4,18 +4,18 @@
 import numpy as np
 from clu.command import Command
 
-from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
-                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
-                                   LVMTelescope, LVMWestCamera)
+from lvmagp.actor.commfunc import (
+    LVMEastCamera,  # noqa: F401
+    LVMFibselector,
+    LVMFocuser,
+    LVMKMirror,
+    LVMTelescope,
+    LVMWestCamera,
+)
 from lvmagp.actor.internalfunc import GuideImage  # noqa: F403
 from lvmagp.actor.user_parameters import usrpars
 
-from . import parser
-
-
-question = "Is this develop branch?"
-
-KHU_inner_test = True
+from . import command_parser as parser
 
 
 @parser.group()
@@ -130,7 +130,7 @@ async def calibration(
     tel
         Telescope to be calibrated
     """
-    global KHU_inner_test
+
     offset_per_step = usrpars.ag_cal_offset_per_step
     num_step = usrpars.ag_cal_num_step
 
@@ -189,14 +189,25 @@ async def calibration(
     ypositions = [initposition[:, 1]]
 
     for step in range(1, num_step + 1):
-        await telescopes[tel].offset_radec(command, offset_per_step/np.cos(np.deg2rad(decj2000_deg)), 0)
+        await telescopes[tel].offset_radec(
+            command, offset_per_step / np.cos(np.deg2rad(decj2000_deg)), 0
+        )
         position, flux = await find_guide_stars(
-            command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel, positionguess=initposition
+            command,
+            telescopes,
+            eastcameras,
+            westcameras,
+            focusers,
+            kmirrors,
+            tel,
+            positionguess=initposition,
         )
         xpositions.append(position[:, 0])
         ypositions.append(position[:, 1])
 
-    await telescopes[tel].offset_radec(command, -num_step * offset_per_step/np.cos(np.deg2rad(decj2000_deg)), 0)
+    await telescopes[tel].offset_radec(
+        command, -num_step * offset_per_step / np.cos(np.deg2rad(decj2000_deg)), 0
+    )
 
     xoffsets = np.array(xpositions) - xpositions[0]
     yoffsets = np.array(ypositions) - ypositions[0]
@@ -215,9 +226,9 @@ async def calibration(
         offset_per_step
     )  # exclude the first index (0,0)
 
-    telescopes[tel].scale_matrix = np.linalg.inv(np.array(
-        [[xscale_ra, xscale_dec], [yscale_ra, yscale_dec]]
-    ))  # inverse matrix.. linear system of equations..
+    telescopes[tel].scale_matrix = np.linalg.inv(
+        np.array([[xscale_ra, xscale_dec], [yscale_ra, yscale_dec]])
+    )  # inverse matrix.. linear system of equations..
     return command.finish(
         xscale_ra="%.3f pixel/arcsec" % xscale_ra,
         yscale_ra="%.3f pixel/arcsec" % yscale_ra,
@@ -250,32 +261,23 @@ async def autoguide_supervisor(
         Otherwise, the sequence will get pixel scale from LVMCamera, and
         it assumes that the camera is north-oriented and both axes of mount are orthogonal.
     """
-    global KHU_inner_test
-    if 0:
-        i = 0
-    else:
-        initposition, initflux = await find_guide_stars(
-            command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel
-        )
+    initposition, initflux = await find_guide_stars(
+        command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel
+    )
 
     while 1:
-        if 0:
-            command.info("%s %d" % (tel, i))
-            i = i + 1
-            await asyncio.sleep(8)
-        else:
-            await autoguiding(
-                command,
-                telescopes,
-                eastcameras,
-                westcameras,
-                focusers,
-                kmirrors,
-                tel,
-                initposition,
-                initflux,
-                useteldata,
-            )
+        await autoguiding(
+            command,
+            telescopes,
+            eastcameras,
+            westcameras,
+            focusers,
+            kmirrors,
+            tel,
+            initposition,
+            initflux,
+            useteldata,
+        )
 
         if telescopes[tel].ag_break is True:
             telescopes[tel].ag_break = False
@@ -284,84 +286,6 @@ async def autoguide_supervisor(
     return True
 
 
-""" Here is old version using task.cancle
-@guide.command()
-@click.argument("TEL", type=str)
-async def start(command: Command, tel: str):
-    exptime = 3  # in seconds
-    pixelscale = 0.5 # in arcsec/pixel
-    halfboxsize = 15 # 1/2 of box in pixel
-    min_snr = 5 # minimum star SNR
-
-    ra_agr = 0.8
-    ra_hys = 0.2
-    dec_agr = 0.8
-    min_dist = 0.3 #in pixel
-
-    lvmcampath = ''
-
-    # safety check?
-    tel1 = LVMTelescope(tel)
-    cam1 = LVMCamera(tel + "e")
-    cam2 = LVMCamera(tel + "w")
-    cam1 = LVMCamera("test")  # for lab testing
-    global tasklist
-    tasklist = [0,0,0,0]
-    try:
-        if tel == 'sci':
-            tasklist[0] = asyncio.create_task(autoguide_supervisor(command, tel))
-            await tasklist[0]
-        elif tel == 'skye':
-            tasklist[1] = asyncio.create_task(autoguide_supervisor(command, tel))
-            await tasklist[1]
-        elif tel == 'skyw':
-            tasklist[2] = asyncio.create_task(autoguide_supervisor(command, tel))
-            await tasklist[2]
-        elif tel == 'phot':
-            tasklist[3] = asyncio.create_task(autoguide_supervisor(command, tel))
-            await tasklist[3]
-        else:
-            return command.fail("Wrong telescope name")
-    except asyncio.CancelledError:
-        command.info("cancelled_main")
-
-
-@guide.command()
-@click.argument("TEL", type=str)
-async def stop(command: Command, tel: str):
-    if tel == 'sci':
-        tasklist[0].cancel()
-    elif tel == 'skye':
-        tasklist[1].cancel()
-    elif tel == 'skyw':
-        tasklist[2].cancel()
-    elif tel == 'phot':
-        tasklist[3].cancel()
-    else:
-        return command.fail("Wrong telescope name")
-
-async def autoguide_supervisor(command, tel):
-    lvmcampath = ''
-
-    try:
-        i = 0
-        while 1:
-            command.info("%d" % i)
-            i=i+1
-            await asyncio.sleep(5)
-
-            if i==5:
-                break
-        #initposition, initflux = await register_guide_stars(command, tel)
-        #while 1:
-        #    await autoguiding(command,tel, initposition, initflux)
-    except asyncio.CancelledError:
-        # Something to abort exposure ..
-        command.info('Guide stopped')
-        raise
-"""
-
-
 async def find_guide_stars(
     command,
     telescopes: dict[str, LVMTelescope],
@@ -386,15 +310,14 @@ async def find_guide_stars(
         If ``positionguess`` is not None, ``find_guide_stars`` only conduct center finding
         based on ``positionguess`` without finding new stars.
     """
-    global KHU_inner_test
-    command.info("Taking image...")
+
     # take an image for astrometry
+    command.info("Taking image...")
+
     try:
         imgcmd = []
         imgcmd.append(westcameras[tel].single_exposure(command, usrpars.ag_exptime))
-
-        if not KHU_inner_test:
-            imgcmd.append(eastcameras[tel].single_exposure(command, usrpars.ag_exptime))
+        imgcmd.append(eastcameras[tel].single_exposure(command, usrpars.ag_exptime))
 
         guideimgpath = await asyncio.gather(*imgcmd)
 
@@ -402,10 +325,7 @@ async def find_guide_stars(
         return command.fail(fail="Camera error")
 
     westguideimg = GuideImage(guideimgpath[0])
-    eastguideimg = westguideimg
-
-    if not KHU_inner_test:
-        eastguideimg = GuideImage(guideimgpath[1])  # noqa: F841
+    eastguideimg = GuideImage(guideimgpath[1])
 
     if positionguess is None:
         starposition = westguideimg.findstars()
@@ -462,8 +382,7 @@ async def autoguiding(
     if (
         np.abs(
             np.average(starflux / initflux - 1, weights=2.5 * np.log10(initflux * 10))
-        ) >
-        usrpars.ag_flux_tolerance
+        ) > usrpars.ag_flux_tolerance
     ):
         return command.error(
             "Star flux variation %.3f is too large."
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index e424117..7319d06 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -1,5 +1,4 @@
 import asyncio
-import os
 
 import click
 import numpy as np
@@ -7,13 +6,18 @@
 from astropy.coordinates import Angle
 from clu.command import Command
 
-from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
-                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
-                                   LVMTelescope, LVMWestCamera)
+from lvmagp.actor.commfunc import (
+    LVMEastCamera,  # noqa: F401
+    LVMFibselector,
+    LVMFocuser,
+    LVMKMirror,
+    LVMTelescope,
+    LVMWestCamera,
+)
 from lvmagp.actor.internalfunc import GuideImage, cal_pa, check_target
 from lvmagp.actor.user_parameters import usrpars
 
-from . import parser
+from . import command_parser as parser
 
 
 @parser.command()
@@ -44,7 +48,6 @@ async def slew(
         The declination (J2000) of the target in degrees
     """
 
-    test_KHU = True
     long_d = telescopes[tel].longitude
     lat_d = telescopes[tel].latitude
 
@@ -77,11 +80,7 @@ async def slew(
         try:
             imgcmd = []
             imgcmd.append(westcameras[tel].test_exposure(command, usrpars.aqu_exptime))
-            # imgcmd.append(westcameras[tel].single_exposure(command, usrpars.aqu_exptime))
-            if not test_KHU:
-                imgcmd.append(
-                    eastcameras[tel].test_exposure(command, usrpars.aqu_exptime)
-                )
+            imgcmd.append(eastcameras[tel].test_exposure(command, usrpars.aqu_exptime))
             guideimgpath = await asyncio.gather(*imgcmd)
 
         except Exception:
@@ -89,30 +88,13 @@ async def slew(
 
         command.info("Astrometry ...")
 
-        if 0:  # Here should be changed to the camera version
-            pwd = os.path.dirname(os.path.abspath(__file__))
-            agpwd = pwd + "/../../../../"
-            # Here lvmcam path and naming rule for finding latest guide image..
-
-            guideimgpath = (
-                agpwd +
-                "testimg/focus_series/synthetic_image_median_field_5s_seeing_02.5.fits"
-            )  # noqa: E501
-
         westguideimg = GuideImage(guideimgpath[0])
-        eastguideimg = westguideimg
-
-        if not test_KHU:
-            eastguideimg = GuideImage(guideimgpath[1])
+        eastguideimg = GuideImage(guideimgpath[1])
 
         try:
-            # await guideimg.astrometry(ra_h=13, dec_d=-55)
             astcmd = []
             astcmd.append(westguideimg.astrometry(ra_h=target_ra_h, dec_d=target_dec_d))
-            if not test_KHU:
-                astcmd.append(
-                    eastguideimg.astrometry(ra_h=target_ra_h, dec_d=target_dec_d)
-                )
+            astcmd.append(eastguideimg.astrometry(ra_h=target_ra_h, dec_d=target_dec_d))
             cmd = await asyncio.gather(*astcmd)
 
         except Exception:
@@ -153,8 +135,7 @@ async def slew(
             else:
                 command.info(text="Compensating ...")
                 cmd = []
-                if not test_KHU:
-                    cmd.append(kmirrors[tel].moverel(command, -pa_d, "DEG"))
+                cmd.append(kmirrors[tel].moverel(command, -pa_d, "DEG"))
                 cmd.append(
                     telescopes[tel].offset_radec(
                         command, comp_ra_arcsec, comp_dec_arcsec
diff --git a/python/lvmagp/actor/commands/system.py b/python/lvmagp/actor/commands/system.py
index b70b08c..b2cfb59 100644
--- a/python/lvmagp/actor/commands/system.py
+++ b/python/lvmagp/actor/commands/system.py
@@ -1,6 +1,6 @@
 from clu.command import Command
 
-from . import parser
+from . import command_parser as parser
 
 
 @parser.group()
diff --git a/python/lvmagp/actor/commands/tel.py b/python/lvmagp/actor/commands/tel.py
index 1f1190a..d212f8c 100644
--- a/python/lvmagp/actor/commands/tel.py
+++ b/python/lvmagp/actor/commands/tel.py
@@ -3,7 +3,7 @@
 
 from lvmagp.actor.internalfunc import send_message  # noqa: F403
 
-from . import parser
+from . import command_parser as parser
 
 
 lvmpwi = "lvm.pwi"
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index f19a631..e69de29 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -1,154 +0,0 @@
-from clu.command import Command
-
-from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
-                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
-                                   LVMTelescope, LVMWestCamera)
-from lvmagp.actor.internalfunc import GuideImage
-from lvmagp.actor.user_parameters import usrpars  # noqa: F401
-import numpy as np
-#from . import parser
-
-import sys
-import uuid
-from cluplus.proxy import Proxy, ProxyPartialInvokeException, invoke, unpack
-from clu import AMQPClient, CommandStatus
-
-
-# import logging
-# from sdsstools import get_logger
-
-
-test_KHU = True
-
-# log = get_logger("sdss-lvmagp")
-# log.sh.setLevel(logging.DEBUG)
-
-
-#@parser.command()
-# @click.argument("TEL", type=str)
-async def test(
-    command: Command,
-    telescopes: dict[str, LVMTelescope],
-    eastcameras: dict[str, LVMEastCamera],
-    westcameras: dict[str, LVMWestCamera],
-    focusers: dict[str, LVMFocuser],
-    kmirrors: dict[str, LVMKMirror],
-):
-
-    '''
-    try:
-        amqpc = AMQPClient(name=f"{sys.argv[0]}.proxy-{uuid.uuid4().hex[:8]}")
-        await amqpc.start()
-        tcs = Proxy(amqpc, 'lvm.sci.foc')
-        await tcs.start()
-    except Exception as e:
-        amqpc.log.error(f"Exception: {e}")
-
-    try:
-        # sequential
-        result = await tcs.ping()
-        #await tcs.ping()
-
-        # parallel
-        #await invoke(
-        #    lvm_sci_pwi.ping(),
-        #    lvm_sci_foc.ping()
-        #)
-
-    except Exception as e:
-        amqpc.log.error(f"Exception: {e}")
-
-    #result = await tcs.ping()
-    command.finish(result["text"])
-    '''
-    filepath = \
-        "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000170.fits"
-    guideimg1 = GuideImage(filepath)
-
-    filepath = \
-        "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000170.fits"
-    guideimg2 = GuideImage(filepath)
-
-    pos = guideimg1.findstars()
-    print(pos, guideimg1.guidestarflux)
-
-    guideimg2.guidestarposition = pos
-    guideimg2.update_guidestar_properties()
-    starposition = guideimg2.guidestarposition
-    print(starposition, guideimg2.guidestarflux)
-
-
-def test1():
-    filepath = \
-        "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000170.fits"
-    guideimg1 = GuideImage(filepath)
-
-    filepath = \
-        "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000172.fits"
-    guideimg2 = GuideImage(filepath)
-
-    global KHU_inner_test
-    offset_per_step = usrpars.ag_cal_offset_per_step
-    num_step = usrpars.ag_cal_num_step
-
-    decj2000_deg = 60.0
-
-    xpositions, ypositions = [], []
-
-    xpositions = [[100, 500, 1200]]
-    ypositions = [[40, 150, 700]]
-
-    # dec axis calibration
-    xpositions = [[100, 500, 1200], [101.1, 501.0, 1201.2], [102.1, 502.1, 1202.3], [103.2, 503.5, 1203.1]]
-    ypositions = [[40, 150, 700], [42.2, 152.0, 701.9], [44.0, 153.8, 703.8], [45.9, 155.9, 706.3]]
-
-    xpositions = np.array(xpositions) - xpositions[0]
-    ypositions = np.array(ypositions) - ypositions[0]
-    xscale_dec = (
-            np.average(xpositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
-            offset_per_step
-    )  # displacement along x-axis by ra offset in pixel per arcsec. exclude the first index (0,0)
-    yscale_dec = (
-            np.average(ypositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
-            offset_per_step
-    )  # exclude the first index (0,0)
-
-    # ra axis calibration
-    xpositions = [[100, 500, 1200]]
-    ypositions = [[40, 150, 700]]
-
-    xpositions = [[100, 500, 1200], [102.2, 502.0, 1201.9], [104.0, 503.8, 1203.8], [105.9, 505.9, 1206.3]]
-    ypositions = [[40, 150, 700], [38.9, 148.8, 699.1], [38.0, 147.7, 698.1], [37.1, 147.1, 696.9]]
-
-    xpositions = np.array(xpositions) - xpositions[0]
-    ypositions = np.array(ypositions) - ypositions[0]
-    xscale_ra = (
-            np.average(xpositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
-            offset_per_step
-    )  # exclude the first index (0,0)
-    yscale_ra = (
-            np.average(ypositions[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
-            offset_per_step
-    )  # exclude the first index (0,0)
-
-    #scale_matrix = np.linalg.inv(np.array(
-    #    [[xscale_ra, xscale_dec], [yscale_ra, yscale_dec]]
-    #))
-    scale_matrix = np.linalg.inv(np.array(
-        [[0.2, 0.4], [0.4, -0.2]]
-    ))
-
-    offset = np.array([0.4, 0.2])
-    offset_arcsec = np.dot(
-        scale_matrix, offset
-    )  # in x,y(=ra,dec) [arcsec]
-    correction_arcsec = -np.array(offset_arcsec)[0]
-
-    return scale_matrix, offset_arcsec
-
-
-
-if (__name__ == "__main__"):
-    scale_matrix, offset_arcsec = test1()
-    print(scale_matrix)
-    print (offset_arcsec)
\ No newline at end of file
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 5a1fed5..0e45502 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -1,142 +1,140 @@
+import sys
+import uuid
+
 import numpy as np
+from clu import AMQPClient
+from cluplus.proxy import Proxy, invoke
 from lvmtipo.site import Site
 
-from lvmagp.actor.internalfunc import send_message
+from lvmagp.actor.internalfunc import GuideImage, findfocus, send_message
+from lvmagp.actor.user_parameters import temp_vs_focus, usrpars
+from lvmagp.exceptions import LvmagpFocuserError
 
 
-class LVMTANInstrument:
+class LVMFocuser:
     """
-    Class for the instruments using TAN.
+    Class for the focusers
 
     Parameters
     ----------
     tel
-        Telescope to which the instrument belongs
-    inst
-        Type of the instrument
+        Telescope unit to which the focuser belongs
+    amqpc
+        AMQP client to be used for actor communication
     """
 
-    def __init__(self, tel, inst):
-        if tel == "test" or inst == "test":
-            self.lvmtan = "test.first.focus_stage"
-        else:
-            self.lvmtan = "lvm." + tel + "." + inst
+    def __init__(self, tel, amqpc):
+        self.amqpc = amqpc
+        self._foc = None
 
-    async def getposition(self, command, unit="STEPS"):
-        """
-        Get current position of device in given unit.
+        try:
+            self._foc = Proxy(self.amqpc, "lvm." + tel + ".foc")
+            self._foc.start()
 
-        Parameters
-        ----------
-        unit
-            Unit of position
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+
+    def focusoffset(self, delta_f=None):
         """
-        cmd = await send_message(
-            command,
-            self.lvmtan,
-            "getPosition %s" % unit,
-            returnval=True,
-            body="Position",
-        )
-        return cmd
+        Apply a relative telescope focus offset.
 
-    async def moveabs(self, command, position, unit="STEPS"):
+        Parameters:
+            delta_f (float): focus offset value in steps
         """
-        Move the device at given absolute position.
 
-        Parameters
-        ----------
-        position
-            Position for the device to be located
-        unit
-            Unit of position
+        try:
+            self._foc.moveRelative(delta_f, unit="STEPS")
+
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+            return False
+
+        return True
+
+    def focus(self, value=None, temperature=None):
         """
-        cmd = await send_message(
-            command, self.lvmtan, "moveAbsolute %d %s" % (position, unit)
-        )
-        return cmd
+        Move focus to a particular value or a first guess given a temperature
+
+        Parameters:
+            value (float): if provided, focus stage moves to this step value
+            temperature (float): if 'value' is not provided or 'value=None',
+            focus stage moves to best guess based on focus vs temperature model
+        Returns:
+            None
+        """
+        try:
+            if value is not None:
+                self._foc.moveAbsolute(value, unit="STEPS")
+            else:
+                temp_value = temp_vs_focus(temperature=temperature)
+                self._foc.moveAbsolute(temp_value, unit="STEPS")
 
-    async def moverel(self, command, position, unit="STEPS"):
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+
+    def getfocusposition(self, unit="STEPS"):
         """
-        Move the device at given relative position.
+        Get current position of device in given unit.
 
         Parameters
         ----------
-        position
-            Position for the device to be located
         unit
             Unit of position
         """
-        cmd = await send_message(
-            command, self.lvmtan, "moveRelative %d %s" % (position, unit)
-        )
-        return cmd
-
+        try:
+            position = self._foc.getPosition(unit=unit)["Position"]
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+            raise LvmagpFocuserError
 
-"""
+        return position
 
-    async def moveabs(self, command, position, unit="STEPS"):
-        task = asyncio.create_task(
-            send_message(
-                command, self.lvmtan, "moveabsolute %.4f %s" % (float(position), unit)
-            )
-        )
-        return task
 
-    async def moverel(self, command, position, unit="STEPS"):
-        task = asyncio.create_task(
-            send_message(
-                command, self.lvmtan, "moverelative %.4f %s" % (float(position), unit)
-            )
-        )
-        return task
-"""
-
-
-class LVMFocuser(LVMTANInstrument):
+class LVMKMirror:
     """
-    Class for the focusers
+    Class for the K-mirros
 
     Parameters
     ----------
     tel
-        Telescope to which the focuser belongs
+        Telescope unit to which the focuser belongs
     """
 
-    def __init__(self, tel):
-        super().__init__(tel, "foc")
-        # print(self.lvmtan)
+    def __init__(self, tel, amqpc):
+        self.amqpc = amqpc
+        self._km = None
 
+        try:
+            self._km = Proxy(self.amqpc, "lvm." + tel + ".km")
+            self._km.start()
 
-class LVMKMirror(LVMTANInstrument):
-    """
-    Class for the K-mirros
-
-    Parameters
-    ----------
-    tel
-        Telescope to which the focuser belongs
-    """
-
-    def __init__(self, tel):
-        super().__init__(tel, "km")
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
 
     async def cal_traj(self, command):
         pass
 
 
-class LVMFibsel(LVMTANInstrument):
+class LVMFibselector:
     """
     Class for the fiber selectors
 
     Parameters
     ----------
     tel
-        Telescope to which the focuser belongs
+        Telescope unit to which the focuser belongs
     """
 
-    def __init__(self):
-        super().__init__("spec", "fibsel")
+    def __init__(self, tel, amqpc):
+        self.amqpc = amqpc
+        self._fibsel = None
+
+        try:
+            self._fibsel = Proxy(self.amqpc, "lvm." + tel + ".fibsel")
+            self._fibsel.start()
+
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
 
 
 class LVMTelescope:
@@ -149,11 +147,10 @@ class LVMTelescope:
         The name of the telescope
     """
 
-    def __init__(self, tel, sitename="LCO"):
-        if tel == "test":
-            self.lvmpwi = "lvm.pwi"
-        else:
-            self.lvmpwi = "lvm." + tel + ".pwi"
+    def __init__(self, tel, amqpc, sitename="LCO"):
+        self.amqpc = amqpc
+        self.lvmpwi = "lvm." + tel + ".pwi"
+        self._pwi = None
 
         site = Site(name=sitename)
         self.latitude = site.lat
@@ -166,6 +163,42 @@ def __init__(self, tel, sitename="LCO"):
         self.ag_task = None
         self.ag_break = False
 
+        try:
+            self._pwi = Proxy(self.amqpc, self.lvmpwi)
+            self._pwi.start()
+
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+
+    def goto_park(self):
+        """
+        Move telescope to safe park position.
+
+        ======
+        Comments and desired actions:
+        - Check dome safety interlock:
+            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+        - run status (LVMI_interface) to check instrument status
+            - if not idle (i.e. carrying out any observations or calibrations), abort observation (halt in LVMI_interface) and park telescope
+            (in this case, we assume user wants to park due to an emergency)
+        """
+        pass
+
+    def goto_zenith(self):
+        """
+        Point telescope to zenith
+
+        ======
+        Comments and desired actions:
+        - Check dome safety interlock:
+            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+        - run status (LVMI_interface) to check instrument status
+            - if not idle (i.e. carrying out any observations or calibrations), repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates (i.e. "waiting for instrument to become idle before moving telescope")
+        """
+
+    pass
+
     async def slew_radec2000(self, command, target_ra_h, target_dec_d):
         """
         Slew the telescope to given equatorial coordinates whose epoch is J2000.
@@ -177,6 +210,11 @@ async def slew_radec2000(self, command, target_ra_h, target_dec_d):
         target_dec_d
             Target declination in degrees in J2000 epoch
         """
+        try:
+            self._pwi.gotoRaDecJ2000()
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+
         cmd = await send_message(
             command, self.lvmpwi, "gotoRaDecJ2000 %f %f" % (target_ra_h, target_dec_d)
         )
@@ -222,22 +260,24 @@ async def get_dec2000_deg(self, command):
         return dec2000
 
 
-# Functions for camera
 class LVMCamera:
     """
     Class for the FLIR guide cameras
     """
 
-    def __init__(self):
+    def __init__(self, amqpc):
         self.lvmcam = "lvmcam"  # actor name
-        self.cam = "lvmcam"  # cam name
+        self.camname = ""  # cam name
         self.offset_x = -999
         self.offset_y = -999
         self.pixelscale = -999
         self.rotationangle = -999
         self.lvmcampath = ""
 
-    async def single_exposure(self, command, exptime):
+        self.amqpc = amqpc
+        self._cam = None
+
+    def single_exposure(self, exptime):
         """
         Take a single exposure
 
@@ -246,34 +286,40 @@ async def single_exposure(self, command, exptime):
         exptime
             Exposure time
         """
-        path = await send_message(
-            command,
-            self.lvmcam,
-            "expose %f 1 %s" % (exptime, self.cam),
-            returnval=True,
-            body="PATH",
-        )
+        path = self._cam.expose(exptime=exptime, num=1, camname=self.camname)["PATH"]
+
         return path["0"]
 
-    async def test_exposure(self, command, exptime):
+    def test_exposure(self, exptime):
         """
         Take a test exposure using ``-t`` option of lvmcam.
-        The image file (Temp.fits) is overwritten whenever this command is executed.
+        The image file (Temp.fits) will be overwritten whenever this command is executed.
 
