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manually test rotator pointing error
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+ generic rotctrld
+ custom skywatcher allview
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@dernasherbrezon
dernasherbrezon committed Oct 5, 2024
1 parent 9e759c0 commit 159bcc6
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208 changes: 208 additions & 0 deletions src/test/java/ru/r2cloud/MeasureRotatorPrecision.java
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package ru.r2cloud;

import java.io.BufferedReader;
import java.io.BufferedWriter;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileReader;
import java.io.FileWriter;
import java.io.IOException;
import java.nio.file.FileSystems;
import java.text.ParseException;
import java.text.SimpleDateFormat;
import java.util.Locale;
import java.util.TimeZone;
import java.util.UUID;
import java.util.concurrent.CountDownLatch;
import java.util.concurrent.Future;
import java.util.regex.Pattern;

import org.hipparchus.util.FastMath;
import org.orekit.bodies.GeodeticPoint;
import org.orekit.frames.TopocentricFrame;
import org.orekit.propagation.analytical.tle.TLEPropagator;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

import ru.r2cloud.lora.loraat.JSerial;
import ru.r2cloud.model.ObservationRequest;
import ru.r2cloud.model.RotatorConfiguration;
import ru.r2cloud.model.Tle;
import ru.r2cloud.predict.PredictOreKit;
import ru.r2cloud.rotator.allview.AllviewClient;
import ru.r2cloud.rotator.allview.AllviewRotatorService;
import ru.r2cloud.rotctrld.Position;
import ru.r2cloud.rotctrld.RotCtrlException;
import ru.r2cloud.rotctrld.RotctrldClient;
import ru.r2cloud.satellite.RotatorService;
import ru.r2cloud.util.Configuration;
import ru.r2cloud.util.ThreadPoolFactoryImpl;

public class MeasureRotatorPrecision {

private static final Logger LOG = LoggerFactory.getLogger(MeasureRotatorPrecision.class);

private static final int ROTCTRLD_PORT = 8000;
private static final String ALLVIEW_DEVICE_FILE = "/dev/cu.usbserial-A10M67FQ";

public static void main(String[] args) throws Exception {
Configuration config = new Configuration(MeasureRotatorPrecision.class.getClassLoader().getResourceAsStream("config-dev.properties"), System.getProperty("user.home") + File.separator + ".r2cloud", "config-common-test.properties", FileSystems.getDefault());
config.setProperty("locaiton.lat", "51.721");
config.setProperty("locaiton.lon", "5.030");
config.setProperty("scheduler.orekit.path", "./src/test/resources/data/orekit-data");
PredictOreKit predict = new PredictOreKit(config);

Tle tle = new Tle(new String[] { "funcube-1", "1 39444U 13066AE 20157.75071106 .00000221 00000-0 33451-4 0 9997", "2 39444 97.5589 158.6491 0056696 309.6463 49.9756 14.82127945351637" });
ObservationRequest req = new ObservationRequest();
req.setTle(tle);
req.setStartTimeMillis(getTime("2020-06-06 05:50:29"));
req.setEndTimeMillis(getTime("2020-06-06 06:01:42"));
Double lat = config.getDouble("locaiton.lat");
Double lon = config.getDouble("locaiton.lon");
req.setGroundStation(new GeodeticPoint(FastMath.toRadians(lat), FastMath.toRadians(lon), 0.0));

OffsetClock clock = new OffsetClock(req.getStartTimeMillis());
RotatorConfiguration rotatorConfig = createValidConfig();

