1 | #include "MDriveCom.h"
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2 |
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3 | #include <iostream>
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4 |
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5 | #include <TObjArray.h>
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6 |
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7 | #include "MAstro.h"
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8 | #include "MCosy.h"
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9 | #include "MString.h"
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10 | #include "Ring.h"
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11 | #include "Led.h"
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12 |
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13 | #include "MLog.h"
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14 | #include "MLogManip.h"
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15 |
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16 | #define FACT
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17 |
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18 | using namespace std;
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19 |
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20 | bool MDriveCom::ReadAngle(TString &str, Double_t &ret)
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21 | {
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22 | Char_t sgn;
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23 | Int_t d, len;
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24 | UInt_t m;
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25 | Float_t s;
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26 |
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27 | // Skip whitespaces before %c and after %f
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28 | int n=sscanf(str.Data(), " %c %d %d %f %n", &sgn, &d, &m, &s, &len);
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29 |
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30 | if (n!=4 || (sgn!='+' && sgn!='-'))
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31 | return false;
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32 |
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33 | str.Remove(0, len);
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34 |
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35 | ret = MAstro::Dms2Deg(d, m, s, sgn);
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36 | return true;
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37 | }
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38 |
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39 | bool MDriveCom::ReadPosition(TString &str, Double_t &d1, Double_t &d2)
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40 | {
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41 | if (!ReadAngle(str, d1))
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42 | return false;
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43 |
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44 | if (!ReadAngle(str, d2))
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45 | return false;
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46 |
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47 | return true;
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48 | }
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49 |
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50 | bool MDriveCom::CommandRADEC(TString &str)
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51 | {
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52 | Double_t ra, dec;
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53 | if (!ReadPosition(str, ra, dec))
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54 | {
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55 | gLog << err << "ERROR - Reading position from RADEC" << endl;
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56 | return false;
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57 | }
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58 | if (!str.IsNull())
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59 | {
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60 | gLog << err << "ERROR - Too many bytes in command RADEC" << endl;
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61 | return false;
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62 | }
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63 |
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64 | gLog << all << "CC-COMMAND " << MTime(-1) << " RADEC " << ra << "h " << dec << "d" << endl;
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65 |
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66 | ra *= 15; // h -> deg
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67 |
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68 | RaDec rd(ra, dec);
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69 |
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70 | //cout << "MDriveCom - TRACK... start." << endl;
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71 | if (fQueue)
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72 | fQueue->PostMsg(WM_TRACK, &rd, sizeof(rd));
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73 | //cout << "MDriveCom - TRACK... done." << endl;
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74 | return true;
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75 | }
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76 |
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77 | bool MDriveCom::CommandGRB(TString &str)
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78 | {
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79 | Double_t ra, dec;
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80 | if (!ReadPosition(str, ra, dec))
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81 | {
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82 | gLog << err << "ERROR - Reading position from GRB" << endl;
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83 | return false;
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84 | }
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85 | if (!str.IsNull())
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86 | {
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87 | gLog << err << "ERROR - Too many bytes in command GRB" << endl;
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88 | return false;
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89 | }
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90 |
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91 | gLog << all << "CC-COMMAND " << MTime(-1) << " GRB " << ra << "h " << dec << "d '" << str << "'" << endl;
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92 |
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93 | ra *= 15; // h -> deg
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94 |
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95 | RaDec rd[2] = { RaDec(ra, dec), RaDec(ra, dec) };
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96 |
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97 | //cout << "MDriveCom - TRACK... start." << endl;
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98 | if (fQueue)
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99 | fQueue->PostMsg(WM_GRB, &rd, sizeof(rd));
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100 | //cout << "MDriveCom - TRACK... done." << endl;
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101 | return true;
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102 | }
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103 |
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104 | bool MDriveCom::CommandZDAZ(TString &str)
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105 | {
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106 | Double_t zd, az;
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107 | if (!ReadPosition(str, zd, az))
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108 | {