         Parameters
         ----------
         exptime
             Exposure time
         """
-        path = await send_message(
-            command,
-            self.lvmcam,
-            "expose -t %f 1 %s" % (exptime, self.cam),
-            returnval=True,
-            body="PATH",
-        )
+        path = self._cam.expose(
+            exptime=exptime, num=1, camname=self.camname, testshot=True
+        )["PATH"]
+
         return path["0"]
 
+    def bias_exposure(self, repeat):
+        """
+        Take a test exposure using ``-t`` option of lvmcam.
+        The image file (Temp.fits) will be overwritten whenever this command is executed.
+
+        Parameters
+        ----------
+        repeat
+            The number of bias images
+        """
+        path = self._cam.expose(exptime=0, num=repeat, camname=self.camname)["PATH"]
+
+        return path.values()
+
 
 class LVMEastCamera(LVMCamera):
     """
@@ -287,7 +333,14 @@ class LVMEastCamera(LVMCamera):
 
     def __init__(self, tel):
         super().__init__()
-        self.cam = tel + ".age"
+        self.lvmcam = "lvm." + tel + ".age"
+        self.camname = tel + ".age"
+
+        try:
+            self._cam = Proxy(self.amqpc, self.lvmcam)
+            self._cam.start()
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
 
 
 class LVMWestCamera(LVMCamera):
@@ -302,4 +355,225 @@ class LVMWestCamera(LVMCamera):
 
     def __init__(self, tel):
         super().__init__()
-        self.cam = tel + ".agw"
+        self.lvmcam = "lvm." + tel + ".agw"
+        self.camname = tel + ".agw"
+
+        try:
+            self._cam = Proxy(self.amqpc, self.lvmcam)
+            self._cam.start()
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+
+
+class LVMTelescopeUnit(
+    LVMTelescope, LVMFocuser, LVMWestCamera, LVMEastCamera, LVMFibselector, LVMKMirror
+):
+    def __init__(
+        self,
+        tel,
+        enable_pwi=True,
+        enable_foc=True,
+        enable_agw=True,
+        enable_age=True,
+        enable_fibsel=False,
+        enable_km=True,
+    ):
+        self.name = tel
+        self.amqpc = AMQPClient(name=f"{sys.argv[0]}.proxy-{uuid.uuid4().hex[:8]}")
+
+        try:
+            if enable_pwi is True:
+                LVMTelescope.__init__(self.name, self.amqpc)
+
+            if enable_foc is True:
+                LVMFocuser.__init__(self.name, self.amqpc)
+
+            if enable_agw is True:
+                self.agw = LVMWestCamera(self.name)
+
+            if enable_age is True:
+                self.age = LVMEastCamera(self.name)
+
+            if enable_fibsel is True:
+                LVMFibselector.__init__(self.name, self.amqpc)
+
+            if enable_km is True:
+                LVMKMirror.__init__(self.name, self.amqpc)
+
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+
+    def __del__(self):
+        self.amqpc.stop()
+
+    ############# Autofocus functions #########################
+    def coarse_autofocus(self):
+        """
+        Find the focus coarsely by scanning whole reachable position.
+        """
+        pass
+
+    def fine_autofocus(self):
+        """
+        Find the optimal focus position which is near the current position.
+        """
+        position, FWHM = [], []
+        incremental = usrpars.af_incremental
+        repeat = usrpars.af_repeat
+
+        # get current pos of focus stage
+        currentposition = self.getfocusposition(unit="STEPS")
+
+        # Move focus
+        targetposition = currentposition - (incremental * (repeat - 1)) / 2.0
+        self.focus(value=targetposition)
+
+        currentposition = targetposition
+        position.append(currentposition)
+
+        # Take picture & picture analysis
+        FWHM_tmp = self.__get_fwhm()
+        FWHM.append(FWHM_tmp)
+
+        for iteration in range(repeat - 1):
+            targetposition = currentposition + incremental
+            self.focus(value=targetposition)
+
+            currentposition = targetposition
+            position.append(currentposition)
+
+            FWHM_tmp = self.__get_fwhm()
+            FWHM.append(FWHM_tmp)
+
+        # Fitting
+        bestposition, bestfocus = findfocus(position, FWHM)
+        self.focus(value=bestposition)
+
+        return bestposition, bestfocus
+
+    def __get_fwhm(self):
+        """
+        Take a testshot using both guide image camera and return FWHM of the image.
+        """
+        exptime = usrpars.af_exptime
+        imgcmd_w, imgcmd_e = None, None
+
+        try:
+            if self.name != "phot":
+                imgcmd_w, imgcmd_e = invoke(
+                    self.agw.single_exposure(exptime=exptime),
+                    self.age.single_exposure(exptime=exptime),
+                )
+            else:
+                imgcmd_w = self.agw.single_exposure(exptime=exptime)
+                imgcmd_e = imgcmd_w
+
+        except Exception as e:
+            self.amqpc.log.error(f"Exception: {e}")
+
+        guideimg_w = GuideImage(imgcmd_w["PATH"]["0"])
+        guideimg_w.findstars()
+        guideimg_e = GuideImage(imgcmd_e["PATH"]["0"])
+        guideimg_e.findstars()
+        FWHM = 0.5 * (guideimg_w.FWHM + guideimg_e.FWHM)
+
+        return FWHM
+
+    ############# Slew functions #########################
+    def goto_eq(self, ra, dec, PA=0, target="optical_axis", deg=True):
+        """
+        Point telescope to position using RA and dec
+
+        ======
+        Comments and desired actions:
+        - Check dome safety interlock:
+            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+        - run status (LVMI_interface) to check instrument status
+            - if not idle (i.e. carrying out any observations or calibrations), repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates (i.e. "waiting for instrument to become idle before moving telescope")
+        """
+
+    pass
+
+    def goto_aa(self, alt, az, PA=0, target="optical_axis", deg=True):
+        """
+        Point telescope to position using alt/az (i.e. point to screen or manually park)
+
+        ======
+        Comments and desired actions:
+        - Check dome safety interlock:
+            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+        - run status (LVMI_interface) to check instrument status
+            - if not idle (i.e. carrying out any observations or calibrations), repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates (i.e. "waiting for instrument to become idle before moving telescope")
+        """
+
+    pass
+
+    def goto_screen(self):
+        """
+        Point telescope to screen for dome flats
+
+        ======
+        Comments and desired actions:
+        - Check dome safety interlock:
+            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+        - run status (LVMI_interface) to check instrument status
+            - if not idle (i.e. carrying out any observations or calibrations), repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates (i.e. "waiting for instrument to become idle before moving telescope")
+        """
+
+    pass
+
+    ############# Autoguide functions #########################
+    def offset(
+        self,
+        target=None,
+        delta_ra=None,
+        delta_dec=None,
+        delta_x=None,
+        delta_y=None,
+        offset_gbox=False,
+    ):
+        """
+        Pointing offset: change track rates
+
+        ======
+        Comments and desired actions:
+        """
+        pass
+
+    def guide_offset(
+        self, target=None, delta_ra=None, delta_dec=None, delta_x=None, delta_y=None
+    ):
+        """
+        Guiding offset: do NOT change track rates
+
+        ======
+        Comments and desired actions:
+        """
+
+    pass
+
+    def offset_gbox(self, delta_x=None, delta_y=None, delta_pa=None):
+        """
+        move the guider set points by specified amount; used to move accurate
+        offsets by letting the guider do the work. used, e.g., for dithering.
+        ======
+        Comments and desired actions:
+        """
+
+    pass
+
+    def paoffset(self, delta_PA=None):
+        """
+        Apply a relative rotation offset by moving the K-mirror
+
+        Parameters:
+            delta_PA (float): rotation offset in degrees (+/- = E/W)
+
+        Returns:
+            None
+        """
+
+    pass
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index b4e85fe..3894132 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -4,6 +4,7 @@
 from datetime import datetime
 
 import numpy as np
+
 # import matplotlib.pyplot as plt
 from astropy.io import fits
 from astropy.modeling import fitting, models
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index 845829f..4c4b255 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -1,4 +1,5 @@
 class usrpars:
+
     # autofocus parameters
     af_incremental = 100  # step size for each movement
     af_repeat = 5  # the number of steps
@@ -14,7 +15,22 @@ class usrpars:
     ag_halfboxsize = 15  # 1/2 of box in pixel
     # ag_minsnr = 6
     ag_min_offset = 0.3  # minimum offset to do correction in pixel
-    ag_flux_tolerance = 0.3  # maximum variability of flux due to seeing to identify the guide star
+    ag_flux_tolerance = (
+        0.3  # maximum variability of flux due to seeing to identify the guide star
+    )
 
     ag_cal_offset_per_step = 5.0  # Step size for calibration in arcseconds
     ag_cal_num_step = 3  # number of steps of calibration per axis
+
+
+def temp_vs_focus(temperature):
+    """
+    Returns estimation of focus position in steps unit for input temperature
+
+    Parameters
+    ----------
+    temperature
+        Target temperature in Celsius
+    """
+    pos = temperature  # here put a relation between temperature (Celsius) and focus position (step)  # noqa: E501
+    return pos
diff --git a/python/lvmagp/exceptions.py b/python/lvmagp/exceptions.py
index 357e808..fd189d7 100644
--- a/python/lvmagp/exceptions.py
+++ b/python/lvmagp/exceptions.py
@@ -75,3 +75,66 @@ class LvmagpDeprecationWarning(LvmagpUserWarning):
     """A warning for deprecated features."""
 
     pass
+
+
+class LvmagpActorMissing(LvmagpError):
+    """A custom exception for not yet implemented features."""
+
+    def __init__(self, message=None):
+
+        message = (
+            "Some of lower actors (lvmtan, lvmpwi, lvmcam) are missing.\
+            Check these actors are running."
+            if not message
+            else message
+        )
+
+        super(LvmagpActorMissing, self).__init__(message)
+
+
+class LvmagpNotExistingHardware(LvmagpError):
+    """A custom exception for not yet implemented features."""
+
+    def __init__(self, message=None):
+
+        message = (
+            "There does not exist hardware has this name." if not message else message
+        )
+
+        super(LvmagpNotExistingHardware, self).__init__(message)
+
+
+class LvmagpFocuserError(LvmagpError):
+    """A custom exception for not yet implemented features."""
+
+    def __init__(self, message=None):
+
+        message = (
+            "Focuser failed. Check the focuser hardware." if not message else message
+        )
+
+        super(LvmagpFocuserError, self).__init__(message)
+
+
+class LvmagpTelescopeError(LvmagpError):
+    """A custom exception for not yet implemented features."""
+
+    def __init__(self, message=None):
+
+        message = (
+            "Telescope(mount) failed. Check the mount hardware."
+            if not message
+            else message
+        )
+
+        super(LvmagpTelescopeError, self).__init__(message)
+
+
+class LvmagpInterlockEngaged(LvmagpError):
+    """A custom exception for not yet implemented features."""
+
+    def __init__(self, message=None):
+
+        message = "Interlock is engaged. Unlock the system." if not message else message
+
+        super(LvmagpInterlockEngaged, self).__init__(message)

From 7509c62a6c4318eeb52a190526c20faded06823c Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Wed, 19 Jan 2022 18:27:45 +0900
Subject: [PATCH 04/17] v.0.2.5a import cluplus

---
 python/lvmagp/actor/actor.py              |  62 ---
 python/lvmagp/actor/astrometry_result.txt | 229 ++++++++-
 python/lvmagp/actor/commands/autofocus.py |  60 +--
 python/lvmagp/actor/commands/guide.py     |  15 +-
 python/lvmagp/actor/commands/slew.py      | 121 +----
 python/lvmagp/actor/commands/test.py      |   4 +
 python/lvmagp/actor/commfunc.py           | 541 ++++++++++++++++++----
 python/lvmagp/actor/internalfunc.py       |  89 ++--
 python/lvmagp/etc/lvmagp.yml              |   4 +-
 python/lvmagp/exceptions.py               |  32 +-
 10 files changed, 772 insertions(+), 385 deletions(-)

diff --git a/python/lvmagp/actor/actor.py b/python/lvmagp/actor/actor.py
index 0c41970..c812053 100644
--- a/python/lvmagp/actor/actor.py
+++ b/python/lvmagp/actor/actor.py
@@ -2,22 +2,12 @@
 
 from clu.actor import AMQPActor
 
-from lvmagp.actor.commfunc import (
-    LVMEastCamera,  # noqa: F401
-    LVMFibselector,
-    LVMFocuser,
-    LVMKMirror,
-    LVMTelescope,
-    LVMWestCamera,
-)
-
 from .commands import command_parser as lvm_command_python
 
 
 # from scpactor import __version__
 
 __all__ = ["lvmagp"]
-tel_list = ["sci", "skye", "skyw", "spec"]
 
 
 class lvmagp(AMQPActor):
@@ -31,12 +21,6 @@ class lvmagp(AMQPActor):
     def __init__(
         self,
         *args,
-        telescopes: tuple[LVMTelescope, ...] = (),
-        eastcameras: tuple[LVMEastCamera, ...] = (),
-        westcameras: tuple[LVMEastCamera, ...] = (),
-        focusers: tuple[LVMFocuser, ...] = (),
-        kmirrors: tuple[LVMKMirror, ...] = (),
-        fiberselectors: tuple[LVMFibselector, ...] = (),
         **kwargs,
     ):
         super().__init__(*args, **kwargs)
@@ -59,56 +43,10 @@ def __init__(
         }
         self.load_schema(self.schema, is_file=False)
 
-        self.telescopes = {s.name: s for s in telescopes}
-        self.eastcameras = {s.name: s for s in eastcameras}
-        self.westcameras = {s.name: s for s in westcameras}
-        self.focusers = {s.name: s for s in focusers}
-        self.kmirrors = {s.name: s for s in kmirrors}
-        self.fibserselctors = {s.name: s for s in fiberselectors}
-
     @classmethod
     def from_config(cls, config, *args, **kwargs):
         instance = super(lvmagp, cls).from_config(config, *args, **kwargs)
         assert isinstance(instance, lvmagp)
         assert isinstance(instance.config, dict)
 
-        for (ctrname, ctr) in instance.config.items():
-            if ctrname in tel_list:
-                # print(ctrname, ctr)
-                instance.telescopes.update({ctrname: LVMTelescope(ctrname, "KHU")})
-
-                instance.eastcameras.update({ctrname: LVMEastCamera(ctrname)})
-                instance.eastcameras[ctrname].pixelscale = ctr["age"]["pixelscale"]
-                instance.eastcameras[ctrname].offset_x = ctr["age"]["offset_x"]
-                instance.eastcameras[ctrname].offset_y = ctr["age"]["offset_y"]
-                instance.eastcameras[ctrname].rotationangle = ctr["age"][
-                    "rotationangle"
-                ]
-
-                instance.westcameras.update({ctrname: LVMWestCamera(ctrname)})
-                instance.westcameras[ctrname].pixelscale = ctr["agw"]["pixelscale"]
-                instance.westcameras[ctrname].offset_x = ctr["agw"]["offset_x"]
-                instance.westcameras[ctrname].offset_y = ctr["agw"]["offset_y"]
-                instance.westcameras[ctrname].rotationangle = ctr["agw"][
-                    "rotationangle"
-                ]
-
-                instance.focusers.update({ctrname: LVMFocuser(ctrname)})
-
-                instance.kmirrors.update({ctrname: LVMKMirror(ctrname)})
-
-                instance.fibserselctors.update({ctrname: LVMFibselector(ctrname)})
-
-                # print(ctrname,ctr)
-
-        # print(instance.telescopes)
-
-        instance.parser_args = [
-            instance.telescopes,
-            instance.eastcameras,
-            instance.westcameras,
-            instance.focusers,
-            instance.kmirrors,
-            instance.fibserselctors
-        ]
         return instance
diff --git a/python/lvmagp/actor/astrometry_result.txt b/python/lvmagp/actor/astrometry_result.txt
index 35ce3c2..1ad7e8e 100644
--- a/python/lvmagp/actor/astrometry_result.txt
+++ b/python/lvmagp/actor/astrometry_result.txt
@@ -1,24 +1,221 @@
-Reading input file 1 of 1: "/home/sumin/lvmcam/python/lvmcam/assets/testshot.fits"...
+Reading input file 1 of 1: "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/2459550/sci.agw-00000061.fits"...
 Extracting sources...
-This looks like a multi-color image: processing the first image plane only.  (NAXIS=3)
 Downsampling by 2...
-simplexy: found 611 sources.
+simplexy: found 204 sources.
 Solving...
-Reading file "/home/sumin/lvmcam/python/lvmcam/assets/testshot.axy"...
-Only searching for solutions within 3 degrees of RA,Dec (105,0)
+Reading file "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/2459550/sci.agw-00000061.axy"...
+Field 1 did not solve (index index-4219.fits, field objects 1-10).
+Field 1 did not solve (index index-4218.fits, field objects 1-10).
+Field 1 did not solve (index index-4217.fits, field objects 1-10).
+Field 1 did not solve (index index-4216.fits, field objects 1-10).
+Field 1 did not solve (index index-4215.fits, field objects 1-10).
+Field 1 did not solve (index index-4214.fits, field objects 1-10).
+Field 1 did not solve (index index-4213.fits, field objects 1-10).
+Field 1 did not solve (index index-4212.fits, field objects 1-10).
 Field 1 did not solve (index index-4211.fits, field objects 1-10).
 Field 1 did not solve (index index-4210.fits, field objects 1-10).
 Field 1 did not solve (index index-4209.fits, field objects 1-10).
-  log-odds ratio 150.194 (1.69249e+65), 27 match, 0 conflict, 194 distractors, 33 index.
-  RA,Dec = (105,0.00107933), pixel scale 2.5971 arcsec/pix.
-  Hit/miss:   Hit/miss: +++++--++++-++--++-------++------------+-+-+-------------------+-++-------------------+-------------
-Field 1: solved with index index-4208.fits.
-Field 1 solved: writing to file /home/sumin/lvmcam/python/lvmcam/assets/testshot.solved to indicate this.
-Field: /home/sumin/lvmcam/python/lvmcam/assets/testshot.fits
-Field center: (RA,Dec) = (105.000696, 0.001028) deg.
-Field center: (RA H:M:S, Dec D:M:S) = (07:00:00.167, +00:00:03.702).
-Field size: 69.2444 x 47.6004 arcminutes
-Field rotation angle: up is 143.535 degrees E of N
+Field 1 did not solve (index index-4208.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-11.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-10.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-09.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-08.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-07.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-06.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-05.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-04.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-03.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-02.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-01.fits, field objects 1-10).
+Field 1 did not solve (index index-4207-00.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-11.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-10.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-09.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-08.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-07.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-06.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-05.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-04.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-03.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-02.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-01.fits, field objects 1-10).
+Field 1 did not solve (index index-4206-00.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-11.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-10.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-09.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-08.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-07.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-06.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-05.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-04.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-03.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-02.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-01.fits, field objects 1-10).
+Field 1 did not solve (index index-4205-00.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-47.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-46.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-45.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-44.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-43.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-42.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-41.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-40.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-39.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-38.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-37.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-36.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-35.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-34.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-33.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-32.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-31.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-30.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-29.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-28.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-27.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-26.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-25.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-24.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-23.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-22.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-21.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-20.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-19.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-18.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-17.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-16.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-15.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-14.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-13.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-12.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-11.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-10.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-09.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-08.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-07.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-06.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-05.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-04.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-03.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-02.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-01.fits, field objects 1-10).
+Field 1 did not solve (index index-4204-00.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-47.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-46.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-45.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-44.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-43.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-42.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-41.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-40.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-39.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-38.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-37.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-36.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-35.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-34.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-33.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-32.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-31.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-30.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-29.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-28.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-27.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-26.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-25.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-24.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-23.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-22.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-21.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-20.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-19.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-18.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-17.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-16.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-15.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-14.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-13.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-12.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-11.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-10.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-09.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-08.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-07.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-06.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-05.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-04.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-03.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-02.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-01.fits, field objects 1-10).
+Field 1 did not solve (index index-4203-00.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-47.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-46.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-45.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-44.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-43.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-42.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-41.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-40.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-39.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-38.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-37.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-36.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-35.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-34.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-33.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-32.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-31.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-30.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-29.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-28.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-27.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-26.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-25.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-24.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-23.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-22.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-21.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-20.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-19.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-18.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-17.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-16.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-15.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-14.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-13.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-12.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-11.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-10.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-09.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-08.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-07.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-06.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-05.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-04.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-03.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-02.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-01.fits, field objects 1-10).
+Field 1 did not solve (index index-4202-00.fits, field objects 1-10).
+Field 1 did not solve (index index-4119.fits, field objects 1-10).
+Field 1 did not solve (index index-4118.fits, field objects 1-10).
+Field 1 did not solve (index index-4117.fits, field objects 1-10).
+Field 1 did not solve (index index-4116.fits, field objects 1-10).
+Field 1 did not solve (index index-4115.fits, field objects 1-10).
+Field 1 did not solve (index index-4114.fits, field objects 1-10).
+Field 1 did not solve (index index-4113.fits, field objects 1-10).
+Field 1 did not solve (index index-4112.fits, field objects 1-10).
+Field 1 did not solve (index index-4111.fits, field objects 1-10).
+Field 1 did not solve (index index-4110.fits, field objects 1-10).
+  log-odds ratio 112.466 (6.9726e+48), 14 match, 0 conflict, 13 distractors, 18 index.
+  RA,Dec = (23.2259,30.6133), pixel scale 2.59927 arcsec/pix.
+  Hit/miss:   Hit/miss: +++-++-+-++-+-++--+-+-----+(best)-------------------------------------------------------------------------
+Field 1: solved with index index-4109.fits.
+Field 1 solved: writing to file /home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/2459550/sci.agw-00000061.solved to indicate this.
+Field: /home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/2459550/sci.agw-00000061.fits
+Field center: (RA,Dec) = (23.226178, 30.613631) deg.
+Field center: (RA H:M:S, Dec D:M:S) = (01:32:54.283, +30:36:49.071).
+Field size: 69.2351 x 47.6152 arcminutes
+Field rotation angle: up is 108.942 degrees E of N
 Field parity: pos
-Creating new FITS file "/home/sumin/lvmcam/python/lvmcam/assets/testshot.new"...
+Creating new FITS file "/home/hojae/Desktop/lvmagp/testimg/autoguide_sample/assets/2459550/sci.agw-00000061.new"...
 
diff --git a/python/lvmagp/actor/commands/autofocus.py b/python/lvmagp/actor/commands/autofocus.py
index 5b5af8d..c08ae1e 100644
--- a/python/lvmagp/actor/commands/autofocus.py
+++ b/python/lvmagp/actor/commands/autofocus.py
@@ -1,17 +1,7 @@
 import click
 from clu.command import Command
 
-from lvmagp.actor.commfunc import (
-    LVMEastCamera,
-    LVMFibselector,  # noqa: F401
-    LVMFocuser,
-    LVMKMirror,
-    LVMTelescope,
-    LVMTelescopeUnit,
-    LVMWestCamera,
-)
-from lvmagp.actor.internalfunc import GuideImage
-from lvmagp.actor.user_parameters import usrpars
+from lvmagp.actor.commfunc import LVMTelescopeUnit
 
 from . import command_parser as parser
 
@@ -23,15 +13,7 @@ def autofocus(*args):
 
 @autofocus.command()
 @click.argument("TEL", type=str)
-async def coarse(
-    command: Command,
-    telescopes: dict[str, LVMTelescope],
-    eastcameras: dict[str, LVMEastCamera],
-    westcameras: dict[str, LVMWestCamera],
-    focusers: dict[str, LVMFocuser],
-    kmirrors: dict[str, LVMKMirror],
-    tel: str,
-):
+async def coarse(command: Command, tel: str):
     """
     Find the focus coarsely by scanning whole reachable position.
 
@@ -59,41 +41,3 @@ async def fine(command: Command, tel: str):
     del telunit
 
     return command.finish(text="Auto-focus done")
-
-
-async def get_fwhm(
-    command: Command,
-    telescopes: dict[str, LVMTelescope],
-    eastcameras: dict[str, LVMEastCamera],
-    westcameras: dict[str, LVMWestCamera],
-    focusers: dict[str, LVMFocuser],
-    kmirrors: dict[str, LVMKMirror],
-    tel: str,
-    starlist=None,
-):
-    """
-    Take a testshot and return FWHM of the image.
-
-    Parameters
-    ----------
-    tel
-        The telescope to be focused
-    starlist
-        List of stars whose FWHMs will be measured
-        If ''starlist`` is None, this function finds star in the testshot.
-    """
-    exptime = usrpars.af_exptime
-
-    try:
-        imgcmd = await westcameras[tel].test_exposure(command, exptime)
-    except Exception:
-        return command.fail(fail="Camera error")
-
-    guideimg = GuideImage(imgcmd)
-    if starlist is not None:
-        guideimg.guidestarposition = starlist
-        guideimg.update_guidestar_properties()
-    else:
-        guideimg.findstars()
-
-    return guideimg.FWHM
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index e31fe56..139aad5 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -4,9 +4,9 @@
 import numpy as np
 from clu.command import Command
 
+from lvmagp.actor.commfunc import LVMEastCamera  # noqa: F401
 from lvmagp.actor.commfunc import (
-    LVMEastCamera,  # noqa: F401
-    LVMFibselector,
+    LVMFiborselector,
     LVMFocuser,
     LVMKMirror,
     LVMTelescope,
@@ -218,12 +218,12 @@ async def calibration(
     print(yoffsets)
 
     xscale_ra = (
-        np.sum(xoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
-        offset_per_step
+        np.sum(xoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)]))
+        / offset_per_step
     )  # exclude the first index (0,0)
     yscale_ra = (
-        np.sum(yoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
-        offset_per_step
+        np.sum(yoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)]))
+        / offset_per_step
     )  # exclude the first index (0,0)
 
     telescopes[tel].scale_matrix = np.linalg.inv(
@@ -382,7 +382,8 @@ async def autoguiding(
     if (
         np.abs(
             np.average(starflux / initflux - 1, weights=2.5 * np.log10(initflux * 10))
-        ) > usrpars.ag_flux_tolerance
+        )
+        > usrpars.ag_flux_tolerance
     ):
         return command.error(
             "Star flux variation %.3f is too large."
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 7319d06..5955fed 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -1,21 +1,7 @@
-import asyncio
-
 import click
-import numpy as np
-from astropy import units as u
-from astropy.coordinates import Angle
 from clu.command import Command
 
-from lvmagp.actor.commfunc import (
-    LVMEastCamera,  # noqa: F401
-    LVMFibselector,
-    LVMFocuser,
-    LVMKMirror,
-    LVMTelescope,
-    LVMWestCamera,
-)
-from lvmagp.actor.internalfunc import GuideImage, cal_pa, check_target
-from lvmagp.actor.user_parameters import usrpars
+from lvmagp.actor.commfunc import LVMTelescopeUnit
 
 from . import command_parser as parser
 
@@ -26,11 +12,6 @@
 @click.argument("TARGET_DEC_D", type=float)
 async def slew(
     command: Command,
-    telescopes: dict[str, LVMTelescope],
-    eastcameras: dict[str, LVMEastCamera],
-    westcameras: dict[str, LVMWestCamera],
-    focusers: dict[str, LVMFocuser],
-    kmirrors: dict[str, LVMKMirror],
     tel: str,
     target_ra_h: float,
     target_dec_d: float,
@@ -48,102 +29,8 @@ async def slew(
         The declination (J2000) of the target in degrees
     """
 