// choose which measure to take by uncommeting to the function
// measureRotatorService(predict, req, clock, rotatorConfig);
// measureAllviewService(predict, req, clock, rotatorConfig);
}

private static void measureAllviewService(PredictOreKit predict, ObservationRequest req, OffsetClock clock, RotatorConfiguration rotatorConfig) throws InterruptedException, IOException, FileNotFoundException {
CountDownLatch latch = new CountDownLatch(1);
final File result = new File("allview.csv");
AllviewClient client = new AllviewClient(ALLVIEW_DEVICE_FILE, 5000, new JSerial());
try {
client.start();
} catch (Exception e1) {
LOG.error("unable to start allview client", e1);
return;
}
Thread monitorThread = new Thread(new Runnable() {
@Override
public void run() {
try (BufferedWriter w = new BufferedWriter(new FileWriter(result))) {
while (!Thread.currentThread().isInterrupted()) {
Position current = client.getPosition();
long currentMillis = clock.millis();
w.append(String.valueOf(current.getAzimuth())).append(",").append(String.valueOf(current.getElevation())).append(",").append(String.valueOf(currentMillis)).append("\n");
if (currentMillis > req.getEndTimeMillis()) {
break;
}
try {
Thread.sleep(100);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
break;
}
}
LOG.info("measurement complete. results at: {}", result.getAbsolutePath());
} catch (IOException e) {
LOG.error("cannot create file for metrics", e);
} finally {
latch.countDown();
}
}
}, "monitor-thread");
monitorThread.start();

AllviewRotatorService service = new AllviewRotatorService(client, rotatorConfig, predict, new ThreadPoolFactoryImpl(10000), clock);
service.start();
Future<?> observationFuture = service.schedule(req, req.getStartTimeMillis(), null);
latch.await();
observationFuture.cancel(true);
service.stop();

enrichWithExpectedPosition(predict, req, result);
}

private static void measureRotatorService(PredictOreKit predict, ObservationRequest req, OffsetClock clock, RotatorConfiguration rotatorConfig) throws InterruptedException, IOException, FileNotFoundException {
CountDownLatch latch = new CountDownLatch(1);
final File result = new File("coarse.csv");
Thread monitorThread = new Thread(new Runnable() {
@Override
public void run() {
RotctrldClient client = new RotctrldClient(rotatorConfig.getHostname(), rotatorConfig.getPort(), rotatorConfig.getTimeout());
try (BufferedWriter w = new BufferedWriter(new FileWriter(result))) {
client.start();
while (!Thread.currentThread().isInterrupted()) {
Position current;
try {
current = client.getPosition();
} catch (RotCtrlException e1) {
LOG.error("can't get position", e1);
break;
}
long currentMillis = clock.millis();
w.append(String.valueOf(current.getAzimuth())).append(",").append(String.valueOf(current.getElevation())).append(",").append(String.valueOf(currentMillis)).append("\n");
if (currentMillis > req.getEndTimeMillis()) {
break;
}
try {
Thread.sleep(100);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
break;
}
}
LOG.info("measurement complete. results at: {}", result.getAbsolutePath());
} catch (IOException e) {
LOG.error("cannot create file for metrics", e);
} finally {
latch.countDown();
}
}
}, "monitor-thread");
monitorThread.start();

RotatorService service = new RotatorService(rotatorConfig, predict, new ThreadPoolFactoryImpl(10000), clock);
service.start();
Future<?> observationFuture = service.schedule(req, req.getStartTimeMillis(), null);
latch.await();
observationFuture.cancel(true);
service.stop();

enrichWithExpectedPosition(predict, req, result);
}

private static void enrichWithExpectedPosition(PredictOreKit predict, ObservationRequest req, final File result) throws IOException, FileNotFoundException {
if (!result.exists()) {
return;
}
try (BufferedReader r = new BufferedReader(new FileReader(result)); BufferedWriter w = new BufferedWriter(new FileWriter(result.getName() + "_enriched.csv"))) {
String curLine = null;
Pattern p = Pattern.compile(",");
TopocentricFrame groundStation = predict.getPosition(req.getGroundStation());
TLEPropagator tlePropagator = TLEPropagator.selectExtrapolator(new org.orekit.propagation.analytical.tle.TLE(req.getTle().getRaw()[1], req.getTle().getRaw()[2]));
while ((curLine = r.readLine()) != null) {
String[] parts = p.split(curLine);
long time = Long.valueOf(parts[2]);
Position satPosition = predict.getSatellitePosition(time, groundStation, tlePropagator);
w.append(parts[0]).append(',').append(parts[1]).append(',').append(parts[2]).append(',').append(String.valueOf(satPosition.getAzimuth())).append(',').append(String.valueOf(satPosition.getElevation())).append('\n');
}
}
}