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109 | gLog << err << "ERROR - Reading position from ZDAZ" << endl;
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110 | return false;
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111 | }
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112 |
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113 | if (!str.IsNull())
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114 | {
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115 | gLog << err << "ERROR - Too many bytes in command ZDAZ" << endl;
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116 | return false;
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117 | }
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118 |
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119 | gLog << all << "CC-COMMAND " << MTime(-1) << " ZDAZ " << zd << "deg " << az << "deg" << endl;
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120 |
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121 | ZdAz za(zd, az);
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122 |
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123 | //cout << "MDriveCom - POSITION... start." << endl;
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124 | if (fQueue)
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125 | fQueue->PostMsg(WM_POSITION, &za, sizeof(za));
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126 | //cout << "MDriveCom - POSITION... done." << endl;
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127 | return true;
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128 | }
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129 |
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130 | bool MDriveCom::CommandCELEST(TString &str)
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131 | {
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132 | str = str.Strip(TString::kBoth);
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133 | if (str.IsNull())
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134 | {
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135 | gLog << err << "ERROR - CELEST command empty." << endl;
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136 | return false;
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137 | }
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138 |
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139 | Int_t id, len;
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140 | Float_t offset, angle;
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141 | Int_t n=sscanf(str.Data(), "%d %f %f %n", &id, &offset, &angle, &len);
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142 | if (n!=3)
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143 | {
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144 | gLog << warn << "WARNING - Not enough argmuents (CELEST)." << endl;
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145 | return kCONTINUE;
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146 | }
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147 |
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148 | str.Remove(0, len);
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149 | str = str.Strip(TString::kBoth);
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150 |
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151 | if (!str.IsNull())
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152 | {
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153 | gLog << err << "ERROR - Too many bytes in command CELEST" << endl;
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154 | return false;
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155 | }
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156 |
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157 | gLog << all << "CC-COMMAND " << MTime(-1) << " CELEST ID=" << id << " WobbleOffset=" << offset << "deg WobbleAngle=" << angle << "deg" << endl;
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158 |
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159 | if (id==0)
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160 | {
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161 | gLog << err << "ERROR - Tracking the sun IS STRICLY FORBIDDEN - ignored." << endl;
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162 | return false;
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163 | }
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164 |
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165 | if (id<0 || id>9)
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166 | {
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167 | gLog << err << "ERROR - Unknown id " << id << " (must be between 1 and 9)." << endl;
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168 | return false;
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169 | }
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170 |
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171 | Double_t data[3] = { (double)id, offset, angle };
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172 |
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173 | //cout << "MDriveCom - CELEST... start." << endl;
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174 | if (fQueue)
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175 | fQueue->PostMsg(WM_CELEST, data, sizeof(Double_t)*3);
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176 | //cout << "MDriveCom - CELEST... done." << endl;
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177 | return true;
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178 | }
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179 |
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180 | bool MDriveCom::CommandMOON(TString &str)
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181 | {
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182 | str = str.Strip(TString::kBoth);
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183 | if (str.IsNull())
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184 | {
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185 | gLog << err << "ERROR - MOON command empty." << endl;
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186 | return false;
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187 | }
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188 |
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189 | Int_t len;
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190 | Float_t wobble, offset;
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191 | Int_t n=sscanf(str.Data(), "%f %f %n", &wobble, &offset, &len);
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192 | if (n!=2)
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193 | {
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194 | gLog << warn << "WARNING - Not enough argmuents (MOON)." << endl;
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195 | return kCONTINUE;
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196 | }
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197 |
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198 | str.Remove(0, len);
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199 | str = str.Strip(TString::kBoth);
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200 |
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201 | if (!str.IsNull())
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202 | {
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203 | gLog << err << "ERROR - Too many bytes in command MOON" << endl;
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204 | return false;
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205 | }
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206 |
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207 | gLog << all << "CC-COMMAND " << MTime(-1) << " MOON WobbleOffset=" << wobble << "deg ShadowOffset=" << offset << "deg" << endl;
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208 |
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209 | Double_t data[2] = { wobble, offset };