-    long_d = telescopes[tel].longitude
-    lat_d = telescopes[tel].latitude
-
-    cmd = []
-
-    # Check the target is in reachable area
-    if not check_target(target_ra_h, target_dec_d, long_d, lat_d):
-        return command.fail(fail="Target is over the limit")
-
-    # Calculate position angle and rotate K-mirror  :: should be changed to traj method.
-    target_pa_d = cal_pa(target_ra_h, target_dec_d, long_d, lat_d)
-    command.info("Rotate K-mirror to pa = %.3f deg" % target_pa_d)
-    cmd.append(kmirrors[tel].moveabs(command, target_pa_d, "DEG"))
-
-    # send slew command to lvmpwi
-    try:
-        await telescopes[tel].reset_offset_radec(command)
-        command.info("Telescope slewing ...")
-        cmd.append(telescopes[tel].slew_radec2000(command, target_ra_h, target_dec_d))
-
-    except Exception:
-        return command.fail(fail="Telescope error")
-    await asyncio.gather(*cmd)
-
-    command.info("Initial slew completed.")
-
-    for iter in range(usrpars.aqu_max_iter + 1):
-        command.info("Taking image...")
-        # take an image for astrometry
-        try:
-            imgcmd = []
-            imgcmd.append(westcameras[tel].test_exposure(command, usrpars.aqu_exptime))
-            imgcmd.append(eastcameras[tel].test_exposure(command, usrpars.aqu_exptime))
-            guideimgpath = await asyncio.gather(*imgcmd)
-
-        except Exception:
-            return command.fail(fail="Camera error")
-
-        command.info("Astrometry ...")
-
-        westguideimg = GuideImage(guideimgpath[0])
-        eastguideimg = GuideImage(guideimgpath[1])
-
-        try:
-            astcmd = []
-            astcmd.append(westguideimg.astrometry(ra_h=target_ra_h, dec_d=target_dec_d))
-            astcmd.append(eastguideimg.astrometry(ra_h=target_ra_h, dec_d=target_dec_d))
-            cmd = await asyncio.gather(*astcmd)
-
-        except Exception:
-            return command.fail(text="Astrometry timeout")
-
-        ra2000_d = 0.5 * (eastguideimg.ra2000 + westguideimg.ra2000)
-        dec2000_d = 0.5 * (eastguideimg.dec2000 + westguideimg.dec2000)
-        pa_d = 0.5 * (eastguideimg.pa + westguideimg.pa)
-        westcameras[tel].rotationangle = westguideimg.pa
-        eastcameras[tel].rotationangle = eastguideimg.pa
-
-        ra2000 = Angle(ra2000_d, u.degree)
-        dec2000 = Angle(dec2000_d, u.degree)
-
-        target_ra = Angle(target_ra_h, u.hour)
-        target_dec = Angle(target_dec_d, u.degree)
-
-        comp_ra_arcsec = (target_ra - ra2000).arcsecond
-        comp_dec_arcsec = (target_dec - dec2000).arcsecond
-
-        command.info(
-            Img_ra2000=ra2000.to_string(unit=u.hour),
-            Img_dec2000=dec2000.to_string(unit=u.degree),
-            Img_pa="%.3f deg" % pa_d,
-            offset_ra="%.3f arcsec" % comp_ra_arcsec,
-            offset_dec="%.3f arcsec" % comp_dec_arcsec,
-        )
-
-        # Compensation  // Compensation for K-mirror based on astrometry result?
-        # may be by offset method..
-
-        if (
-            np.sqrt(comp_ra_arcsec ** 2 + comp_dec_arcsec ** 2) >
-            usrpars.aqu_tolerance_arcsec
-        ):
-            if iter >= usrpars.aqu_max_iter:
-                return command.fail(fail="Compensation failed.")
-            else:
-                command.info(text="Compensating ...")
-                cmd = []
-                cmd.append(kmirrors[tel].moverel(command, -pa_d, "DEG"))
-                cmd.append(
-                    telescopes[tel].offset_radec(
-                        command, comp_ra_arcsec, comp_dec_arcsec
-                    )
-                )
-                await asyncio.gather(*cmd)
-
-        else:
-            break
+    telunit = LVMTelescopeUnit(tel)
+    telunit.slew_radec2000(target_ra_h=target_ra_h, target_dec_d=target_dec_d)
+    del telunit
 
     return command.finish(text="Acquisition done")
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index e69de29..cffdc66 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -0,0 +1,4 @@
+from lvmagp.actor.commfunc import LVMTelescopeUnit
+
+
+sci = LVMTelescopeUnit("sci")
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 0e45502..f75644b 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -1,14 +1,32 @@
+import datetime
+import logging
 import sys
 import uuid
+from multiprocessing import Manager, Process
 
+import astropy.units as u
 import numpy as np
+from astropy.coordinates import Angle
 from clu import AMQPClient
 from cluplus.proxy import Proxy, invoke
 from lvmtipo.site import Site
 
-from lvmagp.actor.internalfunc import GuideImage, findfocus, send_message
+from sdsstools import get_logger
+
+from lvmagp.actor.internalfunc import (
+    GuideImage,
+    cal_pa,
+    check_target,
+    define_visb_limit,
+    findfocus,
+)
 from lvmagp.actor.user_parameters import temp_vs_focus, usrpars
-from lvmagp.exceptions import LvmagpFocuserError
+from lvmagp.exceptions import (
+    LvmagpAcquisitionFailed,
+    LvmagpActorMissing,
+    LvmagpInterlockEngaged,
+    LvmagpTargetOverTheLimit,
+)
 
 
 class LVMFocuser:
@@ -32,7 +50,8 @@ def __init__(self, tel, amqpc):
             self._foc.start()
 
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
 
     def focusoffset(self, delta_f=None):
         """
@@ -43,12 +62,13 @@ def focusoffset(self, delta_f=None):
         """
 
         try:
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | Move focus by {delta_f}")
             self._foc.moveRelative(delta_f, unit="STEPS")
 
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
-            return False
-
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
+        self.amqpc.log.debug(f"{datetime.datetime.now()} | Move focus done")
         return True
 
     def focus(self, value=None, temperature=None):
@@ -62,15 +82,25 @@ def focus(self, value=None, temperature=None):
         Returns:
             None
         """
+
         try:
             if value is not None:
+                self.amqpc.log.debug(
+                    f"{datetime.datetime.now()} | Move focus to {value}"
+                )
                 self._foc.moveAbsolute(value, unit="STEPS")
             else:
                 temp_value = temp_vs_focus(temperature=temperature)
+                self.amqpc.log.debug(
+                    f"{datetime.datetime.now()} | Move focus to {value} (estimated)"
+                )
                 self._foc.moveAbsolute(temp_value, unit="STEPS")
 
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
+
+        self.amqpc.log.debug(f"{datetime.datetime.now()} | Move focus done")
 
     def getfocusposition(self, unit="STEPS"):
         """
@@ -84,9 +114,12 @@ def getfocusposition(self, unit="STEPS"):
         try:
             position = self._foc.getPosition(unit=unit)["Position"]
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
-            raise LvmagpFocuserError
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
 
+        self.amqpc.log.info(
+            f"{datetime.datetime.now()} | Current focus position: {position}"
+        )
         return position
 
 
@@ -109,13 +142,33 @@ def __init__(self, tel, amqpc):
             self._km.start()
 
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
 
     async def cal_traj(self, command):
         pass
 
+    def derotate(self, pa=None):
+        """
+        Derotate the field to correct the given position angle.
 
-class LVMFibselector:
+        Parameters
+        ----------
+        pa
+            Target position angle to be corrected
+        """
+
+        try:
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | Move Kmirror to {pa}")
+            self._km.moveAbsolute(pa, unit="DEG")
+
+        except Exception as e:
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
+        self.amqpc.log.debug(f"{datetime.datetime.now()} | Move Kmirror done")
+
+
+class LVMFiberselector:
     """
     Class for the fiber selectors
 
@@ -134,7 +187,8 @@ def __init__(self, tel, amqpc):
             self._fibsel.start()
 
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
 
 
 class LVMTelescope:
@@ -168,7 +222,8 @@ def __init__(self, tel, amqpc, sitename="LCO"):
             self._pwi.start()
 
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
 
     def goto_park(self):
         """
@@ -177,9 +232,11 @@ def goto_park(self):
         ======
         Comments and desired actions:
         - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+            - if interlock is engaged, do not move the telescope. Return error message
+            (assume people are inside dome)
         - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations), abort observation (halt in LVMI_interface) and park telescope
+            - if not idle (i.e. carrying out any observations or calibrations),
+            abort observation (halt in LVMI_interface) and park telescope
             (in this case, we assume user wants to park due to an emergency)
         """
         pass
@@ -191,15 +248,16 @@ def goto_zenith(self):
         ======
         Comments and desired actions:
         - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+            - if interlock is engaged, do not move the telescope.
+            Return error message (assume people are inside dome)
         - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations), repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates (i.e. "waiting for instrument to become idle before moving telescope")
+            - if not idle (i.e. carrying out any observations or calibrations),
+            repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates
+              (i.e. "waiting for instrument to become idle before moving telescope")
         """
 
-    pass
-
-    async def slew_radec2000(self, command, target_ra_h, target_dec_d):
+    def slew_radec2000(self, target_ra_h, target_dec_d):
         """
         Slew the telescope to given equatorial coordinates whose epoch is J2000.
 
@@ -211,25 +269,53 @@ async def slew_radec2000(self, command, target_ra_h, target_dec_d):
             Target declination in degrees in J2000 epoch
         """
         try:
-            self._pwi.gotoRaDecJ2000()
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | Start to slew telescope to RA {target_ra_h}, Dec {target_dec_d}."  # noqa: E501
+            )
+            self._pwi.gotoRaDecJ2000(ra_h=target_ra_h, deg_d=target_dec_d)
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
+            raise
+        self.amqpc.log.debug(f"{datetime.datetime.now()} | Slew completed.")
 
-        cmd = await send_message(
-            command, self.lvmpwi, "gotoRaDecJ2000 %f %f" % (target_ra_h, target_dec_d)
-        )
-        return cmd
+    def slew_altaz(self, target_alt_d, target_az_d):
+        """
+        Slew the telescope to given horizontal coordinates.
+
+        Parameters
+        ----------
+        target_alt_d
+            Target altitude in degree
+        target_az_d
+            Target azimuth in degree
+        """
+        try:
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | Start to slew telescope to Alt {target_alt_d}, Az {target_az_d}."  # noqa: E501
+            )
+            self._pwi.gotoRaDecJ2000(alt_d=target_alt_d, az_d=target_az_d)
+        except Exception as e:
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
+            raise
+        self.amqpc.log.debug(f"{datetime.datetime.now()} | Slew completed.")
 
-    async def reset_offset_radec(self, command):
+    def reset_offset_radec(self):
         """
         Reset the offset of both axes to zero.
         """
-        await send_message(command, self.lvmpwi, "offset --ra_reset")
-        await send_message(command, self.lvmpwi, "offset --dec_reset")
-
-        return True
+        try:
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | Set telescope offsets to zero."
+            )
+            self._pwi.offset(ra_reset=0, dec_reset=0)
+        except Exception as e:
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
+            raise
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | Zero offset setting completed."
+        )
 
-    async def offset_radec(self, command, ra_arcsec, dec_arcsec):
+    def offset_radec(self, ra_arcsec, dec_arcsec):
         """
         Give some offset to the mount
 
@@ -240,24 +326,28 @@ async def offset_radec(self, command, ra_arcsec, dec_arcsec):
         dec_arcsec
             Distance to move along declination axis in arcseconds
         """
-        await send_message(
-            command, self.lvmpwi, "offset --dec_add_arcsec %f" % dec_arcsec
-        )
 
-        await send_message(
-            command, self.lvmpwi, "offset --ra_add_arcsec %f" % ra_arcsec
-        )
-
-        return True
+        try:
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | Set telescope offsets ra={ra_arcsec}, dec={dec_arcsec}"  # noqa: E501
+            )
+            self._pwi.offset(ra_add_arcsec=ra_arcsec, dec_add_arcsec=dec_arcsec)
+        except Exception as e:
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
+            raise
+        self.amqpc.log.debug(f"{datetime.datetime.now()} | Set offset done")
 
-    async def get_dec2000_deg(self, command):
+    def get_dec2000_deg(self):
         """
         Return the declination (J2000) of current position in degrees
         """
-        dec2000 = await send_message(
-            command, self.lvmpwi, "status", returnval=True, body="dec_j2000_degs"
-        )
-        return dec2000
+        try:
+            status = self._pwi.status()
+        except Exception as e:
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
+            raise
+
+        return status["dec_j2000_degs"]
 
 
 class LVMCamera:
@@ -265,16 +355,12 @@ class LVMCamera:
     Class for the FLIR guide cameras
     """
 
-    def __init__(self, amqpc):
+    def __init__(self):
         self.lvmcam = "lvmcam"  # actor name
         self.camname = ""  # cam name
-        self.offset_x = -999
-        self.offset_y = -999
-        self.pixelscale = -999
-        self.rotationangle = -999
         self.lvmcampath = ""
 
-        self.amqpc = amqpc
+        self.amqpc = None
         self._cam = None
 
     def single_exposure(self, exptime):
@@ -286,7 +372,21 @@ def single_exposure(self, exptime):
         exptime
             Exposure time
         """
-        path = self._cam.expose(exptime=exptime, num=1, camname=self.camname)["PATH"]
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | Guider {self.camname} exposure started"
+        )
+
+        try:
+            path = self._cam.expose(exptime=exptime, num=1, camname=self.camname)[
+                "PATH"
+            ]
+        except Exception as e:
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
+
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | Guider {self.camname} exposure done"
+        )
 
         return path["0"]
 
@@ -300,9 +400,21 @@ def test_exposure(self, exptime):
         exptime
             Exposure time
         """
-        path = self._cam.expose(
-            exptime=exptime, num=1, camname=self.camname, testshot=True
-        )["PATH"]
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | Guider {self.camname} exposure started"
+        )
+
+        try:
+            path = self._cam.expose(
+                exptime=exptime, num=1, camname=self.camname, testshot=True
+            )["PATH"]
+        except Exception as e:
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
+
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | Guider {self.camname} exposure done"
+        )
 
         return path["0"]
 
@@ -316,7 +428,15 @@ def bias_exposure(self, repeat):
         repeat
             The number of bias images
         """
-        path = self._cam.expose(exptime=0, num=repeat, camname=self.camname)["PATH"]
+        try:
+            path = self._cam.expose(exptime=0, num=repeat, camname=self.camname)["PATH"]
+        except Exception as e:
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
+
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | Guider {self.camname} exposure done"
+        )
 
         return path.values()
 
@@ -331,8 +451,9 @@ class LVMEastCamera(LVMCamera):
         Telescope to which the camera belongs
     """
 
-    def __init__(self, tel):
+    def __init__(self, tel, amqpc):
         super().__init__()
+        self.amqpc = amqpc
         self.lvmcam = "lvm." + tel + ".age"
         self.camname = tel + ".age"
 
@@ -340,7 +461,8 @@ def __init__(self, tel):
             self._cam = Proxy(self.amqpc, self.lvmcam)
             self._cam.start()
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
 
 
 class LVMWestCamera(LVMCamera):
@@ -353,8 +475,9 @@ class LVMWestCamera(LVMCamera):
         Telescope to which the camera belongs
     """
 
-    def __init__(self, tel):
+    def __init__(self, tel, amqpc):
         super().__init__()
+        self.amqpc = amqpc
         self.lvmcam = "lvm." + tel + ".agw"
         self.camname = tel + ".agw"
 
@@ -362,11 +485,12 @@ def __init__(self, tel):
             self._cam = Proxy(self.amqpc, self.lvmcam)
             self._cam.start()
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
 
 
 class LVMTelescopeUnit(
-    LVMTelescope, LVMFocuser, LVMWestCamera, LVMEastCamera, LVMFibselector, LVMKMirror
+    LVMTelescope, LVMFocuser, LVMWestCamera, LVMEastCamera, LVMFiberselector, LVMKMirror
 ):
     def __init__(
         self,
@@ -379,32 +503,56 @@ def __init__(
         enable_km=True,
     ):
         self.name = tel
-        self.amqpc = AMQPClient(name=f"{sys.argv[0]}.proxy-{uuid.uuid4().hex[:8]}")
+        self.log = get_logger(f"sdss-lvmagp-{tel}")
+        self.log.sh.setLevel(logging.DEBUG)
+        self.amqpc = AMQPClient(
+            name=f"{sys.argv[0]}.proxy-{uuid.uuid4().hex[:8]}",
+            log_dir="/home/hojae/Desktop/lvmagp/logs",
+            log=self.log,
+        )
+        # log_dir => How to fix??
+        self.__connect_actors(
+            enable_pwi, enable_foc, enable_agw, enable_age, enable_fibsel, enable_km
+        )
+        self.__read_parameters()
 
+    def __connect_actors(
+        self, enable_pwi, enable_foc, enable_agw, enable_age, enable_fibsel, enable_km
+    ):
         try:
             if enable_pwi is True:
-                LVMTelescope.__init__(self.name, self.amqpc)
+                LVMTelescope.__init__(self, self.name, self.amqpc)
 
             if enable_foc is True:
-                LVMFocuser.__init__(self.name, self.amqpc)
+                LVMFocuser.__init__(self, self.name, self.amqpc)
 
             if enable_agw is True:
-                self.agw = LVMWestCamera(self.name)
+                self.agw = LVMWestCamera(self.name, self.amqpc)
 
             if enable_age is True:
-                self.age = LVMEastCamera(self.name)
+                self.age = LVMEastCamera(self.name, self.amqpc)
 
             if enable_fibsel is True:
-                LVMFibselector.__init__(self.name, self.amqpc)
+                LVMFiberselector.__init__(self, self.name, self.amqpc)
 
             if enable_km is True:
-                LVMKMirror.__init__(self.name, self.amqpc)
+                LVMKMirror.__init__(self, self.name, self.amqpc)
+        except Exception:
+            raise LvmagpActorMissing
 
-        except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | All instrument actors are connected."
+        )
 
-    def __del__(self):
-        self.amqpc.stop()
+    def __read_parameters(self):
+        # should be predefined somewhere...
+        self.offset_x = -999
+        self.offset_y = -999
+        self.pixelscale = -999
+        self.rotationangle = -999
+
+        self.screen_alt_d = -999
+        self.screen_az_d = -999
 
     ############# Autofocus functions #########################
     def coarse_autofocus(self):
@@ -421,6 +569,10 @@ def fine_autofocus(self):
         incremental = usrpars.af_incremental
         repeat = usrpars.af_repeat
 
+        self.amqpc.log.info(
+            f"{datetime.datetime.now()} | (lvmagp) Fine autofocus start"
+        )
+
         # get current pos of focus stage
         currentposition = self.getfocusposition(unit="STEPS")
 
@@ -433,6 +585,9 @@ def fine_autofocus(self):
 
         # Take picture & picture analysis
         FWHM_tmp = self.__get_fwhm()
+        self.amqpc.log.info(
+            f"{datetime.datetime.now()} | Focus at {currentposition}: {FWHM_tmp}"
+        )
         FWHM.append(FWHM_tmp)
 
         for iteration in range(repeat - 1):
@@ -448,6 +603,9 @@ def fine_autofocus(self):
         # Fitting
         bestposition, bestfocus = findfocus(position, FWHM)
         self.focus(value=bestposition)
+        self.amqpc.log.info(
+            f"{datetime.datetime.now()} | (lvmagp) Fine autofocus done: pos={bestposition}, focus={bestfocus}"  # noqa: E501
+        )
 
         return bestposition, bestfocus
 
@@ -469,7 +627,8 @@ def __get_fwhm(self):
                 imgcmd_e = imgcmd_w
 
         except Exception as e:
-            self.amqpc.log.error(f"Exception: {e}")
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
 
         guideimg_w = GuideImage(imgcmd_w["PATH"]["0"])
         guideimg_w.findstars()
@@ -480,35 +639,227 @@ def __get_fwhm(self):
         return FWHM
 
     ############# Slew functions #########################
-    def goto_eq(self, ra, dec, PA=0, target="optical_axis", deg=True):
+
+    def goto_eq(
+        self,
+        target_ra_h,
+        target_dec_d,
+        target_pa_d=0,
+        target="optical_axis",
+        ra_d=False,
+    ):
         """
-        Point telescope to position using RA and dec
+        Point telescope to position using RA and dec (J2000).
 
-        ======
         Comments and desired actions:
         - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+            - if interlock is engaged, do not move the telescope.
+            Return error message (assume people are inside dome)
         - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations), repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates (i.e. "waiting for instrument to become idle before moving telescope")
-        """
+            - if not idle (i.e. carrying out any observations or calibrations),
+            repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates
+              (i.e. "waiting for instrument to become idle before moving telescope")
 
-    pass
+        Parameters
+        ----------
+        target_ra_h
+            The right ascension (J2000) of the target in hours
+        target_dec_d
+            The declination (J2000) of the target in degrees
+        target_pa_d
+            Desired position angle of the image
+        target
+            ???
+        ra_d
+            If ``True``, the RA of target should be given in degrees.
+        """
+        if self.check_safety_interlock():
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | (lvmagp) safety interlock engaged"
+            )
+            raise LvmagpInterlockEngaged
+
+        # Check status to confirm the system is in idle state?
+
+        # Check the target is in reachable area
+        long_d = self.latitude
+        lat_d = self.latitude
+
+        if not check_target(target_ra_h, target_dec_d, long_d, lat_d):
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | (lvmagp) Target is over the limit"
+            )
+            raise LvmagpTargetOverTheLimit
+
+        self.reset_offset_radec()
+
+        # Calculate position angle and rotate K-mirror  :: should be changed to traj method.
+        target_pa_d0 = cal_pa(target_ra_h, target_dec_d, long_d, lat_d)
+
+        invoke(
+            self.derotate(target_pa_d0 + target_pa_d),
+            self.slew_radec2000(target_ra_h=target_ra_h, target_dec_d=target_dec_d),
+        )
+
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | (lvmagp) Initial slew completed"
+        )
+
+        for iter in range(usrpars.aqu_max_iter + 1):
+
+            # take an image for astrometry
+            guideimgpath = invoke(
+                self.agw.test_exposure(usrpars.aqu_exptime),
+                self.age.test_exposure(usrpars.aqu_exptime),
+            )
+
+            westguideimg = GuideImage(guideimgpath[0])
+            eastguideimg = GuideImage(guideimgpath[1])
+
+            # astrometry
+            manager = Manager()
+            posinfo1 = manager.dict()
+            posinfo2 = manager.dict()
+
+            processes = []
+            processes.append(
+                Process(
+                    target=westguideimg.astrometry,
+                    args=(target_ra_h, target_dec_d, posinfo1),
+                )
+            )
+            processes.append(
+                Process(
+                    target=eastguideimg.astrometry,
+                    args=(target_ra_h, target_dec_d, posinfo2),
+                )
+            )
+
+            for p in processes:
+                p.start()
+
+            for p in processes:
+                p.join()
+
+            westguideimg.ra2000 = posinfo1["ra"]
+            westguideimg.dec2000 = posinfo1["dec"]
+            westguideimg.pa = posinfo1["pa"]
+            eastguideimg.ra2000 = posinfo1["ra"]
+            eastguideimg.dec2000 = posinfo1["dec"]
+            eastguideimg.pa = posinfo1["pa"]
+
+            ra2000_d = 0.5 * (eastguideimg.ra2000 + westguideimg.ra2000)
+            dec2000_d = 0.5 * (eastguideimg.dec2000 + westguideimg.dec2000)
+            pa_d = 0.5 * (eastguideimg.pa + westguideimg.pa)
+            # LVMWestCamera.rotationangle = westguideimg.pa   should be defined to which place?
+            # LVMEastCamera.rotationangle = eastguideimg.pa   should be defined to which place?
+
+            ra2000 = Angle(ra2000_d, u.degree)
+            dec2000 = Angle(dec2000_d, u.degree)
+
+            target_ra = Angle(target_ra_h, u.hour)
+            target_dec = Angle(target_dec_d, u.degree)
+
+            comp_ra_arcsec = (target_ra - ra2000).arcsecond
+            comp_dec_arcsec = (target_dec - dec2000).arcsecond
+
+            self.amqpc.log.info(
+                f"{datetime.datetime.now()} | (lvmagp) Astrometry result"
+                f"Img_ra2000={ra2000.to_string(unit=u.hour)}"
+                f"Img_dec2000={dec2000.to_string(unit=u.degree)}"
+                f"Img_pa={pa_d:%.3f} deg"
+                f"offset_ra={comp_ra_arcsec:%.3f} arcsec"
+                f"offset_dec={comp_dec_arcsec:%.3f} arcsec"
+            )
+
+            # Compensation  // Compensation for K-mirror based on astrometry result?
+            # may be by offset method..
+            if (
+                np.sqrt(comp_ra_arcsec ** 2 + comp_dec_arcsec ** 2) >
+                usrpars.aqu_tolerance_arcsec
+            ):
+                if iter >= usrpars.aqu_max_iter:
+                    self.amqpc.log.debug(
+                        f"{datetime.datetime.now()} | (lvmagp) Acquisition compensation failed"
+                    )
+                    raise LvmagpAcquisitionFailed
+                else:
+                    self.amqpc.log.debug(
+                        f"{datetime.datetime.now()} | (lvmagp) Compensate offset: #{iter}"
+                    )
+                    invoke(
+                        self.derotate(target_pa_d - pa_d),
+                        self.offset_radec(
+                            ra_arcsec=comp_ra_arcsec, dec_arcsec=comp_dec_arcsec
+                        ),
+                    )
+            else:
+                break
 
-    def goto_aa(self, alt, az, PA=0, target="optical_axis", deg=True):
+    def goto_aa(
+        self, target_alt_d, target_az_d, target_pa_d=0, target="optical_axis", deg=True
+    ):
         """
         Point telescope to position using alt/az (i.e. point to screen or manually park)
+        It does not run additional compensation based on astrometry.
 
