#include #include #include "FACT.h" #include "Dim.h" #include "Event.h" #include "Shell.h" #include "StateMachineDim.h" #include "Connection.h" #include "LocalControl.h" #include "Configuration.h" #include "Timers.h" #include "Console.h" #include "Converter.h" #include "tools.h" #define HAS_SQL #ifdef HAS_SQL #include #endif namespace ba = boost::asio; namespace bs = boost::system; namespace dummy = ba::placeholders; using namespace std; // ------------------------------------------------------------------------ namespace Drive { struct DimPointing { } __attribute__((__packed__)); struct DimTracking { } __attribute__((__packed__)); struct DimStarguider { double fMissZd; double fMissAz; double fNominalZd; double fNominalAz; double fCenterX; double fCenterY; double fBrightness; uint16_t fNumCorrelated; uint16_t fNumLeds; uint16_t fNumRings; uint16_t fNumStars; } __attribute__((__packed__)); struct DimTPoint { double fRa; double fDec; double fNominalZd; double fNominalAz; double fPointingZd; double fPointingAz; double fFeedbackZd; double fFeedbackAz; uint16_t fNumLeds; uint16_t fNumRings; double fCenterX; double fCenterY; double fCenterMag; double fStarX; double fStarY; double fStarMag; double fRealMag; } __attribute__((__packed__)); }; // ------------------------------------------------------------------------ class ConnectionDrive : public Connection { int fState; bool fIsVerbose; // --verbose // --hex-out // --dynamic-out // --load-file // --leds // --trigger-interval // --physcis-coincidence // --calib-coincidence // --physcis-window // --physcis-window // --trigger-delay // --time-marker-delay // --dead-time // --clock-conditioner-r0 // --clock-conditioner-r1 // --clock-conditioner-r8 // --clock-conditioner-r9 // --clock-conditioner-r11 // --clock-conditioner-r13 // --clock-conditioner-r14 // --clock-conditioner-r15 // ... virtual void UpdatePointing(const Time &, const array &) { } virtual void UpdateTracking(const Time &, const array &) { } virtual void UpdateStatus(const Time &, const array &) { } virtual void UpdateStarguider(const Time &, const Drive::DimStarguider &) { } virtual void UpdateTPoint(const Time &, const Drive::DimTPoint &, const string &) { } public: virtual void UpdateSource() { } virtual void UpdateSource(const array &, const string& = "") { } protected: map fCounter; ba::streambuf fBuffer; public: static Time ReadTime(istream &in) { uint16_t y, m, d, hh, mm, ss, ms; in >> y >> m >> d >> hh >> mm >> ss >> ms; return Time(y, m, d, hh, mm, ss, ms*1000); } static double ReadAngle(istream &in) { char sgn; uint16_t d, m; float s; in >> sgn >> d >> m >> s; const double ret = ((60.0 * (60.0 * (double)d + (double)m) + s))/3600.; return sgn=='-' ? -ret : ret; } protected: void HandleReceivedReport(const boost::system::error_code& err, size_t bytes_received) { // Do not schedule a new read if the connection failed. if (bytes_received==0 || err) { if (err==ba::error::eof) Warn("Connection closed by remote host (FTM)."); // 107: Transport endpoint is not connected (bs::error_code(107, bs::system_category)) // 125: Operation canceled if (err && err!=ba::error::eof && // Connection closed by remote host err!=ba::error::basic_errors::not_connected && // Connection closed by remote host err!=ba::error::basic_errors::operation_aborted) // Connection closed by us { ostringstream str; str << "Reading from " << URL() << ": " << err.message() << " (" << err << ")";// << endl; Error(str); } PostClose(err!