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210 |
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211 | //cout << "MDriveCom - MOON... start." << endl;
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212 | if (fQueue)
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213 | fQueue->PostMsg(WM_MOON, data, sizeof(Double_t)*2);
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214 | //cout << "MDriveCom - MOON... done." << endl;
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215 | return true;
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216 | }
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217 |
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218 | bool MDriveCom::CommandPREPS(TString &str)
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219 | {
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220 | str = str.Strip(TString::kBoth);
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221 | if (str.IsNull())
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222 | {
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223 | gLog << err << "ERROR - No identifier for preposition (PREPS) given." << endl;
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224 | return false;
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225 | }
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226 | if (str.First(' ')>=0)
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227 | {
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228 | gLog << err << "ERROR - PREPS command syntax error (contains whitespaces)." << endl;
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229 | return false;
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230 | }
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231 |
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232 | str.ToLower();
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233 |
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234 | gLog << all << "CC-COMMAND " << MTime(-1) << " PREPS '" << str << "'" << endl;
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235 |
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236 | //cout << "MDriveCom - TRACK... start." << endl;
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237 | if (fQueue)
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238 | fQueue->PostMsg(WM_PREPS, (void*)str.Data(), str.Length()+1);
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239 | //cout << "MDriveCom - TRACK... done." << endl;
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240 | return true;
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241 | }
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242 |
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243 | bool MDriveCom::CommandTPOINT(TString &str)
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244 | {
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245 | gLog << all << "CC-COMMAND " << MTime(-1) << " TPOIN " << str << endl;
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246 |
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247 | TObjArray *arr = str.Tokenize(' ');
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248 |
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249 | if (arr->GetEntries()!=2)
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250 | {
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251 | delete arr;
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252 | gLog << err << "ERROR - Wrong number of arguments in TPOIN command" << endl;
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253 | return false;
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254 | }
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255 |
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256 | delete arr;
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257 |
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258 | if (fQueue)
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259 | fQueue->Proc(WM_STARGTPOINT, (void*)str.Data());
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260 |
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261 | return true;
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262 | }
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263 |
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264 | bool MDriveCom::CommandSTGMD(TString &str)
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265 | {
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266 | gLog << all << "CC-COMMAND " << MTime(-1) << " STGMD " << str << endl;
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267 |
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268 | bool on = str=="ON";
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269 |
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270 | if (fQueue)
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271 | fQueue->Proc(WM_STARGMODE, &on);
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272 |
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273 | return true;
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274 | }
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275 |
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276 | bool MDriveCom::CommandLEDS(TString &str)
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277 | {
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278 | gLog << all << "CC-COMMAND " << MTime(-1) << " LEDS " << str << endl;
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279 |
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280 | str = str.Strip(TString::kBoth);
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281 | if (str.IsNull())
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282 | {
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283 | gLog << err << "ERROR - LEDS command empty." << endl;
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284 | return false;
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285 | }
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286 |
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287 | Int_t len;
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288 | Long_t u[2];
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289 | Int_t n=sscanf(str.Data(), "%ld %ld %n", &u[0], &u[1], &len);
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290 | if (n!=2)
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291 | {
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292 | gLog << warn << "WARNING - Not enough argmuents (LEDS)." << endl;
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293 | return kCONTINUE;
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294 | }
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295 |
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296 | str.Remove(0, len);
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297 | str = str.Strip(TString::kBoth);
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298 |
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299 | if (!str.IsNull())
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300 | {
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301 | gLog << err << "ERROR - Too many bytes in command LEDS" << endl;
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302 | return false;
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303 | }
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304 |
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305 |
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306 | if (fQueue)
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307 | fQueue->Proc(WM_LEDS, u);
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308 |
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309 | return true;
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310 | }
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311 |
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312 | bool MDriveCom::CommandARM(TString &str)
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313 | {
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314 | str = str.Strip(TString::kBoth);