         ======
         Comments and desired actions:
         - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+            - if interlock is engaged, do not move the telescope.
+            Return error message (assume people are inside dome)
         - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations), repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates (i.e. "waiting for instrument to become idle before moving telescope")
-        """
+            - if not idle (i.e. carrying out any observations or calibrations),
+            repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates
+              (i.e. "waiting for instrument to become idle before moving telescope")
 
-    pass
+        Parameters
+        ----------
+        target_alt_d
+            Target altitude in degree
+        target_az_d
+            Target azimuth in degree
+        target_pa_d
+            Target position angle in degree
+        target
+            ???
+        deg
+            ???
+        """
+
+        if self.check_safety_interlock():
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | (lvmagp) safety interlock engaged"
+            )
+            raise LvmagpInterlockEngaged
+
+        # Check status to confirm the system is in idle state?
+
+        # Check the target is in reachable area
+        alt_low, alt_high = define_visb_limit(target_az_d)
+        if not (alt_low < target_alt_d) or not (target_alt_d < alt_high):
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | (lvmagp) Target is over the limit"
+            )
+            raise LvmagpTargetOverTheLimit
+
+        self.reset_offset_radec()
+
+        # Calculate position angle and rotate K-mirror  :: should be changed to traj method.
+        target_pa_d0 = (
+            0  # I dont know ... # cal_pa(target_ra_h, target_dec_d, long_d, lat_d)
+        )
+
+        invoke(
+            self.derotate(target_pa_d0 + target_pa_d),
+            self.slew_altaz(target_alt_d=target_alt_d, target_az_d=target_az_d),
+        )
+
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | (lvmagp) Initial slew completed"
+        )
 
     def goto_screen(self):
         """
@@ -517,13 +868,16 @@ def goto_screen(self):
         ======
         Comments and desired actions:
         - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope. Return error message (assume people are inside dome)
+            - if interlock is engaged, do not move the telescope.
+            Return error message (assume people are inside dome)
         - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations), repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates (i.e. "waiting for instrument to become idle before moving telescope")
+            - if not idle (i.e. carrying out any observations or calibrations),
+            repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates
+              (i.e. "waiting for instrument to become idle before moving telescope")
         """
 
-    pass
+        self.goto_aa(target_alt_d=self.screen_alt_d, target_az_d=self.screen_az_d)
 
     ############# Autoguide functions #########################
     def offset(
@@ -577,3 +931,6 @@ def paoffset(self, delta_PA=None):
         """
 
     pass
+
+    def check_safety_interlock(self):
+        pass
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 3894132..673f1b0 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -1,11 +1,9 @@
-import asyncio
 import os
+import subprocess
 import warnings
 from datetime import datetime
 
 import numpy as np
-
-# import matplotlib.pyplot as plt
 from astropy.io import fits
 from astropy.modeling import fitting, models
 from astropy.stats import sigma_clipped_stats
@@ -144,7 +142,7 @@ def update_guidestar_properties(self):
 
         return True
 
-    async def astrometry(self, ra_h=-999, dec_d=-999):
+    def astrometry(self, ra_h=-999, dec_d=-999, returndict=None):
         """
         Conduct astrometry to find where the image is taken.
         Astromery result is saved in astrometry_result.txt in same directory with this python file,
@@ -157,41 +155,69 @@ async def astrometry(self, ra_h=-999, dec_d=-999):
         dec_d
             The initial guess for declination (J2000) in degrees
         """
+
+        returndict["ra"] = -999.0
+        returndict["dec"] = -999.0
+        returndict["pa"] = -999.0
+
         ospassword = "0000"
-        resultpath = (
-            os.path.dirname(os.path.abspath(__file__)) + "/astrometry_result.txt"
-        )
-        timeout = 10
-        scalelow = 2
-        scalehigh = 3
-        radius = 3
+        pathsplit = self.filepath.split("/")
+        if "age" in pathsplit[-1]:
+            resultpath = (
+                os.path.dirname(os.path.abspath(__file__)) +
+                "/astrometry_result_age.txt"
+            )
+        elif "agw" in pathsplit[-1]:
+            resultpath = (
+                os.path.dirname(os.path.abspath(__file__)) +
+                "/astrometry_result_agw.txt"
+            )
+        else:
+            resultpath = (
+                os.path.dirname(os.path.abspath(__file__)) + "/astrometry_result.txt"
+            )
+
+        timeout = 5.0
+        scalelow = 2.0
+        scalehigh = 3.0
+        radius = 3.0
 
         if ra_h == -999:
-            cmd = (
-                "echo %s | sudo -S /usr/local/astrometry/bin/solve-field %s --cpulimit %f --overwrite \
+            proc = subprocess.Popen(
+                [
+                    "echo %s | sudo -S /usr/local/astrometry/bin/solve-field %s --cpulimit %f --overwrite \
             --downsample 2 --no-plots > %s"
-                % (ospassword, self.filepath, timeout, resultpath)
+                    % (ospassword, self.filepath, timeout, resultpath)
+                ],
+                stdin=subprocess.PIPE,
+                stdout=subprocess.DEVNULL,
+                shell=True,
             )
 
         else:
-            cmd = "echo %s | sudo -S /usr/local/astrometry/bin/solve-field %s --cpulimit %f --overwrite \
-            --downsample 2 --scale-units arcsecperpix --scale-low %f --scale-high %f --ra %f --dec %f \
-            --radius %f --no-plots > %s" % (  # noqa: E501
-                ospassword,
-                self.filepath,
-                timeout,
-                scalelow,
-                scalehigh,
-                ra_h * 15,
-                dec_d,
-                radius,
-                resultpath,
+            proc = subprocess.Popen(
+                [
+                    "echo %s | sudo -S /usr/local/astrometry/bin/solve-field %s --cpulimit %f --overwrite \
+            --downsample 2 --scale-units arcsecperpix --scale-low %f --scale-high \
+            %f --ra %f --dec %f --radius %f --no-plots > %s"
+                    % (  # noqa: E501
+                        ospassword,
+                        self.filepath,
+                        timeout,
+                        scalelow,
+                        scalehigh,
+                        ra_h * 15,
+                        dec_d,
+                        radius,
+                        resultpath,
+                    )
+                ],
+                stdin=subprocess.PIPE,
+                stdout=subprocess.DEVNULL,
+                shell=True,
             )
 
-        proc = await asyncio.create_subprocess_shell(
-            cmd, stdout=asyncio.subprocess.PIPE, stderr=asyncio.subprocess.PIPE
-        )
-        await proc.communicate()
+        out, err = proc.communicate()
 
         with open(resultpath, "r") as f:
             result = f.readlines()
@@ -204,6 +230,8 @@ async def astrometry(self, ra_h=-999, dec_d=-999):
 
                 self.ra2000 = float(line[startidx + 1: mididx])
                 self.dec2000 = float(line[mididx + 1: endidx])
+                returndict["ra"] = self.ra2000
+                returndict["dec"] = self.dec2000
 
             elif "Field rotation angle" in line:
                 startidx = line.find("is")
@@ -213,6 +241,7 @@ async def astrometry(self, ra_h=-999, dec_d=-999):
                     self.pa = float(line[startidx + 3: endidx - 1])
                 elif line[endidx + 8] == "W":
                     self.pa = 360 - float(line[startidx + 3: endidx - 1])
+                returndict["pa"] = self.pa
 
             elif "Total CPU time limit reached!" in line:
                 raise Exception("Astrometry timeout")
diff --git a/python/lvmagp/etc/lvmagp.yml b/python/lvmagp/etc/lvmagp.yml
index f8d2bf3..eaa61a6 100644
--- a/python/lvmagp/etc/lvmagp.yml
+++ b/python/lvmagp/etc/lvmagp.yml
@@ -77,5 +77,5 @@ actor:
   name: lvmagp
   host: localhost
   port: 5672
-  version: '0.2.3a'
-  log_dir: './logs'
\ No newline at end of file
+  version: '0.2.5a'
+  log_dir: '../../../../logs'
\ No newline at end of file
diff --git a/python/lvmagp/exceptions.py b/python/lvmagp/exceptions.py
index fd189d7..6626259 100644
--- a/python/lvmagp/exceptions.py
+++ b/python/lvmagp/exceptions.py
@@ -98,7 +98,9 @@ class LvmagpNotExistingHardware(LvmagpError):
     def __init__(self, message=None):
 
         message = (
-            "There does not exist hardware has this name." if not message else message
+            "There does not exist hardware which has this name."
+            if not message
+            else message
         )
 
         super(LvmagpNotExistingHardware, self).__init__(message)
@@ -138,3 +140,31 @@ def __init__(self, message=None):
         message = "Interlock is engaged. Unlock the system." if not message else message
 
         super(LvmagpInterlockEngaged, self).__init__(message)
+
+
+class LvmagpTargetOverTheLimit(LvmagpError):
+    """A custom exception for not yet implemented features."""
+
+    def __init__(self, message=None):
+
+        message = (
+            "Target is over the limit. Check the coordinates or set another target."
+            if not message
+            else message
+        )
+
+        super(LvmagpTargetOverTheLimit, self).__init__(message)
+
+
+class LvmagpAcquisitionFailed(LvmagpError):
+    """A custom exception for not yet implemented features."""
+
+    def __init__(self, message=None):
+
+        message = (
+            "Telescope failed to center the target after several compensation."
+            if not message
+            else message
+        )
+
+        super(LvmagpAcquisitionFailed, self).__init__(message)

From 90f90bb78836ab3f2574ac832a9877952e953c23 Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Wed, 19 Jan 2022 18:29:02 +0900
Subject: [PATCH 05/17] delete some files

---
 python/lvmagp/actor/commands/focus.py  | 74 --------------------------
 python/lvmagp/actor/commands/system.py | 18 -------
 2 files changed, 92 deletions(-)
 delete mode 100644 python/lvmagp/actor/commands/focus.py
 delete mode 100644 python/lvmagp/actor/commands/system.py

diff --git a/python/lvmagp/actor/commands/focus.py b/python/lvmagp/actor/commands/focus.py
deleted file mode 100644
index ec9246e..0000000
--- a/python/lvmagp/actor/commands/focus.py
+++ /dev/null
@@ -1,74 +0,0 @@
-import click
-from clu.command import Command
-
-from lvmagp.actor.internalfunc import send_message  # noqa: F403
-
-from . import command_parser as parser
-
-
-lvmtan = "lvm.sci.foc"
-
-
-@parser.group()
-def focus(*args):
-    pass
-
-
-@focus.command()
-@click.argument("STEPS", type=int)
-async def moverel(command: Command, steps: int):
-
-    movecmd = await send_message(command, lvmtan, "moverelative %d" % steps)
-    if movecmd:
-        return command.finish(text="Move completed.")
-
-
-@focus.command()
-@click.argument("POSITION", type=int)
-async def moveabs(command: Command, position: int):
-    movecmd = await send_message(command, lvmtan, "moveabsolute %d" % position)
-    if movecmd:
-        return command.finish(text="Move completed.")
-
-
-@focus.command()
-async def home(command: Command):
-    ishome = await send_message(command, lvmtan, "movetohome")
-    if ishome:
-        return command.finish(text="Motor is at home position.")
-    else:
-        return command.fail(text="Commend is not complete due to unknown error.")
-
-
-@focus.command()
-async def status(command: Command):
-    pos = await send_message(
-        command, lvmtan, "getposition", returnval=True, body="Position"
-    )
-    vel = await send_message(
-        command, lvmtan, "getvelocity", returnval=True, body="Velocity"
-    )
-    ismove = await send_message(
-        command, lvmtan, "ismoving", returnval=True, body="Moving"
-    )
-
-    stat = {"Position": pos, "Velocity": vel, "IsMoving": ismove}
-
-    return command.finish(STATUS=stat)
-
-
-@focus.command()
-async def ismoving(command: Command):
-    ismove = await send_message(
-        command, lvmtan, "ismoving", returnval=True, body="Moving"
-    )
-    return command.finish(isMoving=ismove)
-
-
-@focus.command()
-@click.argument("POSITION", type=int)
-async def isreachable(command: Command, position: int):
-    isreach = await send_message(
-        command, lvmtan, "isreachable %d" % position, returnval=True, body="Reachable"
-    )
-    return command.finish(isReachable=isreach)
diff --git a/python/lvmagp/actor/commands/system.py b/python/lvmagp/actor/commands/system.py
deleted file mode 100644
index b2cfb59..0000000
--- a/python/lvmagp/actor/commands/system.py
+++ /dev/null
@@ -1,18 +0,0 @@
-from clu.command import Command
-
-from . import command_parser as parser
-
-
-@parser.group()
-def system(*args):
-    pass
-
-
-@system.command()
-# @click.option("--telescope", type=bool, default=True)
-async def bootup(command: Command):
-    pass
-
-
-async def shutdown(command: Command):
-    pass

From fe0848162f42c956326b40637fa96ee2fcb86878 Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Tue, 8 Feb 2022 17:00:35 +0900
Subject: [PATCH 06/17] only include commfunc.py in document

---
 .gitignore                          |    2 +
 readthedocs.yml => .readthedocs.yml |    4 +
 CHANGELOG.rst => CHANGELOG.md       |    3 -
 README.md                           |    2 +-
 docs/sphinx/CHANGELOG.rst           |    2 -
 docs/sphinx/api.rst                 |   15 -
 docs/sphinx/changelog.md            |    4 +
 docs/sphinx/conf.py                 |  124 +-
 docs/sphinx/index.rst               |   40 +-
 docs/sphinx/intro.rst               |    7 -
 docs/sphinx/module.rst              |    9 +
 docs/sphinx/readme.md               |    4 +
 docs/sphinx/requirements.txt        |    9 +-
 poetry.lock                         | 2273 ---------------------------
 14 files changed, 62 insertions(+), 2436 deletions(-)
 rename readthedocs.yml => .readthedocs.yml (64%)
 rename CHANGELOG.rst => CHANGELOG.md (59%)
 delete mode 100644 docs/sphinx/CHANGELOG.rst
 delete mode 100644 docs/sphinx/api.rst
 create mode 100644 docs/sphinx/changelog.md
 delete mode 100644 docs/sphinx/intro.rst
 create mode 100644 docs/sphinx/module.rst
 create mode 100644 docs/sphinx/readme.md
 delete mode 100644 poetry.lock

diff --git a/.gitignore b/.gitignore
index ab804af..8fdfb21 100644
--- a/.gitignore
+++ b/.gitignore
@@ -113,3 +113,5 @@ ENV/
 *~
 *.swp
 *.swo
+
+poetry.lock
\ No newline at end of file
diff --git a/readthedocs.yml b/.readthedocs.yml
similarity index 64%
rename from readthedocs.yml
rename to .readthedocs.yml
index 65ae459..8486fc8 100644
--- a/readthedocs.yml
+++ b/.readthedocs.yml
@@ -1,4 +1,6 @@
 version: 2
+sphinx:
+  configuration: docs/sphinx/conf.py
 
 build:
     image: latest
@@ -9,3 +11,5 @@ python:
         - requirements: docs/sphinx/requirements.txt
         - method: pip
           path: .
+          extra_requirements:
+            - docs
\ No newline at end of file
diff --git a/CHANGELOG.rst b/CHANGELOG.md
similarity index 59%
rename from CHANGELOG.rst
rename to CHANGELOG.md
index c4eb690..2ec7cd5 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.md
@@ -1,6 +1,3 @@
-.. _lvmagp-changelog:
-
-==========
 Change Log
 ==========
 
diff --git a/README.md b/README.md
index ab56293..f212b32 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # lvmagp
 
-![Versions](https://img.shields.io/badge/python->3.7-blue)
+[![Versions](https://img.shields.io/badge/python->3.7-blue)](https://img.shields.io/badge/python->3.7-blue)
 [![Documentation Status](https://readthedocs.org/projects/sdss-lvmagp/badge/?version=latest)](https://sdss-lvmagp.readthedocs.io/en/latest/?badge=latest)
 [![Travis (.org)](https://img.shields.io/travis/sdss/lvmagp)](https://travis-ci.org/sdss/lvmagp)
 [![codecov](https://codecov.io/gh/sdss/lvmagp/branch/main/graph/badge.svg)](https://codecov.io/gh/sdss/lvmagp)
diff --git a/docs/sphinx/CHANGELOG.rst b/docs/sphinx/CHANGELOG.rst
deleted file mode 100644
index fee2d8a..0000000
--- a/docs/sphinx/CHANGELOG.rst
+++ /dev/null
@@ -1,2 +0,0 @@
-
-.. include:: ../../CHANGELOG.rst
diff --git a/docs/sphinx/api.rst b/docs/sphinx/api.rst
deleted file mode 100644
index e843b1e..0000000
--- a/docs/sphinx/api.rst
+++ /dev/null
@@ -1,15 +0,0 @@
-
-.. _api:
-
-lvmagp Reference
-=========================
-
-.. _api-main:
-
-Main
-----
-
-.. automodule:: lvmagp.main
-   :members:
-   :undoc-members:
-   :show-inheritance:
diff --git a/docs/sphinx/changelog.md b/docs/sphinx/changelog.md
new file mode 100644
index 0000000..abf5601
--- /dev/null
+++ b/docs/sphinx/changelog.md
@@ -0,0 +1,4 @@
+(lvmagp-changelog)=
+
+```{include} ../../CHANGELOG.md
+```
diff --git a/docs/sphinx/conf.py b/docs/sphinx/conf.py
index 6da92fd..904560c 100644
--- a/docs/sphinx/conf.py
+++ b/docs/sphinx/conf.py
@@ -27,13 +27,6 @@
 # Are we building in RTD?
 on_rtd = os.environ.get("READTHEDOCS") == "True"
 
-# Sphinx template selected in cookiecutter and whether to use releases
-sphinx_template = "sphinx-bootstrap"
-use_releases = "no"
-
-if sphinx_template == "sphinx-bootstrap":
-    import sphinx_bootstrap_theme
-
 
 # Importing matplotlib here with agg to prevent tkinter error in readthedocs
 # import matplotlib
@@ -57,6 +50,10 @@
     "sphinx.ext.viewcode",
     "sphinx.ext.mathjax",
     "sphinx.ext.intersphinx",
+    "sphinx_click",
+    "sphinx-jsonschema",
+    "myst_parser",
+    "sphinx_copybutton",
 ]
 
 # Add any paths that contain templates here, relative to this directory.
@@ -77,8 +74,8 @@
 
 # General information about the project.
 project = "lvmagp"
-copyright = "{0}, {1}".format("2021", "sumin lee")
-author = "sumin lee"
+copyright = "{0}, {1}".format("2021", "Hojae Ahn")
+author = "Hojae Ahn"
 
 # The version info for the project you're documenting, acts as replacement for
 # |version| and |release|, also used in various other places throughout the
@@ -131,16 +128,20 @@
 # Intersphinx mappings
 intersphinx_mapping = {
     "python": ("https://docs.python.org/", None),
-    "astropy": ("http://docs.astropy.org/en/latest", None),
     "numpy": ("http://docs.scipy.org/doc/numpy/", None),
+    "clu": ("http://clu.readthedocs.io/en/latest/", None),
 }
 
 autodoc_mock_imports = ["_tkinter"]
 autodoc_member_order = "groupwise"
+autodoc_typehints = "description"
 
 napoleon_use_rtype = False
 napoleon_use_ivar = True
 
+copybutton_prompt_text = r">>> |\$ "
+copybutton_prompt_is_regexp = True
+
 rst_epilog = f"""
 .. |numpy_array| replace:: Numpy array
 .. |HDUList| replace:: :class:`~astropy.io.fits.HDUList`
@@ -155,98 +156,9 @@
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 
-if sphinx_template == "sphinx-bootstrap":
-
-    html_theme = "bootstrap"
-
-    html_sidebars = {}
-
-    # Theme options are theme-specific and customize the look and feel of a theme
-    # further.  For a list of options available for each theme, see the
-    # documentation.
-    html_theme_options = {
-        # Navigation bar title. (Default: ``project`` value)
-        "navbar_title": "SDSS: {0}".format(project),
-        # Tab name for entire site. (Default: "Site")
-        "navbar_site_name": "Site",
-        # A list of tuples containing pages or urls to link to.
-        # Valid tuples should be in the following forms:
-        #    (name, page)                 # a link to a page
-        #    (name, "/aa/bb", 1)          # a link to an arbitrary relative url
-        #    (name, "http://example.com", True) # arbitrary absolute url
-        # Note the "1" or "True" value above as the third argument to indicate
-        # an arbitrary url.
-        "navbar_links": [],
-        # Render the next and previous page links in navbar. (Default: true)
-        "navbar_sidebarrel": False,
-        # Render the current pages TOC in the navbar. (Default: true)
-        "navbar_pagenav": False,
-        # Tab name for the current pages TOC. (Default: "Page")
-        "navbar_pagenav_name": "Page",
-        # Global TOC depth for "site" navbar tab. (Default: 1)
-        # Switching to -1 shows all levels.
-        "globaltoc_depth": 2,
-        # Include hidden TOCs in Site navbar?
-        #
-        # Note: If this is "false", you cannot have mixed ``:hidden:`` and
-        # non-hidden ``toctree`` directives in the same page, or else the build
-        # will break.
-        #
-        # Values: "true" (default) or "false"
-        "globaltoc_includehidden": "true",
-        # HTML navbar class (Default: "navbar") to attach to <div> element.
-        # For black navbar, do "navbar navbar-inverse"
-        "navbar_class": "navbar",
-        # Fix navigation bar to top of page?
-        # Values: "true" (default) or "false"
-        "navbar_fixed_top": "true",
-        # Location of link to source.
-        # Options are "nav" (default), "footer" or anything else to exclude.
-        "source_link_position": "",
-        # Bootswatch (http://bootswatch.com/) theme.
-        #
-        # Options are nothing (default) or the name of a valid theme
-        # such as "amelia" or "cosmo".
-        "bootswatch_theme": "paper",
-        # Choose Bootstrap version.
-        # Values: "3" (default) or "2" (in quotes)
-        "bootstrap_version": "3",
-    }
-
-    # Add any paths that contain custom themes here, relative to this directory.
-    html_theme_path = sphinx_bootstrap_theme.get_html_theme_path()
-
-    html_logo = "_static/sdssv_logo_small.png"
-
-    html_css_files += ["custom_bootstrap.css"]
-
-    html_sidebars = {"**": ["localtoc.html"]}
-
-elif sphinx_template == "alabaster":
-
-    html_theme = "alabaster"
-
-    html_theme_options = {
-        "logo": "sdssv_logo.png",
-        "github_user": "sdss",
-        "github_repo": project,
-        "github_button": True,
-        "github_type": "star",
-        "sidebar_collapse": True,
-        "page_width": "80%",
-    }
-
-    html_sidebars = {
-        "**": [
-            "about.html",
-            "navigation.html",
-            "relations.html",
-            "searchbox.html",
-        ]
-    }
-
-    html_css_files += ["custom.css"]
-
+html_theme = "furo"
+html_title = "lvmagp"
+html_logo = "_static/sdssv_logo.png"
 html_favicon = "./_static/favicon_sdssv.ico"
 
 # Add any paths that contain custom static files (such as style sheets) here,
@@ -318,11 +230,3 @@
         "Miscellaneous",
     ),
 ]
-
-if use_releases == "yes":
-
-    extensions += ["sdsstools.releases"]
-
-    releases_github_path = "sdss/lvmagp"
-    releases_document_name = ["CHANGELOG"]
-    releases_unstable_prehistory = True
diff --git a/docs/sphinx/index.rst b/docs/sphinx/index.rst
index 83e137a..b7790c3 100644
--- a/docs/sphinx/index.rst
+++ b/docs/sphinx/index.rst
@@ -1,35 +1,27 @@
 
 lvmagp's documentation
-=============================================
+======================
 
-This is the documentation for the SDSS Python product lvmagp. The current version is |lvmagp_version|. You can install the package by doing
-
-.. code-block:: console
-
-  $ pip install sdss-lvmagp
-
-
-Contents
---------
+This is the documentation for the SDSS Python product lvmagp. The current version is |lvmagp_version|.
 
 .. toctree::
-  :maxdepth: 2
+  :maxdepth: 3
+  :hidden:
 
-  What's new in lvmagp? <CHANGELOG>
-  Introduction to lvmagp <intro>
-
-
-Reference
----------
+  README <readme>
 
 .. toctree::
-   :maxdepth: 1
+  :caption: Reference
+  :maxdepth: 3
+  :hidden:
 
-   api
+  module
 
+.. toctree::
+  :caption: Development
+  :maxdepth: 3
+  :hidden:
 
-Indices and tables
-------------------
-
-* :ref:`genindex`
-* :ref:`modindex`
+  Changelog <changelog>
+  GitHub Repository <https://github.com/sdss/lvmagp>
+  Issues  <https://github.com/sdss/lvmagp/issues>
diff --git a/docs/sphinx/intro.rst b/docs/sphinx/intro.rst
deleted file mode 100644
index 8f62b9e..0000000
--- a/docs/sphinx/intro.rst
+++ /dev/null
@@ -1,7 +0,0 @@
-
-.. _intro:
-
-Introduction to lvmagp
-===============================
-
-We should write an introduction here.
diff --git a/docs/sphinx/module.rst b/docs/sphinx/module.rst
new file mode 100644
index 0000000..61cfc11
--- /dev/null
+++ b/docs/sphinx/module.rst
@@ -0,0 +1,9 @@
+.. _module:
+
+Module
+======
+
+.. automodule:: lvmagp.actor.commfunc
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/sphinx/readme.md b/docs/sphinx/readme.md
new file mode 100644
index 0000000..a575a57
--- /dev/null
+++ b/docs/sphinx/readme.md
@@ -0,0 +1,4 @@
+(lvmagp-readme)=
+
+```{include} ../../README.md
+```
diff --git a/docs/sphinx/requirements.txt b/docs/sphinx/requirements.txt
index c9ed3eb..c9810e9 100644
--- a/docs/sphinx/requirements.txt
+++ b/docs/sphinx/requirements.txt
@@ -1 +1,8 @@
-sphinx_bootstrap_theme~=0.4.12
+sphinx-click>=3.0.2
+sphinx-jsonschema>=1.16.7
+myst-parser>=0.14.0
+furo<=2021.6.18-beta.36
+sphinx-autobuild>=2021.3.14
+sphinx-copybutton>=0.3.3
+scipy>=1.7.3
+sdss-lvmtipo>=0.0.7
\ No newline at end of file
diff --git a/poetry.lock b/poetry.lock
deleted file mode 100644
index 099d988..0000000
--- a/poetry.lock
+++ /dev/null
@@ -1,2273 +0,0 @@
-[[package]]
-name = "aio-pika"
-version = "6.8.0"
-description = "Wrapper for the aiormq for asyncio and humans."
-category = "main"
-optional = false
-python-versions = ">3.5, <4"
-
-[package.dependencies]
-aiormq = ">=3.2.3,<4"
-yarl = "*"
-
-[package.extras]
-develop = ["aiomisc (>=10.1.6,<10.2.0)", "async-generator", "coverage (!=4.3)", "coveralls", "pylava", "pytest", "pytest-cov", "shortuuid", "nox", "sphinx", "sphinx-autobuild", "timeout-decorator", "tox (>=2.4)"]
-
-[[package]]
-name = "aiormq"
-version = "3.3.1"
-description = "Pure python AMQP asynchronous client library"
-category = "main"
-optional = false
-python-versions = ">3.5"
-
-[package.dependencies]
-pamqp = "2.3.0"
-yarl = "*"
-
-[package.extras]
-develop = ["aiomisc (>=11.0,<12.0)", "async-generator", "coverage (!=4.3)", "coveralls", "pylava", "pytest", "pytest-cov", "tox (>=2.4)"]
-
-[[package]]
-name = "alabaster"
-version = "0.7.12"
-description = "A configurable sidebar-enabled Sphinx theme"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "appnope"
-version = "0.1.2"
-description = "Disable App Nap on macOS >= 10.9"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "astropy"
-version = "4.3.1"
-description = "Astronomy and astrophysics core library"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-importlib-metadata = {version = "*", markers = "python_version == \"3.7\""}
-numpy = ">=1.17"
-pyerfa = ">=1.7.3"
-
-[package.extras]
-all = ["scipy (>=1.1)", "certifi", "dask", "h5py", "beautifulsoup4", "html5lib", "bleach", "PyYAML (>=3.13)", "pandas", "sortedcontainers", "pytz", "jplephem", "matplotlib (>=3.0,!=3.4.0)", "mpmath", "asdf (>=2.6)", "bottleneck", "ipython (>=4.2)", "pytest"]
-docs = ["sphinx (<4)", "sphinx-astropy (>=1.3)", "pytest", "PyYAML (>=3.13)", "scipy (>=1.1)", "matplotlib (>=3.1,!=3.4.0)", "sphinx-changelog (>=1.1.0)", "packaging"]
-test = ["pytest-astropy (>=0.8)", "pytest-xdist", "objgraph", "ipython (>=4.2)", "coverage", "skyfield (>=1.20)", "sgp4 (>=2.3)", "packaging"]
-
-[[package]]
-name = "atomicwrites"
-version = "1.4.0"
-description = "Atomic file writes."
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "attrs"
-version = "21.2.0"
-description = "Classes Without Boilerplate"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.extras]
-dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit"]
-docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
-tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface"]
-tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins"]
-
-[[package]]
-name = "babel"
-version = "2.9.1"
-description = "Internationalization utilities"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[package.dependencies]
-pytz = ">=2015.7"
-
-[[package]]
-name = "backcall"
-version = "0.2.0"
-description = "Specifications for callback functions passed in to an API"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "black"
-version = "21.11b1"
-description = "The uncompromising code formatter."
-category = "main"
-optional = false
-python-versions = ">=3.6.2"
-
-[package.dependencies]
-click = ">=7.1.2"
-mypy-extensions = ">=0.4.3"
-pathspec = ">=0.9.0,<1"
-platformdirs = ">=2"
-regex = ">=2021.4.4"
-tomli = ">=0.2.6,<2.0.0"
-typed-ast = {version = ">=1.4.2", markers = "python_version < \"3.8\" and implementation_name == \"cpython\""}
-typing-extensions = ">=3.10.0.0"
-
-[package.extras]
-colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)"]
-jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
-python2 = ["typed-ast (>=1.4.3)"]
-uvloop = ["uvloop (>=0.15.2)"]
-
-[[package]]
-name = "certifi"
-version = "2021.10.8"
-description = "Python package for providing Mozilla's CA Bundle."
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "charset-normalizer"
-version = "2.0.8"
-description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
-category = "main"
-optional = false
-python-versions = ">=3.5.0"
-
-[package.extras]
-unicode_backport = ["unicodedata2"]
-
-[[package]]
-name = "click"
-version = "8.0.3"
-description = "Composable command line interface toolkit"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-importlib-metadata = {version = "*", markers = "python_version < \"3.8\""}
-
-[[package]]
-name = "click-default-group"
-version = "1.2.2"
-description = "Extends click.Group to invoke a command without explicit subcommand name"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-click = "*"
-
-[[package]]
-name = "codecov"
-version = "2.1.12"
-description = "Hosted coverage reports for GitHub, Bitbucket and Gitlab"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[package.dependencies]
-coverage = "*"
-requests = ">=2.7.9"
-
-[[package]]
-name = "colorama"
-version = "0.4.4"
-description = "Cross-platform colored terminal text."
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "configparser"
-version = "5.1.0"
-description = "Updated configparser from Python 3.8 for Python 2.6+."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-docs = ["sphinx", "jaraco.packaging (>=8.2)", "rst.linker (>=1.9)", "jaraco.tidelift (>=1.4)"]
-testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "pytest-black (>=0.3.7)", "pytest-mypy"]
-
-[[package]]
-name = "coverage"
-version = "6.2"
-description = "Code coverage measurement for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-tomli = {version = "*", optional = true, markers = "extra == \"toml\""}
-
-[package.extras]
-toml = ["tomli"]
-
-[[package]]
-name = "cycler"
-version = "0.11.0"
-description = "Composable style cycles"
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From 6058e06224d5779940a868af961ce3630e69fd1b Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Tue, 8 Feb 2022 17:15:36 +0900
Subject: [PATCH 07/17] add ignores to flake8 & comment out isort

---
 .flake8                               | 6 +++++-
 .github/workflows/test.yml            | 8 ++++----
 pyproject.toml                        | 2 +-
 python/lvmagp/actor/commands/guide.py | 2 +-
 python/lvmagp/actor/commfunc.py       | 2 +-
 5 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/.flake8 b/.flake8
index d0adef6..6c59d56 100644
--- a/.flake8
+++ b/.flake8
@@ -4,7 +4,11 @@ ignore =
     H101
     N
     W504
-
+    E266
+    F401
+    F841
+    W503
+    
 per-file-ignores =
     */__init__.py:E,W
 
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 400d037..03715b4 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -43,10 +43,10 @@ jobs:
         # stop the build if there are Python syntax errors or undefined names
         flake8 ./python/lvmagp --count --show-source --statistics
 
-    - name: Lint with isort
-      run: |
-        pip install isort
-        isort -c .
+    # - name: Lint with isort
+    #   run: |
+    #     pip install isort
+    #     isort -c .
 
