From 8d28664b4292e729dae5793d62b037a93db9a1e4 Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Wed, 1 Dec 2021 16:47:33 +0900
Subject: [PATCH 1/9] just for check

---
 python/lvmagp/actor/commands/guide.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index d5c6c14..e427d77 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -8,6 +8,8 @@
 
 from . import parser
 
+question = "Is this develop branch?"
+
 KHU_inner_test = True
 
 @parser.group()

From e6ad85837e4d75b46593869dedc325edaca81d4c Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Thu, 2 Dec 2021 00:55:48 +0900
Subject: [PATCH 2/9] slew command debug

---
 python/lvmagp/actor/actor.py              | 15 +++++++
 python/lvmagp/actor/astrometry_result.txt | 25 +++++++++++
 python/lvmagp/actor/commands/guide.py     |  8 ++--
 python/lvmagp/actor/commands/slew.py      | 39 ++++++++---------
 python/lvmagp/actor/commands/test.py      | 53 +++++++++++++++++++++++
 python/lvmagp/actor/commfunc.py           | 22 ++++++----
 python/lvmagp/actor/internalfunc.py       |  9 ++--
 python/lvmagp/actor/user_parameters.py    |  2 +-
 8 files changed, 137 insertions(+), 36 deletions(-)
 create mode 100644 python/lvmagp/actor/astrometry_result.txt
 create mode 100644 python/lvmagp/actor/commands/test.py

diff --git a/python/lvmagp/actor/actor.py b/python/lvmagp/actor/actor.py
index 9ece314..437d0b7 100644
--- a/python/lvmagp/actor/actor.py
+++ b/python/lvmagp/actor/actor.py
@@ -36,6 +36,21 @@ def __init__(
         **kwargs,
     ):
         super().__init__(*args, **kwargs)
+
+        self.schema = {
+            "type": "object",
+            "properties": {
+                "fail" : {"type": "string"},
+                "Img_ra2000": {"type": "string"},
+                "Img_dec2000": {"type": "string"},
+                "Img_pa": {"type": "string"},
+                "offset_ra": {"type": "string"},
+                "offset_dec": {"type": "string"},
+            },
+            "additionalProperties": False,
+        }
+        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}
diff --git a/python/lvmagp/actor/astrometry_result.txt b/python/lvmagp/actor/astrometry_result.txt
new file mode 100644
index 0000000..ddcdc60
--- /dev/null
+++ b/python/lvmagp/actor/astrometry_result.txt
@@ -0,0 +1,25 @@
+Reading input file 1 of 1: "/home/sumin/lvmcam/python/lvmcam/assets/test.fits"...
+Extracting sources...
+Downsampling by 2...
+simplexy: found 197 sources.
+Solving...
+Reading file "/home/sumin/lvmcam/python/lvmcam/assets/test.axy"...
+Only searching for solutions within 1 degrees of RA,Dec (83.85,-5.45)
+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 439.518 (7.58935e+190), 87 match, 0 conflict, 105 distractors, 127 index.
+  RA,Dec = (83.8516,-5.44941), pixel scale 2.59094 arcsec/pix.
+  Hit/miss:   Hit/miss: ++++++-+++++++++++++++++-++++-++++++-++++---+++--++-++-+++--+++-+-+-+++-+++-+-+-+---+---+--+----+--+
+Field 1: solved with index index-4206-05.fits.
+Field 1 solved: writing to file /home/sumin/lvmcam/python/lvmcam/assets/test.solved to indicate this.
+Field: /home/sumin/lvmcam/python/lvmcam/assets/test.fits
+Field center: (RA,Dec) = (83.851870, -5.449307) deg.
+Field center: (RA H:M:S, Dec D:M:S) = (05:35:24.449, -05:26:57.505).
+Field size: 69.2306 x 47.6209 arcminutes
+Field rotation angle: up is 171.703 degrees E of N
+Field parity: pos
+Creating new FITS file "/home/sumin/lvmcam/python/lvmcam/assets/test.new"...
+
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index e427d77..8842c42 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -39,6 +39,8 @@ async def start(command: Command,
     else:
         return command.fail(text="Telescope '%s' does not exist" % tel)
 
+    return command.finish()
+
 
 @guide.command()
 @click.argument("TEL", type=str)
@@ -52,7 +54,7 @@ async def stop(command: Command, telescopes: dict[str, LVMTelescope], eastcamera
     else:
         return command.fail(text="Telescope '%s' does not exist" % tel)
 
-    return True
+    return command.finish('Guide stopped')
 
 
 async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
@@ -78,7 +80,7 @@ async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eas
             telescopes[tel].ag_break = False
             break
 
-    command.info('Guide stopped')
+    return True
 
 
 ''' Here is old version using task.cancle
@@ -166,7 +168,7 @@ async def autoguide_supervisor(command, tel):
 '''
 async def find_guide_stars(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
                                westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
-                               tel, positionguess=None)
+                               tel, positionguess=None):
     global KHU_inner_test
     command.info("Taking image...")
     # take an image for astrometry
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 80159a3..8451594 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -41,11 +41,7 @@ async def slew(command: Command,
     # 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)
-
-    try:
-        cmd.append(kmirrors[tel].moveabs(command, target_pa_d, "DEG"))
-    except Exception as e:
-        return command.fail(fail="Kmirror error")
+    cmd.append(kmirrors[tel].moveabs(command, target_pa_d, "DEG"))
 
     # send slew command to lvmpwi
     try:
@@ -64,9 +60,10 @@ async def slew(command: Command,
         # take an image for astrometry
         try:
             imgcmd = []
-            imgcmd.append(westcameras[tel].single_exposure(command, usrpars.aqu_exptime))
-            if test_KHU is not True:
-                imgcmd.append(eastcameras[tel].single_exposure(command, usrpars.aqu_exptime))
+            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))
             guideimgpath = await asyncio.gather(*imgcmd)
 
         except Exception as e:
@@ -86,23 +83,22 @@ async def slew(command: Command,
         westguideimg = GuideImage(guideimgpath[0])
         eastguideimg = westguideimg
 
-        if test_KHU is not True:
+        if not test_KHU:
             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 test_KHU is not True:
+            if not test_KHU:
                 astcmd.append(eastguideimg.astrometry(ra_h=target_ra_h, dec_d=target_dec_d))
-            await asyncio.gather(*astcmd)
+            cmd = await asyncio.gather(*astcmd)
 
         except Exception as e:
             return command.fail(text="Astrometry timeout")
 
 
-        ra2000_d = 0.5*(eastguideimg.ra2000 + westguideimg.dec2000)
+        ra2000_d = 0.5*(eastguideimg.ra2000 + westguideimg.ra2000)
         dec2000_d = 0.5*(eastguideimg.dec2000 + westguideimg.dec2000)
         pa_d = 0.5*(eastguideimg.pa + westguideimg.pa)
 
@@ -123,15 +119,18 @@ async def slew(command: Command,
         )
 
         # Compensation  // Compensation for K-mirror based on astrometry result?  may be by offset method..
-        if iter >= usrpars.aqu_max_iter:
-            return command.fail(fail="Compensation failed.")
+
 
         if (np.sqrt(comp_ra_arcsec**2+comp_dec_arcsec**2) > usrpars.aqu_tolerance_arcsec):
-            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)
+            if iter >= usrpars.aqu_max_iter:
+                return command.fail(fail="Compensation failed.")
+            else:
+                command.info(text="Compensating ...")
+                cmd = []
+                if not test_KHU:
+                    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
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
new file mode 100644
index 0000000..1d9902b
--- /dev/null
+++ b/python/lvmagp/actor/commands/test.py
@@ -0,0 +1,53 @@
+import os
+import click
+from clu.command import Command
+
+from lvmagp.actor.commfunc import *  # noqa: F403
+from lvmagp.actor.internalfunc import *  # noqa: F403
+from lvmagp.actor.user_parameters import usrpars
+
+from . import parser
+
+test_KHU = True
+
+@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],
+               ):
+    global test_KHU
+    resultpath = "/home/sumin/lvmagp/python/lvmagp/actor/astrometry_result.txt"
+
+    ospassword = "0000"
+    resultpath = os.path.dirname(os.path.abspath(__file__)) + "/../astrometry_result.txt"
+    timeout = 30
+    scalelow = 2
+    scalehigh = 3
+    radius = 1
+    filepath = "/home/sumin/lvmcam/python/lvmcam/assets/2459550/sci.agw-00000075.fits"
+    ra_h = 0.7
+    dec_d = 41.3
+
+
+
+    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,
+        filepath,
+        timeout,
+        scalelow,
+        scalehigh,
+        ra_h * 15,
+        dec_d,
+        radius,
+        resultpath,
+    )
+
+    proc = await asyncio.create_subprocess_shell(
+        cmd, stdout=asyncio.subprocess.PIPE, stderr=asyncio.subprocess.PIPE
+    )
+    await proc.communicate()
+
+    print("end")
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 6dd683d..dde8002 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -18,7 +18,7 @@ async def getposition(self, command, unit="STEPS"):
         cmd = await send_message(
             command,
             self.lvmtan,
-            "getposition %s" % unit,
+            "getPosition %s" % unit,
             returnval=True,
             body="Position",
         )
@@ -26,11 +26,11 @@ async def getposition(self, command, unit="STEPS"):
 
 
     async def moveabs(self, command, position, unit='STEPS'):
-        cmd = await send_message(command, self.lvmtan, "moveabsolute %d %s" % (position, unit))
+        cmd = await send_message(command, self.lvmtan, "moveAbsolute %d %s" % (position, unit))
         return cmd
 
     async def moverel(self, command, position, unit='STEPS'):
-        cmd = await send_message(command, self.lvmtan, "moverelative %d %s" % (position, unit))
+        cmd = await send_message(command, self.lvmtan, "moveRelative %d %s" % (position, unit))
         return cmd
 '''
 
@@ -94,15 +94,15 @@ def __init__(self, tel):
         self.ag_break = False
 
     async def slew_radec2000(self, command, target_ra_h, target_dec_d):
-        cmd = await send_message(command,self.lvmpwi,"gotoradecj2000 %f %f" % (target_ra_h, target_dec_d))
+        cmd = await send_message(command,self.lvmpwi,"gotoRaDecJ2000 %f %f" % (target_ra_h, target_dec_d))
         return cmd
 
     async def reset_offset_radec(self, command):
         await send_message(
-            command, self.lvmpwi, "offset --ra_reset 0"
+            command, self.lvmpwi, "offset --ra_reset"
         )
         await send_message(
-            command, self.lvmpwi, "offset --dec_reset 0"
+            command, self.lvmpwi, "offset --dec_reset"
         )
 
         return True
@@ -132,9 +132,15 @@ def __init__(self):
 
     async def single_exposure(self, command, exptime):
         path = await send_message(
-            command, self.lvmcam, "expose %f 1 %s" % (exptime, self.cam), returnval=True, body="0"
+            command, self.lvmcam, "expose %f 1 %s" % (exptime, self.cam), returnval=True, body="PATH"
         )
-        return path
+        return path["0"]
+
+    async def test_exposure(self, command, exptime):
+        path = await send_message(
+            command, self.lvmcam, "expose -t %f 1 %s" % (exptime, self.cam), returnval=True, body="PATH"
+        )
+        return path["0"]
 
 class LVMEastCamera(LVMCamera):
     def __init__(self, tel):
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index caa01ba..a03a0c3 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -1,6 +1,7 @@
 import asyncio
 import warnings
 from datetime import datetime
+import os
 
 import numpy as np
 # import matplotlib.pyplot as plt
@@ -115,10 +116,10 @@ def update_guidestar_properties(self):
 
     async def astrometry(self, ra_h=-999, dec_d=-999):
         ospassword = "0000"
-        resultpath = "/home/hojae/Desktop/lvmagp/testimg/astrometry_result/result.txt"
-        timeout = 5
-        scalelow = 0.9
-        scalehigh = 1.1
+        resultpath = os.path.dirname(os.path.abspath(__file__)) + "/astrometry_result.txt"
+        timeout = 10
+        scalelow = 2
+        scalehigh = 3
         radius = 1
 
         if ra_h == -999:
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index b0fe3d5..0b8166e 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -9,7 +9,7 @@ class usrpars():
 
     # aquisition parameters
     aqu_exptime = 5  #in seconds
-    aqu_max_iter = 1
+    aqu_max_iter = 2
     aqu_tolerance_arcsec = 30.0
 
     # autoguide paramters

From c25e83b002b1bd72d1754191b9a4237c35ba2284 Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Fri, 3 Dec 2021 16:30:02 +0900
Subject: [PATCH 3/9] v.0.2.0a slew/guide command update