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315 | if (str.IsNull())
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316 | {
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317 | gLog << err << "ERROR - No identifier for ARM command." << endl;
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318 | return false;
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319 | }
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320 | if (str.First(' ')>=0)
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321 | {
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322 | gLog << err << "ERROR - ARM command syntax error (contains whitespaces)." << endl;
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323 | return false;
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324 | }
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325 |
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326 | str.ToLower();
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327 | if (str!="lock" && str!="unlock")
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328 | {
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329 | gLog << err << "ERROR - ARM command syntax error (neither LOCK nor UNLOCK)." << endl;
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330 | return false;
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331 | }
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332 |
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333 | gLog << all << "CC-COMMAND " << MTime(-1) << " ARM '" << str << "'" << endl;
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334 |
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335 | bool lock = str=="lock";
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336 |
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337 | if (fQueue)
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338 | fQueue->PostMsg(WM_ARM, &lock, sizeof(lock));
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339 | return true;
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340 | }
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341 |
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342 | bool MDriveCom::InterpreteCmd(TString cmd, TString str)
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343 | {
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344 | if (cmd==(TString)"WAIT" && str.IsNull())
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345 | {
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346 | //cout << "MDriveCom - WAIT... start." << endl;
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347 | gLog << all << "CC-COMMAND " << MTime(-1) << " WAIT" << endl;
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348 | if (fQueue)
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349 | fQueue->PostMsg(WM_WAIT);
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350 | //cout << "MDriveCom - WAIT... done." << endl;
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351 | return true;
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352 | }
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353 |
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354 | if (cmd==(TString)"STOP!" && str.IsNull())
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355 | {
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356 | //cout << "MDriveCom - STOP!... start." << endl;
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357 | gLog << all << "CC-COMMAND " << MTime(-1) << " STOP!" << endl;
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358 | if (fQueue)
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359 | fQueue->PostMsg(WM_STOP);
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360 | //cout << "MDriveCom - STOP!... done." << endl;
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361 | return true;
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362 | }
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363 |
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364 | if (cmd==(TString)"RADEC")
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365 | return CommandRADEC(str);
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366 |
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367 | if (cmd==(TString)"GRB")
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368 | return CommandGRB(str);
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369 |
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370 | if (cmd==(TString)"ZDAZ")
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371 | return CommandZDAZ(str);
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372 |
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373 | if (cmd==(TString)"CELEST")
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374 | return CommandCELEST(str);
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375 |
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376 | if (cmd==(TString)"MOON")
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377 | return CommandMOON(str);
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378 |
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379 | if (cmd==(TString)"PREPS")
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380 | return CommandPREPS(str);
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381 |
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382 | if (cmd==(TString)"TPOIN")
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383 | return CommandTPOINT(str);
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384 |
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385 | if (cmd==(TString)"ARM")
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386 | return CommandARM(str);
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387 |
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388 | if (cmd==(TString)"STGMD")
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389 | return CommandSTGMD(str);
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390 |
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391 | if (cmd==(TString)"LEDS")
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392 | return CommandLEDS(str);
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393 |
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394 | if (cmd==(TString)"KEEP_ALIVE")
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395 | {
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396 | gLog << dbg << MTime(-1) << " KEEP_ALIVE" << endl;
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397 | return true;
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398 | }
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399 |
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400 | if (cmd.IsNull() && str.IsNull())
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401 | {
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402 | gLog << all << "CC-COMMAND " << MTime(-1) << " Empty command (single '\\n') received." << endl;
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403 | return false;
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404 | }
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405 |
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406 | gLog << err << "CC-COMMAND " << MTime(-1) << " Syntax error: '" << cmd << "':'" << str << "'" << endl;
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407 | return false;
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408 | }
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409 |
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410 | void MDriveCom::Print(TString &str, Double_t deg) const
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411 | {
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412 | Char_t sgn;
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413 | UShort_t d, m, s;
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414 |
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415 | MAstro::Deg2Dms(deg, sgn, d, m, s);
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416 |
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417 | str += MString::Format("%c %03d %02d %03d ", sgn, d, m, s);