     #- name: Test with pytest
     #  run: |
diff --git a/pyproject.toml b/pyproject.toml
index 4f73e0f..e722ef4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -45,7 +45,7 @@ black = "^21.7-beta.0"
 sdss-cluplus = "^0.0.16"
 
 [tool.poetry.dev-dependencies]
-ipython = ">=7.11.0"
+ipython = ">=7.31.1"
 matplotlib = ">=3.1.1"
 flake8 = ">=3.7.9"
 doc8 = ">=0.8.0"
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 139aad5..bed4355 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -6,7 +6,7 @@
 
 from lvmagp.actor.commfunc import LVMEastCamera  # noqa: F401
 from lvmagp.actor.commfunc import (
-    LVMFiborselector,
+    LVMFiberselector,
     LVMFocuser,
     LVMKMirror,
     LVMTelescope,
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index f75644b..0d58ba9 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -554,7 +554,7 @@ def __read_parameters(self):
         self.screen_alt_d = -999
         self.screen_az_d = -999
 
-    ############# Autofocus functions #########################
+    ######## Autofocus functions #############
     def coarse_autofocus(self):
         """
         Find the focus coarsely by scanning whole reachable position.

From 7a14522eabca3be1ff2ede854d89b21c992a8b91 Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Tue, 15 Feb 2022 16:29:05 +0900
Subject: [PATCH 08/17] v.0.2.6a API updating

---
 .idea/vcs.xml                          |   1 -
 poetry.lock                            | 773 +++++++++++--------------
 python/lvmagp/actor/commands/guide.py  |   6 +-
 python/lvmagp/actor/commands/slew.py   |   2 +-
 python/lvmagp/actor/commfunc.py        | 535 ++++++++++++++---
 python/lvmagp/actor/internalfunc.py    |   4 +-
 python/lvmagp/actor/user_parameters.py |   5 +
 7 files changed, 795 insertions(+), 531 deletions(-)

diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 929b291..3ace023 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,7 +2,6 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="$PROJECT_DIR$" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/lvmtipo" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/python/lvmtipo" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/poetry.lock b/poetry.lock
index 099d988..1acde93 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,10 +1,10 @@
 [[package]]
 name = "aio-pika"
-version = "6.8.0"
+version = "6.8.1"
 description = "Wrapper for the aiormq for asyncio and humans."
 category = "main"
 optional = false
-python-versions = ">3.5, <4"
+python-versions = ">=3.5, <4"
 
 [package.dependencies]
 aiormq = ">=3.2.3,<4"
@@ -19,7 +19,7 @@ version = "3.3.1"
 description = "Pure python AMQP asynchronous client library"
 category = "main"
 optional = false
-python-versions = ">3.5"
+python-versions = ">3.5.*"
 
 [package.dependencies]
 pamqp = "2.3.0"
@@ -72,17 +72,17 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "attrs"
-version = "21.2.0"
+version = "21.4.0"
 description = "Classes Without Boilerplate"
 category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [package.extras]
-dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit"]
+dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
 docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
-tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface"]
-tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins"]
+tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
+tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
 
 [[package]]
 name = "babel"
@@ -105,7 +105,7 @@ python-versions = "*"
 
 [[package]]
 name = "black"
-version = "21.11b1"
+version = "21.12b0"
 description = "The uncompromising code formatter."
 category = "main"
 optional = false
@@ -116,7 +116,6 @@ click = ">=7.1.2"
 mypy-extensions = ">=0.4.3"
 pathspec = ">=0.9.0,<1"
 platformdirs = ">=2"
-regex = ">=2021.4.4"
 tomli = ">=0.2.6,<2.0.0"
 typed-ast = {version = ">=1.4.2", markers = "python_version < \"3.8\" and implementation_name == \"cpython\""}
 typing-extensions = ">=3.10.0.0"
@@ -138,7 +137,7 @@ python-versions = "*"
 
 [[package]]
 name = "charset-normalizer"
-version = "2.0.8"
+version = "2.0.10"
 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
 category = "main"
 optional = false
@@ -192,7 +191,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
 [[package]]
 name = "configparser"
-version = "5.1.0"
+version = "5.2.0"
 description = "Updated configparser from Python 3.8 for Python 2.6+."
 category = "main"
 optional = false
@@ -200,7 +199,7 @@ python-versions = ">=3.6"
 
 [package.extras]
 docs = ["sphinx", "jaraco.packaging (>=8.2)", "rst.linker (>=1.9)", "jaraco.tidelift (>=1.4)"]
-testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "pytest-black (>=0.3.7)", "pytest-mypy"]
+testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "types-backports", "pytest-black (>=0.3.7)", "pytest-mypy"]
 
 [[package]]
 name = "coverage"
@@ -241,7 +240,7 @@ test = ["coveralls", "flake8", "flake8-bugbear", "flake8-isort", "pytest", "pyte
 
 [[package]]
 name = "decorator"
-version = "5.1.0"
+version = "5.1.1"
 description = "Decorators for Humans"
 category = "dev"
 optional = false
@@ -285,14 +284,14 @@ pyflakes = ">=2.4.0,<2.5.0"
 
 [[package]]
 name = "fonttools"
-version = "4.28.2"
+version = "4.29.0"
 description = "Tools to manipulate font files"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
 
 [package.extras]
-all = ["fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "zopfli (>=0.1.4)", "lz4 (>=1.7.4.2)", "matplotlib", "sympy", "skia-pathops (>=0.5.0)", "brotlicffi (>=0.8.0)", "scipy", "brotli (>=1.0.1)", "munkres", "unicodedata2 (>=13.0.0)", "xattr"]
+all = ["fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "zopfli (>=0.1.4)", "lz4 (>=1.7.4.2)", "matplotlib", "sympy", "skia-pathops (>=0.5.0)", "brotlicffi (>=0.8.0)", "scipy", "brotli (>=1.0.1)", "munkres", "unicodedata2 (>=14.0.0)", "xattr"]
 graphite = ["lz4 (>=1.7.4.2)"]
 interpolatable = ["scipy", "munkres"]
 lxml = ["lxml (>=4.0,<5)"]
@@ -301,7 +300,7 @@ plot = ["matplotlib"]
 symfont = ["sympy"]
 type1 = ["xattr"]
 ufo = ["fs (>=2.2.0,<3)"]
-unicode = ["unicodedata2 (>=13.0.0)"]
+unicode = ["unicodedata2 (>=14.0.0)"]
 woff = ["zopfli (>=0.1.4)", "brotlicffi (>=0.8.0)", "brotli (>=1.0.1)"]
 
 [[package]]
@@ -367,7 +366,7 @@ toml = {version = ">=0.10.2", markers = "python_version > \"3.6\""}
 
 [[package]]
 name = "ipython"
-version = "7.30.1"
+version = "7.31.1"
 description = "IPython: Productive Interactive Computing"
 category = "dev"
 optional = false
@@ -484,7 +483,7 @@ python-versions = ">=3.6"
 
 [[package]]
 name = "matplotlib"
-version = "3.5.0"
+version = "3.5.1"
 description = "Python plotting package"
 category = "dev"
 optional = false
@@ -522,11 +521,11 @@ python-versions = "*"
 
 [[package]]
 name = "multidict"
-version = "5.2.0"
+version = "6.0.2"
 description = "multidict implementation"
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [[package]]
 name = "mypy-extensions"
@@ -538,11 +537,11 @@ python-versions = "*"
 
 [[package]]
 name = "numpy"
-version = "1.21.1"
+version = "1.21.5"
 description = "NumPy is the fundamental package for array computing with Python."
 category = "main"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.7,<3.11"
 
 [[package]]
 name = "packaging"
@@ -607,7 +606,7 @@ ptyprocess = ">=0.5"
 
 [[package]]
 name = "photutils"
-version = "1.2.0"
+version = "1.3.0"
 description = "An Astropy package for source detection and photometry"
 category = "main"
 optional = false
@@ -632,19 +631,19 @@ python-versions = "*"
 
 [[package]]
 name = "pillow"
-version = "8.4.0"
+version = "9.0.0"
 description = "Python Imaging Library (Fork)"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [[package]]
 name = "platformdirs"
-version = "2.4.0"
+version = "2.4.1"
 description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.extras]
 docs = ["Sphinx (>=4)", "furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx-autodoc-typehints (>=1.12)"]
@@ -667,7 +666,7 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "prompt-toolkit"
-version = "3.0.23"
+version = "3.0.24"
 description = "Library for building powerful interactive command lines in Python"
 category = "main"
 optional = false
@@ -678,7 +677,7 @@ wcwidth = "*"
 
 [[package]]
 name = "psutil"
-version = "5.8.0"
+version = "5.9.0"
 description = "Cross-platform lib for process and system monitoring in Python."
 category = "main"
 optional = false
@@ -736,7 +735,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "pygments"
-version = "2.10.0"
+version = "2.11.2"
 description = "Pygments is a syntax highlighting package written in Python."
 category = "main"
 optional = false
@@ -744,7 +743,7 @@ python-versions = ">=3.5"
 
 [[package]]
 name = "pyparsing"
-version = "3.0.6"
+version = "3.0.7"
 description = "Python parsing module"
 category = "main"
 optional = false
@@ -755,11 +754,11 @@ diagrams = ["jinja2", "railroad-diagrams"]
 
 [[package]]
 name = "pyrsistent"
-version = "0.18.0"
+version = "0.18.1"
 description = "Persistent/Functional/Immutable data structures"
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [[package]]
 name = "pytest"
@@ -785,17 +784,18 @@ testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "requests", "xm
 
 [[package]]
 name = "pytest-asyncio"
-version = "0.16.0"
-description = "Pytest support for asyncio."
+version = "0.17.2"
+description = "Pytest support for asyncio"
 category = "dev"
 optional = false
-python-versions = ">= 3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
-pytest = ">=5.4.0"
+pytest = ">=6.1.0"
+typing-extensions = {version = ">=4.0", markers = "python_version < \"3.8\""}
 
 [package.extras]
-testing = ["coverage", "hypothesis (>=5.7.1)"]
+testing = ["coverage (==6.2)", "hypothesis (>=5.7.1)", "flaky (>=3.5.0)", "mypy (==0.931)"]
 
 [[package]]
 name = "pytest-cov"
@@ -866,21 +866,13 @@ category = "main"
 optional = false
 python-versions = ">=3.6"
 
-[[package]]
-name = "regex"
-version = "2021.11.10"
-description = "Alternative regular expression module, to replace re."
-category = "main"
-optional = false
-python-versions = "*"
-
 [[package]]
 name = "requests"
-version = "2.26.0"
+version = "2.27.1"
 description = "Python HTTP for Humans."
 category = "main"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5"
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
 
 [package.dependencies]
 certifi = ">=2017.4.17"
@@ -935,7 +927,7 @@ docs = ["Sphinx (>=2.1.0)", "sphinx-bootstrap-theme (>=0.4.12)", "recommonmark (
 
 [[package]]
 name = "sdss-clu"
-version = "1.5.5"
+version = "1.5.6"
 description = "A new protocol for SDSS actors."
 category = "main"
 optional = false
@@ -968,7 +960,7 @@ sdsstools = ">=0.4.0"
 
 [[package]]
 name = "sdss-tree"
-version = "3.1.0"
+version = "3.1.1"
 description = "Control and setup of SDSS tree environment and modules"
 category = "main"
 optional = false
@@ -1011,7 +1003,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "setuptools-scm"
-version = "6.3.2"
+version = "6.4.2"
 description = "the blessed package to manage your versions by scm tags"
 category = "dev"
 optional = false
@@ -1022,7 +1014,8 @@ packaging = ">=20.0"
 tomli = ">=1.0.0"
 
 [package.extras]
-toml = ["setuptools (>=42)", "tomli (>=1.0.0)"]
+test = ["pytest (>=6.2)", "virtualenv (>20)"]
+toml = ["setuptools (>=42)"]
 
 [[package]]
 name = "six"
@@ -1172,7 +1165,7 @@ python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
 
 [[package]]
 name = "tomli"
-version = "1.2.2"
+version = "1.2.3"
 description = "A lil' TOML parser"
 category = "main"
 optional = false
@@ -1207,7 +1200,7 @@ test = ["pytest"]
 
 [[package]]
 name = "typed-ast"
-version = "1.5.0"
+version = "1.5.2"
 description = "a fork of Python 2 and 3 ast modules with type comment support"
 category = "main"
 optional = false
@@ -1223,7 +1216,7 @@ python-versions = ">=3.6"
 
 [[package]]
 name = "urllib3"
-version = "1.26.7"
+version = "1.26.8"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 category = "main"
 optional = false
@@ -1257,15 +1250,15 @@ typing-extensions = {version = ">=3.7.4", markers = "python_version < \"3.8\""}
 
 [[package]]
 name = "zipp"
-version = "3.6.0"
+version = "3.7.0"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.extras]
 docs = ["sphinx", "jaraco.packaging (>=8.2)", "rst.linker (>=1.9)"]
-testing = ["pytest (>=4.6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "jaraco.itertools", "func-timeout", "pytest-black (>=0.3.7)", "pytest-mypy"]
+testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-cov", "pytest-enabler (>=1.0.1)", "jaraco.itertools", "func-timeout", "pytest-black (>=0.3.7)", "pytest-mypy"]
 
 [metadata]
 lock-version = "1.1"
@@ -1274,8 +1267,8 @@ content-hash = "7be3affd459b0a3a6fcadacc13c7bef0110401fce866cc88e910a0816d7c2f04
 
 [metadata.files]
 aio-pika = [
-    {file = "aio-pika-6.8.0.tar.gz", hash = "sha256:1d4305a5f78af3857310b4fe48348cdcf6c097e0e275ea88c2cd08570531a369"},
-    {file = "aio_pika-6.8.0-py3-none-any.whl", hash = "sha256:e69afef8695f47c5d107bbdba21bdb845d5c249acb3be53ef5c2d497b02657c0"},
+    {file = "aio-pika-6.8.1.tar.gz", hash = "sha256:c2b2b46949a34252ff0e64c3bc208eef1893e5791b51aeefabf1676788d56b66"},
+    {file = "aio_pika-6.8.1-py3-none-any.whl", hash = "sha256:059ab8ecc03d73997f64ed28df7269105984232174d0e6406389c4e8ed30941c"},
 ]
 aiormq = [
     {file = "aiormq-3.3.1-py3-none-any.whl", hash = "sha256:e584dac13a242589aaf42470fd3006cb0dc5aed6506cbd20357c7ec8bbe4a89e"},
@@ -1312,8 +1305,8 @@ atomicwrites = [
     {file = "atomicwrites-1.4.0.tar.gz", hash = "sha256:ae70396ad1a434f9c7046fd2dd196fc04b12f9e91ffb859164193be8b6168a7a"},
 ]
 attrs = [
-    {file = "attrs-21.2.0-py2.py3-none-any.whl", hash = "sha256:149e90d6d8ac20db7a955ad60cf0e6881a3f20d37096140088356da6c716b0b1"},
-    {file = "attrs-21.2.0.tar.gz", hash = "sha256:ef6aaac3ca6cd92904cdd0d83f629a15f18053ec84e6432106f7a4d04ae4f5fb"},
+    {file = "attrs-21.4.0-py2.py3-none-any.whl", hash = "sha256:2d27e3784d7a565d36ab851fe94887c5eccd6a463168875832a1be79c82828b4"},
+    {file = "attrs-21.4.0.tar.gz", hash = "sha256:626ba8234211db98e869df76230a137c4c40a12d72445c45d5f5b716f076e2fd"},
 ]
 babel = [
     {file = "Babel-2.9.1-py2.py3-none-any.whl", hash = "sha256:ab49e12b91d937cd11f0b67cb259a57ab4ad2b59ac7a3b41d6c06c0ac5b0def9"},
@@ -1324,16 +1317,16 @@ backcall = [
     {file = "backcall-0.2.0.tar.gz", hash = "sha256:5cbdbf27be5e7cfadb448baf0aa95508f91f2bbc6c6437cd9cd06e2a4c215e1e"},
 ]
 black = [
-    {file = "black-21.11b1-py3-none-any.whl", hash = "sha256:802c6c30b637b28645b7fde282ed2569c0cd777dbe493a41b6a03c1d903f99ac"},
-    {file = "black-21.11b1.tar.gz", hash = "sha256:a042adbb18b3262faad5aff4e834ff186bb893f95ba3a8013f09de1e5569def2"},
+    {file = "black-21.12b0-py3-none-any.whl", hash = "sha256:a615e69ae185e08fdd73e4715e260e2479c861b5740057fde6e8b4e3b7dd589f"},
+    {file = "black-21.12b0.tar.gz", hash = "sha256:77b80f693a569e2e527958459634f18df9b0ba2625ba4e0c2d5da5be42e6f2b3"},
 ]
 certifi = [
     {file = "certifi-2021.10.8-py2.py3-none-any.whl", hash = "sha256:d62a0163eb4c2344ac042ab2bdf75399a71a2d8c7d47eac2e2ee91b9d6339569"},
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 ]
 urllib3 = [
-    {file = "urllib3-1.26.7-py2.py3-none-any.whl", hash = "sha256:c4fdf4019605b6e5423637e01bc9fe4daef873709a7973e195ceba0a62bbc844"},
-    {file = "urllib3-1.26.7.tar.gz", hash = "sha256:4987c65554f7a2dbf30c18fd48778ef124af6fab771a377103da0585e2336ece"},
+    {file = "urllib3-1.26.8-py2.py3-none-any.whl", hash = "sha256:000ca7f471a233c2251c6c7023ee85305721bfdf18621ebff4fd17a8653427ed"},
+    {file = "urllib3-1.26.8.tar.gz", hash = "sha256:0e7c33d9a63e7ddfcb86780aac87befc2fbddf46c58dbb487e0855f7ceec283c"},
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 wcwidth = [
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@@ -2268,6 +2169,6 @@ yarl = [
     {file = "yarl-1.7.2.tar.gz", hash = "sha256:45399b46d60c253327a460e99856752009fcee5f5d3c80b2f7c0cae1c38d56dd"},
 ]
 zipp = [
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-    {file = "zipp-3.6.0.tar.gz", hash = "sha256:71c644c5369f4a6e07636f0aa966270449561fcea2e3d6747b8d23efaa9d7832"},
+    {file = "zipp-3.7.0-py3-none-any.whl", hash = "sha256:b47250dd24f92b7dd6a0a8fc5244da14608f3ca90a5efcd37a3b1642fac9a375"},
+    {file = "zipp-3.7.0.tar.gz", hash = "sha256:9f50f446828eb9d45b267433fd3e9da8d801f614129124863f9c51ebceafb87d"},
 ]
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 139aad5..07402a4 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -6,7 +6,7 @@
 
 from lvmagp.actor.commfunc import LVMEastCamera  # noqa: F401
 from lvmagp.actor.commfunc import (
-    LVMFiborselector,
+    LVMFiberselector,
     LVMFocuser,
     LVMKMirror,
     LVMTelescope,
@@ -25,7 +25,7 @@ def guide(*args):
 
 @guide.command()
 @click.argument("TEL", type=str)
-@click.option("--useteldata", type=float, is_flag=True)
+@click.option("--useteldata", type=bool, is_flag=True)
 async def start(
     command: Command,
     telescopes: dict[str, LVMTelescope],
@@ -279,7 +279,7 @@ async def autoguide_supervisor(
             useteldata,
         )
 
-        if telescopes[tel].ag_break is True:
+        if telescopes[tel].ag_break:
             telescopes[tel].ag_break = False
             break
 
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 5955fed..263e124 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -30,7 +30,7 @@ async def slew(
     """
 
     telunit = LVMTelescopeUnit(tel)
-    telunit.slew_radec2000(target_ra_h=target_ra_h, target_dec_d=target_dec_d)
+    telunit.goto_eq(target_ra_h=target_ra_h, target_dec_d=target_dec_d)
     del telunit
 
     return command.finish(text="Acquisition done")
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index f75644b..553276b 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -63,7 +63,7 @@ def focusoffset(self, delta_f=None):
 
         try:
             self.amqpc.log.debug(f"{datetime.datetime.now()} | Move focus by {delta_f}")
-            self._foc.moveRelative(delta_f, unit="STEPS")
+            self._foc.moveRelative(delta_f, "STEPS")
 
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
@@ -88,13 +88,13 @@ def focus(self, value=None, temperature=None):
                 self.amqpc.log.debug(
                     f"{datetime.datetime.now()} | Move focus to {value}"
                 )
-                self._foc.moveAbsolute(value, unit="STEPS")
+                self._foc.moveAbsolute(value, "STEPS")
             else:
                 temp_value = temp_vs_focus(temperature=temperature)
                 self.amqpc.log.debug(
                     f"{datetime.datetime.now()} | Move focus to {value} (estimated)"
                 )
-                self._foc.moveAbsolute(temp_value, unit="STEPS")
+                self._foc.moveAbsolute(temp_value, "STEPS")
 
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
@@ -112,7 +112,7 @@ def getfocusposition(self, unit="STEPS"):
             Unit of position
         """
         try:
-            position = self._foc.getPosition(unit=unit)["Position"]
+            position = self._foc.getPosition(unit)["Position"]
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
@@ -225,39 +225,7 @@ def __init__(self, tel, amqpc, sitename="LCO"):
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
 
-    def goto_park(self):
-        """
-        Move telescope to safe park position.
-
-        ======
-        Comments and desired actions:
-        - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope. Return error message
-            (assume people are inside dome)
-        - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations),
-            abort observation (halt in LVMI_interface) and park telescope
-            (in this case, we assume user wants to park due to an emergency)
-        """
-        pass
-
-    def goto_zenith(self):
-        """
-        Point telescope to zenith
-
-        ======
-        Comments and desired actions:
-        - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope.
-            Return error message (assume people are inside dome)
-        - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations),
-            repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates
-              (i.e. "waiting for instrument to become idle before moving telescope")
-        """
-
-    def slew_radec2000(self, target_ra_h, target_dec_d):
+    def _slew_radec2000(self, target_ra_h, target_dec_d):
         """
         Slew the telescope to given equatorial coordinates whose epoch is J2000.
 
@@ -272,13 +240,13 @@ def slew_radec2000(self, target_ra_h, target_dec_d):
             self.amqpc.log.debug(
                 f"{datetime.datetime.now()} | Start to slew telescope to RA {target_ra_h}, Dec {target_dec_d}."  # noqa: E501
             )
-            self._pwi.gotoRaDecJ2000(ra_h=target_ra_h, deg_d=target_dec_d)
+            self._pwi.gotoRaDecJ2000(target_ra_h, target_dec_d)
         except Exception as e:
             self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
             raise
         self.amqpc.log.debug(f"{datetime.datetime.now()} | Slew completed.")
 
-    def slew_altaz(self, target_alt_d, target_az_d):
+    def _slew_altaz(self, target_alt_d, target_az_d):
         """
         Slew the telescope to given horizontal coordinates.
 
@@ -293,13 +261,13 @@ def slew_altaz(self, target_alt_d, target_az_d):
             self.amqpc.log.debug(
                 f"{datetime.datetime.now()} | Start to slew telescope to Alt {target_alt_d}, Az {target_az_d}."  # noqa: E501
             )
-            self._pwi.gotoRaDecJ2000(alt_d=target_alt_d, az_d=target_az_d)
+            self._pwi.gotoAltAzJ2000(target_alt_d, target_az_d)
         except Exception as e:
             self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
             raise
         self.amqpc.log.debug(f"{datetime.datetime.now()} | Slew completed.")
 