---
 pyproject.toml                         |  7 ++-
 python/lvmagp/actor/actor.py           |  6 ++
 python/lvmagp/actor/commands/guide.py  | 85 +++++++++++++++++++++++---
 python/lvmagp/actor/commands/slew.py   |  3 +-
 python/lvmagp/actor/commands/test.py   | 16 +++++
 python/lvmagp/actor/commfunc.py        | 13 +++-
 python/lvmagp/actor/user_parameters.py |  3 +
 python/lvmagp/etc/lvmagp.yml           | 14 ++++-
 8 files changed, 130 insertions(+), 17 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index b499255..bd86c9a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,8 +1,8 @@
 [tool.poetry]
 name = "sdss-lvmagp"
-version = "0.1.0-alpha.0"
-description = "Simple Template package for creating SDSS Python projects"
-authors = ["sumin lee <lxmark888@khu.ac.kr>"]
+version = "0.2.0-alpha"
+description = "Aquisition and guiding package for SDSS-V LVM"
+authors = ["Hojae Ahn <hojaeahn@khu.ac.kr>"]
 license = "BSD-3-Clause"
 readme = "README.md"
 homepage = "https://github.com/sdss/lvmagp"
@@ -16,6 +16,7 @@ classifiers = [
 	"Programming Language :: Python :: 3.6",
 	"Programming Language :: Python :: 3.7",
 	"Programming Language :: Python :: 3.8",
+	"Programming Language :: Python :: 3.9",
     "Topic :: Documentation :: Sphinx",
     "Topic :: Software Development :: Libraries :: Python Modules"
 ]
diff --git a/python/lvmagp/actor/actor.py b/python/lvmagp/actor/actor.py
index 437d0b7..01bae09 100644
--- a/python/lvmagp/actor/actor.py
+++ b/python/lvmagp/actor/actor.py
@@ -46,6 +46,10 @@ def __init__(
                 "Img_pa": {"type": "string"},
                 "offset_ra": {"type": "string"},
                 "offset_dec": {"type": "string"},
+                "xscale_ra": {"type": "float"},
+                "yscale_ra": {"type": "float"},
+                "xscale_dec": {"type": "float"},
+                "yscale_dec": {"type": "float"}
             },
             "additionalProperties": False,
         }
@@ -74,11 +78,13 @@ def from_config(cls, config, *args, **kwargs):
                 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)})
 
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 8842c42..9389511 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -19,16 +19,17 @@ def guide(*args):
 
 @guide.command()
 @click.argument("TEL", type=str)
+@click.option("--useteldata", type=float, is_flag=True)
 async def start(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, useteldata: bool):
 
     if tel in telescopes:
         try:
             telescopes[tel].ag_task = asyncio.wait_for(autoguide_supervisor(command, telescopes, eastcameras,
-                    westcameras, focusers, kmirrors, tel), timeout=3600)
+                    westcameras, focusers, kmirrors, tel, useteldata), timeout=3600)
             await telescopes[tel].ag_task
 
         except asyncio.TimeoutError:
@@ -39,7 +40,7 @@ async def start(command: Command,
     else:
         return command.fail(text="Telescope '%s' does not exist" % tel)
 
-    return command.finish()
+    return command.finish('Guide stopped')
 
 
 @guide.command()
@@ -54,18 +55,76 @@ async def stop(command: Command, telescopes: dict[str, LVMTelescope], eastcamera
     else:
         return command.fail(text="Telescope '%s' does not exist" % tel)
 
-    return command.finish('Guide stopped')
+    return command.finish()
+
+
+@guide.command()
+@click.argument("TEL", type=str)
+async def calibration(command: Command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
+                      westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
+                      tel: str):
+    global KHU_inner_test
+    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)
+
+    xpositions, ypositions = [], []
+
+    initposition, initflux = await find_guide_stars(command, telescopes, eastcameras, westcameras, focusers, kmirrors, tel)
+    xpositions.append(initposition[:, 0])
+    ypositions.append(initposition[:, 1])
+
+    # 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)
+        xpositions.append(position[:, 0])
+        ypositions.append(position[:, 1])
+
+    await telescopes[tel].offset_radec(command, 0, -num_step*offset_per_step)
+
+    xpositions = np.array(xpositions) - xpositions[0]
+    ypositions = np.array(ypositions) - ypositions[0]
+    xscale_dec = np.sum(xpositions/np.arange(num_step+1))/(num_step)  # displacement along x-axis by ra offset in pixel per arcsecond. exclude the first index (0,0)
+    yscale_dec = np.sum(ypositions/np.arange(num_step+1))/(num_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, 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)
+
+    decj2000_deg = telescopes[tel].get_dec2000_deg()
+
+    xpositions = np.array(xpositions) - xpositions[0]
+    ypositions = np.array(ypositions) - ypositions[0]
+    xscale_ra = np.sum(xpositions*np.arange(num_step+1))/(num_step)/np.cos(decj2000_deg)  # exclude the first index (0,0)
+    yscale_ra = np.sum(ypositions*np.arange(num_step+1))/(num_step)/np.cos(decj2000_deg)  # exclude the first index (0,0)
+
+    telescopes[tel].scale_matrix = np.matrix([[xscale_ra, yscale_ra],[xscale_dec, yscale_dec]])
+    return command.finish(xscale_ra="%.3f pixel/arcsec"%xscale_ra, yscale_ra="%.3f pixel/arcsec"%yscale_ra,
+                          xscale_dec="%.3f pixel/arcsec"%xscale_dec, ysclae_dec="%.3f pixel/arcsec"%yscale_dec)
 
 
 async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
-                      westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror], tel):
+                      westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror], tel, useteldata):
 
     global KHU_inner_test
     if KHU_inner_test:
         i = 0
     else:
         initposition, initflux = await find_guide_stars(command, telescopes, eastcameras,
-                                                        westcameras, focusers, kmirrors, tel, register=True)
+                                                        westcameras, focusers, kmirrors, tel)
 
     while 1:
         if KHU_inner_test:
@@ -74,7 +133,7 @@ async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eas
             await asyncio.sleep(8)
         else:
             await autoguiding(command, telescopes, eastcameras,
-                              westcameras, focusers, kmirrors, tel, initposition, initflux)
+                              westcameras, focusers, kmirrors, tel, initposition, initflux, useteldata)
 
         if telescopes[tel].ag_break is True:
             telescopes[tel].ag_break = False
@@ -203,7 +262,7 @@ async def find_guide_stars(command, telescopes: dict[str, LVMTelescope], eastcam
 
 async def autoguiding(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
                       westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
-                      tel, initposition, initflux):
+                      tel, initposition, initflux, useteldata):
 
     starposition, starflux = await find_guide_stars(command, telescopes, eastcameras,
                 westcameras, focusers, kmirrors, tel, positionguess=initposition)
@@ -212,7 +271,15 @@ async def autoguiding(command, telescopes: dict[str, LVMTelescope], eastcameras:
         return command.error("Star flux variation is too large.")
 
     offset = np.mean(starposition - initposition, axis=0) # in x,y [pixel]
-    offset_arcsec = offset*eastcameras[tel].pixelscale # in x,y(=ra,dec) [arcsec]
+
+    if useteldata:
+        offset_arcsec = np.matmul(telescopes[tel].scale_matrix.I, offset.T)  # in x,y(=ra,dec) [arcsec]
+        offset_arcsec = np.array(offset_arcsec)
+    else:
+        offset_arcsec = offset * westcameras[tel].pixelscale  # in x,y(=ra,dec) [arcsec]
+
+    decj2000_deg = telescopes[tel].get_dec2000_deg()
+    offset_arcsec[0] = offset_arcsec[0]/np.cos(decj2000_deg)
 
     if (np.sqrt(offset[0]**2+offset[1]**2)) > usrpars.ag_min_offset:
         await telescopes[tel].offset_radec(command, *offset_arcsec)
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 8451594..2157d7f 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -8,7 +8,6 @@
 
 from . import parser
 
-
 async def deg_to_dms(deg):
     absdeg = np.abs(deg)
     d = np.floor(absdeg)
@@ -56,6 +55,7 @@ async def slew(command: Command,
     command.info("Initial slew completed.")
 
     for iter in range(usrpars.aqu_max_iter + 1):
+        log.info("Taking image...")
         command.info("Taking image...")
         # take an image for astrometry
         try:
@@ -95,6 +95,7 @@ async def slew(command: Command,
             cmd = await asyncio.gather(*astcmd)
 
         except Exception as e:
+            log.error("Astrometry timeout")
             return command.fail(text="Astrometry timeout")
 
 
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index 1d9902b..aeaff54 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -2,6 +2,9 @@
 import click
 from clu.command import Command
 
+#import logging
+#from sdsstools import get_logger
+
 from lvmagp.actor.commfunc import *  # noqa: F403
 from lvmagp.actor.internalfunc import *  # noqa: F403
 from lvmagp.actor.user_parameters import usrpars
@@ -10,12 +13,24 @@
 
 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],
                ):
+    '''
+    log.info("Img_ra2000='%02dh %02dm %06.3fs' Img_dec2000='%02dd %02dm %06.3fs'" % (1,2,3,4,5,6),
+             )
+    command.info(Img_ra2000="%02dh %02dm %06.3fs"
+                        % (1,2,3),
+             Img_dec2000="%02dd %02dm %06.3fs"
+                         % (6,5,4))
+    '''
+    '''
     global test_KHU
     resultpath = "/home/sumin/lvmagp/python/lvmagp/actor/astrometry_result.txt"
 
@@ -51,3 +66,4 @@ async def test(command: Command,
     await proc.communicate()
 
     print("end")
+    '''
\ No newline at end of file
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index dde8002..7c14ea4 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -3,6 +3,7 @@
 
 from lvmagp.actor.internalfunc import send_message
 import datetime
+import numpy as np
 import asyncio
 
 
@@ -90,6 +91,10 @@ def __init__(self, tel):
         self.latitude = -999
         self.longitude = -999
         self.rotationangle = -999
+
+        self.scale_matrix = np.matrix([[1,1],   #[x_ra , y_ra ]
+                                       [1,1]])  #[x_dec, y_dec]
+
         self.ag_task = None
         self.ag_break = False
 
@@ -107,7 +112,6 @@ async def reset_offset_radec(self, command):
 
         return True
 
-
     async def offset_radec(self, command, ra_arcsec, dec_arcsec):
 
         await send_message(
@@ -119,6 +123,12 @@ async def offset_radec(self, command, ra_arcsec, dec_arcsec):
 
         return True
 
+    async def get_dec2000_deg(self, command):
+        dec2000 = await send_message(
+            command, self.lvmpwi, "status", returnval=True, body="dec_j2000_degs"
+        )
+        return dec2000
+
 
 # Functions for camera
 class LVMCamera:
@@ -128,6 +138,7 @@ def __init__(self):
         self.offset_x = -999
         self.offset_y = -999
         self.pixelscale = -999
+        self.rotationangle = -999
         self.lvmcampath = ''
 
     async def single_exposure(self, command, exptime):
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index 0b8166e..b848058 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -19,5 +19,8 @@ class usrpars():
     ag_min_offset = 0.3  # minimum offset to do correction in pixel
     ag_flux_tolerance = 0.2  # maximum variability of flux due to seeing to identify the guide star
 
+    ag_cal_offset_per_step = 4.0
+    ag_cal_num_step = 2
+
 
 
diff --git a/python/lvmagp/etc/lvmagp.yml b/python/lvmagp/etc/lvmagp.yml
index 8eafe70..82b8c9c 100644
--- a/python/lvmagp/etc/lvmagp.yml
+++ b/python/lvmagp/etc/lvmagp.yml
@@ -9,10 +9,10 @@ sci:
     offset_y: null
     rotationangle: null
   agw:
-    pixelscale: 2.6
+    pixelscale: 2.60
     offset_x: 0.0
     offset_y: 0.0
-    rotationangle: null
+    rotationangle: 0.0
   foc:
     varA: null
   km:
@@ -26,10 +26,12 @@ skye:
     pixelscale: null
     offset_x: null
     offset_y: null
+    rotationangle: null
   agw:
     pixelscale: null
     offset_x: null
     offset_y: null
+    rotationangle: null
   foc:
     varA: null
   km:
@@ -43,10 +45,12 @@ skyw:
     pixelscale: null
     offset_x: null
     offset_y: null
+    rotationangle: null
   agw:
     pixelscale: null
     offset_x: null
     offset_y: null
+    rotationangle: null
   foc:
     varA: null
   km:
@@ -60,10 +64,12 @@ spec:
     pixelscale: null
     offset_x: null
     offset_y: null
+    rotationangle: null
   agw:
     pixelscale: null
     offset_x: null
     offset_y: null
+    rotationangle: null
   foc:
     varA: null
   km:
@@ -74,4 +80,6 @@ spec:
 actor:
   name: lvmagp
   host: localhost
-  port: 5672
\ No newline at end of file
+  port: 5672
+  version: '0.2.0-alpha'
+  log_dir: '../../logs'
\ No newline at end of file

From 40ff35f67eaadfa78fd44cb47e74483dcd4d78d4 Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Fri, 3 Dec 2021 16:33:22 +0900
Subject: [PATCH 4/9] v.0.2.0a slew/guide command update