=ba::error::basic_errors::operation_aborted); return; } istream is(&fBuffer); string line; getline(is, line); if (fIsVerbose) Out() << line << endl; StartReadReport(); if (line.substr(0, 13)=="DRIVE-STATUS ") { Message(line.substr(70)); return; } if (line.substr(0, 13)=="STARG-REPORT ") { istringstream stream(line.substr(16)); // 0: Error // 1: Standby // 2: Monitoring uint16_t status1; stream >> status1; /*const Time t1 = */ReadTime(stream); uint16_t status2; stream >> status2; /*const Time t2 = */ReadTime(stream); double misszd, missaz; stream >> misszd >> missaz; const double zd = ReadAngle(stream); const double az = ReadAngle(stream); double cx, cy; stream >> cx >> cy; int ncor; stream >> ncor; double bright, mjd; stream >> bright >> mjd; int nled, nring, nstars; stream >> nled >> nring >> nstars; if (stream.fail()) return; Drive::DimStarguider data; data.fMissZd = misszd; data.fMissAz = missaz; data.fNominalZd = zd; data.fNominalAz = az; data.fCenterX = cx; data.fCenterY = cy; data.fNumCorrelated = ncor; data.fBrightness = bright; data.fNumLeds = nled; data.fNumRings = nring; data.fNumStars = nstars; UpdateStarguider(Time(mjd), data); return; } if (line.substr(0, 14)=="TPOINT-REPORT ") { istringstream stream(line.substr(17)); uint16_t status1; stream >> status1; const Time t1 = ReadTime(stream); uint16_t status2; stream >> status2; /*const Time t2 =*/ ReadTime(stream); char type; stream >> type; if (type != 'T') return; double az1, alt1, az2, alt2, ra, dec, dzd, daz; stream >> az1 >> alt1 >> az2 >> alt2 >> ra >> dec >> dzd >> daz; // c: center, s:start double mjd, cmag, smag, cx, cy, sx, sy; stream >> mjd >> cmag >> smag >> cx >> cy >> sx >> sy; int nled, nring, nstar, ncor; stream >> nled >> nring >> nstar >> ncor; double bright, mag; stream >> bright >> mag; string name; stream >> name; if (stream.fail()) return; Drive::DimTPoint tpoint; tpoint.fRa = ra; tpoint.fDec = dec; tpoint.fNominalZd = 90-alt1-dzd; tpoint.fNominalAz = 90-az1 +daz; tpoint.fPointingZd = 90-alt1; tpoint.fPointingAz = az1; tpoint.fFeedbackZd = 90-alt2; tpoint.fFeedbackAz = az2; tpoint.fNumLeds = nled; tpoint.fNumRings = nring; tpoint.fCenterX = cx; tpoint.fCenterY = cy; tpoint.fCenterMag = cmag; tpoint.fStarX = sx; tpoint.fStarY = sy; tpoint.fStarMag = smag; tpoint.fRealMag = mag; UpdateTPoint(t1, tpoint, name); return; } if (line.substr(0, 13)=="DRIVE-REPORT ") { // DRIVE-REPORT M1 // 01 2011 05 14 11 31 19 038 // 02 1858 11 17 00 00 00 000 // + 000 00 000 + 000 00 000 // + 000 00 000 // 55695.480081 // + 000 00 000 + 000 00 000 // + 000 00 000 + 000 00 000 // 0000.000 0000.000 // 0 2 // status // year month day hour minute seconds millisec // year month day hour minute seconds millisec // ra(+ h m s) dec(+ d m s) ha(+ h m s) // mjd // zd(+ d m s) az(+ d m s) // zd(+ d m s) az(+ d m s) // zd_err az_err // armed(0=unlocked, 1=locked) // stgmd(0=none, 1=starguider, 2=starguider off) istringstream stream(line.substr(16)); uint16_t status1; stream >> status1; const Time t1 = ReadTime(stream); uint16_t status2; stream >> status2; /*const Time t2 =*/ ReadTime(stream); const double ra = ReadAngle(stream); const double dec = ReadAngle(stream); const double ha = ReadAngle(stream); double mjd; stream >> mjd; const double zd1 = ReadAngle(stream); const double az1 = ReadAngle(stream); const double zd2 = ReadAngle(stream); const double az2 = ReadAngle(stream); double zd_err, az_err; stream >> zd_err; stream >> az_err; uint16_t armed, stgmd; stream >> armed; stream >> stgmd; uint32_t pdo3; stream >> hex >> pdo3; if (stream.fail()) return; // Status 0: Error // Status 1: Stopped // Status 3: Stopping || Moving // Status 4: Tracking if (status1==0) status1 = 0x100-3; const bool ready = (pdo3&0xef00ef)==0xef00ef; if (!ready) fState = 0; else fState = status1==1 ? armed+1 : status1; // 1: Not ready // 2: Not armed // 3: Armed // 4: Moving // 5: Tracking // 99: Error // pdo3: // 1 Ab // 2 1 // 4 Emergency // 8 OverVolt // 10 Move (Drehen-soll) // 20 Af // 40 1 // 80 Power on Az // ------------------ // 100 NOT UPS Alarm // 200 UPS on Battery // 400 UPS charging // Power cut: 2ef02ef // charging: 4ef04ef const array state = {{ uint8_t(pdo3>>16), uint8_t(pdo3), uint8_t(pdo3>>24) }}; UpdateStatus(t1, state); const array point = {{ zd2, az2 }}; UpdatePointing(t1, point); const array track = {{ ra, dec, ha, zd1, az1, zd_err/3600, az_err/3600 }}; if (mjd>0) UpdateTracking(Time(mjd), track); // ---- DIM ----> t1 as event time // status1 // mjd // ra/dec/ha // zd/az (nominal) // zd/az (current) // err(zd/az) // [armed] [stgmd] // Maybe: // POINTING_POSITION --> t1, zd/az (current), [armed, stgmd, status1] // // if (mjd>0) // TRACKING_POSITION --> mjd, zd/az (nominal), err(zd/az) // ra/dec, ha(not well defined), // [Nominal + Error == Current] // MJD is the time which corresponds to the nominal position // t1 is the time which corresponds to the current position/HA return; } } void StartReadReport() { boost::asio::async_read_until(*this, fBuffer, '\n', boost::bind(&ConnectionDrive::HandleReceivedReport, this, dummy::error, dummy::bytes_transferred)); } boost::asio::deadline_timer fKeepAlive; void KeepAlive() { PostMessage(string("KEEP_ALIVE")); fKeepAlive.expires_from_now(boost::posix_time::seconds(10)); fKeepAlive.async_wait(boost::bind(&ConnectionDrive::HandleKeepAlive, this, dummy::error)); } void HandleKeepAlive(const bs::error_code &error) { // 125: Operation canceled (bs::error_code(125, bs::system_category)) if (error && error!=ba::error::basic_errors::operation_aborted) { ostringstream str; str << "Write timeout of " << URL() << ": " << error.message() << " (" << error << ")";// << endl; Error(str); PostClose(false); return; } if (!is_open()) { // For example: Here we could schedule a new accept if we // would not want to allow two connections at the same time. return; } // Check whether the deadline has passed. We compare the deadline // against the current time since a new asynchronous operation // may have moved the deadline before this actor had a chance // to run. if (fKeepAlive.expires_at() > ba::deadline_timer::traits_type::now()) return; KeepAlive(); } private: // This is called when a connection was established void ConnectionEstablished() { StartReadReport(); KeepAlive(); } /* void HandleReadTimeout(const bs::error_code &error) { if (error && error!=ba::error::basic_errors::operation_aborted) { stringstream str; str << "Read timeout of " << URL() << ": " << error.message() << " (" << error << ")";// << endl; Error(str); PostClose(); return; } if (!is_open()) { // For example: Here we could schedule a new accept if we // would not want to allow two connections at the same time. return; } // Check whether the deadline has passed. We compare the deadline // against the current time since a new asynchronous operation // may have moved the deadline before this actor had a chance // to run. if (fInTimeout.expires_at() > ba::deadline_timer::traits_type::now()) return; Error("Timeout reading data from "+URL()); PostClose(); }*/ public: static const uint16_t kMaxAddr; public: ConnectionDrive(ba::io_service& ioservice, MessageImp &imp) : Connection(ioservice, imp()), fState(-1), fIsVerbose(true), fKeepAlive(ioservice) { SetLogStream(&imp); } void SetVerbose(bool b) { fIsVerbose = b; } int GetState() const { if (!IsConnected()) return 1; if (IsConnected() && fState<0) return 2; return fState+3; } }; const uint16_t ConnectionDrive::kMaxAddr = 0xfff; // ------------------------------------------------------------------------ #include "DimDescriptionService.h" class ConnectionDimDrive : public ConnectionDrive { private: DimDescribedService fDimPointing; DimDescribedService fDimTracking; DimDescribedService fDimSource; DimDescribedService fDimTPoint; DimDescribedService fDimStatus; void UpdatePointing(const Time &t, const array &arr) { fDimPointing.setData(arr); fDimPointing.Update(t); } void UpdateTracking(const Time &t,const array &arr) { fDimTracking.setData(arr); fDimTracking.Update(t); } void UpdateStatus(const Time &t, const array &arr) { fDimStatus.setData(arr); fDimStatus.Update(t); } void UpdateTPoint(const Time &t, const Drive::DimTPoint &data, const string &name) { vector