-    def reset_offset_radec(self):
+    def _reset_offset_radec(self):
         """
         Reset the offset of both axes to zero.
         """
@@ -315,7 +283,7 @@ def reset_offset_radec(self):
             f"{datetime.datetime.now()} | Zero offset setting completed."
         )
 
-    def offset_radec(self, ra_arcsec, dec_arcsec):
+    def _offset_radec(self, ra_arcsec, dec_arcsec):
         """
         Give some offset to the mount
 
@@ -326,18 +294,17 @@ def offset_radec(self, ra_arcsec, dec_arcsec):
         dec_arcsec
             Distance to move along declination axis in arcseconds
         """
-
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | Set telescope offsets ra={ra_arcsec}, dec={dec_arcsec}"  # noqa: E501
+        )
         try:
-            self.amqpc.log.debug(
-                f"{datetime.datetime.now()} | Set telescope offsets ra={ra_arcsec}, dec={dec_arcsec}"  # noqa: E501
-            )
             self._pwi.offset(ra_add_arcsec=ra_arcsec, dec_add_arcsec=dec_arcsec)
         except Exception as e:
             self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
             raise
         self.amqpc.log.debug(f"{datetime.datetime.now()} | Set offset done")
 
-    def get_dec2000_deg(self):
+    def _get_dec2000_deg(self):
         """
         Return the declination (J2000) of current position in degrees
         """
@@ -349,6 +316,25 @@ def get_dec2000_deg(self):
 
         return status["dec_j2000_degs"]
 
+    def _set_tracking(self, enable):
+        """
+        Turn on or off the mount tracking
+
+        Parameters
+        ----------
+        enable
+            If enable is True, tracking will be started. Otherwise, the tracking will be stopped.
+        """
+
+
+        s = "ON" if enable else "OFF"
+        self.amqpc.log.debug(f"{datetime.datetime.now()} | Set tracking {s}")
+        try:
+            self._pwi.setTracking(enable)
+        except Exception as e:
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
+            raise
+
 
 class LVMCamera:
     """
@@ -377,7 +363,7 @@ def single_exposure(self, exptime):
         )
 
         try:
-            path = self._cam.expose(exptime=exptime, num=1, camname=self.camname)[
+            path = self._cam.expose(exptime, 1, self.camname)[
                 "PATH"
             ]
         except Exception as e:
@@ -406,7 +392,7 @@ def test_exposure(self, exptime):
 
         try:
             path = self._cam.expose(
-                exptime=exptime, num=1, camname=self.camname, testshot=True
+                exptime, 1, self.camname, testshot=""
             )["PATH"]
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
@@ -428,8 +414,12 @@ def bias_exposure(self, repeat):
         repeat
             The number of bias images
         """
+        self.amqpc.log.debug(
+            f"{datetime.datetime.now()} | Guider {self.camname} exposure started"
+        )
+
         try:
-            path = self._cam.expose(exptime=0, num=repeat, camname=self.camname)["PATH"]
+            path = self._cam.expose(0, repeat, self.camname)["PATH"]
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
@@ -440,6 +430,22 @@ def bias_exposure(self, repeat):
 
         return path.values()
 
+    def status(self):
+        '''
+        Return status of autoguide camera (i.e. power status, exposing/reading out/idle ).
+        '''
+
+        try:
+            status = self._cam.status()
+        except Exception as e:
+            self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+            raise
+
+        self.amqpc.log.info(
+            f"{datetime.datetime.now()} | {status}"
+        )
+
+        return status
 
 class LVMEastCamera(LVMCamera):
     """
@@ -510,6 +516,9 @@ def __init__(
             log_dir="/home/hojae/Desktop/lvmagp/logs",
             log=self.log,
         )
+        self.ag_on = False
+        self.ag_break = False
+
         # log_dir => How to fix??
         self.__connect_actors(
             enable_pwi, enable_foc, enable_agw, enable_age, enable_fibsel, enable_km
@@ -551,9 +560,6 @@ def __read_parameters(self):
         self.pixelscale = -999
         self.rotationangle = -999
 
-        self.screen_alt_d = -999
-        self.screen_az_d = -999
-
     ############# Autofocus functions #########################
     def coarse_autofocus(self):
         """
@@ -692,14 +698,14 @@ def goto_eq(
             )
             raise LvmagpTargetOverTheLimit
 
-        self.reset_offset_radec()
+        self._reset_offset_radec()
 
         # Calculate position angle and rotate K-mirror  :: should be changed to traj method.
         target_pa_d0 = cal_pa(target_ra_h, target_dec_d, long_d, lat_d)
 
         invoke(
             self.derotate(target_pa_d0 + target_pa_d),
-            self.slew_radec2000(target_ra_h=target_ra_h, target_dec_d=target_dec_d),
+            self._slew_radec2000(target_ra_h=target_ra_h, target_dec_d=target_dec_d),
         )
 
         self.amqpc.log.debug(
@@ -790,7 +796,7 @@ def goto_eq(
                     )
                     invoke(
                         self.derotate(target_pa_d - pa_d),
-                        self.offset_radec(
+                        self._offset_radec(
                             ra_arcsec=comp_ra_arcsec, dec_arcsec=comp_dec_arcsec
                         ),
                     )
@@ -845,7 +851,7 @@ def goto_aa(
             )
             raise LvmagpTargetOverTheLimit
 
-        self.reset_offset_radec()
+        self._reset_offset_radec()
 
         # Calculate position angle and rotate K-mirror  :: should be changed to traj method.
         target_pa_d0 = (
@@ -854,7 +860,7 @@ def goto_aa(
 
         invoke(
             self.derotate(target_pa_d0 + target_pa_d),
-            self.slew_altaz(target_alt_d=target_alt_d, target_az_d=target_az_d),
+            self._slew_altaz(target_alt_d=target_alt_d, target_az_d=target_az_d),
         )
 
         self.amqpc.log.debug(
@@ -877,60 +883,413 @@ def goto_screen(self):
               (i.e. "waiting for instrument to become idle before moving telescope")
         """
 
-        self.goto_aa(target_alt_d=self.screen_alt_d, target_az_d=self.screen_az_d)
+        self.goto_aa(target_alt_d=usrpars.screen_alt_d, target_az_d=usrpars.screen_az_d)
 
-    ############# Autoguide functions #########################
-    def offset(
-        self,
-        target=None,
-        delta_ra=None,
-        delta_dec=None,
-        delta_x=None,
-        delta_y=None,
-        offset_gbox=False,
-    ):
+    def goto_park(self):
         """
-        Pointing offset: change track rates
+        Move telescope to safe park position.
 
         ======
         Comments and desired actions:
+        - Check dome safety interlock:
+            - if interlock is engaged, do not move the telescope. Return error message
+            (assume people are inside dome)
+        - run status (LVMI_interface) to check instrument status
+            - if not idle (i.e. carrying out any observations or calibrations),
+            abort observation (halt in LVMI_interface) and park telescope
+            (in this case, we assume user wants to park due to an emergency)
         """
-        pass
+        self.goto_aa(target_alt_d=usrpars.park_alt_d, target_az_d=usrpars.park_az_d)
 
-    def guide_offset(
-        self, target=None, delta_ra=None, delta_dec=None, delta_x=None, delta_y=None
-    ):
+    def goto_zenith(self):
         """
-        Guiding offset: do NOT change track rates
+        Point telescope to zenith
 
         ======
         Comments and desired actions:
+        - Check dome safety interlock:
+            - if interlock is engaged, do not move the telescope.
+            Return error message (assume people are inside dome)
+        - run status (LVMI_interface) to check instrument status
+            - if not idle (i.e. carrying out any observations or calibrations),
+            repeat status command regularly until it returns idle,
+              then move telescope. Regularly give updates
+              (i.e. "waiting for instrument to become idle before moving telescope")
+        """
+        self.goto_aa(target_alt_d=89.9999, target_az_d=180.)
+
+    def track_on(self, derotator=True):
+        '''
+        Turn on tracking, optionally track in rotation, optionally
+        supply non-sidereal track rates.
+
+        Parameters
+        ----------
+        derotator
+            If True, derotator will work to compensate the field rotation.
+        '''
+        self._set_tracking(enable=True)
+        if derotator:
+            pass  # do something to derotate the field
+
+    def track_off(self):
+        '''
+        Turn off mount tracking and field derotating.
+        '''
+
+        self._set_tracking(enable=False)
+        # do something to stop the derotator
+
+    ############# Autoguide functions #########################
+    def offset(
+        self, target=None, delta_ra=None, delta_dec=None, delta_x=None, delta_y=None, delta_pa=None
+    ):
         """
+        Normal offset (for guiding): do NOT change track rates
 
-    pass
+        Parameters
+        ----------
+        target
+            ???
+        delta_ra
+            Offset in ra direction in arcsecond (+/- = E/W)
+        delta_dec
+            Offset in dec direction in arcsecond(+/- = N/S)
+        delta_x
+            Offset in x direction in guide frame in pixel(+/- = R/L)
+        delta_y
+            Offset in y direction in guide frame in pixel (+/- = U/D)
+        delta_pa
+            Offset in position angle in degree (+/- = CW/CCW)
+        """
+
+        pass
 
-    def offset_gbox(self, delta_x=None, delta_y=None, delta_pa=None):
+    def dither(self, delta_x=None, delta_y=None, delta_pa=None):
         """
-        move the guider set points by specified amount; used to move accurate
+        move the guider set points (guide boxes) by specified amount; used to move accurate
         offsets by letting the guider do the work. used, e.g., for dithering.
-        ======
-        Comments and desired actions:
+
+        Parameters
+        ----------
+        delta_x
+            Offset in x direction in guide frame in pixel(+/- = R/L)
+        delta_y
+            Offset in y direction in guide frame in pixel (+/- = U/D)
+        delta_pa
+            Offset in position angle in degree (+/- = CW/CCW)
         """
 
-    pass
+        pass
+
 
-    def paoffset(self, delta_PA=None):
+    def guide_on(self, useteldata=False, guide_parameters=None):
+        '''
+        Start guiding, or modify parameters of running guide loop.  <--- modify????
+        guide_parameters is a dictionary containing additional parameters for
+        the guiders, e.g. exposure times, cadence, PID parameters, readout or window modes, ...
+
+        useteldata
+            If ``useteldata`` is flagged, the sequence will use the pixel scale and
+            rotation angle from LVMTelescope.
+            Otherwise, the sequence will get pixel scale from LVMCamera, and
+            it assumes that the camera is north-oriented.
+        guide_parameters
+            exposure times, cadence, PID parameters, readout or window modes, ... ???
+        '''
+        if self.ag_on:
+            pass #raise lvmagpguidealreadyrunning ?????
+
+        try:
+            autoguide_supervisor(useteldata,
+                    timeout=3600)
+            await telescopes[tel].ag_task
+
+        except asyncio.TimeoutError:
+                command.error("Autoguide timeout")
+
+        finally:
+                telescopes[tel].ag_task = None
+
+        return command.finish("Guide stopped")
+
+
+    def guide_off(self):
+        '''
+        Turn off guiding, revert to tracking (track_on).
+        '''
+        if tel in telescopes:
+            if telescopes[tel].ag_task is not None:
+                telescopes[tel].ag_break = True
+            else:
+                return command.fail(
+                    text="There is no autoguiding loop for telescope '%s'" % tel
+                )
+        else:
+            return command.fail(text="Telescope '%s' does not exist" % tel)
+
+        return command.finish()
+
+    '''
+    async def calibration():
+        """
+        Run calibration sequence to calculate the transformation
+        from the equatorial coordinates to the xy coordinates of the image.
         """
-        Apply a relative rotation offset by moving the K-mirror
 
-        Parameters:
-            delta_PA (float): rotation offset in degrees (+/- = E/W)
+        offset_per_step = usrpars.ag_cal_offset_per_step
+        num_step = usrpars.ag_cal_num_step
 
-        Returns:
-            None
+        if tel not in telescopes:
+            return command.fail(text="Telescope '%s' does not exist" % tel)
+
+        decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
+
+        xpositions, ypositions = [], []
+
+        initposition, initflux = await find_guide_stars(
+            command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel
+        )
+        xpositions.append(initposition[:, 0])
+        ypositions.append(initposition[:, 1])
+
+        await asyncio.sleep(3)
+
+        # dec axis calibration
+        for step in range(1, num_step + 1):
+            await telescopes[tel].offset_radec(command, 0, offset_per_step)
+            position, flux = await find_guide_stars(
+                command,
+                telescopes,
+                eastcameras,
+                westcameras,
+                focusers,
+                kmirrors,
+                tel,
+                positionguess=initposition,
+            )
+            xpositions.append(position[:, 0])
+            ypositions.append(position[:, 1])
+
+        await telescopes[tel].offset_radec(command, 0, -num_step * offset_per_step)
+
+        xoffsets = np.array(xpositions) - xpositions[0]
+        yoffsets = np.array(ypositions) - ypositions[0]
+
+        print(xpositions)
+        print(xoffsets)
+        print(ypositions)
+        print(yoffsets)
+
+        xscale_dec = (
+                np.average(xoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+                offset_per_step
+        )  # displacement along x-axis by ra offset in pixel per arcsec. exclude the first index (0,0)
+        yscale_dec = (
+                np.average(yoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)])) /
+                offset_per_step
+        )  # exclude the first index (0,0)
+
+        # ra axis calibration
+        xpositions = [initposition[:, 0]]
+        ypositions = [initposition[:, 1]]
+
+        for step in range(1, num_step + 1):
+            await telescopes[tel].offset_radec(
+                command, offset_per_step / np.cos(np.deg2rad(decj2000_deg)), 0
+            )
+            position, flux = await find_guide_stars(
+                command,
+                telescopes,
+                eastcameras,
+                westcameras,
+                focusers,
+                kmirrors,
+                tel,
+                positionguess=initposition,
+            )
+            xpositions.append(position[:, 0])
+            ypositions.append(position[:, 1])
+
+        await telescopes[tel].offset_radec(
+            command, -num_step * offset_per_step / np.cos(np.deg2rad(decj2000_deg)), 0
+        )
+
+        xoffsets = np.array(xpositions) - xpositions[0]
+        yoffsets = np.array(ypositions) - ypositions[0]
+
+        print(xpositions)
+        print(xoffsets)
+        print(ypositions)
+        print(yoffsets)
+
+        xscale_ra = (
+                np.sum(xoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)]))
+                / offset_per_step
+        )  # exclude the first index (0,0)
+        yscale_ra = (
+                np.sum(yoffsets[1:] / np.array([[i] * 3 for i in range(1, num_step + 1)]))
+                / offset_per_step
+        )  # exclude the first index (0,0)
+
+        telescopes[tel].scale_matrix = np.linalg.inv(
+            np.array([[xscale_ra, xscale_dec], [yscale_ra, yscale_dec]])
+        )  # inverse matrix.. linear system of equations..
+        return command.finish(
+            xscale_ra="%.3f pixel/arcsec" % xscale_ra,
+            yscale_ra="%.3f pixel/arcsec" % yscale_ra,
+            xscale_dec="%.3f pixel/arcsec" % xscale_dec,
+            yscale_dec="%.3f pixel/arcsec" % yscale_dec,
+        )
+    '''
+
+    def autoguide_supervisor(self, useteldata):
+        """
+        Manage the autoguide sequence.
+        It starts real autoguide loop and keeps it until the break signal comes.
+
+        Parameters
+        ----------
+        tel
+            Telescope to autoguide
+        useteldata
+            If ``useteldata`` is flagged,
+            the sequence will use the pixel scale and rotation angle from LVMTelescope.
+            Otherwise, the sequence will get pixel scale from LVMCamera, and
+            it assumes that the camera is north-oriented and both axes of mount are orthogonal.
+        """
+        initposition, initflux = self.find_guide_stars()
+
+        while 1:
+            await autoguiding(
+                initposition,
+                initflux,
+                useteldata,
+            )
+
+            if telescopes[tel].ag_break:
+                telescopes[tel].ag_break = False
+                break
+
+        return True
+
+    async def find_guide_stars(self, positionguess=None):
+        """
+        Expose an image, and find three guide stars from the image.
+        Also calculate the center coordinates and fluxes of found stars.
+
+        Parameters
+        ----------
+        positionguess
+            Initial guess of guidestar position.
+            It should be given in np.ndarray as [[x1, y1], [x2, y2], ...]
+            If ``positionguess`` is not None, ``find_guide_stars`` only conduct center finding
+            based on ``positionguess`` without finding new stars.
+        """
+
+        # take an image for astrometry
+        command.info("Taking image...")
+
+        try:
+            imgcmd = []
+            imgcmd.append(westcameras[tel].single_exposure(command, usrpars.ag_exptime))
+            imgcmd.append(eastcameras[tel].single_exposure(command, usrpars.ag_exptime))
+
+            guideimgpath = await asyncio.gather(*imgcmd)
+
+        except Exception:
+            return command.fail(fail="Camera error")
+
+        westguideimg = GuideImage(guideimgpath[0])
+        eastguideimg = GuideImage(guideimgpath[1])
+
+        if positionguess is None:
+            starposition = westguideimg.findstars()
+        else:
+            westguideimg.guidestarposition = positionguess
+            westguideimg.update_guidestar_properties()
+            starposition = westguideimg.guidestarposition
+        starflux = westguideimg.guidestarflux
+
+        return starposition, starflux
+
+    async def autoguiding(self, initposition,
+            initflux,
+            useteldata,
+    ):
         """
+        Expose an image, and calculate offset from the image and initial values.
+        Compensate the offset.
+
+        Parameters
+        ----------
+        tel
+            Telescope to autoguide
+        initposition
+            Position of guide stars when the autoguide is started
+        initflux
+            Flux of guide stars when the autoguide is started
+        positionguess
+            Initial guess of guidestar position.
+            It should be given in np.ndarray as [[x1, y1], [x2, y2], ...]
+            If ``positionguess`` is not None, ``find_guide_stars`` only conduct center finding
+            based on ``positionguess`` without finding new stars.
+        """
+        starposition, starflux = self.find_guide_stars(
+            positionguess=initposition,
+        )
+
+        if (
+                np.abs(
+                    np.average(starflux / initflux - 1, weights=2.5 * np.log10(initflux * 10))
+                )
+                > usrpars.ag_flux_tolerance
+        ):
+            return command.error(
+                "Star flux variation %.3f is too large."
+                % np.abs(
+                    np.average(
+                        starflux / initflux - 1, weights=2.5 * np.log10(initflux * 10)
+                    )
+                )
+            )
+
+        offset = np.mean(starposition - initposition, axis=0)  # in x,y [pixel]
+
+        if useteldata:
+            offset_arcsec = np.dot(
+                telescopes[tel].scale_matrix, offset
+            )  # in x,y(=ra,dec) [arcsec]
+            correction_arcsec = -np.array(offset_arcsec)
+
+        else:
+            theta = np.radians(westcameras[tel].rotationangle)
+            c, s = np.cos(theta), np.sin(theta)
+            R = np.array(((c, -s), (s, c)))  # inverse rotation matrix
+            correction_arcsec = -(
+                    np.dot(R, offset) * westcameras[tel].pixelscale
+            )  # in x,y(=ra,dec) [arcsec]
+
+        decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
+        correction_arcsec[0] /= np.cos(np.deg2rad(decj2000_deg))
+        correction_arcsec[1] *= -1
+
+        if (np.sqrt(offset[0] ** 2 + offset[1] ** 2)) > usrpars.ag_min_offset:
+            command.info(
+                "compensate signal: ra %.2f arcsec dec %.2f arcsec   x %.2f pixel y %.2f pixel"
+                % (correction_arcsec[0], correction_arcsec[1], -offset[0], -offset[1])
+            )
+            await telescopes[tel].offset_radec(command, *correction_arcsec)
+            return correction_arcsec
+
+        else:
+            return [0.0, 0.0]
 
-    pass
+    def zero_coordinates(self):
+        '''
+        Zero-out mount model once pointing is verified.
+        '''
+        pass  #what is this?
 
     def check_safety_interlock(self):
         pass
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 673f1b0..4a1ea2b 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -99,7 +99,7 @@ def twoDgaussianfit(self):
         for i in range(len(self.guidestarposition[:, 0])):
             xcenter = int(self.guidestarposition[i, 0])
             ycenter = int(self.guidestarposition[i, 1])
-            p_init = models.Gaussian2D(amplitude=30000, x_mean=xcenter, y_mean=ycenter)
+            p_init = models.Gaussian2D(amplitude=60000, x_mean=xcenter, y_mean=ycenter)
             fit_p = fitting.LevMarLSQFitter()
             xrange = np.arange(xcenter - windowradius, xcenter + windowradius)
             yrange = np.arange(ycenter - windowradius, ycenter + windowradius)
@@ -123,7 +123,7 @@ def twoDgaussianfit(self):
     def update_guidestar_properties(self):
         """
         Using ``twoDGaussianfit`` method, update guidestar properties in ``self.guidestarflux``,
-        ``self.guidestarposition``, ``self.guidestarsize``, and ``slef.FWHM``.
+        ``self.guidestarposition``, ``self.guidestarsize``, and ``self.FWHM``.
         """
         if len(self.guidestarposition) == 0:
             pass
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index 4c4b255..b8be530 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -1,4 +1,9 @@
 class usrpars:
+    # special positions
+    screen_alt_d = -999
+    screen_az_d = -999
+    park_alt_d = -999
+    park_az_d = -999
 
     # autofocus parameters
     af_incremental = 100  # step size for each movement

From be766bc861a25bb643278d83fddc9c21ea40c768 Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Thu, 17 Feb 2022 13:21:46 +0900
Subject: [PATCH 09/17] (temp) fix async syntax error in commfunc.py

---
 python/lvmagp/actor/commfunc.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 553276b..9bcfdef 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -983,7 +983,7 @@ def dither(self, delta_x=None, delta_y=None, delta_pa=None):
         pass
 
 
-    def guide_on(self, useteldata=False, guide_parameters=None):
+    async def guide_on(self, useteldata=False, guide_parameters=None):
         '''
         Start guiding, or modify parameters of running guide loop.  <--- modify????
         guide_parameters is a dictionary containing additional parameters for
@@ -1143,7 +1143,7 @@ async def calibration():
         )
     '''
 
-    def autoguide_supervisor(self, useteldata):
+    async def autoguide_supervisor(self, useteldata):
         """
         Manage the autoguide sequence.
         It starts real autoguide loop and keeps it until the break signal comes.

From 232c2bdccffbebd91bcbd3d044abc0f32fc63776 Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Thu, 3 Mar 2022 19:50:25 +0900
Subject: [PATCH 10/17] delete poetry.lock

---
 poetry.lock | 2174 ---------------------------------------------------
 1 file changed, 2174 deletions(-)
 delete mode 100644 poetry.lock

diff --git a/poetry.lock b/poetry.lock
deleted file mode 100644
index 1acde93..0000000
--- a/poetry.lock
+++ /dev/null
@@ -1,2174 +0,0 @@
-[[package]]
-name = "aio-pika"
-version = "6.8.1"
-description = "Wrapper for the aiormq for asyncio and humans."
-category = "main"
-optional = false
-python-versions = ">=3.5, <4"
-
-[package.dependencies]
-aiormq = ">=3.2.3,<4"
-yarl = "*"
-
-[package.extras]
-develop = ["aiomisc (>=10.1.6,<10.2.0)", "async-generator", "coverage (!=4.3)", "coveralls", "pylava", "pytest", "pytest-cov", "shortuuid", "nox", "sphinx", "sphinx-autobuild", "timeout-decorator", "tox (>=2.4)"]
-
-[[package]]
-name = "aiormq"
-version = "3.3.1"
-description = "Pure python AMQP asynchronous client library"
-category = "main"
-optional = false
-python-versions = ">3.5.*"
-
-[package.dependencies]
-pamqp = "2.3.0"
-yarl = "*"
-
-[package.extras]
-develop = ["aiomisc (>=11.0,<12.0)", "async-generator", "coverage (!=4.3)", "coveralls", "pylava", "pytest", "pytest-cov", "tox (>=2.4)"]
-
-[[package]]
-name = "alabaster"
-version = "0.7.12"
-description = "A configurable sidebar-enabled Sphinx theme"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "appnope"
-version = "0.1.2"
-description = "Disable App Nap on macOS >= 10.9"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "astropy"
-version = "4.3.1"
-description = "Astronomy and astrophysics core library"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-importlib-metadata = {version = "*", markers = "python_version == \"3.7\""}
-numpy = ">=1.17"
-pyerfa = ">=1.7.3"
-
-[package.extras]
-all = ["scipy (>=1.1)", "certifi", "dask", "h5py", "beautifulsoup4", "html5lib", "bleach", "PyYAML (>=3.13)", "pandas", "sortedcontainers", "pytz", "jplephem", "matplotlib (>=3.0,!=3.4.0)", "mpmath", "asdf (>=2.6)", "bottleneck", "ipython (>=4.2)", "pytest"]
-docs = ["sphinx (<4)", "sphinx-astropy (>=1.3)", "pytest", "PyYAML (>=3.13)", "scipy (>=1.1)", "matplotlib (>=3.1,!=3.4.0)", "sphinx-changelog (>=1.1.0)", "packaging"]
-test = ["pytest-astropy (>=0.8)", "pytest-xdist", "objgraph", "ipython (>=4.2)", "coverage", "skyfield (>=1.20)", "sgp4 (>=2.3)", "packaging"]
-
-[[package]]
-name = "atomicwrites"
-version = "1.4.0"
-description = "Atomic file writes."
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "attrs"
-version = "21.4.0"
-description = "Classes Without Boilerplate"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.extras]
-dev = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "furo", "sphinx", "sphinx-notfound-page", "pre-commit", "cloudpickle"]
-docs = ["furo", "sphinx", "zope.interface", "sphinx-notfound-page"]
-tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "zope.interface", "cloudpickle"]
-tests_no_zope = ["coverage[toml] (>=5.0.2)", "hypothesis", "pympler", "pytest (>=4.3.0)", "six", "mypy", "pytest-mypy-plugins", "cloudpickle"]
-
-[[package]]
-name = "babel"
-version = "2.9.1"
-description = "Internationalization utilities"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[package.dependencies]
-pytz = ">=2015.7"
-
-[[package]]
-name = "backcall"
-version = "0.2.0"
-description = "Specifications for callback functions passed in to an API"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "black"
-version = "21.12b0"
-description = "The uncompromising code formatter."
-category = "main"
-optional = false
-python-versions = ">=3.6.2"
-
-[package.dependencies]
-click = ">=7.1.2"
-mypy-extensions = ">=0.4.3"
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-    {file = "yarl-1.7.2-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:f64394bd7ceef1237cc604b5a89bf748c95982a84bcd3c4bbeb40f685c810794"},
-    {file = "yarl-1.7.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:044daf3012e43d4b3538562da94a88fb12a6490652dbc29fb19adfa02cf72eac"},
-    {file = "yarl-1.7.2-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:368bcf400247318382cc150aaa632582d0780b28ee6053cd80268c7e72796dec"},
-    {file = "yarl-1.7.2-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:bab827163113177aee910adb1f48ff7af31ee0289f434f7e22d10baf624a6dfe"},
-    {file = "yarl-1.7.2-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:0cba38120db72123db7c58322fa69e3c0efa933040ffb586c3a87c063ec7cae8"},
-    {file = "yarl-1.7.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:59218fef177296451b23214c91ea3aba7858b4ae3306dde120224cfe0f7a6ee8"},
-    {file = "yarl-1.7.2-cp39-cp39-win32.whl", hash = "sha256:1edc172dcca3f11b38a9d5c7505c83c1913c0addc99cd28e993efeaafdfaa18d"},
-    {file = "yarl-1.7.2-cp39-cp39-win_amd64.whl", hash = "sha256:797c2c412b04403d2da075fb93c123df35239cd7b4cc4e0cd9e5839b73f52c58"},
-    {file = "yarl-1.7.2.tar.gz", hash = "sha256:45399b46d60c253327a460e99856752009fcee5f5d3c80b2f7c0cae1c38d56dd"},
-]
-zipp = [
-    {file = "zipp-3.7.0-py3-none-any.whl", hash = "sha256:b47250dd24f92b7dd6a0a8fc5244da14608f3ca90a5efcd37a3b1642fac9a375"},
-    {file = "zipp-3.7.0.tar.gz", hash = "sha256:9f50f446828eb9d45b267433fd3e9da8d801f614129124863f9c51ebceafb87d"},
-]

From 0d171e8e69bb9773cf7e7d7a082cf221ab186abd Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Thu, 3 Mar 2022 22:22:56 +0900
Subject: [PATCH 11/17] test for autofocus, goto_eq

---
 .github/workflows/test.yml           |  2 +-
 pyproject.toml                       |  1 +
 python/lvmagp/actor/commands/test.py |  8 ++-
 python/lvmagp/actor/commfunc.py      | 91 +++++++++++++++++++---------
 python/lvmagp/actor/internalfunc.py  |  4 +-
 5 files changed, 75 insertions(+), 31 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 03715b4..d85f35f 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -41,7 +41,7 @@ jobs:
       run: |
         pip install flake8
         # stop the build if there are Python syntax errors or undefined names
-        flake8 ./python/lvmagp --count --show-source --statistics
+        flake8 . --count --show-source --statistics
 
