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feat: add type 2 and 3 scans to generate scan #917

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merged 2 commits into from
Oct 1, 2025
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feat: add type 2 and 3 scans to generate scan #917

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31564d4
feat: add type 2 and 3 scans to generate scan
skhrg Aug 15, 2025
00fbca9
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Oct 1, 2025
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71 changes: 57 additions & 14 deletions socs/agents/acu/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -31,10 +31,12 @@
'ccat': {
'az_speed': 2,
'az_accel': 1,
'el_freq': .15,
},
'satp': {
'az_speed': 1,
'az_accel': 1,
'el_freq': 0,
},
}

Expand Down Expand Up @@ -234,7 +236,7 @@ def __init__(self, agent, acu_config='guess',
sun_config=self.sun_config)
self._reset_sun_params()

# Scan params (default vel / accel).
# Scan params (default vel / accel / el freq).
self.default_scan_params = \
dict(INIT_DEFAULT_SCAN_PARAMS[self.platform_type])
for _k in self.default_scan_params.keys():
Expand Down Expand Up @@ -1781,6 +1783,7 @@ def set_speed_mode(self, session, params):

@ocs_agent.param('az_speed', type=float, default=None)
@ocs_agent.param('az_accel', type=float, default=None)
@ocs_agent.param('el_freq', type=float, default=None)
@ocs_agent.param('reset', default=False, type=bool)
@inlineCallbacks
def set_scan_params(self, session, params):
Expand All @@ -1793,13 +1796,15 @@ def set_scan_params(self, session, params):
az_speed (float, optional): The azimuth scan speed.
az_accel (float, optional): The (average) azimuth
acceleration at turn-around.
el_freq (float, optional): The frequency of elevation nods in
type 3 scans.
reset (bool, optional): If True, reset all params to default
values before applying any updates passed explicitly here.

"""
if params['reset']:
self.scan_params.update(self.default_scan_params)
for k in ['az_speed', 'az_accel']:
for k in ['az_speed', 'az_accel', 'el_freq']:
if params[k] is not None:
self.scan_params[k] = params[k]
self.log.info('Updated default scan params to {sp}', sp=self.scan_params)
Expand Down Expand Up @@ -2009,6 +2014,7 @@ def line_batcher(ff_scan, t_shift=0., n=10):
@ocs_agent.param('el_endpoint1', type=float, default=None)
@ocs_agent.param('el_endpoint2', type=float, default=None)
@ocs_agent.param('el_speed', type=float, default=0.)
@ocs_agent.param('el_freq', type=float, default=None)
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Add to docstring.

@ocs_agent.param('num_scans', type=float, default=None)
@ocs_agent.param('start_time', type=float, default=None)
@ocs_agent.param('wait_to_start', type=float, default=None)
Expand All @@ -2018,6 +2024,8 @@ def line_batcher(ff_scan, t_shift=0., n=10):
'mid_inc', 'mid_dec'])
@ocs_agent.param('az_drift', type=float, default=None)
@ocs_agent.param('az_only', type=bool, default=True)
@ocs_agent.param('type', default=1, choices=[1, 2, 3])
@ocs_agent.param('az_vel_ref', type=float, default=1)
@ocs_agent.param('scan_upload_length', type=float, default=None)
@inlineCallbacks
def generate_scan(self, session, params):
Expand Down Expand Up @@ -2068,12 +2076,18 @@ def generate_scan(self, session, params):
positive az velocity), 'mid_dec' (negative az velocity),
or 'mid' (velocity oriented towards endpoint2).
az_drift (float): if set, this should be a drift velocity
in deg/s. The scan extrema will move accordingly. This
can be used to better follow compact sources as they
rise or set through the focal plane.
in deg/s. The scan extrema will move accordingly. This
can be used to better follow compact sources as they
rise or set through the focal plane.
az_only (bool): if True (the default), then only the
Azimuth axis is put in ProgramTrack mode, and the El axis
is put in Stop mode.
type (int): What type of scan to use. Only 1, 2, 3 are valid.
Type 1 is a constant elevation scan.
Type 2 includes a variation in az speed that scales as sin(az).
Type 3 is a Type 2 with an sinusoidal el nod.
az_vel_ref (float or None): azimuth to center the velocity profile at.
If None then the average of the endpoints is used.
scan_upload_length (float): number of seconds for each set
of uploaded points. If this is not specified, the
track manager will try to use as short a time as is
Expand All @@ -2096,14 +2110,18 @@ def generate_scan(self, session, params):
az_endpoint2 = params['az_endpoint2']
el_endpoint1 = params['el_endpoint1']
el_endpoint2 = params['el_endpoint2']
az_vel_ref = params['az_vel_ref']

# Params with defaults configured ...
az_speed = params['az_speed']
az_accel = params['az_accel']
el_freq = params['el_freq']
if az_speed is None:
az_speed = self.scan_params['az_speed']
if az_accel is None:
az_accel = self.scan_params['az_accel']
if el_freq is None:
el_freq = self.scan_params['el_freq']

# Do we need to limit the az_accel? This limit comes from a
# maximum jerk parameter; the equation below (without the
Expand Down Expand Up @@ -2206,18 +2224,43 @@ def generate_scan(self, session, params):
return False, f'Start position seek failed with message: {msg}'

# Prepare the point generator.
g = sh.generate_constant_velocity_scan(az_endpoint1=az_endpoint1,
az_endpoint2=az_endpoint2,
az_speed=az_speed, acc=az_accel,
el_endpoint1=el_endpoint1,
el_endpoint2=el_endpoint2,
el_speed=el_speed,
az_first_pos=plan['init_az'],
**scan_params)
free_form = False
if params["type"] == 1:
g = sh.generate_constant_velocity_scan(az_endpoint1=az_endpoint1,
az_endpoint2=az_endpoint2,
az_speed=az_speed, acc=az_accel,
el_endpoint1=el_endpoint1,
el_endpoint2=el_endpoint2,
el_speed=el_speed,
az_first_pos=plan['init_az'],
**scan_params)
elif params["type"] == 2:
free_form = True
g = sh.generate_type2_scan(az_endpoint1=az_endpoint1,
az_endpoint2=az_endpoint2,
az_speed=az_speed, acc=az_accel,
el_endpoint1=el_endpoint1,
az_vel_ref=az_vel_ref,
az_first_pos=plan['init_az'],
**scan_params)
elif params["type"] == 3:
free_form = True
azonly = False
g = sh.generate_type3_scan(az_endpoint1=az_endpoint1,
az_endpoint2=az_endpoint2,
az_speed=az_speed, acc=az_accel,
el_endpoint1=el_endpoint1,
el_endpoint2=el_endpoint2,
el_freq=el_freq,
az_vel_ref=az_vel_ref,
az_first_pos=plan['init_az'],
**scan_params)
else:
raise ValueError("Scan type must be 1, 2, or 3")

return (yield self._run_track(
session=session, point_gen=g, step_time=step_time,
azonly=azonly, point_batch_count=point_batch_count))
azonly=azonly, point_batch_count=point_batch_count, free_form=free_form))

@inlineCallbacks
def _run_track(self, session, point_gen, step_time, azonly=False,
Expand Down
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