dim(sizeof(data)+name.length()+1); memcpy(dim.data(), &data, sizeof(data)); memcpy(dim.data()+sizeof(data), name.c_str(), name.length()+1); fDimTPoint.setData(dim); fDimTPoint.Update(t); } public: ConnectionDimDrive(ba::io_service& ioservice, MessageImp &imp) : ConnectionDrive(ioservice, imp), fDimPointing("DRIVE_CONTROL/POINTING_POSITION", "D:1;D:1", "|Zd[deg]:Zenith distance (encoder readout)" "|Az[deg]:Azimuth angle (encoder readout)"), fDimTracking("DRIVE_CONTROL/TRACKING_POSITION", "D:1;D:1;D:1;D:1;D:1;D:1;D:1", "|Ra[h]:Command right ascension" "|Dec[deg]:Command declination" "|Ha[h]:Corresponding hour angle" "|Zd[deg]:Nominal zenith distance" "|Az[deg]:Nominal azimuth angle" "|dZd[deg]:Control deviation Zd" "|dAz[deg]:Control deviation Az"), fDimSource("DRIVE_CONTROL/SOURCE_POSITION", "D:1;D:1;D:1;D:1;D:1;D:1;C:31", "|Ra_src[h]:Source right ascension" "|Dec_src[deg]:Source declination" "|Ra_cmd[h]:Command right ascension" "|Dec_cmd[deg]:Command declination" "|Offset[deg]:Wobble offset" "|Angle[deg]:Wobble angle" "|Name[string]:Source name if available"), fDimTPoint("DRIVE_CONTROL/TPOINT", "D:1;D:1;D:1;D:1;D:1;D:1;D:1;D:1;S:1;D:1;D:1;D:1;D:1;D:1;D:1;D:1;C", "|Ra[h]:Command right ascension" "|Dec[deg]:Command declination" "|Zd_nom[deg]:Nominal zenith distance" "|Az_nom[deg]:Nominal azimuth angle" "|Zd_cur[deg]:Current zenith distance (calculated from image)" "|Az_cur[deg]:Current azimuth angle (calculated from image)" "|Zd_enc[deg]:Feedback zenith axis (from encoder)" "|Az_enc[deg]:Feedback azimuth angle (from encoder)" "|N_leds[cnt]:Number of detected LEDs" "|N_rings[cnt]:Number of rings used to calculate the camera center" "|Xc[pix]:X position of center in CCD camera frame" "|Yc[pix]:Y position of center in CCD camera frame" "|Ic[au]:Average intensity (LED intensity weighted with their frequency of occurance in the calculation)" "|Xs[pix]:X position of start in CCD camera frame" "|Ys[pix]:Y position of star in CCD camera frame" "|Ms[mag]:Artifical magnitude of star (calculated form image))" "|Mc[mag]:Catalog magnitude of star"), fDimStatus("DRIVE_CONTROL/STATUS", "C:2;C:1", "") { } void UpdateSource() { const vector empty(6*sizeof(double)+31, 0); fDimSource.setQuality(0); fDimSource.Update(empty); } void UpdateSource(const array &arr, const string &name="") { vector dat(6*sizeof(double)+31, 0); memcpy(dat.data(), arr.data(), 6*sizeof(double)); strncpy(dat.data()+6*sizeof(double), name.c_str(), 30); fDimSource.setQuality(1); fDimSource.Update(dat); } // A B [C] [D] E [F] G H [I] J K [L] M N O P Q R [S] T U V W [X] Y Z }; // ------------------------------------------------------------------------ template class StateMachineDrive : public T, public ba::io_service, public ba::io_service::work { int Wrap(boost::function f) { f(); return T::GetCurrentState(); } boost::function Wrapper(boost::function func) { return bind(&StateMachineDrive::Wrap, this, func); } private: S fDrive; enum states_t { kStateDisconnected = 1, kStateConnected, kStateNotReady, kStateReady, kStateArmed, kStateMoving, kStateTracking, }; typedef map> sources; sources fSources; // Status 0: Error // Status 1: Unlocked // Status 2: Locked // Status 3: Stopping || Moving // Status 4: Tracking bool CheckEventSize(size_t has, const char *name, size_t size) { if (has==size) return true; ostringstream msg; msg << name << " - Received event has " << has << " bytes, but expected " << size << "."; T::Fatal(msg); return false; } enum Coordinates { kPoint, kTrackSlow, kTrackFast }; string AngleToStr(double angle) { /* Handle sign */ const char sgn = angle<0?'