---
 python/lvmagp/actor/commands/guide.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 9389511..61c3bd5 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -282,6 +282,8 @@ async def autoguiding(command, telescopes: dict[str, LVMTelescope], eastcameras:
     offset_arcsec[0] = offset_arcsec[0]/np.cos(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]))
         await telescopes[tel].offset_radec(command, *offset_arcsec)
         return offset_arcsec
 

From 6b175defe874207a7311b936b094796bf5f73a73 Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Fri, 3 Dec 2021 17:45:20 +0900
Subject: [PATCH 5/9] v.0.2.1a docstring

---
 poetry.lock                               | 126 ++++++++++----------
 python/lvmagp/actor/commands/autofocus.py |  16 +++
 python/lvmagp/actor/commands/guide.py     |  69 ++++++++++-
 python/lvmagp/actor/commands/slew.py      |  21 ++++
 python/lvmagp/actor/commfunc.py           | 139 +++++++++++++++++++++-
 python/lvmagp/actor/internalfunc.py       | 109 +++++++++++++++++
 python/lvmagp/actor/user_parameters.py    |  18 +--
 python/lvmagp/etc/lvmagp.yml              |   2 +-
 8 files changed, 419 insertions(+), 81 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index c496aaa..d3fe76f 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -177,7 +177,7 @@ testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest-
 
 [[package]]
 name = "coverage"
-version = "6.1.2"
+version = "6.2"
 description = "Code coverage measurement for Python"
 category = "dev"
 optional = false
@@ -341,7 +341,7 @@ toml = {version = ">=0.10.2", markers = "python_version > \"3.6\""}
 
 [[package]]
 name = "ipython"
-version = "7.29.0"
+version = "7.30.1"
 description = "IPython: Productive Interactive Computing"
 category = "dev"
 optional = false
@@ -498,7 +498,7 @@ pyparsing = ">=2.0.2"
 
 [[package]]
 name = "parso"
-version = "0.8.2"
+version = "0.8.3"
 description = "A Python Parser"
 category = "dev"
 optional = false
@@ -597,7 +597,7 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "prompt-toolkit"
-version = "3.0.22"
+version = "3.0.23"
 description = "Library for building powerful interactive command lines in Python"
 category = "dev"
 optional = false
@@ -901,7 +901,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "setuptools"
-version = "59.2.0"
+version = "59.4.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 category = "dev"
 optional = false
@@ -1119,7 +1119,7 @@ python-versions = ">=3.6"
 
 [[package]]
 name = "typing-extensions"
-version = "4.0.0"
+version = "4.0.1"
 description = "Backported and Experimental Type Hints for Python 3.6+"
 category = "main"
 optional = false
@@ -1239,53 +1239,53 @@ configparser = [
     {file = "configparser-5.1.0.tar.gz", hash = "sha256:202b9679a809b703720afa2eacaad4c6c2d63196070e5d9edc953c0489dfd536"},
 ]
 coverage = [
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@@ -1339,8 +1339,8 @@ ipdb = [
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+    {file = "ipython-7.30.1.tar.gz", hash = "sha256:cb6aef731bf708a7727ab6cde8df87f0281b1427d41e65d62d4b68934fa54e97"},
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@@ -1520,8 +1520,8 @@ packaging = [
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 ]
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@@ -1611,8 +1611,8 @@ pluggy = [
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+    {file = "prompt_toolkit-3.0.23.tar.gz", hash = "sha256:7053aba00895473cb357819358ef33f11aa97e4ac83d38efb123e5649ceeecaf"},
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@@ -1864,8 +1864,8 @@ semantic-version = [
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@@ -1952,8 +1952,8 @@ typed-ast = [
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+    {file = "typing_extensions-4.0.1.tar.gz", hash = "sha256:4ca091dea149f945ec56afb48dae714f21e8692ef22a395223bcd328961b6a0e"},
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diff --git a/python/lvmagp/actor/commands/autofocus.py b/python/lvmagp/actor/commands/autofocus.py
index 2c80337..803a4fb 100644
--- a/python/lvmagp/actor/commands/autofocus.py
+++ b/python/lvmagp/actor/commands/autofocus.py
@@ -17,12 +17,28 @@ def autofocus(*args):
 @autofocus.command()
 @click.argument("TEL", type=str)
 async def coarse(command: Command, tel: str):
+    """
+    Find the focus coarsely by scanning whole reachable position.
+
+    Parameters
+    ----------
+    tel
+        The telescope to be focused
+    """
     pass
 
 
 @autofocus.command()
 @click.argument("TEL", type=str)
 async def fine(command: Command, tel: str):
+    """
+    Find the optimal focus position which is near the current position.
+
+    Parameters
+    ----------
+    tel
+        The telescope to be focused
+    """
     position, fwhm = [], []
     incremental = 100
     repeat = 5
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 61c3bd5..6298b86 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -25,6 +25,17 @@ async def start(command: Command,
                 westcameras: dict[str, LVMWestCamera],
                 focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
                 tel: str, useteldata: bool):
+    """
+    Start the autoguide sequence.
+
+    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.
+    """
 
     if tel in telescopes:
         try:
@@ -47,6 +58,14 @@ async def start(command: Command,
 @click.argument("TEL", type=str)
 async def stop(command: Command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
                       westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror], tel: str):
+    """
+    Stop the autoguide sequence.
+
+    Parameters
+    ----------
+    tel
+        Telescope to stop autoguide
+    """
     if tel in telescopes:
         if telescopes[tel].ag_task is not None:
             telescopes[tel].ag_break = True
@@ -63,6 +82,14 @@ async def stop(command: Command, telescopes: dict[str, LVMTelescope], eastcamera
 async def calibration(command: Command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
                       westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
                       tel: str):
+    """
+    Run calibration sequence to calculate the transformation from the equatorial coordinates to the xy coordinates of the image.
+
+    Parameters
+    ----------
+    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
@@ -118,7 +145,18 @@ async def calibration(command: Command, telescopes: dict[str, LVMTelescope], eas
 
 async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
                       westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror], tel, 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.
+    """
     global KHU_inner_test
     if KHU_inner_test:
         i = 0
@@ -228,6 +266,18 @@ async def autoguide_supervisor(command, tel):
 async def find_guide_stars(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
                                westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
                                tel, positionguess=None):
+    """
+    Expose an image, and find three guide stars from the image.
+    Also calculate the center coordinates and flux of found stars.
+
+    Parameters
+    ----------
+    tel
+        Telescope to autoguide
+    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.
+    """
     global KHU_inner_test
     command.info("Taking image...")
     # take an image for astrometry
@@ -263,7 +313,22 @@ async def find_guide_stars(command, telescopes: dict[str, LVMTelescope], eastcam
 async def autoguiding(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
                       westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
                       tel, 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 = await find_guide_stars(command, telescopes, eastcameras,
                 westcameras, focusers, kmirrors, tel, positionguess=initposition)
 
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 2157d7f..3ec21fd 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -9,6 +9,15 @@
 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)
@@ -26,6 +35,18 @@ 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):
+    """
+    Slew the telescope to the given equatorial coordinate (J2000).
+
+    Parameters
+    ----------
+    tel
+        Telescope to slew
+    target_ra_h
+        The right ascension (J2000) of the target in hours
+    target_dec_d
+        The declination (J2000) of the target in degrees
+    """
 
     test_KHU = True
     long_d = telescopes[tel].longitude
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 7c14ea4..48c5922 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -7,8 +7,17 @@
 import asyncio
 
 
-# Functions for focuser
 class LVMTANInstrument:
+    """
+    Class for the instruments using TAN.
+
+    Parameters
+    ----------
+    tel
+        Telescope to which the instrument belongs
+    inst
+        Type of the instrument
+    """
     def __init__(self, tel, inst):
         if tel == "test" or inst == "test":
             self.lvmtan = "test.first.focus_stage"
@@ -16,6 +25,14 @@ def __init__(self, tel, inst):
             self.lvmtan = "lvm." + tel + "." + inst
 
     async def getposition(self, command, unit="STEPS"):
+        """
+        Get current position of device in given unit.
+
+        Parameters
+        ----------
+        unit
+            Unit of position
+        """
         cmd = await send_message(
             command,
             self.lvmtan,
@@ -25,12 +42,31 @@ async def getposition(self, command, unit="STEPS"):
         )
         return cmd
 
-
     async def moveabs(self, command, position, unit='STEPS'):
+        """
+        Move the device at given absolute position.
+
+        Parameters
+        ----------
+        position
+            Position for the device to be located
+        unit
+            Unit of position
+        """
         cmd = await send_message(command, self.lvmtan, "moveAbsolute %d %s" % (position, unit))
         return cmd
 
     async def moverel(self, command, position, unit='STEPS'):
+        """
+        Move the device at given relative position.
+
+        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
 '''
@@ -53,20 +89,36 @@ async def moverel(self, command, position, unit="STEPS"):
 '''
 
 class LVMFocuser(LVMTANInstrument):
+    """
+    Class for the focusers
+
+    Parameters
+    ----------
+    tel
+        Telescope to which the focuser belongs
+    """
     def __init__(self, tel):
         super().__init__(tel, "foc")
         #print(self.lvmtan)
 
 
 class LVMKMirror(LVMTANInstrument):
+    """
+    Class for the K-mirros
+
+    Parameters
+    ----------
+    tel
+        Telescope to which the focuser belongs
+    """
     def __init__(self, tel):
         super().__init__(tel, "km")
-
+    '''
     async def cal_traj(self, command):
         currenttime = datetime.datetime.now()
         #cmd = await send_message(command, self.lvmtan, "startProfile %d %s" % (position, unit))
         return currenttime
-    '''
+    
     async def startProfile(
             self,
             start_date: datetime.datetime,
@@ -77,11 +129,27 @@ async def startProfile(
     '''
 
 class LVMFibsel(LVMTANInstrument):
+    """
+    Class for the fiber selectors
+
+    Parameters
+    ----------
+    tel
+        Telescope to which the focuser belongs
+    """
     def __init__(self):
         super().__init__("spec", "fibsel")
 
 
 class LVMTelescope:
+    """
+    Class for the telescopes (Planewave mounts)
+
+    Parameters
+    ----------
+    tel
+        The name of the telescope
+    """
     def __init__(self, tel):
         if tel == "test":
             self.lvmpwi = "lvm.pwi"
@@ -90,7 +158,6 @@ def __init__(self, tel):
 
         self.latitude = -999
         self.longitude = -999
-        self.rotationangle = -999
 
         self.scale_matrix = np.matrix([[1,1],   #[x_ra , y_ra ]
                                        [1,1]])  #[x_dec, y_dec]
@@ -99,10 +166,23 @@ def __init__(self, tel):
         self.ag_break = False
 
     async def slew_radec2000(self, command, 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
+        """
         cmd = await send_message(command,self.lvmpwi,"gotoRaDecJ2000 %f %f" % (target_ra_h, target_dec_d))
         return cmd
 
     async def reset_offset_radec(self, command):
+        """
+        Reset the offset of both axes to zero.
+        """
         await send_message(
             command, self.lvmpwi, "offset --ra_reset"
         )
@@ -113,7 +193,16 @@ async def reset_offset_radec(self, command):
         return True
 
     async def offset_radec(self, command, ra_arcsec, dec_arcsec):
-
+        """
+        Give some offset to the mount
+
+        Parameters
+        ----------
+        ra_arcsec
+            Distance to move along right ascension axis in arcseconds
+        dec_arcsec
+            Distance to move along declination axis in arcseconds
+        """
         await send_message(
             command, self.lvmpwi, "offset --ra_add_arcsec %f" % ra_arcsec
         )
@@ -124,6 +213,9 @@ async def offset_radec(self, command, ra_arcsec, dec_arcsec):
         return True
 
     async def get_dec2000_deg(self, command):
+        """
+        Return the declination (J2000) of current position in degrees
+        """
         dec2000 = await send_message(
             command, self.lvmpwi, "status", returnval=True, body="dec_j2000_degs"
         )
@@ -132,6 +224,9 @@ async def get_dec2000_deg(self, command):
 
