import random

import time

 

from pwi4_client import PWI4

 

pwi4 = PWI4()

 

def predict_mech_degs(target_field_angle_degs):

    status = pwi4.status()

 

    print("Target field angle:", target_field_angle_degs)

    print("Altitude:", status.mount.altitude_degs)

    print("Mount field angle:", status.mount.field_angle_at_target_degs)

 

    mech_degs = target_field_angle_degs - status.mount.altitude_degs - status.mount.field_angle_at_target_degs

 

    # Unwind into the range (-180 to +180)

    mech_degs = ((mech_degs + 180) % 360) - 180

    print("Expected mech degrees:", mech_degs)

 

    return mech_degs

 

 

def goto_field(target_field_angle_degs):

    pwi4.rotator_goto_field(target_field_angle_degs)

    while True:

        time.sleep(1)

        status = pwi4.status()

        if not status.rotator.is_slewing:

            break

    print("Arrived at mech position", status.rotator.mech_position_degs)

    return status.rotator.mech_position_degs

 

def test_field_angle(target_field_angle_degs):

    expected = predict_mech_degs(target_field_angle_degs)

    actual = goto_field(target_field_angle_degs)

    print("Position error:", actual-expected)

    if abs(actual-expected) > 1:

        print("ERROR ERROR ERROR: POSITION ERROR TOO LARGE!")

 

def slew_random():

    azm = random.uniform(0, 360)

    alt = random.uniform(20, 89)

    print("Slewing to Azm", azm, "Alt", alt)

    pwi4.mount_goto_alt_az(alt, azm)

    while True:

        time.sleep(1)

        status = pwi4.status()

        if not status.mount.is_slewing:

            break

    print("Turn tracking on")

    pwi4.mount_tracking_on()

    time.sleep(1)

    print("Arrived")

 

def test_random():

    test_num = 0

    while True:

        test_num += 1

        print("Test", test_num)

        slew_random()

        target_field_angle = random.uniform(-360, 360)

        test_field_angle(target_field_angle)

 

 

if __name__ == "__main__":

    test_random()