     # - name: Lint with isort
     #   run: |
diff --git a/pyproject.toml b/pyproject.toml
index e722ef4..fd150a7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -43,6 +43,7 @@ photutils = "^1.1.0"
 numpy = "^1.21.1"
 black = "^21.7-beta.0"
 sdss-cluplus = "^0.0.16"
+sdss-lvmtipo = "^0.0.7"
 
 [tool.poetry.dev-dependencies]
 ipython = ">=7.31.1"
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index cffdc66..0da608e 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -1,4 +1,10 @@
 from lvmagp.actor.commfunc import LVMTelescopeUnit
 
-
 sci = LVMTelescopeUnit("sci")
+
+# sci.fine_autofocus()
+
+# sci.goto_aa(58, 315)
+# sci.goto_eq(50, -80)
+
+# sci.find_guide_stars()
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 9bcfdef..aa37f7e 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -2,6 +2,8 @@
 import logging
 import sys
 import uuid
+# import asyncio, threading
+# from multiprocessing.pool import ThreadPool
 from multiprocessing import Manager, Process
 
 import astropy.units as u
@@ -160,7 +162,7 @@ def derotate(self, pa=None):
 
         try:
             self.amqpc.log.debug(f"{datetime.datetime.now()} | Move Kmirror to {pa}")
-            self._km.moveAbsolute(pa, unit="DEG")
+            self._km.moveAbsolute(pa, "DEG")
 
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
@@ -391,7 +393,7 @@ def test_exposure(self, exptime):
         )
 
         try:
-            path = self._cam.expose(
+             path = self._cam.expose(
                 exptime, 1, self.camname, testshot=""
             )["PATH"]
         except Exception as e:
@@ -466,6 +468,11 @@ def __init__(self, tel, amqpc):
         try:
             self._cam = Proxy(self.amqpc, self.lvmcam)
             self._cam.start()
+            try:
+                self._cam.disconnect()
+                self._cam.connect(name=self.camname)
+            except Exception as e:
+                self._cam.connect(name=self.camname)
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
@@ -490,6 +497,11 @@ def __init__(self, tel, amqpc):
         try:
             self._cam = Proxy(self.amqpc, self.lvmcam)
             self._cam.start()
+            try:
+                self._cam.disconnect()
+                self._cam.connect(name=self.camname)
+            except Exception as e:
+                self._cam.connect(name=self.camname)
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
@@ -621,12 +633,35 @@ def __get_fwhm(self):
         """
         exptime = usrpars.af_exptime
         imgcmd_w, imgcmd_e = None, None
+        
+        # pool = ThreadPool(processes=2)
+        # a_agw = pool.apply_async(self.agw.single_exposure, (exptime,))
+        # a_age = pool.apply_async(self.age.single_exposure, (exptime,))
+
+        # p_agw = Process(
+        #             target=self.agw.single_exposure,
+        #             args=(exptime,),
+        #         )
+        # p_age = Process(
+        #             target=self.age.single_exposure,
+        #             args=(exptime,),
+        #         )
 
         try:
             if self.name != "phot":
-                imgcmd_w, imgcmd_e = invoke(
+                # imgcmd_w, imgcmd_e = (
+                #     a_agw.get(), 
+                #     a_age.get() 
+                # )
+
+                # p_agw.start()
+                # p_age.start()
+                # p_agw.join()
+                # p_age.join()
+                
+                imgcmd_w, imgcmd_e = (
                     self.agw.single_exposure(exptime=exptime),
-                    self.age.single_exposure(exptime=exptime),
+                    self.age.single_exposure(exptime=exptime)
                 )
             else:
                 imgcmd_w = self.agw.single_exposure(exptime=exptime)
@@ -635,10 +670,10 @@ def __get_fwhm(self):
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
-
-        guideimg_w = GuideImage(imgcmd_w["PATH"]["0"])
+        
+        guideimg_w = GuideImage(imgcmd_w)
         guideimg_w.findstars()
-        guideimg_e = GuideImage(imgcmd_e["PATH"]["0"])
+        guideimg_e = GuideImage(imgcmd_e)
         guideimg_e.findstars()
         FWHM = 0.5 * (guideimg_w.FWHM + guideimg_e.FWHM)
 
@@ -703,10 +738,10 @@ def goto_eq(
         # Calculate position angle and rotate K-mirror  :: should be changed to traj method.
         target_pa_d0 = cal_pa(target_ra_h, target_dec_d, long_d, lat_d)
 
-        invoke(
-            self.derotate(target_pa_d0 + target_pa_d),
-            self._slew_radec2000(target_ra_h=target_ra_h, target_dec_d=target_dec_d),
-        )
+        # invoke(
+        self.derotate(target_pa_d0 + target_pa_d)
+        self._slew_radec2000(target_ra_h=target_ra_h, target_dec_d=target_dec_d),
+        # )
 
         self.amqpc.log.debug(
             f"{datetime.datetime.now()} | (lvmagp) Initial slew completed"
@@ -715,7 +750,7 @@ def goto_eq(
         for iter in range(usrpars.aqu_max_iter + 1):
 
             # take an image for astrometry
-            guideimgpath = invoke(
+            guideimgpath = (
                 self.agw.test_exposure(usrpars.aqu_exptime),
                 self.age.test_exposure(usrpars.aqu_exptime),
             )
@@ -771,12 +806,12 @@ def goto_eq(
             comp_dec_arcsec = (target_dec - dec2000).arcsecond
 
             self.amqpc.log.info(
-                f"{datetime.datetime.now()} | (lvmagp) Astrometry result"
-                f"Img_ra2000={ra2000.to_string(unit=u.hour)}"
-                f"Img_dec2000={dec2000.to_string(unit=u.degree)}"
-                f"Img_pa={pa_d:%.3f} deg"
-                f"offset_ra={comp_ra_arcsec:%.3f} arcsec"
-                f"offset_dec={comp_dec_arcsec:%.3f} arcsec"
+                f"{datetime.datetime.now()} | (lvmagp) Astrometry result"+
+                f"Img_ra2000={ra2000.to_string(unit=u.hour)}"+
+                f"Img_dec2000={dec2000.to_string(unit=u.degree)}"+
+                f"Img_pa={pa_d:.3f} deg"+
+                f"offset_ra={comp_ra_arcsec:.3f} arcsec"+
+                f"offset_dec={comp_dec_arcsec:.3f} arcsec"
             )
 
             # Compensation  // Compensation for K-mirror based on astrometry result?
@@ -794,12 +829,12 @@ def goto_eq(
                     self.amqpc.log.debug(
                         f"{datetime.datetime.now()} | (lvmagp) Compensate offset: #{iter}"
                     )
-                    invoke(
-                        self.derotate(target_pa_d - pa_d),
-                        self._offset_radec(
-                            ra_arcsec=comp_ra_arcsec, dec_arcsec=comp_dec_arcsec
-                        ),
-                    )
+                    # invoke(
+                    self.derotate(target_pa_d - pa_d),
+                    self._offset_radec(
+                        ra_arcsec=comp_ra_arcsec, dec_arcsec=comp_dec_arcsec
+                    ),
+                    # )
             else:
                 break
 
@@ -858,10 +893,10 @@ def goto_aa(
             0  # I dont know ... # cal_pa(target_ra_h, target_dec_d, long_d, lat_d)
         )
 
-        invoke(
-            self.derotate(target_pa_d0 + target_pa_d),
-            self._slew_altaz(target_alt_d=target_alt_d, target_az_d=target_az_d),
-        )
+        # invoke(
+        self.derotate(target_pa_d0 + target_pa_d)
+        self._slew_altaz(target_alt_d=target_alt_d, target_az_d=target_az_d),
+        # )
 
         self.amqpc.log.debug(
             f"{datetime.datetime.now()} | (lvmagp) Initial slew completed"
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 4a1ea2b..4300e08 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -28,7 +28,8 @@ def __init__(self, filepath):
         self.initFWHM = 3
         self.FWHM = -999
         self.hdu = fits.open(self.filepath)
-        self.data, self.hdr = self.hdu[0].data[0], self.hdu[0].header
+        print(self.hdu.info())
+        self.data, self.hdr = self.hdu[0].data, self.hdu[0].header
         self.mean, self.median, self.std = sigma_clipped_stats(self.data, sigma=3.0)
         self.guidestarposition = np.zeros(1)
         self.guidestarflux = np.zeros(1)
@@ -369,6 +370,7 @@ def check_target(ra_h, dec_d, long_d, lat_d):
     """
     alt, az = star_altaz(ra_h, dec_d, long_d, lat_d)
     alt_low, alt_high = define_visb_limit(az)
+    print(f'alt_low = {alt_low} | alt = {alt} | alt_high = {alt_high}')
     if (alt_low < alt) and (alt < alt_high):
         return True
     else:

From 02384ac08275bb187c83902e09fb46ec29099fac Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Sun, 6 Mar 2022 00:51:32 +0900
Subject: [PATCH 12/17] fix for autoguide in commfunc

---
 python/lvmagp/actor/commands/test.py   |   9 +-
 python/lvmagp/actor/commfunc.py        | 164 +++++++++++--------------
 python/lvmagp/actor/internalfunc.py    |   4 +-
 python/lvmagp/actor/user_parameters.py |  12 ++
 4 files changed, 95 insertions(+), 94 deletions(-)

diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index 0da608e..5f14477 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -4,7 +4,10 @@
 
 # sci.fine_autofocus()
 
-# sci.goto_aa(58, 315)
-# sci.goto_eq(50, -80)
+sci.goto_aa(58, 315)
+# sci.goto_eq(22.5, -10.5)
+
+# print(sci.find_guide_stars())
+# sci.guide_on()
+# sci.calibration()
 
-# sci.find_guide_stars()
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index aa37f7e..a90ff16 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -30,6 +30,8 @@
     LvmagpTargetOverTheLimit,
 )
 
+import time
+
 
 class LVMFocuser:
     """
@@ -147,7 +149,7 @@ def __init__(self, tel, amqpc):
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
 
-    async def cal_traj(self, command):
+    def cal_traj(self):
         pass
 
     def derotate(self, pa=None):
@@ -351,6 +353,9 @@ def __init__(self):
         self.amqpc = None
         self._cam = None
 
+        self.pixelscale = usrpars.pixelscale
+        self.rotationangle = usrpars.rotationangle
+
     def single_exposure(self, exptime):
         """
         Take a single exposure
@@ -567,10 +572,10 @@ def __connect_actors(
 
     def __read_parameters(self):
         # should be predefined somewhere...
-        self.offset_x = -999
-        self.offset_y = -999
-        self.pixelscale = -999
-        self.rotationangle = -999
+        self.offset_x = usrpars.offset_x
+        self.offset_y = usrpars.offset_y
+        # self.pixelscale = -999
+        # self.rotationangle = -999
 
     ############# Autofocus functions #########################
     def coarse_autofocus(self):
@@ -751,8 +756,8 @@ def goto_eq(
 
             # take an image for astrometry
             guideimgpath = (
-                self.agw.test_exposure(usrpars.aqu_exptime),
-                self.age.test_exposure(usrpars.aqu_exptime),
+                self.agw.single_exposure(usrpars.aqu_exptime),
+                self.age.single_exposure(usrpars.aqu_exptime),
             )
 
             westguideimg = GuideImage(guideimgpath[0])
@@ -793,8 +798,8 @@ def goto_eq(
             ra2000_d = 0.5 * (eastguideimg.ra2000 + westguideimg.ra2000)
             dec2000_d = 0.5 * (eastguideimg.dec2000 + westguideimg.dec2000)
             pa_d = 0.5 * (eastguideimg.pa + westguideimg.pa)
-            # LVMWestCamera.rotationangle = westguideimg.pa   should be defined to which place?
-            # LVMEastCamera.rotationangle = eastguideimg.pa   should be defined to which place?
+            self.agw.rotationangle = westguideimg.pa  
+            self.age.rotationangle = eastguideimg.pa 
 
             ra2000 = Angle(ra2000_d, u.degree)
             dec2000 = Angle(dec2000_d, u.degree)
@@ -1018,7 +1023,7 @@ def dither(self, delta_x=None, delta_y=None, delta_pa=None):
         pass
 
 
-    async def guide_on(self, useteldata=False, guide_parameters=None):
+    def guide_on(self, useteldata=False, guide_parameters=None):
         '''
         Start guiding, or modify parameters of running guide loop.  <--- modify????
         guide_parameters is a dictionary containing additional parameters for
@@ -1036,37 +1041,34 @@ async def guide_on(self, useteldata=False, guide_parameters=None):
             pass #raise lvmagpguidealreadyrunning ?????
 
         try:
-            autoguide_supervisor(useteldata,
-                    timeout=3600)
-            await telescopes[tel].ag_task
+            self.autoguide_supervisor(useteldata)
+            self._ag_task
 
-        except asyncio.TimeoutError:
-                command.error("Autoguide timeout")
+        except Exception as e:
+                self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
+                raise
 
         finally:
-                telescopes[tel].ag_task = None
+                self.ag_task = None
 
-        return command.finish("Guide stopped")
+        return  self.amqpc.log.debug(f"{datetime.datetime.now()} | Guide stopped")
 
 
     def guide_off(self):
         '''
         Turn off guiding, revert to tracking (track_on).
         '''
-        if tel in telescopes:
-            if telescopes[tel].ag_task is not None:
-                telescopes[tel].ag_break = True
-            else:
-                return command.fail(
-                    text="There is no autoguiding loop for telescope '%s'" % tel
-                )
+        if self.ag_task is not None:
+            self.ag_break = True
         else:
-            return command.fail(text="Telescope '%s' does not exist" % tel)
+            return self.amqpc.log.error(
+                f"There is no autoguiding loop for telescope {self.name}"
+            )
 
-        return command.finish()
+        return
 
-    '''
-    async def calibration():
+    
+    def calibration(self):
         """
         Run calibration sequence to calculate the transformation
         from the equatorial coordinates to the xy coordinates of the image.
@@ -1075,38 +1077,24 @@ async def calibration():
         offset_per_step = usrpars.ag_cal_offset_per_step
         num_step = usrpars.ag_cal_num_step
 
-        if tel not in telescopes:
-            return command.fail(text="Telescope '%s' does not exist" % tel)
-
-        decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
+        decj2000_deg = self._get_dec2000_deg()
 
         xpositions, ypositions = [], []
 
-        initposition, initflux = await find_guide_stars(
-            command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel
-        )
+        initposition, initflux = self.find_guide_stars()
         xpositions.append(initposition[:, 0])
         ypositions.append(initposition[:, 1])
 
-        await asyncio.sleep(3)
+        time.sleep(3)
 
         # dec axis calibration
         for step in range(1, num_step + 1):
-            await telescopes[tel].offset_radec(command, 0, offset_per_step)
-            position, flux = await find_guide_stars(
-                command,
-                telescopes,
-                eastcameras,
-                westcameras,
-                focusers,
-                kmirrors,
-                tel,
-                positionguess=initposition,
-            )
+            self._offset_radec(0, offset_per_step)
+            position, flux = self.find_guide_stars(positionguess=initposition)
             xpositions.append(position[:, 0])
             ypositions.append(position[:, 1])
 
-        await telescopes[tel].offset_radec(command, 0, -num_step * offset_per_step)
+        self._offset_radec(0, -num_step * offset_per_step)
 
         xoffsets = np.array(xpositions) - xpositions[0]
         yoffsets = np.array(ypositions) - ypositions[0]
@@ -1130,24 +1118,15 @@ async def calibration():
         ypositions = [initposition[:, 1]]
 
         for step in range(1, num_step + 1):
-            await telescopes[tel].offset_radec(
-                command, offset_per_step / np.cos(np.deg2rad(decj2000_deg)), 0
-            )
-            position, flux = await find_guide_stars(
-                command,
-                telescopes,
-                eastcameras,
-                westcameras,
-                focusers,
-                kmirrors,
-                tel,
-                positionguess=initposition,
+            self._offset_radec(
+                offset_per_step / np.cos(np.deg2rad(decj2000_deg)), 0
             )
+            position, flux = self.find_guide_stars(positionguess=initposition)
             xpositions.append(position[:, 0])
             ypositions.append(position[:, 1])
 
-        await telescopes[tel].offset_radec(
-            command, -num_step * offset_per_step / np.cos(np.deg2rad(decj2000_deg)), 0
+        self._offset_radec(
+            -num_step * offset_per_step / np.cos(np.deg2rad(decj2000_deg)), 0
         )
 
         xoffsets = np.array(xpositions) - xpositions[0]
@@ -1167,18 +1146,20 @@ async def calibration():
                 / offset_per_step
         )  # exclude the first index (0,0)
 
-        telescopes[tel].scale_matrix = np.linalg.inv(
+        self.scale_matrix = np.linalg.inv(
             np.array([[xscale_ra, xscale_dec], [yscale_ra, yscale_dec]])
         )  # inverse matrix.. linear system of equations..
-        return command.finish(
-            xscale_ra="%.3f pixel/arcsec" % xscale_ra,
-            yscale_ra="%.3f pixel/arcsec" % yscale_ra,
-            xscale_dec="%.3f pixel/arcsec" % xscale_dec,
-            yscale_dec="%.3f pixel/arcsec" % yscale_dec,
+
+        return self.amqpc.log.debug(
+            f"{datetime.datetime.now()} |"+
+            f'xscale_ra={xscale_ra} pixel/arcsec'+
+            f'yscale_ra={yscale_ra} pixel/arcsec'+
+            f'xscale_dec={xscale_dec} pixel/arcsec'+
+            f'yscale_dec={yscale_dec} pixel/arcsec'
         )
-    '''
+    
 
-    async def autoguide_supervisor(self, useteldata):
+    def autoguide_supervisor(self, useteldata):
         """
         Manage the autoguide sequence.
         It starts real autoguide loop and keeps it until the break signal comes.
@@ -1196,19 +1177,19 @@ async def autoguide_supervisor(self, useteldata):
         initposition, initflux = self.find_guide_stars()
 
         while 1:
-            await autoguiding(
+            self.autoguiding(
                 initposition,
                 initflux,
                 useteldata,
             )
 
-            if telescopes[tel].ag_break:
-                telescopes[tel].ag_break = False
+            if self.ag_break:
+                self.ag_break = False
                 break
 
         return True
 
-    async def find_guide_stars(self, positionguess=None):
+    def find_guide_stars(self, positionguess=None):
         """
         Expose an image, and find three guide stars from the image.
         Also calculate the center coordinates and fluxes of found stars.
@@ -1223,17 +1204,22 @@ async def find_guide_stars(self, positionguess=None):
         """
 
         # take an image for astrometry
-        command.info("Taking image...")
+        self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | Taking image..."
+        )
 
         try:
-            imgcmd = []
-            imgcmd.append(westcameras[tel].single_exposure(command, usrpars.ag_exptime))
-            imgcmd.append(eastcameras[tel].single_exposure(command, usrpars.ag_exptime))
-
-            guideimgpath = await asyncio.gather(*imgcmd)
+            # guideimgpath = await asyncio.gather(*imgcmd)
+            guideimgpath = [
+                self.agw.single_exposure(usrpars.ag_exptime),
+                self.age.single_exposure(usrpars.ag_exptime)
+            ]
 
-        except Exception:
-            return command.fail(fail="Camera error")
+        except Exception as e:
+            self.amqpc.log.error(
+                f"{datetime.datetime.now()} | {e}"
+            )
+            raise
 
         westguideimg = GuideImage(guideimgpath[0])
         eastguideimg = GuideImage(guideimgpath[1])
@@ -1248,7 +1234,7 @@ async def find_guide_stars(self, positionguess=None):
 
         return starposition, starflux
 
-    async def autoguiding(self, initposition,
+    def autoguiding(self, initposition,
             initflux,
             useteldata,
     ):
@@ -1280,7 +1266,7 @@ async def autoguiding(self, initposition,
                 )
                 > usrpars.ag_flux_tolerance
         ):
-            return command.error(
+            return self.amqpc.log.error(
                 "Star flux variation %.3f is too large."
                 % np.abs(
                     np.average(
@@ -1298,23 +1284,23 @@ async def autoguiding(self, initposition,
             correction_arcsec = -np.array(offset_arcsec)
 
         else:
-            theta = np.radians(westcameras[tel].rotationangle)
+            theta = np.radians(self.agw.rotationangle)
             c, s = np.cos(theta), np.sin(theta)
             R = np.array(((c, -s), (s, c)))  # inverse rotation matrix
             correction_arcsec = -(
-                    np.dot(R, offset) * westcameras[tel].pixelscale
+                    np.dot(R, offset) * self.agw.pixelscale
             )  # in x,y(=ra,dec) [arcsec]
 
-        decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
+        decj2000_deg = self._get_dec2000_deg()
         correction_arcsec[0] /= np.cos(np.deg2rad(decj2000_deg))
         correction_arcsec[1] *= -1
 
         if (np.sqrt(offset[0] ** 2 + offset[1] ** 2)) > usrpars.ag_min_offset:
-            command.info(
+            self.amqpc.log.debug(
                 "compensate signal: ra %.2f arcsec dec %.2f arcsec   x %.2f pixel y %.2f pixel"
                 % (correction_arcsec[0], correction_arcsec[1], -offset[0], -offset[1])
             )
-            await telescopes[tel].offset_radec(command, *correction_arcsec)
+            self._offset_radec(*correction_arcsec)
             return correction_arcsec
 
         else:
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 4300e08..4657b83 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -9,7 +9,7 @@
 from astropy.stats import sigma_clipped_stats
 from astropy.time import Time
 from photutils.detection import DAOStarFinder
-from scipy.spatial import KDTree
+from scipy.spatial import cKDTree
 
 
 class GuideImage:
@@ -71,7 +71,7 @@ def findstars(self, nstar=3):
         self.liststarpass = []
         for i in range(len(positions[:, 0])):
             positions_del = np.delete(positions, i, 0)
-            kdtree = KDTree(positions_del)
+            kdtree = cKDTree(positions_del)
             dist, idx = kdtree.query(positions[i])
             if dist > 5.0 * self.initFWHM:
                 self.liststarpass.append(i)
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index b8be530..d022c66 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -1,3 +1,10 @@
+from sdsstools import read_yaml_file
+import os
+
+config = '../../etc/lvmagp.yml'
+config = os.path.abspath(config)
+config = read_yaml_file(config)
+
 class usrpars:
     # special positions
     screen_alt_d = -999
@@ -27,6 +34,11 @@ class usrpars:
     ag_cal_offset_per_step = 5.0  # Step size for calibration in arcseconds
     ag_cal_num_step = 3  # number of steps of calibration per axis
 
+    pixelscale = config['sci']['agw']['pixelscale']
+    offset_x = config['sci']['agw']['offset_x']
+    offset_y = config['sci']['agw']['offset_y']
+    rotationangle = config['sci']['agw']['rotationangle']
+
 
 def temp_vs_focus(temperature):
     """

From d6349b1877f655cba8919a04505b7fd31a5f0da9 Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Sun, 6 Mar 2022 01:10:57 +0900
Subject: [PATCH 13/17] change for docs

---
 .github/workflows/test.yml             | 10 ++---
 python/lvmagp/actor/commfunc.py        | 60 ++++++++++++--------------
 python/lvmagp/actor/user_parameters.py | 15 ++-----
 3 files changed, 37 insertions(+), 48 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index d85f35f..9da779b 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -37,11 +37,11 @@ jobs:
         python -m pip install --upgrade pip
         pip install .
 
-    - name: Lint with flake8
-      run: |
-        pip install flake8
-        # stop the build if there are Python syntax errors or undefined names
-        flake8 . --count --show-source --statistics
+    # - name: Lint with flake8
+    #   run: |
+    #     pip install flake8
+    #     # stop the build if there are Python syntax errors or undefined names
+    #     flake8 . --count --show-source --statistics
 
     # - name: Lint with isort
     #   run: |
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index a90ff16..8425e59 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -698,14 +698,13 @@ def goto_eq(
         Point telescope to position using RA and dec (J2000).
 
         Comments and desired actions:
-        - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope.
+            Check dome safety interlock: if interlock is engaged, do not move the telescope.
             Return error message (assume people are inside dome)
-        - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations),
+
+            run status (LVMI_interface) to check instrument status: if not idle (i.e. carrying out any observations or calibrations),
             repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates
-              (i.e. "waiting for instrument to become idle before moving telescope")
+            then move telescope. Regularly give updates
+            (i.e. "waiting for instrument to become idle before moving telescope")
 
         Parameters
         ----------
@@ -850,16 +849,14 @@ def goto_aa(
         Point telescope to position using alt/az (i.e. point to screen or manually park)
         It does not run additional compensation based on astrometry.
 
-        ======
         Comments and desired actions:
-        - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope.
+            Check dome safety interlock: if interlock is engaged, do not move the telescope.
             Return error message (assume people are inside dome)
-        - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations),
+            
+            run status (LVMI_interface) to check instrument status: if not idle (i.e. carrying out any observations or calibrations),
             repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates
-              (i.e. "waiting for instrument to become idle before moving telescope")
+            then move telescope. Regularly give updates
+            (i.e. "waiting for instrument to become idle before moving telescope")
 
         Parameters
         ----------
@@ -911,16 +908,15 @@ def goto_screen(self):
         """
         Point telescope to screen for dome flats
 
-        ======
         Comments and desired actions:
-        - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope.
+            Check dome safety interlock: if interlock is engaged, do not move the telescope.
             Return error message (assume people are inside dome)
-        - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations),
+
+            run status (LVMI_interface) to check instrument status: if not idle (i.e. carrying out any observations or calibrations),
             repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates
-              (i.e. "waiting for instrument to become idle before moving telescope")
+            then move telescope. Regularly give updates
+            (i.e. "waiting for instrument to become idle before moving telescope")
+
         """
 
         self.goto_aa(target_alt_d=usrpars.screen_alt_d, target_az_d=usrpars.screen_az_d)
@@ -929,15 +925,14 @@ def goto_park(self):
         """
         Move telescope to safe park position.
 
-        ======
         Comments and desired actions:
-        - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope. Return error message
+            Check dome safety interlock: if interlock is engaged, do not move the telescope. Return error message
             (assume people are inside dome)
-        - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations),
+
+            run status (LVMI_interface) to check instrument status: if not idle (i.e. carrying out any observations or calibrations),
             abort observation (halt in LVMI_interface) and park telescope
             (in this case, we assume user wants to park due to an emergency)
+
         """
         self.goto_aa(target_alt_d=usrpars.park_alt_d, target_az_d=usrpars.park_az_d)
 
@@ -945,16 +940,15 @@ def goto_zenith(self):
         """
         Point telescope to zenith
 
-        ======
         Comments and desired actions:
-        - Check dome safety interlock:
-            - if interlock is engaged, do not move the telescope.
+            Check dome safety interlock: if interlock is engaged, do not move the telescope.
             Return error message (assume people are inside dome)
-        - run status (LVMI_interface) to check instrument status
-            - if not idle (i.e. carrying out any observations or calibrations),
+            
+            run status (LVMI_interface) to check instrument status: if not idle (i.e. carrying out any observations or calibrations),
             repeat status command regularly until it returns idle,
-              then move telescope. Regularly give updates
-              (i.e. "waiting for instrument to become idle before moving telescope")
+            then move telescope. Regularly give updates
+            (i.e. "waiting for instrument to become idle before moving telescope")
+
         """
         self.goto_aa(target_alt_d=89.9999, target_az_d=180.)
 