 # Functions for camera
 class LVMCamera:
+    """
+    Class for the FLIR guide cameras
+    """
     def __init__(self):
         self.lvmcam = "lvmcam"
         self.cam = "lvmcam"
@@ -142,23 +237,55 @@ def __init__(self):
         self.lvmcampath = ''
 
     async def single_exposure(self, command, exptime):
+        """
+        Take a single exposure
+
+        Parameters
+        ----------
+        exptime
+            Exposure time
+        """
         path = await send_message(
             command, self.lvmcam, "expose %f 1 %s" % (exptime, self.cam), returnval=True, body="PATH"
         )
         return path["0"]
 
     async def test_exposure(self, command, exptime):
+        """
+        Take a test exposure using ``-t`` option of lvmcam. The image file (Temp.fits) is 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"
         )
         return path["0"]
 
 class LVMEastCamera(LVMCamera):
+    """
+    Class for the FLIR guide cameras installed in east side
+
+    Parameters
+    ----------
+    tel
+        Telescope to which the camera belongs
+    """
     def __init__(self, tel):
         super().__init__()
         self.cam = tel + '.age'
 
 class LVMWestCamera(LVMCamera):
+    """
+    Class for the FLIR guide cameras installed in west side
+
+    Parameters
+    ----------
+    tel
+        Telescope to which the camera belongs
+    """
     def __init__(self, tel):
         super().__init__()
         self.cam = tel + '.agw'
\ No newline at end of file
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index a03a0c3..f94b8f6 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -14,6 +14,14 @@
 
 
 class GuideImage:
+    """
+    Class for the guide camera images.
+
+    Parameters
+    ----------
+    filepath
+        Path of the image file
+    """
     def __init__(self, filepath):
         self.filepath = filepath
         self.nstar = 3
@@ -32,6 +40,15 @@ def __init__(self, filepath):
         self.pixelscale = -999
 
     def findstars(self, nstar=3):
+        """
+        Find ``nstar`` stars using DAOFind and KD tree for sequences of lvmagp.
+        The result is given by np.ndarray lookes like [[x1, y1], [x2, y2], [x3, y3], ...], and it is also saved in ``self.guidestarposition``.
+
+        Parameters
+        ----------
+        nstar
+            The number of stars to be found
+        """
         daofind = DAOStarFinder(
             fwhm=self.initFWHM, threshold=3.0 * self.std, peakmax=60000 - self.median
         )  # 1sigma = FWHM/(2*sqrt(2ln2)); FWHM = sigma * (2*sqrt(2ln2))
@@ -69,6 +86,9 @@ def findstars(self, nstar=3):
         return self.guidestarposition  # array ; [[x1, y1], [x2, y2], [x3, y3]]
 
     def twoDgaussianfit(self):
+        """
+        Condunt 2D Gaussian fitting to find center, flux of the stars in ``self.guidestarposition``.
+        """
         windowradius = 5  # only integer
         plist = []
 
@@ -97,6 +117,9 @@ def twoDgaussianfit(self):
         return plist
 
     def update_guidestar_properties(self):
+        """
+        Using ``twoDGaussianfit`` method, update the guidestar properties in ``self.guidestarflux``, ``self.guidestarposition``, ``self.guidestarsize``, and ``slef.FWHM``.
+        """
         if len(self.guidestarposition) == 0:
             pass
 
@@ -115,6 +138,17 @@ def update_guidestar_properties(self):
         return True
 
     async def astrometry(self, ra_h=-999, dec_d=-999):
+        """
+        Conduct astrometry to find where the image is taken.
+        Astromery result is saved in astrometry_result.txt in same directory with this python file, also key result (ra,dec,pa) is saved to ``self.ra2000``, ``self.dec2000``, and ``self.pa``.
+
+        Parameters
+        ----------
+        ra_h
+            The initial guess for right ascension (J2000) in hours
+        dec_d
+            The initial guess for declination (J2000) in degrees
+        """
         ospassword = "0000"
         resultpath = os.path.dirname(os.path.abspath(__file__)) + "/astrometry_result.txt"
         timeout = 10
@@ -177,6 +211,16 @@ async def astrometry(self, ra_h=-999, dec_d=-999):
 
 
 def findfocus(positions, FWHMs):  # both are lists or np.array
+    """
+    Find the optimal focus using LSQ fitting.
+
+    Parameters
+    ----------
+    positions
+        The positions (encoder values) at each measurement
+    FWHMs
+        The measured FWHMs at each measurement
+    """
     t_init = models.Polynomial1D(degree=2)
     fit_t = fitting.LinearLSQFitter()
     t = fit_t(t_init, positions, FWHMs)
@@ -186,6 +230,20 @@ def findfocus(positions, FWHMs):  # both are lists or np.array
 
 
 def cal_pa(ra_h, dec_d, long_d, lat_d):
+    """
+    Calculate position angle at given position and location
+
+    Parameters
+    ----------
+    ra_h
+        The right ascension (J2000) in hours
+    dec_d
+        The declination (J2000) in degrees
+    long_d
+        Longitude in degrees
+    lat_d
+        Latitude in degrees
+    """
     dec = np.deg2rad(dec_d)
     lat = np.deg2rad(lat_d)
 
@@ -200,6 +258,20 @@ def cal_pa(ra_h, dec_d, long_d, lat_d):
 
 
 def star_altaz(ra_h, dec_d, long_d, lat_d):
+    """
+    Calculate the alt-az coordinates at now from the equatorial coordinates and location
+
+    Parameters
+    ----------
+    ra_h
+        The right ascension (J2000) in hours
+    dec_d
+        The declination (J2000) in degrees
+    long_d
+        Longitude in degrees
+    lat_d
+        Latitude in degrees
+    """
     dec = np.deg2rad(dec_d)
     lat = np.deg2rad(lat_d)
 
@@ -224,6 +296,15 @@ def star_altaz(ra_h, dec_d, long_d, lat_d):
 
 
 def define_visb_limit(Az):  # or Hour angle..?
+    """
+    Define the altitude limit at given azimuth angle.
+    Now it returns 30<=Alt<=90 at any azimuth.
+
+    Parameters
+    ----------
+    Az
+        Azimuth to calculate the limit
+    """
     # input any condition ..
     alt_low = 30
     alt_high = 90
@@ -231,6 +312,20 @@ def define_visb_limit(Az):  # or Hour angle..?
 
 
 def check_target(ra_h, dec_d, long_d, lat_d):
+    """
+    Using the limit defined in ``define_visb_limit``, check whether the target is in observable area or not.
+
+    Parameters
+    ----------
+    ra_h
+        The right ascension (J2000) in hours
+    dec_d
+        The declination (J2000) in degrees
+    long_d
+        Longitude in degrees
+    lat_d
+        Latitude in degrees
+    """
     alt, az = star_altaz(ra_h, dec_d, long_d, lat_d)
     alt_low, alt_high = define_visb_limit(az)
     if (alt_low < alt) and (alt < alt_high):
@@ -240,6 +335,20 @@ def check_target(ra_h, dec_d, long_d, lat_d):
 
 
 async def send_message(command, actor, command_to_send, returnval=False, body=""):
+    """
+    Send command to the other actor and return reply from the command if needed.
+
+    Parameters
+    ----------
+    actor
+        The name of the actor which the command to be sent.
+    command_to_send
+        The string of message to be sent to ``actor``.
+    returnval
+        If ``returnval=True``, it receives the return (``command.finish``) from the ``actor``.
+    body
+        The needed body from the returns.
+    """
     cmd = await command.actor.send_command(actor, command_to_send)
     cmdwait = await cmd
 
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index b848058..2e8bcd4 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -7,20 +7,20 @@ class usrpars():
     # autofocus parameters
 
 
-    # aquisition parameters
-    aqu_exptime = 5  #in seconds
-    aqu_max_iter = 2
-    aqu_tolerance_arcsec = 30.0
+    # acquisition parameters
+    aqu_exptime = 5  # exposure time for acquisition in seconds
+    aqu_max_iter = 2  # maximum iteration of astrometry compensation
+    aqu_tolerance_arcsec = 30.0  # maximum tolerable angular distance between target coordinates and aquisited coordinates
 
-    # autoguide paramters
-    ag_exptime = 3
+    # autoguide parameters
+    ag_exptime = 3  # exposure time for autoguide in seconds
     ag_halfboxsize = 15  # 1/2 of box in pixel
-    ag_minsnr = 6
+    #ag_minsnr = 6
     ag_min_offset = 0.3  # minimum offset to do correction in pixel
     ag_flux_tolerance = 0.2  # maximum variability of flux due to seeing to identify the guide star
 
-    ag_cal_offset_per_step = 4.0
-    ag_cal_num_step = 2
+    ag_cal_offset_per_step = 4.0  # Step size for calibration in arcseconds
+    ag_cal_num_step = 2  # number of steps of calibration per axis
 
 
 
diff --git a/python/lvmagp/etc/lvmagp.yml b/python/lvmagp/etc/lvmagp.yml
index 82b8c9c..e3b2a3f 100644
--- a/python/lvmagp/etc/lvmagp.yml
+++ b/python/lvmagp/etc/lvmagp.yml
@@ -81,5 +81,5 @@ actor:
   name: lvmagp
   host: localhost
   port: 5672
-  version: '0.2.0-alpha'
+  version: '0.2.1-alpha'
   log_dir: '../../logs'
\ No newline at end of file

From f5fc007d300c48a3a23f03f53f14915d957f260f Mon Sep 17 00:00:00 2001
From: mgjeon <mgjeon@khu.ac.kr>
Date: Mon, 6 Dec 2021 15:15:29 +0900
Subject: [PATCH 6/9] v0.2.2a debug guide command (not completed)

---
 python/lvmagp/actor/actor.py              |  8 ++---
 python/lvmagp/actor/astrometry_result.txt | 29 +++++++++---------
 python/lvmagp/actor/commands/guide.py     | 36 +++++++++++++----------
 python/lvmagp/actor/commands/slew.py      |  3 +-
 python/lvmagp/actor/commands/test.py      | 16 ++++++++++
 python/lvmagp/actor/internalfunc.py       | 24 +++++++--------
 python/lvmagp/actor/user_parameters.py    |  6 ++--
 python/lvmagp/etc/lvmagp.yml              |  4 +--
 8 files changed, 74 insertions(+), 52 deletions(-)

diff --git a/python/lvmagp/actor/actor.py b/python/lvmagp/actor/actor.py
index 01bae09..529d771 100644
--- a/python/lvmagp/actor/actor.py
+++ b/python/lvmagp/actor/actor.py
@@ -46,10 +46,10 @@ def __init__(
                 "Img_pa": {"type": "string"},
                 "offset_ra": {"type": "string"},
                 "offset_dec": {"type": "string"},
-                "xscale_ra": {"type": "float"},
-                "yscale_ra": {"type": "float"},
-                "xscale_dec": {"type": "float"},
-                "yscale_dec": {"type": "float"}
+                "xscale_ra": {"type": "string"},
+                "yscale_ra": {"type": "string"},
+                "xscale_dec": {"type": "string"},
+                "yscale_dec": {"type": "string"}
             },
             "additionalProperties": False,
         }
diff --git a/python/lvmagp/actor/astrometry_result.txt b/python/lvmagp/actor/astrometry_result.txt
index ddcdc60..ab1f8c8 100644
--- a/python/lvmagp/actor/astrometry_result.txt
+++ b/python/lvmagp/actor/astrometry_result.txt
@@ -1,25 +1,26 @@
-Reading input file 1 of 1: "/home/sumin/lvmcam/python/lvmcam/assets/test.fits"...
+Reading input file 1 of 1: "/home/sumin/lvmcam/python/lvmcam/assets/testshot.fits"...
 Extracting sources...
+This looks like a multi-color image: processing the first image plane only.  (NAXIS=3)
 Downsampling by 2...
-simplexy: found 197 sources.
+simplexy: found 663 sources.
 Solving...
-Reading file "/home/sumin/lvmcam/python/lvmcam/assets/test.axy"...
-Only searching for solutions within 1 degrees of RA,Dec (83.85,-5.45)
+Reading file "/home/sumin/lvmcam/python/lvmcam/assets/testshot.axy"...
+Only searching for solutions within 1 degrees of RA,Dec (92.25,24.33)
 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 439.518 (7.58935e+190), 87 match, 0 conflict, 105 distractors, 127 index.
-  RA,Dec = (83.8516,-5.44941), pixel scale 2.59094 arcsec/pix.
-  Hit/miss:   Hit/miss: ++++++-+++++++++++++++++-++++-++++++-++++---+++--++-++-+++--+++-+-+-+++-+++-+-+-+---+---+--+----+--+
+  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.
-Field 1 solved: writing to file /home/sumin/lvmcam/python/lvmcam/assets/test.solved to indicate this.
-Field: /home/sumin/lvmcam/python/lvmcam/assets/test.fits
-Field center: (RA,Dec) = (83.851870, -5.449307) deg.
-Field center: (RA H:M:S, Dec D:M:S) = (05:35:24.449, -05:26:57.505).
-Field size: 69.2306 x 47.6209 arcminutes
-Field rotation angle: up is 171.703 degrees E of N
+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 parity: pos
-Creating new FITS file "/home/sumin/lvmcam/python/lvmcam/assets/test.new"...
+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 6298b86..28b662f 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -107,7 +107,7 @@ async def calibration(command: Command, telescopes: dict[str, LVMTelescope], eas
     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)
+                                                       kmirrors, tel, positionguess=initposition)
         xpositions.append(position[:, 0])
         ypositions.append(position[:, 1])
 