private static RotatorConfiguration createValidConfig() {
RotatorConfiguration config = new RotatorConfiguration();
config.setId(UUID.randomUUID().toString());
config.setHostname("127.0.0.1");
config.setPort(ROTCTRLD_PORT);
config.setCycleMillis(1000);
config.setTimeout(10000);
config.setTolerance(5);
return config;
}

private static long getTime(String str) {
SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss", Locale.UK);
sdf.setTimeZone(TimeZone.getTimeZone("GMT"));
try {
return sdf.parse(str).getTime();
} catch (ParseException e) {
throw new RuntimeException(e);
}
}

}
17 changes: 17 additions & 0 deletions src/test/java/ru/r2cloud/OffsetClock.java
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package ru.r2cloud;

import ru.r2cloud.util.Clock;

public class OffsetClock implements Clock {

private final long offset;

public OffsetClock(long initialTime) {
this.offset = System.currentTimeMillis() - initialTime;
}

@Override
public long millis() {
return System.currentTimeMillis() - offset;
}
}
7 changes: 7 additions & 0 deletions src/test/java/ru/r2cloud/rotator/allview/AllviewClient.java
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Expand Up @@ -48,6 +48,13 @@ public void slew(Position nextPosition, Position previousPosition) throws IOExce
} catch (IOException e) {
currentAzimuth = previousPosition.getAzimuth();
}
// slightly overrun. do not go back. just skip the cycle
if (nextPosition.getAzimuth() > previousPosition.getAzimuth() && nextPosition.getAzimuth() < currentAzimuth) {
currentAzimuth = nextPosition.getAzimuth();
}
if (nextPosition.getAzimuth() < previousPosition.getAzimuth() && nextPosition.getAzimuth() > currentAzimuth) {
currentAzimuth = nextPosition.getAzimuth();
}
} else {
currentAzimuth = previousPosition.getAzimuth();
}
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8 changes: 4 additions & 4 deletions src/test/java/ru/r2cloud/rotator/allview/AllviewMotor.java
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Expand Up @@ -41,7 +41,7 @@ private static int convertInteger(String inputStr) {
return ((input & 0x0000FF) << 16) | (input & 0x00FF00) | ((input & 0xFF0000) >> 16);
}

public static double convertAngle(String inputStr) {
private double convertAngle(String inputStr) {
int converted = convertInteger(inputStr);
boolean positive = true;
if (converted > 0x800000) {
Expand All @@ -50,7 +50,7 @@ public static double convertAngle(String inputStr) {
converted = 0x800000 - converted;
positive = false;
}
double ticks_per_angle = (double) 865050 / 360.0;
double ticks_per_angle = (double) cpr / 360.0;
double result = converted / ticks_per_angle;
if (!positive) {
return 360.0 - result;
Expand Down Expand Up @@ -91,7 +91,7 @@ public void slew(double degreePerSec) throws IOException {
boolean changeDirectionToCcw = (degreePerSec < 0 && currentDegree > 0);
boolean changeDirectionNeeded = (changeDirectionToCw || changeDirectionToCcw);
double degreeAbs = Math.abs(degreePerSec);
int number = (int) ((getTimerInterruptFreq() * 360.0f) / degreeAbs / 865050.0f);
int number = (int) ((getTimerInterruptFreq() * 360.0f) / degreeAbs / cpr);
if (currentSpeed != 0 && currentSpeed == number && !changeDirectionNeeded) {
return;
}
Expand Down Expand Up @@ -138,7 +138,7 @@ public boolean isStopRequired(double degree) throws IOException {
return true;
}
// only when required speed is actually changed
int number = (int) ((getTimerInterruptFreq() * 360.0f) / Math.abs(degree) / 865050.0f);
int number = (int) ((getTimerInterruptFreq() * 360.0f) / Math.abs(degree) / cpr);
if (currentSpeed != number) {
return true;
}
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