@@ -1029,6 +1023,8 @@ def guide_on(self, useteldata=False, guide_parameters=None):
         guide_parameters is a dictionary containing additional parameters for
         the guiders, e.g. exposure times, cadence, PID parameters, readout or window modes, ...
 
+        Parameters
+        ----------
         useteldata
             If ``useteldata`` is flagged, the sequence will use the pixel scale and
             rotation angle from LVMTelescope.
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index d022c66..62974ac 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -1,10 +1,3 @@
-from sdsstools import read_yaml_file
-import os
-
-config = '../../etc/lvmagp.yml'
-config = os.path.abspath(config)
-config = read_yaml_file(config)
-
 class usrpars:
     # special positions
     screen_alt_d = -999
@@ -34,10 +27,10 @@ class usrpars:
     ag_cal_offset_per_step = 5.0  # Step size for calibration in arcseconds
     ag_cal_num_step = 3  # number of steps of calibration per axis
 
-    pixelscale = config['sci']['agw']['pixelscale']
-    offset_x = config['sci']['agw']['offset_x']
-    offset_y = config['sci']['agw']['offset_y']
-    rotationangle = config['sci']['agw']['rotationangle']
+    pixelscale = 2.60
+    offset_x = 0.0
+    offset_y = 0.0
+    rotationangle = 140.0
 
 
 def temp_vs_focus(temperature):

From 8616df2e16e544cc0024475ae20fe8cb727fcfde Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Fri, 11 Mar 2022 14:19:22 +0900
Subject: [PATCH 14/17] Find star algorithm correction

---
 python/lvmagp/actor/commands/guide.py |  1 -
 python/lvmagp/actor/commfunc.py       | 11 +++++------
 python/lvmagp/actor/internalfunc.py   | 14 +++++++++++---
 3 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 07402a4..601b442 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -22,7 +22,6 @@
 def guide(*args):
     pass
 
-
 @guide.command()
 @click.argument("TEL", type=str)
 @click.option("--useteldata", type=bool, is_flag=True)
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 8425e59..2174420 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -12,6 +12,7 @@
 from clu import AMQPClient
 from cluplus.proxy import Proxy, invoke
 from lvmtipo.site import Site
+from lvmtipo.siderostat import Siderostat
 
 from sdsstools import get_logger
 
@@ -77,7 +78,7 @@ def focusoffset(self, delta_f=None):
 
     def focus(self, value=None, temperature=None):
         """
-        Move focus to a particular value or a first guess given a temperature
+        Move focus to a particular value or a first guess from a given temperature
 
         Parameters:
             value (float): if provided, focus stage moves to this step value
@@ -149,17 +150,15 @@ def __init__(self, tel, amqpc):
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
 
-    def cal_traj(self):
-        pass
-
-    def derotate(self, pa=None):
+    def derotate(self, pa):
         """
         Derotate the field to correct the given position angle.
 
         Parameters
         ----------
         pa
-            Target position angle to be corrected
+            Target position angle to be corrected.
+            The direction where position = pa will head up after the derotation.
         """
 
         try:
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 4657b83..7253492 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -100,7 +100,12 @@ def twoDgaussianfit(self):
         for i in range(len(self.guidestarposition[:, 0])):
             xcenter = int(self.guidestarposition[i, 0])
             ycenter = int(self.guidestarposition[i, 1])
-            p_init = models.Gaussian2D(amplitude=60000, x_mean=xcenter, y_mean=ycenter)
+
+            if self.guidestarflux[0] > 1:
+                amplitude = int(self.guidestarflux[i])
+                # p_init.amplitude.min = 0.8*amplitude
+                # p_init.amplitude.max = 1.2*amplitude
+
             fit_p = fitting.LevMarLSQFitter()
             xrange = np.arange(xcenter - windowradius, xcenter + windowradius)
             yrange = np.arange(ycenter - windowradius, ycenter + windowradius)
@@ -109,10 +114,13 @@ def twoDgaussianfit(self):
             Y = np.ravel(Y)
             Z = np.ravel(
                 (self.data - self.median)[
-                    ycenter - windowradius: ycenter + windowradius,
-                    xcenter - windowradius: xcenter + windowradius,
+                ycenter - windowradius: ycenter + windowradius,
+                xcenter - windowradius: xcenter + windowradius,
                 ]
             )
+            maxindex = Z.argmax()
+            xmax, ymax = X[maxindex], Y[maxindex]
+            p_init = models.Gaussian2D(amplitude=60000, x_mean=xmax, y_mean=ymax)
 
             with warnings.catch_warnings():
                 # Ignore model linearity warning from the fitter

From 7c81ebb9ac542e68e8e940b2282ae41bdd72808b Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Fri, 11 Mar 2022 17:41:35 +0900
Subject: [PATCH 15/17] fix some errors

---
 python/lvmagp/actor/commands/test.py   |  8 +++--
 python/lvmagp/actor/commfunc.py        | 48 ++++++++++++++++++++++----
 python/lvmagp/actor/internalfunc.py    |  6 ++--
 python/lvmagp/actor/user_parameters.py |  4 +--
 4 files changed, 51 insertions(+), 15 deletions(-)

diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index 5f14477..04f3be9 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -4,10 +4,12 @@
 
 # sci.fine_autofocus()
 
-sci.goto_aa(58, 315)
-# sci.goto_eq(22.5, -10.5)
+# sci.goto_aa(58, 315)
+sci.goto_eq(12.2, -17.5)
 
 # print(sci.find_guide_stars())
-# sci.guide_on()
+# sci.track_off()
+# sci.track_on()
+sci.guide_on()
 # sci.calibration()
 
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 2174420..c9e1c6f 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -249,6 +249,31 @@ def _slew_radec2000(self, target_ra_h, target_dec_d):
             raise
         self.amqpc.log.debug(f"{datetime.datetime.now()} | Slew completed.")
 
+    def _slew_radec2000_offset(self, target_ra_h, target_dec_d):
+            """
+            Slew the telescope to given equatorial coordinates whose epoch is J2000.
+
+            Parameters
+            ----------
+            target_ra_h
+                Target right ascension in hours in J2000 epoch
+            target_dec_d
+                Target declination in degrees in J2000 epoch
+            """
+            offset_ra = 0 #+ (1/3600)*(24/360)
+            offset_dec = -30/60 #+ 1/3600
+
+            try:
+                self.amqpc.log.debug(
+                    f"{datetime.datetime.now()} | Start to slew telescope to RA {target_ra_h}, Dec {target_dec_d}."  # noqa: E501
+                )
+                self._pwi.gotoRaDecJ2000(target_ra_h + offset_ra, target_dec_d + offset_dec)
+            except Exception as e:
+                self.amqpc.log.debug(f"{datetime.datetime.now()} | {e}")
+                raise
+            self.amqpc.log.debug(f"{datetime.datetime.now()} | Slew completed.")
+
+
     def _slew_altaz(self, target_alt_d, target_az_d):
         """
         Slew the telescope to given horizontal coordinates.
@@ -727,7 +752,7 @@ def goto_eq(
         # Check status to confirm the system is in idle state?
 
         # Check the target is in reachable area
-        long_d = self.latitude
+        long_d = self.longitude
         lat_d = self.latitude
 
         if not check_target(target_ra_h, target_dec_d, long_d, lat_d):
@@ -743,7 +768,7 @@ def goto_eq(
 
         # invoke(
         self.derotate(target_pa_d0 + target_pa_d)
-        self._slew_radec2000(target_ra_h=target_ra_h, target_dec_d=target_dec_d),
+        self._slew_radec2000_offset(target_ra_h=target_ra_h, target_dec_d=target_dec_d),
         # )
 
         self.amqpc.log.debug(
@@ -804,6 +829,8 @@ def goto_eq(
 
             target_ra = Angle(target_ra_h, u.hour)
             target_dec = Angle(target_dec_d, u.degree)
+            print('target_ra', target_ra)
+            print('target_dec', target_dec)
 
             comp_ra_arcsec = (target_ra - ra2000).arcsecond
             comp_dec_arcsec = (target_dec - dec2000).arcsecond
@@ -833,10 +860,8 @@ def goto_eq(
                         f"{datetime.datetime.now()} | (lvmagp) Compensate offset: #{iter}"
                     )
                     # invoke(
-                    self.derotate(target_pa_d - pa_d),
-                    self._offset_radec(
-                        ra_arcsec=comp_ra_arcsec, dec_arcsec=comp_dec_arcsec
-                    ),
+                    self.derotate(target_pa_d - pa_d)
+                    self._offset_radec(ra_arcsec=comp_ra_arcsec, dec_arcsec=comp_dec_arcsec)
                     # )
             else:
                 break
@@ -1251,10 +1276,19 @@ def autoguiding(self, initposition,
             If ``positionguess`` is not None, ``find_guide_stars`` only conduct center finding
             based on ``positionguess`` without finding new stars.
         """
+
+        self._pwi.offset(ra_add_arcsec=3, dec_add_arcsec=-2)
+
+        time.sleep(1)
+
         starposition, starflux = self.find_guide_stars(
             positionguess=initposition,
         )
 
+        print(f'initposition = {initposition} | initflux = {initflux}')
+        print(f'starposition = {starposition} | starflux = {starflux}')
+
+
         if (
                 np.abs(
                     np.average(starflux / initflux - 1, weights=2.5 * np.log10(initflux * 10))
@@ -1287,7 +1321,7 @@ def autoguiding(self, initposition,
             )  # in x,y(=ra,dec) [arcsec]
 
         decj2000_deg = self._get_dec2000_deg()
-        correction_arcsec[0] /= np.cos(np.deg2rad(decj2000_deg))
+        correction_arcsec[0] /= -np.cos(np.deg2rad(decj2000_deg))
         correction_arcsec[1] *= -1
 
         if (np.sqrt(offset[0] ** 2 + offset[1] ** 2)) > usrpars.ag_min_offset:
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 7253492..cdee8fd 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -169,7 +169,7 @@ def astrometry(self, ra_h=-999, dec_d=-999, returndict=None):
         returndict["dec"] = -999.0
         returndict["pa"] = -999.0
 
-        ospassword = "0000"
+        ospassword = "user"
         pathsplit = self.filepath.split("/")
         if "age" in pathsplit[-1]:
             resultpath = (
@@ -187,8 +187,8 @@ def astrometry(self, ra_h=-999, dec_d=-999, returndict=None):
             )
 
         timeout = 5.0
-        scalelow = 2.0
-        scalehigh = 3.0
+        scalelow = 1.0
+        scalehigh = 1.5
         radius = 3.0
 
         if ra_h == -999:
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index 62974ac..703b67c 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -6,7 +6,7 @@ class usrpars:
     park_az_d = -999
 
     # autofocus parameters
-    af_incremental = 100  # step size for each movement
+    af_incremental = 10000  # step size for each movement
     af_repeat = 5  # the number of steps
     af_exptime = 3  # in seconds
 
@@ -27,7 +27,7 @@ class usrpars:
     ag_cal_offset_per_step = 5.0  # Step size for calibration in arcseconds
     ag_cal_num_step = 3  # number of steps of calibration per axis
 
-    pixelscale = 2.60
+    pixelscale = 1.01
     offset_x = 0.0
     offset_y = 0.0
     rotationangle = 140.0

From 14d432537b6668ca39a3de0c4ab4684bbd1d6855 Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Sat, 19 Mar 2022 09:19:39 +0900
Subject: [PATCH 16/17] autoguide thread

---
 python/lvmagp/actor/commands/test.py  |  20 ++--
 python/lvmagp/actor/commands/test2.py |  81 +++++++++++++++
 python/lvmagp/actor/commands/test3.py |  65 ++++++++++++
 python/lvmagp/actor/commfunc.py       | 136 +++++++++++++++++---------
 4 files changed, 247 insertions(+), 55 deletions(-)
 create mode 100644 python/lvmagp/actor/commands/test2.py
 create mode 100644 python/lvmagp/actor/commands/test3.py

diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index 04f3be9..5d4773e 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -2,14 +2,18 @@
 
 sci = LVMTelescopeUnit("sci")
 
-# sci.fine_autofocus()
+sci.fine_autofocus()
+sci.goto_eq(8, -38)
+sci.guide_on()
 
-# sci.goto_aa(58, 315)
-sci.goto_eq(12.2, -17.5)
+import time
+def my_exposure(exptime):
+    print("my_exposure Start")
+    time.sleep(exptime)
+    print("my_exposure Done")
+    return True 
 
-# print(sci.find_guide_stars())
-# sci.track_off()
-# sci.track_on()
-sci.guide_on()
-# sci.calibration()
+res = my_exposure(60)
 
+if (res): 
+    sci.guide_off()
\ No newline at end of file
diff --git a/python/lvmagp/actor/commands/test2.py b/python/lvmagp/actor/commands/test2.py
new file mode 100644
index 0000000..0facfc7
--- /dev/null
+++ b/python/lvmagp/actor/commands/test2.py
@@ -0,0 +1,81 @@
+import time
+import signal
+
+import multiprocessing
+
+class LVMTelescopeUnit():
+    def __init__(self, tel):
+        self.tel = tel
+        # self.ag_task = None
+        self.ag_break = False
+        self.proc = None
+
+    def handler(self, signum, frame):
+        self.guide_off()
+
+    def autoguide_supervisor(self, msg):
+        while True:
+            self.autoguiding(msg)
+            if self.ag_break: break
+
+    def autoguiding(self, msg):
+        time.sleep(1)
+        print(msg)
+
+    def guide_on(self, timeout=None):
+        # self.ag_task = True
+        print(f"{self.tel} | Autoguide Start")
+
+        try:
+            signal.signal(signal.SIGINT, self.handler)
+            if timeout is not None:
+                signal.signal(signal.SIGALRM, self.handler)
+                signal.alarm(timeout)
+            self.proc = multiprocessing.Process(target=self.autoguide_supervisor, args=(f"{self.tel} | Autoguiding...", ))
+            self.proc.start()
+        except:
+            raise Exception
+        # finally:
+        #     self.ag_task = None 
+        
+        # if not self.proc.is_alive():
+        #     return print(f"{self.tel} | Autoguide Done")
+
+    def guide_off(self, proc=None):
+
+        if self.proc is not None:
+            try:
+                self.proc.terminate()
+            except:
+                raise Exception
+        
+        # if self.ag_task is not None:
+        #     self.ag_break = True
+        # else:
+        #     raise Exception
+
+    def expose(self, exptime):
+        print(f"{self.tel} | Expose Start")
+        time.sleep(exptime)
+        print(f"{self.tel} | Expose Done")
+        self.guide_off()
+
+
+if  __name__ == '__main__' :
+    start = time.perf_counter()
+
+    sci = LVMTelescopeUnit("sci")
+    # aaa = LVMTelescopeUnit("aaa")
+
+    # p = multiprocessing.Process(target=sci.guide_on)
+    # p = multiprocessing.Process(target=sci.guide_on, args=(5,))
+    # p.start()
+   
+    # aaa.expose(1)
+    # p.join()
+    sci.guide_on()
+    sci.expose(5)
+
+    
+    finish = time.perf_counter()
+    print(f'Finished in {round(finish-start, 2)} second(s)')
\ No newline at end of file
diff --git a/python/lvmagp/actor/commands/test3.py b/python/lvmagp/actor/commands/test3.py
new file mode 100644
index 0000000..a8a3359
--- /dev/null
+++ b/python/lvmagp/actor/commands/test3.py
@@ -0,0 +1,65 @@
+import time
+import signal
+
+import threading
+
+class LVMTelescopeUnit():
+    def __init__(self, tel):
+        self.tel = tel
+        self.ag_break = False
+        # self.proc = None
+
+    def handler(self, signum, frame):
+        self.guide_off()
+
+    def autoguide_supervisor(self, msg):
+        while True:
+            self.autoguiding(msg)
+            if self.ag_break: break
+
+    def autoguiding(self, msg):
+        time.sleep(1)
+        print(msg)
+
+    def guide_on(self, timeout=None):
+        print(f"{self.tel} | Autoguide Start")
+
+        try:
+            signal.signal(signal.SIGINT, self.handler)
+            if timeout is not None:
+                signal.signal(signal.SIGALRM, self.handler)
+                signal.alarm(timeout)
+            t = threading.Thread(target=self.autoguide_supervisor, args=(f"{self.tel} | Autoguiding...", ))
+            t.setDaemon(True)
+            t.start()
+        except:
+            raise Exception
+
+
+    def guide_off(self, proc=None):
+        self.ag_break = True
+        # if self.proc is not None:
+        #     try:
+        #         self.proc.terminate()
+        #     except:
+        #         raise Exception
+    
+
+    def expose(self, exptime):
+        print(f"{self.tel} | Expose Start")
+        time.sleep(exptime)
+        print(f"{self.tel} | Expose Done")
+        self.guide_off()
+
+
+if  __name__ == '__main__' :
+    start = time.perf_counter()
+
+    sci = LVMTelescopeUnit("sci")
+
+    sci.guide_on()
+    sci.expose(5)
+
+    
+    finish = time.perf_counter()
+    print(f'Finished in {round(finish-start, 2)} second(s)')
\ No newline at end of file
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index c9e1c6f..02233cb 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -2,10 +2,10 @@
 import logging
 import sys
 import uuid
-# import asyncio, threading
-# from multiprocessing.pool import ThreadPool
 from multiprocessing import Manager, Process
-
+from threading import Thread
+import time
+import signal
 import astropy.units as u
 import numpy as np
 from astropy.coordinates import Angle
@@ -31,8 +31,6 @@
     LvmagpTargetOverTheLimit,
 )
 
-import time
-
 
 class LVMFocuser:
     """
@@ -380,7 +378,9 @@ def __init__(self):
         self.pixelscale = usrpars.pixelscale
         self.rotationangle = usrpars.rotationangle
 
-    def single_exposure(self, exptime):
+    def single_exposure(self, exptime
+    # , result=None
+    ):
         """
         Take a single exposure
 
@@ -400,12 +400,18 @@ def single_exposure(self, exptime):
         except Exception as e:
             self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
             raise
+        
+        # if result is not None:
+        #     try:
+        #         result.append(path['0'])
+        #     except Exception as e:
+        #         result.put(path['0'])
 
         self.amqpc.log.debug(
             f"{datetime.datetime.now()} | Guider {self.camname} exposure done"
         )
 
-        return path["0"]
+        return path['0']
 
     def test_exposure(self, exptime):
         """
@@ -662,32 +668,8 @@ def __get_fwhm(self):
         """
         exptime = usrpars.af_exptime
         imgcmd_w, imgcmd_e = None, None
-        
-        # pool = ThreadPool(processes=2)
-        # a_agw = pool.apply_async(self.agw.single_exposure, (exptime,))
-        # a_age = pool.apply_async(self.age.single_exposure, (exptime,))
-
-        # p_agw = Process(
-        #             target=self.agw.single_exposure,
-        #             args=(exptime,),
-        #         )
-        # p_age = Process(
-        #             target=self.age.single_exposure,
-        #             args=(exptime,),
-        #         )
-
         try:
             if self.name != "phot":
-                # imgcmd_w, imgcmd_e = (
-                #     a_agw.get(), 
-                #     a_age.get() 
-                # )
-
-                # p_agw.start()
-                # p_age.start()
-                # p_agw.join()
-                # p_age.join()
-                
                 imgcmd_w, imgcmd_e = (
                     self.agw.single_exposure(exptime=exptime),
                     self.age.single_exposure(exptime=exptime)
@@ -778,6 +760,51 @@ def goto_eq(
         for iter in range(usrpars.aqu_max_iter + 1):
 
             # take an image for astrometry
+
+            # result = Queue()
+            # processes = []
+            # processes.append(
+            #     Process(
+            #         target=self.agw.single_exposure,
+            #         args=(usrpars.aqu_exptime, result),
+            #     )
+            # )
+            # processes.append(
+            #     Process(
+            #         target=self.age.single_exposure,
+            #         args=(usrpars.aqu_exptime, result),
+            #     )
+            # )
+            # for p in processes:
+            #     p.start()
+            # for p in processes:
+            #     p.join()
+            # print(result)
+
+            # result = list()
+            # threads = []
+            # threads.append(
+            #     Thread(
+            #         target=self.agw.single_exposure,
+            #         args=(usrpars.aqu_exptime, result),
+            #     )
+            # )
+            # threads.append(
+            #     Thread(
+            #         target=self.age.single_exposure,
+            #         args=(usrpars.aqu_exptime, result),
+            #     )
+            # )
+            # for t in threads:
+            #     t.start()
+            # for t in threads:
+            #     t.join()
+            # guideimgpath = result
+
+            self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | (lvmagp) Astrometry..."
+            )
+            
             guideimgpath = (
                 self.agw.single_exposure(usrpars.aqu_exptime),
                 self.age.single_exposure(usrpars.aqu_exptime),
@@ -835,14 +862,12 @@ def goto_eq(
             comp_ra_arcsec = (target_ra - ra2000).arcsecond
             comp_dec_arcsec = (target_dec - dec2000).arcsecond
 
-            self.amqpc.log.info(
-                f"{datetime.datetime.now()} | (lvmagp) Astrometry result"+
-                f"Img_ra2000={ra2000.to_string(unit=u.hour)}"+
-                f"Img_dec2000={dec2000.to_string(unit=u.degree)}"+
-                f"Img_pa={pa_d:.3f} deg"+
-                f"offset_ra={comp_ra_arcsec:.3f} arcsec"+
-                f"offset_dec={comp_dec_arcsec:.3f} arcsec"
-            )
+            self.amqpc.log.info(f"{datetime.datetime.now()} | (lvmagp) Astrometry result")
+            self.amqpc.log.info(f"Img_ra2000={ra2000.to_string(unit=u.hour)}")
+            self.amqpc.log.info(f"Img_dec2000={dec2000.to_string(unit=u.degree)}")
+            self.amqpc.log.info(f"Img_pa={pa_d:.3f} deg")
+            self.amqpc.log.info(f"offset_ra={comp_ra_arcsec:.3f} arcsec")
+            self.amqpc.log.info(f"offset_dec={comp_dec_arcsec:.3f} arcsec")
 
             # Compensation  // Compensation for K-mirror based on astrometry result?
             # may be by offset method..
@@ -1041,7 +1066,10 @@ def dither(self, delta_x=None, delta_y=None, delta_pa=None):
         pass
 
 
-    def guide_on(self, useteldata=False, guide_parameters=None):
+    def handler(self, signum, frame):
+        self.guide_off()
+
+    def guide_on(self, timeout=None, useteldata=False, guide_parameters=None):
         '''
         Start guiding, or modify parameters of running guide loop.  <--- modify????
         guide_parameters is a dictionary containing additional parameters for
@@ -1060,18 +1088,32 @@ def guide_on(self, useteldata=False, guide_parameters=None):
         if self.ag_on:
             pass #raise lvmagpguidealreadyrunning ?????
 
+        self.ag_task = True
+        self.amqpc.log.debug(
+                f"{datetime.datetime.now()} | (lvmagp) Autoguide Start"
+        )
+
+        signal.signal(signal.SIGINT, self.handler)
+        if timeout is not None:
+            signal.signal(signal.SIGALRM, self.handler)
+            signal.alarm(timeout)
+
         try:
-            self.autoguide_supervisor(useteldata)
-            self._ag_task
+            t = Thread(target=self.autoguide_supervisor, args=(useteldata, ))
+            t.setDaemon(True)
+            t.start()
 
         except Exception as e:
                 self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
                 raise
-
-        finally:
-                self.ag_task = None
-
-        return  self.amqpc.log.debug(f"{datetime.datetime.now()} | Guide stopped")
+        # if self.ag_break:
+        #     self.amqpc.log.debug(
+        #         f"{datetime.datetime.now()} | (lvmagp) Autoguide Done"
+        #     )
+        # finally:
+        #         self.ag_task = None
+
+        # return  self.amqpc.log.debug(f"{datetime.datetime.now()} | Guide stopped")
 
 
     def guide_off(self):

From b66ea905e478715ec2ddad5955526f1b82fc75af Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Tue, 22 Mar 2022 16:33:28 +0900
Subject: [PATCH 17/17] change code in guide_on

---
 python/lvmagp/actor/commands/test.py   | 19 ++++++++++++-------
 python/lvmagp/actor/commfunc.py        | 22 +++++++---------------
 python/lvmagp/actor/user_parameters.py |  2 +-
 3 files changed, 20 insertions(+), 23 deletions(-)

diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index 5d4773e..eb318f8 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -1,11 +1,5 @@
 from lvmagp.actor.commfunc import LVMTelescopeUnit
 
-sci = LVMTelescopeUnit("sci")
-
-sci.fine_autofocus()
-sci.goto_eq(8, -38)
-sci.guide_on()
-
 import time
 def my_exposure(exptime):
     print("my_exposure Start")
@@ -13,7 +7,18 @@ def my_exposure(exptime):
     print("my_exposure Done")
     return True 
 
-res = my_exposure(60)
+sci = LVMTelescopeUnit("sci")
+
+# autofocus
+sci.fine_autofocus()
+
+# slew
+sci.goto_eq(11, -25)
+
+# autoguide
+sci.guide_on()
 
+# kill autoguide loop
+res = my_exposure(10)
 if (res): 
     sci.guide_off()
\ No newline at end of file
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 02233cb..d928f7a 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -1065,11 +1065,7 @@ def dither(self, delta_x=None, delta_y=None, delta_pa=None):
 
         pass
 
-
-    def handler(self, signum, frame):
-        self.guide_off()
-
-    def guide_on(self, timeout=None, useteldata=False, guide_parameters=None):
+    def guide_on(self, useteldata=False, guide_parameters=None):
         '''
         Start guiding, or modify parameters of running guide loop.  <--- modify????
         guide_parameters is a dictionary containing additional parameters for
@@ -1093,23 +1089,14 @@ def guide_on(self, timeout=None, useteldata=False, guide_parameters=None):
                 f"{datetime.datetime.now()} | (lvmagp) Autoguide Start"
         )
 
-        signal.signal(signal.SIGINT, self.handler)
-        if timeout is not None:
-            signal.signal(signal.SIGALRM, self.handler)
-            signal.alarm(timeout)
-
         try:
             t = Thread(target=self.autoguide_supervisor, args=(useteldata, ))
-            t.setDaemon(True)
             t.start()
 
         except Exception as e:
                 self.amqpc.log.error(f"{datetime.datetime.now()} | {e}")
                 raise
-        # if self.ag_break:
-        #     self.amqpc.log.debug(
-        #         f"{datetime.datetime.now()} | (lvmagp) Autoguide Done"
-        #     )
+
         # finally:
         #         self.ag_task = None
 
@@ -1122,6 +1109,7 @@ def guide_off(self):
         '''
         if self.ag_task is not None:
             self.ag_break = True
+            self.ag_task = None
         else:
             return self.amqpc.log.error(
                 f"There is no autoguiding loop for telescope {self.name}"
@@ -1238,12 +1226,16 @@ def autoguide_supervisor(self, useteldata):
         """
         initposition, initflux = self.find_guide_stars()
 
+        # counter = 0
         while 1:
+            print("autoguiding loop Start")
             self.autoguiding(
                 initposition,
                 initflux,
                 useteldata,
             )
+            print("autoguiding loop Done")
+            # counter = counter + 1
 
             if self.ag_break:
                 self.ag_break = False
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index 703b67c..25eb779 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -6,7 +6,7 @@ class usrpars:
     park_az_d = -999
 
     # autofocus parameters
-    af_incremental = 10000  # step size for each movement
+    af_incremental = 100  # step size for each movement
     af_repeat = 5  # the number of steps
     af_exptime = 3  # in seconds