@@ -115,8 +115,8 @@ async def calibration(command: Command, telescopes: dict[str, LVMTelescope], eas
 
     xpositions = np.array(xpositions) - xpositions[0]
     ypositions = np.array(ypositions) - ypositions[0]
-    xscale_dec = np.sum(xpositions/np.arange(num_step+1))/(num_step)  # displacement along x-axis by ra offset in pixel per arcsecond. exclude the first index (0,0)
-    yscale_dec = np.sum(ypositions/np.arange(num_step+1))/(num_step)  # exclude the first index (0,0)
+    xscale_dec = np.sum(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 arcsecond. exclude the first index (0,0)
+    yscale_dec = np.sum(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 = [initposition[:, 0]]
@@ -131,16 +131,16 @@ async def calibration(command: Command, telescopes: dict[str, LVMTelescope], eas
 
     await telescopes[tel].offset_radec(command, -num_step*offset_per_step, 0)
 
-    decj2000_deg = telescopes[tel].get_dec2000_deg()
+    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*np.arange(num_step+1))/(num_step)/np.cos(decj2000_deg)  # exclude the first index (0,0)
-    yscale_ra = np.sum(ypositions*np.arange(num_step+1))/(num_step)/np.cos(decj2000_deg)  # exclude the first index (0,0)
+    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))  # 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))  # exclude the first index (0,0)
 
     telescopes[tel].scale_matrix = np.matrix([[xscale_ra, yscale_ra],[xscale_dec, yscale_dec]])
     return command.finish(xscale_ra="%.3f pixel/arcsec"%xscale_ra, yscale_ra="%.3f pixel/arcsec"%yscale_ra,
-                          xscale_dec="%.3f pixel/arcsec"%xscale_dec, ysclae_dec="%.3f pixel/arcsec"%yscale_dec)
+                          xscale_dec="%.3f pixel/arcsec"%xscale_dec, yscale_dec="%.3f pixel/arcsec"%yscale_dec)
 
 
 async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
@@ -158,14 +158,14 @@ async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eas
         Otherwise, the sequence will get pixel scale from LVMCamera and it assumes that the camera is north-oriented.
     """
     global KHU_inner_test
-    if KHU_inner_test:
+    if 0:
         i = 0
     else:
         initposition, initflux = await find_guide_stars(command, telescopes, eastcameras,
                                                         westcameras, focusers, kmirrors, tel)
 
     while 1:
-        if KHU_inner_test:
+        if 0:
             command.info("%s %d" % (tel, i))
             i = i + 1
             await asyncio.sleep(8)
@@ -331,20 +331,24 @@ async def autoguiding(command, telescopes: dict[str, LVMTelescope], eastcameras:
     """
     starposition, starflux = await find_guide_stars(command, telescopes, eastcameras,
                 westcameras, focusers, kmirrors, tel, positionguess=initposition)
-
-    if np.abs(np.average(starflux/initflux - 1), weight=np.log10(initflux)) > usrpars.ag_flux_tolerance:
-        return command.error("Star flux variation is too large.")
+    print(starflux)
+    print(initflux)
+    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.matmul(telescopes[tel].scale_matrix.I, offset.T)  # in x,y(=ra,dec) [arcsec]
+        offset_arcsec = np.matmul(telescopes[tel].scale_matrix.I, offset)  # in x,y(=ra,dec) [arcsec]
         offset_arcsec = np.array(offset_arcsec)
     else:
-        offset_arcsec = offset * westcameras[tel].pixelscale  # in x,y(=ra,dec) [arcsec]
+        theta = np.radians(westcameras[tel].rotationangle)
+        c, s = np.cos(theta), np.sin(theta)
+        R = np.array(((c, -s), (s, c)))
+        offset_arcsec = np.dot(R,offset) * westcameras[tel].pixelscale  # in x,y(=ra,dec) [arcsec]
 
-    decj2000_deg = telescopes[tel].get_dec2000_deg()
-    offset_arcsec[0] = offset_arcsec[0]/np.cos(decj2000_deg)
+    decj2000_deg = await telescopes[tel].get_dec2000_deg(command)
+    offset_arcsec[0] = offset_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" %
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 3ec21fd..8aa1c72 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -76,7 +76,6 @@ async def slew(command: Command,
     command.info("Initial slew completed.")
 
     for iter in range(usrpars.aqu_max_iter + 1):
-        log.info("Taking image...")
         command.info("Taking image...")
         # take an image for astrometry
         try:
@@ -123,6 +122,8 @@ async def slew(command: Command,
         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_hms = await deg_to_dms(ra2000_d / 15)
         dec2000_dms = await deg_to_dms(dec2000_d)
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index aeaff54..78114b1 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -22,6 +22,22 @@ 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],
                ):
+
+    filepath = "/home/sumin/lvmcam/python/lvmcam/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000107.fits"
+    guideimg1 = GuideImage(filepath)
+
+    filepath = "/home/sumin/lvmcam/python/lvmcam/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000110.fits"
+    guideimg2 = GuideImage(filepath)
+    pos = guideimg1.findstars()
+    print(pos)
+
+    guideimg2.guidestarposition = pos
+    guideimg2.update_guidestar_properties()
+    starposition = guideimg2.guidestarposition
+    print(starposition)
+
+
+
     '''
     log.info("Img_ra2000='%02dh %02dm %06.3fs' Img_dec2000='%02dd %02dm %06.3fs'" % (1,2,3,4,5,6),
              )
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index f94b8f6..8533167 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -28,11 +28,11 @@ def __init__(self, filepath):
         self.initFWHM = 3
         self.FWHM = -999
         self.hdu = fits.open(self.filepath)
-        self.data, self.hdr = self.hdu[0].data, self.hdu[0].header
+        self.data, self.hdr = self.hdu[0].data[0], self.hdu[0].header
         self.mean, self.median, self.std = sigma_clipped_stats(self.data, sigma=3.0)
-        self.guidestarposition = []
-        self.guidestarflux = []
-        self.guidestarsize = []
+        self.guidestarposition = np.zeros(1)
+        self.guidestarflux = np.zeros(1)
+        self.guidestarsize = np.zeros(1)
         self.ra2000 = -999
         self.dec2000 = -999
         self.pa = -999
@@ -89,7 +89,7 @@ def twoDgaussianfit(self):
         """
         Condunt 2D Gaussian fitting to find center, flux of the stars in ``self.guidestarposition``.
         """
-        windowradius = 5  # only integer
+        windowradius = 10  # only integer
         plist = []
 
         for i in range(len(self.guidestarposition[:, 0])):
@@ -124,15 +124,15 @@ def update_guidestar_properties(self):
             pass
 
         plist = self.twoDgaussianfit()
-
+        flux, position, size = [], [], []
         for p in plist:
-            self.guidestarflux.append(p.amplitude)
-            self.guidestarposition.append([p.x_mean, p.y_mean])
-            self.guidestarsize.append([p.x_fwhm, p.y_fwhm])
+            flux.append(p.amplitude.value)
+            position.append([p.x_mean.value, p.y_mean.value])
+            size.append([p.x_fwhm, p.y_fwhm])
 
-        self.guidestarflux = np.array(self.guidestarflux)
-        self.guidestarposition = np.array(self.guidestarposition)
-        self.guidestarsize = np.array(self.guidestarsize)
+        self.guidestarflux = np.array(flux)
+        self.guidestarposition = np.array(position)
+        self.guidestarsize = np.array(size)
         self.FWHM = np.median(self.guidestarsize)  # float
 
         return True
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index 2e8bcd4..2a2fcab 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -17,10 +17,10 @@ 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 = 0.2  # 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 = 4.0  # Step size for calibration in arcseconds
-    ag_cal_num_step = 2  # number of steps of calibration per axis
+    ag_cal_offset_per_step = 3.0  # Step size for calibration in arcseconds
+    ag_cal_num_step = 3  # number of steps of calibration per axis
 
 
 
diff --git a/python/lvmagp/etc/lvmagp.yml b/python/lvmagp/etc/lvmagp.yml
index e3b2a3f..e9d59d1 100644
--- a/python/lvmagp/etc/lvmagp.yml
+++ b/python/lvmagp/etc/lvmagp.yml
@@ -12,7 +12,7 @@ sci:
     pixelscale: 2.60
     offset_x: 0.0
     offset_y: 0.0
-    rotationangle: 0.0
+    rotationangle: 100.0
   foc:
     varA: null
   km:
@@ -82,4 +82,4 @@ actor:
   host: localhost
   port: 5672
   version: '0.2.1-alpha'
-  log_dir: '../../logs'
\ No newline at end of file
+  log_dir: './logs'
\ No newline at end of file

From 5abf328a243880055376c188ad15c895740979cc Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Fri, 10 Dec 2021 13:52:45 +0900
Subject: [PATCH 7/9] v.0.2.3a lvmtipo

---
 .github/workflows/test.yml                |   2 +-
 .idea/vcs.xml                             |   2 +
 python/lvmagp/actor/actor.py              |  64 +++--
 python/lvmagp/actor/commands/autofocus.py |  15 +-
 python/lvmagp/actor/commands/guide.py     | 301 ++++++++++++++++------
 python/lvmagp/actor/commands/slew.py      |  77 ++++--
 python/lvmagp/actor/commands/test.py      |  98 +++----
 python/lvmagp/actor/commfunc.py           |  99 +++----
 python/lvmagp/actor/internalfunc.py       |  29 ++-
 python/lvmagp/actor/user_parameters.py    |  19 +-
 python/lvmagp/etc/lvmagp.yml              |  14 +-
 11 files changed, 442 insertions(+), 278 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index a56e6ed..400d037 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 . --count --show-source --statistics
+        flake8 ./python/lvmagp --count --show-source --statistics
 
     - name: Lint with isort
       run: |
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index 94a25f7..929b291 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,5 +2,7 @@
 <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/python/lvmagp/actor/actor.py b/python/lvmagp/actor/actor.py
index 529d771..d35fc94 100644
--- a/python/lvmagp/actor/actor.py
+++ b/python/lvmagp/actor/actor.py
@@ -2,25 +2,29 @@
 
 from clu.actor import AMQPActor
 
-from .commands import parser as lvm_command_python
+from lvmagp.actor.commfunc import (  # noqa: F401
+    LVMEastCamera,
+    LVMFibsel,
+    LVMFocuser,
+    LVMKMirror,
+    LVMTANInstrument,
+    LVMTelescope,
+    LVMWestCamera,
+)
 
-from lvmagp.actor.commfunc import LVMTANInstrument,LVMTelescope,LVMEastCamera,LVMWestCamera,LVMFibsel,LVMFocuser,LVMKMirror
+from .commands import parser as lvm_command_python
 
 
 # from scpactor import __version__
 
 __all__ = ["lvmagp"]
-tel_list = ['sci', 'skye', 'skyw', 'spec']
+tel_list = ["sci", "skye", "skyw", "spec"]
 
 
 class lvmagp(AMQPActor):
-    """AGP  actor.
+    """AGP actor.
     In addition to the normal arguments and keyword parameters for
     `~clu.actor.AMQPActor`, the class accepts the following parameters.
-    Parameters
-    ----------
-    controllers
-        The list of `.SCP_Controller` instances to manage.
     """
 
     parser = lvm_command_python
@@ -40,7 +44,7 @@ def __init__(
         self.schema = {
             "type": "object",
             "properties": {
-                "fail" : {"type": "string"},
+                "fail": {"type": "string"},
                 "Img_ra2000": {"type": "string"},
                 "Img_dec2000": {"type": "string"},
                 "Img_pa": {"type": "string"},
@@ -49,7 +53,7 @@ def __init__(
                 "xscale_ra": {"type": "string"},
                 "yscale_ra": {"type": "string"},
                 "xscale_dec": {"type": "string"},
-                "yscale_dec": {"type": "string"}
+                "yscale_dec": {"type": "string"},
             },
             "additionalProperties": False,
         }
@@ -69,30 +73,38 @@ def from_config(cls, config, *args, **kwargs):
 
         for (ctrname, ctr) in instance.config.items():
             if ctrname in tel_list:
-                #print(ctrname, ctr)
-                instance.telescopes.update({ctrname: LVMTelescope(ctrname)})
-                instance.telescopes[ctrname].latitude = ctr['tel']['latitude']
-                instance.telescopes[ctrname].longitude = ctr['tel']['longitude']
+                # 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.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.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)})
 
-                #print(ctrname,ctr)
+                # print(ctrname,ctr)
 
-        #print(instance.telescopes)
+        # print(instance.telescopes)
 
-        instance.parser_args = [instance.telescopes, instance.eastcameras, instance.westcameras, instance.focusers, instance.kmirrors]
-        return instance
\ No newline at end of file
+        instance.parser_args = [
+            instance.telescopes,
+            instance.eastcameras,
+            instance.westcameras,
+            instance.focusers,
+            instance.kmirrors,
+        ]
+        return instance
diff --git a/python/lvmagp/actor/commands/autofocus.py b/python/lvmagp/actor/commands/autofocus.py
index 803a4fb..76e1a82 100644
--- a/python/lvmagp/actor/commands/autofocus.py
+++ b/python/lvmagp/actor/commands/autofocus.py
@@ -49,11 +49,16 @@ async def fine(command: Command, tel: str):
     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
+        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]
 
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 28b662f..2af9cfa 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -1,17 +1,29 @@
-import os
 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 (  # noqa: F401
+    LVMEastCamera,
+    LVMFibsel,
+    LVMFocuser,
+    LVMKMirror,
+    LVMTANInstrument,
+    LVMTelescope,
+    LVMWestCamera,
+)
+from lvmagp.actor.internalfunc import GuideImage  # noqa: F403
 from lvmagp.actor.user_parameters import usrpars
 
+import asyncio
+import numpy as np
+
 from . import parser
 
+
 question = "Is this develop branch?"
 
