Update to use ts_ofc v3.2.0

bin.src/img_closed_loop.py

@@ -56,6 +56,7 @@
         args.iter_num,
         args.pipeline_file,
         args.config_pointer_file,
+        args.controller_config_file,
         args.turn_off_sky_background,
         args.turn_off_atmosphere,
         args.turn_off_wavefront_estimates,

doc/versionHistory.rst

@@ -5,6 +5,12 @@
 ##################
 Version History
 ##################
+-------------
+1.6.0
+-------------
+
+* Update to use ts_ofc version 3.2.0.
+
 -------------
 1.5.6
 -------------

policy/config/controllers/oic_controller.yaml

@@ -0,0 +1,30 @@
+# Description: Optimal Integral Controller (OIC) configuration file
+#
+# Name: OIC
+# xref is the reference to the controller, it can be ['x0', 'x00', '0']
+# kp is the proportional gain
+# ki is the integral gain defined as ki = kp*T/T_i
+# kd is the derivative gain defined as kd = kp*T_d/T
+# derivative_filter_coeff is the coefficient of the derivative filter
+# setpoint is the setpoint for each degree of freedom (array of 50 elements)
+
+description: Optimal Integral Controller (OIC)
+
+name: OIC
+xref: x00 
+kp: -1.0
+ki: 0
+kd: 0
+derivative_filter_coeff: 1.0
+setpoint: [
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0
+]

policy/config/controllers/pid_controller.yaml

@@ -0,0 +1,28 @@
+# Description: Proportional-Integral-Derivative Controller (PID) configuration file
+#
+# Name: PID
+# kp is the proportional gain
+# ki is the integral gain defined as ki = kp*T/T_i
+# kd is the derivative gain defined as kd = kp*T_d/T
+# derivative_filter_coeff is the coefficient of the derivative filter
+# setpoint is the setpoint for each degree of freedom (array of 50 elements)
+
+description: Proportional-Integral-Derivative Controller
+
+name: PID
+kp: 0.9
+ki: 0.0
+kd: 0.0
+derivative_filter_coeff: 1.0
+setpoint: [
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0, 
+  0.0, 0.0, 0.0, 0.0, 0.0
+]

python/lsst/ts/imsim/closed_loop_task.py

@@ -27,6 +27,7 @@
 from argparse import ArgumentParser
 from copy import deepcopy
 from glob import glob
+from pathlib import Path
 
 import astropy
 import numpy as np
@@ -186,7 +187,7 @@ def _set_sky_sim_based_on_opd_field_pos(
             )
             star_id += 1
 
-    def config_ofc_calc(self, cam_type: CamType) -> None:
+    def config_ofc_calc(self, cam_type: CamType, controller_config_file: str) -> None:
         """Configure the OFC calculator.
 
         OFC: Optical feedback calculator.
@@ -195,9 +196,15 @@ def config_ofc_calc(self, cam_type: CamType) -> None:
         ----------
         cam_type : lsst.ts.imsim.utils.CamType
             Camera type.
+        controller_config_file : str
+            Controller configuration file.
         """
 
-        self.ofc_calc = OFC(OFCData(cam_type.value))
+        ofc_data = OFCData(cam_type.value)
+        ofc_data.controller_filename = (
+            Path(get_config_dir()) / "controllers" / controller_config_file
+        )
+        self.ofc_calc = OFC(ofc_data)
         self.ofc_calc.ofc_data.znmin = 4
         self.ofc_calc.ofc_data.zn_selected = np.arange(
             self.ofc_calc.ofc_data.znmin, self.max_noll_index + 1
@@ -387,7 +394,7 @@ def _run_sim(
             code will just default to sending it to stdout.
             (The default is "".)
         """
-        state_0 = self.ofc_calc.ofc_controller.aggregated_state
+        state_0 = self.ofc_calc.controller.aggregated_state
         self.imsim_cmpt.dof_in_um = state_0
 
         # If using wavefront sensors we measure one per pair
@@ -541,12 +548,11 @@ def _run_sim(
                 wfe=wfe,
                 sensor_names=sensor_names,
                 filter_name=obs_metadata.band.upper(),
-                gain=-1,
                 rotation_angle=obs_metadata.rotator_angle,
             )
 
             # Set the new aggregated DOF to phosimCmpt
-            dof_in_um = self.ofc_calc.ofc_controller.aggregated_state
+            dof_in_um = self.ofc_calc.controller.aggregated_state
             self.imsim_cmpt.dof_in_um = dof_in_um
 
             # Save the DOF file
@@ -1015,6 +1021,7 @@ def run_img(
         iter_num: int,
         pipeline_file: str,
         imsim_config_pointer_file: str,
+        controller_config_file: str,
         turn_off_sky_background: bool,
         turn_off_atmosphere: bool,
         turn_off_wavefront_estimates: bool,
@@ -1059,6 +1066,8 @@ def run_img(
             Path to pointer file with locations of yaml configuration
             files for imsim submodules. If empty string then the code
             will use the default in policy/config for the given inst.
+        controller_config_file : str
+            Path to the controller configuration file.
         turn_off_sky_background : bool
             If set to True then the closed loop will simulate images
             without sky background.
@@ -1108,7 +1117,7 @@ def run_img(
         self.config_sky_sim(
             cam_type, obs_metadata, path_sky_file=path_sky_file, star_mag=star_mag
         )
-        self.config_ofc_calc(cam_type)
+        self.config_ofc_calc(cam_type, controller_config_file)
         self.imsim_cmpt = ImsimCmpt(
             num_of_zk=self.max_noll_index - self.ofc_calc.ofc_data.znmin + 1
         )
@@ -1332,6 +1341,13 @@ def set_default_parser(parser: ArgumentParser) -> ArgumentParser:
             help="Imsim Configuration Pointer File.",
         )
 
+        parser.add_argument(
+            "--controller_config_file",
+            type=str,
+            default="oic_controller.yaml",
+            help="Path to the controller configuration file.",
+        )
+
         parser.add_argument(
             "--sky_seed",
             type=int,

tests/test_closed_loop_task.py

@@ -70,7 +70,7 @@ def test_config_sky_sim_with_sky_file(self):
     def test_config_ofc_calc(self):
         cam_type = CamType.LsstCam
         self.closed_loop_task.max_noll_index = 28
-        self.closed_loop_task.config_ofc_calc(cam_type)
+        self.closed_loop_task.config_ofc_calc(cam_type, "oic_controller.yaml")
 
         ofc_calc = self.closed_loop_task.ofc_calc
         self.assertEqual(ofc_calc.ofc_data.name, "lsst")
@@ -131,6 +131,7 @@ def test_set_default_parser(self):
         self.assertEqual(args.output, "")
         self.assertFalse(args.clobber)
         self.assertEqual(args.config_pointer_file, "")
+        self.assertEqual(args.controller_config_file, "oic_controller.yaml")
         self.assertEqual(args.pipeline_file, "")
         self.assertEqual(args.sky_seed, 42)
         self.assertEqual(args.pert_seed, 11)