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418 | }
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419 |
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420 | bool MDriveCom::SendReport(UInt_t stat, Double_t mjd, RaDec rd, double ha, ZdAz so, ZdAz is, ZdAz er, Bool_t armed, Int_t stargmd, UInt_t pdo3)
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421 | {
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422 | // rd [rad]
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423 | // so [rad]
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424 | // is [deg]
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425 | // er [rad]
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426 | rd *= kRad2Deg;
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427 | so *= kRad2Deg;
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428 | #ifdef FACT
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429 | er *= kRad2Deg*3600;
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430 | #else
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431 | er *= kRad2Deg;
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432 | #endif
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433 |
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434 | rd.Ra(rd.Ra()/15);
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435 |
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436 | // Set status flag
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437 | if (stat&kError)
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438 | SetStatus(0);
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439 | if (stat&kStopped)
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440 | SetStatus(1);
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441 | if (stat&kStopping || stat&kMoving)
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442 | SetStatus(3);
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443 | if (stat&kTracking)
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444 | SetStatus(4);
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445 |
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446 | TString str;
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447 | Print(str, rd.Ra()); // Ra
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448 | Print(str, rd.Dec()); // Dec
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449 | Print(str, ha); // HA
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450 | //str += MString::Format("%12.6f ", mjd==0 ? MTime(-1).GetMjd() : mjd); // mjd
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451 | str += MString::Format("%12.6f ", mjd); // mjd
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452 | Print(str, so.Zd());
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453 | Print(str, so.Az());
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454 | Print(str, is.Zd());
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455 | Print(str, is.Az());
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456 | str += MString::Format("%08.3f ", er.Zd());
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457 | str += MString::Format("%08.3f ", er.Az());
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458 | str += armed ? "1 " : "0 ";
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459 | str += MString::Format("%d ", stargmd); // Starguider mode: 0=none, 1=starguider, 2=starguider off
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460 | str += MString::Format("%x ", pdo3);
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461 |
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462 | return SendRep("DRIVE-REPORT", str.Data(), kFALSE);
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463 | }
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464 |
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465 | bool MDriveCom::SendStatus(const char *stat)
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466 | {
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467 | return SendRep("DRIVE-STATUS", stat, kFALSE);
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468 | }
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---|
469 |
|
---|
470 | bool MDriveCom::SendStargReport(UInt_t stat, ZdAz miss, ZdAz nompos, Ring center, Int_t num, Int_t n, Double_t bright, Double_t mjd, Int_t numleds, Int_t numrings)
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471 | {
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472 | // miss [deg]
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473 | // nompos [deg]
|
---|
474 | const MTime t(-1);
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475 |
|
---|
476 | miss *= 60; // [arcmin]
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---|
477 |
|
---|
478 | // Set status flag
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479 | if (stat&kError)
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480 | SetStatus(0);
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---|
481 | if (stat&kStandby)
|
---|
482 | SetStatus(2);
|
---|
483 | if (stat&kMonitoring)
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484 | SetStatus(4);
|
---|
485 |
|
---|
486 | TString str;
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487 | str += MString::Format("%05.3f ", miss.Zd()); //[arcmin]
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---|
488 | str += MString::Format("%05.3f ", miss.Az()); //[arcmin]
|
---|
489 | Print(str, nompos.Zd()); //[deg]
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---|
490 | Print(str, nompos.Az()); //[deg]
|
---|
491 | str += MString::Format("%05.1f ", center.GetX()); //
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---|
492 | str += MString::Format("%05.1f ", center.GetY()); //
|
---|
493 | str += MString::Format("%04d ", n); // number of correleated stars
|
---|
494 | str += MString::Format("%03.1f ", bright); // arbitrary sky brightness
|
---|
495 | str += MString::Format("%12.6f ", t.GetMjd()); // mjd
|
---|
496 | str += MString::Format("%d ", numleds); // number of detected leds
|
---|
497 | str += MString::Format("%d ", numrings); // number of detected rings
|
---|
498 | str += MString::Format("%04d ", num); // number of detected stars
|
---|
499 |
|
---|
500 | return SendRep("STARG-REPORT", str, kTRUE);
|
---|
501 | }
|
---|
502 |
|
---|
503 | bool MDriveCom::SendTPoint(bool stat, char type, Float_t mag, const char *name, const AltAz &za0, const ZdAz &za1,
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---|
504 | const TVector2 &xy, Float_t dzd, Float_t daz, const MTime &t,
|
---|
505 | const Ring ¢er, const Led &star, Int_t numleds, Int_t numrings,
|
---|
506 | Int_t numstars, Int_t numcor, Float_t bright)
|
---|
507 | {
|
---|
508 | SetStatus(stat);
|
---|
509 |
|
---|
510 | TString str = type;
|
---|
511 | str += MString::Format(" %8.4f ", za0.Az());
|
---|
512 | str += MString::Format("%8.4f ", za0.Alt());
|
---|
513 | str += MString::Format("%8.4f ", fmod(za1.Az()+360, 360));
|
---|
514 | str += MString::Format("%8.4f ", 90-za1.Zd());
|
---|
515 | str += MString::Format("%8.4f ", xy.X());
|
---|
516 | str += MString::Format("%8.4f ", xy.Y());
|
---|
517 | str += MString::Format("%8.4f ", dzd);
|
---|
518 | str += MString::Format("%8.4f ", daz);
|
---|
519 | str += MString::Format("%12.6f ", t.GetMjd());
|
---|
520 | str += MString::Format("%f ", center.GetMag());
|
---|
521 | str += MString::Format("%f ", star.GetMag());
|
---|
522 | str += MString::Format("%f ", center.GetX());
|
---|
523 | str += MString::Format("%f ", center.GetY());
|
---|
524 | str += MString::Format("%f ", star.GetX());
|
---|
525 | str += MString::Format("%f ", star.GetY());
|
---|
526 | str += numleds;
|
---|
527 | str += " ";
|
---|
528 | str += numrings;
|
---|
529 | str += " ";
|
---|
530 | str += numstars;
|
---|
531 | str += " ";
|
---|
532 | str += numcor;
|
---|
533 | str += " ";
|
---|
534 | str += bright;
|
---|
535 | str += " ";
|
---|
536 | str += mag;
|
---|
537 | str += " ";
|
---|
538 | str += name;
|
---|
539 |
|
---|
540 | return SendRep("TPOINT-REPORT", str, kTRUE);
|
---|
541 | }
|
---|