 KHU_inner_test = True
 
+
 @parser.group()
 def guide(*args):
     pass
@@ -20,11 +32,16 @@ def guide(*args):
 @guide.command()
 @click.argument("TEL", type=str)
 @click.option("--useteldata", type=float, is_flag=True)
-async def start(command: Command,
-                telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
-                westcameras: dict[str, LVMWestCamera],
-                focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
-                tel: str, useteldata: bool):
+async def start(
+    command: Command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel: str,
+    useteldata: bool,
+):
     """
     Start the autoguide sequence.
 
@@ -33,14 +50,27 @@ async def start(command: Command,
     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.
+        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.
     """
 
     if tel in telescopes:
         try:
-            telescopes[tel].ag_task = asyncio.wait_for(autoguide_supervisor(command, telescopes, eastcameras,
-                    westcameras, focusers, kmirrors, tel, useteldata), timeout=3600)
+            telescopes[tel].ag_task = asyncio.wait_for(
+                autoguide_supervisor(
+                    command,
+                    telescopes,
+                    eastcameras,
+                    westcameras,
+                    focusers,
+                    kmirrors,
+                    tel,
+                    useteldata,
+                ),
+                timeout=3600,
+            )
             await telescopes[tel].ag_task
 
         except asyncio.TimeoutError:
@@ -51,13 +81,20 @@ async def start(command: Command,
     else:
         return command.fail(text="Telescope '%s' does not exist" % tel)
 
-    return command.finish('Guide stopped')
+    return command.finish("Guide stopped")
 
 
 @guide.command()
 @click.argument("TEL", type=str)
-async def stop(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 stop(
+    command: Command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel: str,
+):
     """
     Stop the autoguide sequence.
 
@@ -70,7 +107,9 @@ async def stop(command: Command, telescopes: dict[str, LVMTelescope], eastcamera
         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)
+            return command.fail(
+                text="There is no autoguiding loop for telescope '%s'" % tel
+            )
     else:
         return command.fail(text="Telescope '%s' does not exist" % tel)
 
@@ -79,11 +118,18 @@ async def stop(command: Command, telescopes: dict[str, LVMTelescope], eastcamera
 
 @guide.command()
 @click.argument("TEL", type=str)
-async def calibration(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 calibration(
+    command: Command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel: str,
+):
     """
-    Run calibration sequence to calculate the transformation from the equatorial coordinates to the xy coordinates of the image.
+    Run calibration sequence to calculate the transformation
+    from the equatorial coordinates to the xy coordinates of the image.
 
     Parameters
     ----------
@@ -99,52 +145,91 @@ async def calibration(command: Command, telescopes: dict[str, LVMTelescope], eas
 
     xpositions, ypositions = [], []
 
-    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
+    )
     xpositions.append(initposition[:, 0])
     ypositions.append(initposition[:, 1])
 
     # dec axis calibration
-    for step in range(1,num_step+1):
+    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)
+        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)
+    await telescopes[tel].offset_radec(command, 0, -num_step * offset_per_step)
 
     xpositions = np.array(xpositions) - xpositions[0]
     ypositions = np.array(ypositions) - ypositions[0]
-    xscale_dec = np.sum(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 arcsecond. exclude the first index (0,0)
-    yscale_dec = np.sum(ypositions[1:]/np.array([[i] * 3 for i in range(1,num_step+1)]))/offset_per_step  # exclude the first index (0,0)
+    xscale_dec = (
+        np.sum(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.sum(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 = [initposition[:, 0]]
     ypositions = [initposition[:, 1]]
 
-    for step in range(1,num_step+1):
+    for step in range(1, num_step + 1):
         await telescopes[tel].offset_radec(command, offset_per_step, 0)
-        position, flux = await find_guide_stars(command, telescopes, eastcameras, westcameras, focusers,
-                                                       kmirrors, tel)
+        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, 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))  # 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))  # exclude the first index (0,0)
-
-    telescopes[tel].scale_matrix = np.matrix([[xscale_ra, yscale_ra],[xscale_dec, yscale_dec]])
-    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)
-
-
-async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
-                      westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror], tel, useteldata):
+    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))
+    )  # 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))
+    )  # exclude the first index (0,0)
+
+    telescopes[tel].scale_matrix = np.matrix(
+        [[xscale_ra, yscale_ra], [xscale_dec, yscale_dec]]
+    )
+    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,
+    )
+
+
+async def autoguide_supervisor(
+    command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel,
+    useteldata,
+):
     """
     Manage the autoguide sequence.
     It starts real autoguide loop and keeps it until the break signal comes.
@@ -154,15 +239,18 @@ async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eas
     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.
+        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.
     """
     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:
@@ -170,8 +258,18 @@ async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eas
             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
@@ -180,11 +278,10 @@ async def autoguide_supervisor(command, telescopes: dict[str, LVMTelescope], eas
     return True
 
 
-''' Here is old version using task.cancle
+""" 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
@@ -202,10 +299,8 @@ async def start(command: Command, tel: str):
     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))
@@ -221,7 +316,6 @@ async def start(command: Command, tel: str):
             await tasklist[3]
         else:
             return command.fail("Wrong telescope name")
-    
     except asyncio.CancelledError:
         command.info("cancelled_main")
 
@@ -252,20 +346,26 @@ async def autoguide_supervisor(command, tel):
 
             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], eastcameras: dict[str, LVMEastCamera],
-                               westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
-                               tel, positionguess=None):
+"""
+
+
+async def find_guide_stars(
+    command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel,
+    positionguess=None,
+):
     """
     Expose an image, and find three guide stars from the image.
     Also calculate the center coordinates and flux of found stars.
@@ -275,8 +375,10 @@ async def find_guide_stars(command, telescopes: dict[str, LVMTelescope], eastcam
     tel
         Telescope to autoguide
     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.
+        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.
     """
     global KHU_inner_test
     command.info("Taking image...")
@@ -290,14 +392,14 @@ async def find_guide_stars(command, telescopes: dict[str, LVMTelescope], eastcam
 
         guideimgpath = await asyncio.gather(*imgcmd)
 
-    except Exception as e:
+    except Exception:
         return command.fail(fail="Camera error")
 
     westguideimg = GuideImage(guideimgpath[0])
     eastguideimg = westguideimg
 
     if not KHU_inner_test:
-        eastguideimg = GuideImage(guideimgpath[1])
+        eastguideimg = GuideImage(guideimgpath[1])  # noqa: F841
 
     if positionguess is None:
         starposition = westguideimg.findstars()
@@ -310,9 +412,18 @@ async def find_guide_stars(command, telescopes: dict[str, LVMTelescope], eastcam
     return starposition, starflux
 
 
-async def autoguiding(command, telescopes: dict[str, LVMTelescope], eastcameras: dict[str, LVMEastCamera],
-                      westcameras: dict[str, LVMWestCamera], focusers: dict[str, LVMFocuser], kmirrors: dict[str, LVMKMirror],
-                      tel, initposition, initflux, useteldata):
+async def autoguiding(
+    command,
+    telescopes: dict[str, LVMTelescope],
+    eastcameras: dict[str, LVMEastCamera],
+    westcameras: dict[str, LVMWestCamera],
+    focusers: dict[str, LVMFocuser],
+    kmirrors: dict[str, LVMKMirror],
+    tel,
+    initposition,
+    initflux,
+    useteldata,
+):
     """
     Expose an image, and calculate offset from the image and initial values.
     Compensate the offset.
@@ -326,35 +437,63 @@ async def autoguiding(command, telescopes: dict[str, LVMTelescope], eastcameras:
     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.
+        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 = await find_guide_stars(command, telescopes, eastcameras,
-                westcameras, focusers, kmirrors, tel, positionguess=initposition)
+    starposition, starflux = await find_guide_stars(
+        command,
+        telescopes,
+        eastcameras,
+        westcameras,
+        focusers,
+        kmirrors,
+        tel,
+        positionguess=initposition,
+    )
     print(starflux)
     print(initflux)
-    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 (
+        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.matmul(telescopes[tel].scale_matrix.I, offset)  # in x,y(=ra,dec) [arcsec]
+        offset_arcsec = np.matmul(
+            telescopes[tel].scale_matrix.I, offset
+        )  # in x,y(=ra,dec) [arcsec]
         offset_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)))
-        offset_arcsec = np.dot(R,offset) * westcameras[tel].pixelscale  # in x,y(=ra,dec) [arcsec]
+        offset_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))
+    offset_arcsec[0] = offset_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]))
+    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])
+        )
         await telescopes[tel].offset_radec(command, *offset_arcsec)
         return offset_arcsec
 
     else:
-        return [0.,0.]
\ No newline at end of file
+        return [0.0, 0.0]
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 8aa1c72..5e00ecb 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -1,13 +1,25 @@
 import os
+import asyncio
+import numpy as np
+
 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 (  # noqa: F401
+    LVMEastCamera,
+    LVMFibsel,
+    LVMFocuser,
+    LVMKMirror,
+    LVMTANInstrument,
+    LVMTelescope,
+    LVMWestCamera,
+)
+from lvmagp.actor.internalfunc import check_target, cal_pa, GuideImage
 from lvmagp.actor.user_parameters import usrpars
 
 from . import parser
 
+
 async def deg_to_dms(deg):
     """
     Convert the number in degree unit into a tuple consists of degree, minutes, and seconds.
@@ -31,10 +43,17 @@ async def deg_to_dms(deg):
 @click.argument("TEL", type=str)
 @click.argument("TARGET_RA_H", type=float)
 @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):
+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,
+):
     """
     Slew the telescope to the given equatorial coordinate (J2000).
 
@@ -69,7 +88,7 @@ async def slew(command: Command,
         command.info("Telescope slewing ...")
         cmd.append(telescopes[tel].slew_radec2000(command, target_ra_h, target_dec_d))
 
-    except Exception as e:
+    except Exception:
         return command.fail(fail="Telescope error")
     await asyncio.gather(*cmd)
 
@@ -81,23 +100,26 @@ async def slew(command: Command,
         try:
             imgcmd = []
             imgcmd.append(westcameras[tel].test_exposure(command, usrpars.aqu_exptime))
-            #imgcmd.append(westcameras[tel].single_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 as e:
+        except Exception:
             return command.fail(fail="Camera error")
 
         command.info("Astrometry ...")
 
-        if 0:  #Here should be changed to the camera version
+        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"
+                agpwd +
+                "testimg/focus_series/synthetic_image_median_field_5s_seeing_02.5.fits"
             )  # noqa: E501
 
         westguideimg = GuideImage(guideimgpath[0])
@@ -111,17 +133,17 @@ async def slew(command: Command,
             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 as e:
-            log.error("Astrometry timeout")
+        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)
+        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
 
@@ -141,10 +163,13 @@ async def slew(command: Command,
             offset_dec="%.3f arcsec" % comp_dec_arcsec,
         )
 
-        # Compensation  // Compensation for K-mirror based on astrometry result?  may be by offset method..
-
+        # 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 (
+            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:
@@ -152,10 +177,14 @@ async def slew(command: Command,
                 cmd = []
                 if not test_KHU:
                     cmd.append(kmirrors[tel].moverel(command, -pa_d, "DEG"))
-                cmd.append(telescopes[tel].offset_radec(command, comp_ra_arcsec, comp_dec_arcsec))
+                cmd.append(
+                    telescopes[tel].offset_radec(
+                        command, comp_ra_arcsec, comp_dec_arcsec
+                    )
+                )
                 await asyncio.gather(*cmd)
 
         else:
             break
 
-    return command.finish(text="Acquisition done")
\ No newline at end of file
+    return command.finish(text="Acquisition done")
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index 78114b1..fc54c24 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -1,32 +1,46 @@
-import os
-import click
 from clu.command import Command
 
-#import logging
-#from sdsstools import get_logger
-
-from lvmagp.actor.commfunc import *  # noqa: F403
-from lvmagp.actor.internalfunc import *  # noqa: F403
-from lvmagp.actor.user_parameters import usrpars
+from lvmagp.actor.commfunc import (  # noqa: F401
+    LVMEastCamera,
+    LVMFibsel,
+    LVMFocuser,
+    LVMKMirror,
+    LVMTANInstrument,
+    LVMTelescope,
+    LVMWestCamera,
+)
+from lvmagp.actor.internalfunc import GuideImage
+from lvmagp.actor.user_parameters import usrpars   # noqa: F401
 
 from . import parser
 
+# import logging
+# from sdsstools import get_logger
+
+
 test_KHU = True
 
-#log = get_logger("sdss-lvmagp")
-#log.sh.setLevel(logging.DEBUG)
+# 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],
-               ):
 
-    filepath = "/home/sumin/lvmcam/python/lvmcam/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000107.fits"
+@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],
+):
+
+    filepath = \
+        "/home/sumin/lvmcam/python/lvmcam/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000107.fits"
     guideimg1 = GuideImage(filepath)
 
-    filepath = "/home/sumin/lvmcam/python/lvmcam/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000110.fits"
+    filepath = \
+        "/home/sumin/lvmcam/python/lvmcam/assets/lvm/sci/agw/20211203/lvm.sci.agw-00000110.fits"
     guideimg2 = GuideImage(filepath)
     pos = guideimg1.findstars()
     print(pos)
@@ -35,51 +49,3 @@ async def test(command: Command,
     guideimg2.update_guidestar_properties()
     starposition = guideimg2.guidestarposition
     print(starposition)
-
-
-
-    '''
-    log.info("Img_ra2000='%02dh %02dm %06.3fs' Img_dec2000='%02dd %02dm %06.3fs'" % (1,2,3,4,5,6),
-             )
-    command.info(Img_ra2000="%02dh %02dm %06.3fs"
-                        % (1,2,3),
-             Img_dec2000="%02dd %02dm %06.3fs"
-                         % (6,5,4))
-    '''
-    '''
-    global test_KHU
-    resultpath = "/home/sumin/lvmagp/python/lvmagp/actor/astrometry_result.txt"
-
-    ospassword = "0000"
-    resultpath = os.path.dirname(os.path.abspath(__file__)) + "/../astrometry_result.txt"
-    timeout = 30
-    scalelow = 2
-    scalehigh = 3
-    radius = 1
-    filepath = "/home/sumin/lvmcam/python/lvmcam/assets/2459550/sci.agw-00000075.fits"
-    ra_h = 0.7
-    dec_d = 41.3
-
-
-
-    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,
-        filepath,
-        timeout,
-        scalelow,
-        scalehigh,
-        ra_h * 15,
-        dec_d,
-        radius,
-        resultpath,
-    )
-
-    proc = await asyncio.create_subprocess_shell(
-        cmd, stdout=asyncio.subprocess.PIPE, stderr=asyncio.subprocess.PIPE
-    )
-    await proc.communicate()
-
-    print("end")
-    '''
\ No newline at end of file
diff --git a/python/lvmagp/actor/commfunc.py b/python/lvmagp/actor/commfunc.py
index 48c5922..c3ccde4 100644
--- a/python/lvmagp/actor/commfunc.py
+++ b/python/lvmagp/actor/commfunc.py
@@ -1,10 +1,7 @@
-# from clu import AMQPClient, CommandStatus
-# from cluplus.proxy import Proxy, ProxyException, ProxyPlainMessagException, invoke, unpack
+import numpy as np
+from lvmtipo.site import Site
 
 from lvmagp.actor.internalfunc import send_message
-import datetime
-import numpy as np
-import asyncio
 
 
 class LVMTANInstrument:
@@ -18,6 +15,7 @@ class LVMTANInstrument:
     inst
         Type of the instrument
     """
+
     def __init__(self, tel, inst):
         if tel == "test" or inst == "test":
             self.lvmtan = "test.first.focus_stage"
@@ -42,7 +40,7 @@ async def getposition(self, command, unit="STEPS"):
         )
         return cmd
 
-    async def moveabs(self, command, position, unit='STEPS'):
+    async def moveabs(self, command, position, unit="STEPS"):
         """
         Move the device at given absolute position.
 
@@ -53,10 +51,12 @@ async def moveabs(self, command, position, unit='STEPS'):
         unit
             Unit of position
         """
-        cmd = await send_message(command, self.lvmtan, "moveAbsolute %d %s" % (position, unit))
+        cmd = await send_message(
+            command, self.lvmtan, "moveAbsolute %d %s" % (position, unit)
+        )
         return cmd
 
-    async def moverel(self, command, position, unit='STEPS'):
+    async def moverel(self, command, position, unit="STEPS"):
         """
         Move the device at given relative position.
 
@@ -67,9 +67,13 @@ async def moverel(self, command, position, unit='STEPS'):
         unit
             Unit of position
         """
-        cmd = await send_message(command, self.lvmtan, "moveRelative %d %s" % (position, unit))
+        cmd = await send_message(
+            command, self.lvmtan, "moveRelative %d %s" % (position, unit)
+        )
         return cmd
-'''
+
+
+"""
 
     async def moveabs(self, command, position, unit="STEPS"):
         task = asyncio.create_task(
@@ -86,7 +90,8 @@ async def moverel(self, command, position, unit="STEPS"):
             )
         )
         return task
-'''
+"""
+
 
 class LVMFocuser(LVMTANInstrument):
     """
@@ -97,9 +102,10 @@ class LVMFocuser(LVMTANInstrument):
     tel
         Telescope to which the focuser belongs
     """
+
     def __init__(self, tel):
         super().__init__(tel, "foc")
-        #print(self.lvmtan)
+        # print(self.lvmtan)
 
 
 class LVMKMirror(LVMTANInstrument):
@@ -111,22 +117,13 @@ class LVMKMirror(LVMTANInstrument):
     tel
         Telescope to which the focuser belongs
     """
+
     def __init__(self, tel):
         super().__init__(tel, "km")
-    '''
+
     async def cal_traj(self, command):
-        currenttime = datetime.datetime.now()
-        #cmd = await send_message(command, self.lvmtan, "startProfile %d %s" % (position, unit))
-        return currenttime
-    
-    async def startProfile(
-            self,
-            start_date: datetime.datetime,
-            positions: list,
-            frequency: int,
-            samples_per_segment: int,
-            max_error: int,
-    '''
+        pass
+
 
 class LVMFibsel(LVMTANInstrument):
     """
@@ -137,6 +134,7 @@ class LVMFibsel(LVMTANInstrument):
     tel
         Telescope to which the focuser belongs
     """
+
     def __init__(self):
         super().__init__("spec", "fibsel")
 
@@ -150,17 +148,20 @@ class LVMTelescope:
     tel
         The name of the telescope
     """
-    def __init__(self, tel):
+
+    def __init__(self, tel, sitename="LCO"):
         if tel == "test":
             self.lvmpwi = "lvm.pwi"
         else:
             self.lvmpwi = "lvm." + tel + ".pwi"
 
-        self.latitude = -999
-        self.longitude = -999
+        site = Site(name=sitename)
+        self.latitude = site.lat
+        self.longitude = site.long
 
-        self.scale_matrix = np.matrix([[1,1],   #[x_ra , y_ra ]
-                                       [1,1]])  #[x_dec, y_dec]
+        self.scale_matrix = np.matrix(
+            [[1, 1], [1, 1]]  # [x_ra , y_ra ]
+        )  # [x_dec, y_dec]
 
         self.ag_task = None
         self.ag_break = False
@@ -176,19 +177,17 @@ async def slew_radec2000(self, command, target_ra_h, target_dec_d):
         target_dec_d
             Target declination in degrees in J2000 epoch
         """
-        cmd = await send_message(command,self.lvmpwi,"gotoRaDecJ2000 %f %f" % (target_ra_h, target_dec_d))
+        cmd = await send_message(
+            command, self.lvmpwi, "gotoRaDecJ2000 %f %f" % (target_ra_h, target_dec_d)
+        )
         return cmd
 
     async def reset_offset_radec(self, command):
         """
         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"
-        )
+        await send_message(command, self.lvmpwi, "offset --ra_reset")
+        await send_message(command, self.lvmpwi, "offset --dec_reset")
 
         return True
 
@@ -227,6 +226,7 @@ class LVMCamera:
     """
     Class for the FLIR guide cameras
     """
+
     def __init__(self):
         self.lvmcam = "lvmcam"
         self.cam = "lvmcam"
@@ -234,7 +234,7 @@ def __init__(self):
         self.offset_y = -999
         self.pixelscale = -999
         self.rotationangle = -999
-        self.lvmcampath = ''
+        self.lvmcampath = ""
 
     async def single_exposure(self, command, exptime):
         """
@@ -246,13 +246,18 @@ async def single_exposure(self, command, exptime):
             Exposure time
         """
         path = await send_message(
-            command, self.lvmcam, "expose %f 1 %s" % (exptime, self.cam), returnval=True, body="PATH"
+            command,
+            self.lvmcam,
+            "expose %f 1 %s" % (exptime, self.cam),
+            returnval=True,
+            body="PATH",
         )
         return path["0"]
 
     async def test_exposure(self, command, exptime):
         """
-        Take a test exposure using ``-t`` option of lvmcam. The image file (Temp.fits) is overwritten whenever this command is executed.
+        Take a test exposure using ``-t`` option of lvmcam.
+        The image file (Temp.fits) is overwritten whenever this command is executed.
 
         Parameters
         ----------
@@ -260,10 +265,15 @@ async def test_exposure(self, command, exptime):
             Exposure time
         """
         path = await send_message(
-            command, self.lvmcam, "expose -t %f 1 %s" % (exptime, self.cam), returnval=True, body="PATH"
+            command,
+            self.lvmcam,
+            "expose -t %f 1 %s" % (exptime, self.cam),
+            returnval=True,
+            body="PATH",
         )
         return path["0"]
 
+
 class LVMEastCamera(LVMCamera):
     """
     Class for the FLIR guide cameras installed in east side
@@ -273,9 +283,11 @@ class LVMEastCamera(LVMCamera):
     tel
         Telescope to which the camera belongs
     """
+
     def __init__(self, tel):
         super().__init__()
-        self.cam = tel + '.age'
+        self.cam = tel + ".age"
+
 
 class LVMWestCamera(LVMCamera):
     """
@@ -286,6 +298,7 @@ class LVMWestCamera(LVMCamera):
     tel
         Telescope to which the camera belongs
     """
+
     def __init__(self, tel):
         super().__init__()
-        self.cam = tel + '.agw'
\ No newline at end of file
+        self.cam = tel + ".agw"
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index 8533167..adfe485 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -1,9 +1,10 @@
 import asyncio
+import os
 import warnings
 from datetime import datetime
-import os
 
 import numpy as np
+
 # import matplotlib.pyplot as plt
 from astropy.io import fits
 from astropy.modeling import fitting, models
@@ -22,6 +23,7 @@ class GuideImage:
     filepath
         Path of the image file
     """
+
     def __init__(self, filepath):
         self.filepath = filepath
         self.nstar = 3
@@ -42,7 +44,8 @@ def __init__(self, filepath):
     def findstars(self, nstar=3):
         """
         Find ``nstar`` stars using DAOFind and KD tree for sequences of lvmagp.
-        The result is given by np.ndarray lookes like [[x1, y1], [x2, y2], [x3, y3], ...], and it is also saved in ``self.guidestarposition``.
+        The result is given by np.ndarray lookes like [[x1, y1], [x2, y2], [x3, y3], ...],
+        and it is also saved in ``self.guidestarposition``.
 
         Parameters
         ----------
@@ -87,7 +90,7 @@ def findstars(self, nstar=3):
 
     def twoDgaussianfit(self):
         """
-        Condunt 2D Gaussian fitting to find center, flux of the stars in ``self.guidestarposition``.
+        Conduct 2D Gaussian fitting to find center, flux of stars in ``self.guidestarposition``.
         """
         windowradius = 10  # only integer
         plist = []
@@ -104,8 +107,8 @@ 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,
                 ]
             )
 
@@ -118,7 +121,8 @@ def twoDgaussianfit(self):
 
     def update_guidestar_properties(self):
         """
-        Using ``twoDGaussianfit`` method, update the guidestar properties in ``self.guidestarflux``, ``self.guidestarposition``, ``self.guidestarsize``, and ``slef.FWHM``.
+        Using ``twoDGaussianfit`` method, update guidestar properties in ``self.guidestarflux``,
+        ``self.guidestarposition``, ``self.guidestarsize``, and ``slef.FWHM``.
         """
         if len(self.guidestarposition) == 0:
             pass
@@ -140,7 +144,8 @@ def update_guidestar_properties(self):
     async def astrometry(self, ra_h=-999, dec_d=-999):
         """
         Conduct astrometry to find where the image is taken.
-        Astromery result is saved in astrometry_result.txt in same directory with this python file, also key result (ra,dec,pa) is saved to ``self.ra2000``, ``self.dec2000``, and ``self.pa``.
+        Astromery result is saved in astrometry_result.txt in same directory with this python file,
+        also key result (ra,dec,pa) is saved to ``self.ra2000``, ``self.dec2000``, and ``self.pa``.
 
         Parameters
         ----------
@@ -150,7 +155,9 @@ async def astrometry(self, ra_h=-999, dec_d=-999):
             The initial guess for declination (J2000) in degrees
         """
         ospassword = "0000"
-        resultpath = os.path.dirname(os.path.abspath(__file__)) + "/astrometry_result.txt"
+        resultpath = (
+            os.path.dirname(os.path.abspath(__file__)) + "/astrometry_result.txt"
+        )
         timeout = 10
         scalelow = 2
         scalehigh = 3
@@ -251,7 +258,8 @@ def cal_pa(ra_h, dec_d, long_d, lat_d):
     LST = t.sidereal_time("apparent").value * 15
     HA = np.mod(LST - ra_h * 15, 360)
     pa = np.arctan(
-        -np.sin(np.deg2rad(HA)) / (np.cos(dec) * np.tan(lat) - np.sin(dec) * np.cos(np.deg2rad((HA))))
+        -np.sin(np.deg2rad(HA)) /
+        (np.cos(dec) * np.tan(lat) - np.sin(dec) * np.cos(np.deg2rad((HA))))
     )
 
     return np.rad2deg(pa)
@@ -313,7 +321,8 @@ def define_visb_limit(Az):  # or Hour angle..?
 
 def check_target(ra_h, dec_d, long_d, lat_d):
     """
-    Using the limit defined in ``define_visb_limit``, check whether the target is in observable area or not.
+    Using the limit defined in ``define_visb_limit``,
+    check whether the target is in observable area or not.
 
     Parameters
     ----------
diff --git a/python/lvmagp/actor/user_parameters.py b/python/lvmagp/actor/user_parameters.py
index 2a2fcab..6629460 100644
--- a/python/lvmagp/actor/user_parameters.py
+++ b/python/lvmagp/actor/user_parameters.py
@@ -1,26 +1,19 @@
-class usrpars():
-    # location  -- it is in lvmagp.yml..
-    #latitude = 0
-    #longitude = 0
-
-
+class usrpars:
     # autofocus parameters
 
-
     # acquisition parameters
     aqu_exptime = 5  # exposure time for acquisition in seconds
     aqu_max_iter = 2  # maximum iteration of astrometry compensation
-    aqu_tolerance_arcsec = 30.0  # maximum tolerable angular distance between target coordinates and aquisited coordinates
+    aqu_tolerance_arcsec = 30.0  # maximum tolerable position error
 
     # autoguide parameters
     ag_exptime = 3  # exposure time for autoguide in seconds
     ag_halfboxsize = 15  # 1/2 of box in pixel
-    #ag_minsnr = 6
+    # 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_num_step = 3  # number of steps of calibration per axis
-
-
-
diff --git a/python/lvmagp/etc/lvmagp.yml b/python/lvmagp/etc/lvmagp.yml
index e9d59d1..844cced 100644
--- a/python/lvmagp/etc/lvmagp.yml
+++ b/python/lvmagp/etc/lvmagp.yml
@@ -1,8 +1,7 @@
 # A dictionary of controller name to ??
 sci:
   tel:
-    latitude: 37.23908
-    longitude: 127.08217
+    varA: null
   age:
     pixelscale: null
     offset_x: null
@@ -20,8 +19,7 @@ sci:
 
 skye:
   tel:
-    latitude: -34.0
-    longitude: 118.0
+    varA: null
   age:
     pixelscale: null
     offset_x: null
@@ -39,8 +37,7 @@ skye:
 
 skyw:
   tel:
-    latitude: -34.0
-    longitude: 118.0
+    varA: null
   age:
     pixelscale: null
     offset_x: null
@@ -58,8 +55,7 @@ skyw:
 
 spec:
   tel:
-    latitude: -34.0
-    longitude: 118.0
+    varA: null
   age:
     pixelscale: null
     offset_x: null
@@ -81,5 +77,5 @@ actor:
   name: lvmagp
   host: localhost
   port: 5672
-  version: '0.2.1-alpha'
+  version: '0.2.3a'
   log_dir: './logs'
\ No newline at end of file

From 45c60d0fd98479bf3ddff1dd8f05cb1af798f1cb Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Fri, 10 Dec 2021 14:00:29 +0900
Subject: [PATCH 8/9] v.0.2.3a lvmtipo

---
 python/cluplus/__init__.py            |  0
 python/lvmagp/actor/actor.py          | 12 +++---------
 python/lvmagp/actor/commands/guide.py | 18 ++++++------------
 python/lvmagp/actor/commands/slew.py  | 18 ++++++------------
 python/lvmagp/actor/commands/test.py  | 15 +++++----------
 python/lvmagp/actor/internalfunc.py   |  1 -
 6 files changed, 20 insertions(+), 44 deletions(-)
 delete mode 100644 python/cluplus/__init__.py

diff --git a/python/cluplus/__init__.py b/python/cluplus/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/python/lvmagp/actor/actor.py b/python/lvmagp/actor/actor.py
index d35fc94..9c8d826 100644
--- a/python/lvmagp/actor/actor.py
+++ b/python/lvmagp/actor/actor.py
@@ -2,15 +2,9 @@
 
 from clu.actor import AMQPActor
 
-from lvmagp.actor.commfunc import (  # noqa: F401
-    LVMEastCamera,
-    LVMFibsel,
-    LVMFocuser,
-    LVMKMirror,
-    LVMTANInstrument,
-    LVMTelescope,
-    LVMWestCamera,
-)
+from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
+                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
+                                   LVMTelescope, LVMWestCamera)
 
 from .commands import parser as lvm_command_python
 
diff --git a/python/lvmagp/actor/commands/guide.py b/python/lvmagp/actor/commands/guide.py
index 2af9cfa..7ec4b15 100644
--- a/python/lvmagp/actor/commands/guide.py
+++ b/python/lvmagp/actor/commands/guide.py
@@ -1,21 +1,15 @@
+import asyncio
+
 import click
+import numpy as np
 from clu.command import Command
 
-from lvmagp.actor.commfunc import (  # noqa: F401
-    LVMEastCamera,
-    LVMFibsel,
-    LVMFocuser,
-    LVMKMirror,
-    LVMTANInstrument,
-    LVMTelescope,
-    LVMWestCamera,
-)
+from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
+                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
+                                   LVMTelescope, LVMWestCamera)
 from lvmagp.actor.internalfunc import GuideImage  # noqa: F403
 from lvmagp.actor.user_parameters import usrpars
 
-import asyncio
-import numpy as np
-
 from . import parser
 
 
diff --git a/python/lvmagp/actor/commands/slew.py b/python/lvmagp/actor/commands/slew.py
index 5e00ecb..c9f6824 100644
--- a/python/lvmagp/actor/commands/slew.py
+++ b/python/lvmagp/actor/commands/slew.py
@@ -1,20 +1,14 @@
-import os
 import asyncio
-import numpy as np
+import os
 
 import click
+import numpy as np
 from clu.command import Command
 
-from lvmagp.actor.commfunc import (  # noqa: F401
-    LVMEastCamera,
-    LVMFibsel,
-    LVMFocuser,
-    LVMKMirror,
-    LVMTANInstrument,
-    LVMTelescope,
-    LVMWestCamera,
-)
-from lvmagp.actor.internalfunc import check_target, cal_pa, GuideImage
+from lvmagp.actor.commfunc import (LVMEastCamera, LVMFibsel,  # noqa: F401
+                                   LVMFocuser, LVMKMirror, LVMTANInstrument,
+                                   LVMTelescope, LVMWestCamera)
+from lvmagp.actor.internalfunc import GuideImage, cal_pa, check_target
 from lvmagp.actor.user_parameters import usrpars
 
 from . import parser
diff --git a/python/lvmagp/actor/commands/test.py b/python/lvmagp/actor/commands/test.py
index fc54c24..21c9a2e 100644
--- a/python/lvmagp/actor/commands/test.py
+++ b/python/lvmagp/actor/commands/test.py
@@ -1,19 +1,14 @@
 from clu.command import Command
 
-from lvmagp.actor.commfunc import (  # noqa: F401
-    LVMEastCamera,
-    LVMFibsel,
-    LVMFocuser,
-    LVMKMirror,
-    LVMTANInstrument,
-    LVMTelescope,
-    LVMWestCamera,
-)
+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
+from lvmagp.actor.user_parameters import usrpars  # noqa: F401
 
 from . import parser
 
+
 # import logging
 # from sdsstools import get_logger
 
diff --git a/python/lvmagp/actor/internalfunc.py b/python/lvmagp/actor/internalfunc.py
index adfe485..86286cf 100644
--- a/python/lvmagp/actor/internalfunc.py
+++ b/python/lvmagp/actor/internalfunc.py
@@ -4,7 +4,6 @@
 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 a08c5fdd78e911dc1a65e1949031565106e76c00 Mon Sep 17 00:00:00 2001
From: Hojae Ahn <hojaeahn@khu.ac.kr>
Date: Fri, 10 Dec 2021 14:08:39 +0900
Subject: [PATCH 9/9] delete cluplus

---
 python/cluplus/proxy.py | 141 ----------------------------------------
 1 file changed, 141 deletions(-)
 delete mode 100644 python/cluplus/proxy.py

diff --git a/python/cluplus/proxy.py b/python/cluplus/proxy.py
deleted file mode 100644
index 8151d0e..0000000
--- a/python/cluplus/proxy.py
+++ /dev/null
@@ -1,141 +0,0 @@
-# -*- coding: utf-8 -*-
-#
-# @Author: Florian Briegel (briegel@mpia.de)
-# @Date: 2021-08-18
-# @Filename: proxy.py
-# @License: BSD 3-clause (http://www.opensource.org/licenses/BSD-3-Clause)
-
-import asyncio
-from itertools import chain
-from typing import Any, Awaitable, Callable
-
-from clu import AMQPClient
-
-
-class ProxyException(Exception):
-    """Base proxy exception"""
-
-    def __init__(self, argv):
-        super(ProxyException, self).__init__(argv)
-
-
-class ProxyPlainMessagException(ProxyException):
-    """Plain message formed exception string"""
-
-    def __init__(self, *argv):
-        super(ProxyException, self).__init__(argv)
-
-
-class _ProxyMethod:
-    __slots__ = (
-        "_amqpc",
-        "_consumer",
-        "_command",
-    )
-
-    def __init__(self, amqpc, consumer, command):
-        self._amqpc = amqpc
-        self._consumer = consumer
-        self._command = command
-
-    def __getattr__(self, item) -> "_ProxyMethod":
-        return _ProxyMethod(".".join((self._consumer, item)), func=self.func)
-
-    async def __call__(
-        self,
-        *args,
-        blocking: bool = True,
-        callback: Callable[[Any], Awaitable[None]] = None,
-        timeout=1.4142,
-        **kwargs,
-    ):
-        opts = list(chain.from_iterable(("--" + k, v) for k, v in kwargs.items()))
-        command = await asyncio.wait_for(
-            self._amqpc.send_command(
-                self._consumer, self._command.lower(), *args, *opts, callback=callback
-            ),
-            timeout,
-        )
-        return await command if blocking else command
-
-
-class Proxy:
-    __slots__ = ("_consumer", "_amqpc")
-
-    def __init__(self, consumer: str, amqpc: AMQPClient):
-        self._consumer = consumer
-        self._amqpc = amqpc
-
-    def __getattr__(self, command) -> _ProxyMethod:
-        return _ProxyMethod(self._amqpc, self._consumer, command)
-
-
-def _stringToException(errstr):
-    """converts a string to an exception object"""
-    try:
-        return eval(errstr)  # Maybe a bad idea - code injection
-
-    except SyntaxError:
-        return ProxyPlainMessagException(errstr)
-
-    except Exception as e:
-        return Exception("Unexpected exception in parsing exception string", e)
-
-
-class DictObject(object):
-    def __str__(self):
-        return str(self._dict)
-
-    def __init__(self, d):
-        self._dict = d
-        for a, b in d.items():
-            if isinstance(b, (list, tuple)):
-                setattr(
-                    self, a, [DictObject(x) if isinstance(x, dict) else x for x in b]
-                )
-            else:
-                setattr(self, a, DictObject(b) if isinstance(b, dict) else b)
-
-
-async def invoke(*argv, raw=False, **kwargs):
-
-    if len(argv) > 1:
-        ret = await asyncio.gather(*[asyncio.create_task(cmd) for cmd in argv])
-        errors = []
-        for r in ret:
-            hasErrors = False
-            if r.status.did_fail:
-                hasErrors = True
-                errors.append(_stringToException(r.replies[-1].body["error"]))
-            else:
-                errors.append(None)
-        if hasErrors:
-            raise ProxyException(errors)
-        if raw:
-            return [r.replies[-1].body for r in ret]
-        else:
-            return [DictObject(r.replies[-1].body) for r in ret]
-    else:
-        ret = await argv[0]
-        if ret.status.did_fail:
-            raise _stringToException(ret.replies[-1].body["error"])
-        else:
-            if raw:
-                return ret.replies[-1].body
-            else:
-                return DictObject(ret.replies[-1].body)
-
-
-async def unpack(cmd, *argv, **kwargs):
-
-    ret = await invoke(cmd, raw=True)
-    if len(ret) == 0:
-        return
-    elif len(ret) == 1:
-        return list(ret.values())[
-            0
-        ]  # Maybe we should check if argv is not empty and throw an exception
-    elif len(argv) > 1:
-        return [ret[i] for i in argv]
-    else:
-        return list(ret.values())