-':'+'; /* Round interval and express in smallest units required */ double a = round(3600. * fabs(angle)); // deg to seconds /* Separate into fields */ const double ad = trunc(a/3600.); a -= ad * 3600.; const double am = trunc(a/60.); a -= am * 60.; const double as = trunc(a); /* Return results */ ostringstream str; str << sgn << " " << uint16_t(ad) << " " << uint16_t(am) << " " << as; return str.str(); } int SendCommand(const string &str, bool upd=true) { fDrive.PostMessage(str); T::Message("Sending: "+str); if (upd) fDrive.UpdateSource(); return T::GetCurrentState(); } int SendCoordinates(const EventImp &evt, const Coordinates type) { if (!CheckEventSize(evt.GetSize(), "SendCoordinates", 16)) return T::kSM_FatalError; const double *dat = evt.Ptr(); string command; switch (type) { case kPoint: command += "ZDAZ "; break; case kTrackSlow: command += "RADEC "; break; case kTrackFast: command += "GRB "; break; } if (type!=kPoint) { const array dim = {{ dat[0], dat[1], dat[0], dat[1], 0, 0 }}; fDrive.UpdateSource(dim); } command += AngleToStr(dat[0]) + ' ' + AngleToStr(dat[1]); return SendCommand(command, type==kPoint); } int StartWobble(const double &srcra, const double &srcdec, const double &woboff, const double &wobang, const string name="") { const double ra = srcra *M_PI/12; const double dec = srcdec*M_PI/180; const double off = woboff*M_PI/180; const double dir = wobang*M_PI/180; const double cosdir = cos(dir); const double sindir = sin(dir); const double cosoff = cos(off); const double sinoff = sin(off); const double cosdec = cos(dec); const double sindec = sin(dec); if (off==0) { const array dim = {{ srcra, srcdec, srcra, srcdec, 0, 0 }}; fDrive.UpdateSource(dim, name); string command = "RADEC "; command += AngleToStr(srcra) + ' ' + AngleToStr(srcdec); return SendCommand(command, false); } const double sintheta = sindec*cosoff + cosdec*sinoff*cosdir; if (sintheta >= 1) { T::Error("cos(Zd) > 1"); return T::GetCurrentState(); } const double costheta = sqrt(1 - sintheta*sintheta); const double cosdeltara = (cosoff - sindec*sintheta)/(cosdec*costheta); const double sindeltara = sindir*sinoff/costheta; const double ndec = asin(sintheta)*180/M_PI; const double nra = (atan2(sindeltara, cosdeltara) + ra)*12/M_PI; const array dim = {{ srcra, srcdec, nra, ndec, woboff, wobang }}; fDrive.UpdateSource(dim, name); string command = "RADEC "; command += AngleToStr(nra) + ' ' + AngleToStr(ndec); return SendCommand(command, false); } int Wobble(const EventImp &evt) { if (!CheckEventSize(evt.GetSize(), "Wobble", 32)) return T::kSM_FatalError; const double *dat = evt.Ptr(); return StartWobble(dat[0], dat[1], dat[2], dat[3]); } int Track(const EventImp &evt) { if (evt.GetSize()<=16) { ostringstream msg; msg << "Track - Received event has " << evt.GetSize() << " bytes, but expected at least 17."; T::Fatal(msg); return false; } const double *dat = evt.Ptr(); const char *ptr = evt.Ptr(16); const char *last = ptr+evt.GetSize()-16; if (find(ptr, last, '\0')==last) { T::Fatal("Track - The name transmitted by dim is not null-terminated."); return false; } const string name(ptr); const sources::const_iterator it = fSources.find(name); if (it==fSources.end()) { T::Error("Source '"+name+"' not found in list."); return false; } const double &ra = it->second.first; const double &dec = it->second.second; return StartWobble(ra, dec, dat[0], dat[1], name); } int SetLedBrightness(const EventImp &evt) { if (!CheckEventSize(evt.GetSize(), "SetLedBrightness", 8)) return T::kSM_FatalError; const uint32_t *led = evt.Ptr(); ostringstream cmd; cmd << "LEDS " << led[0] << " " << led[1]; return SendCommand(cmd.str(), false); } int SetVerbosity(const EventImp &evt) { if (!CheckEventSize(evt.GetSize(), "SetVerbosity", 1)) return T::kSM_FatalError; fDrive.SetVerbose(evt.GetBool()); return T::GetCurrentState(); } int Print() { for (sources::const_iterator it=fSources.begin(); it!=fSources.end(); it++) { const string &name = it->first; const double &ra = it->second.first; const double &dec = it->second.second; T::Out() << name << "," << ra << "," << dec << endl; } return T::GetCurrentState(); } int Disconnect() { // Close all connections fDrive.PostClose(false); /* // Now wait until all connection have been closed and // all pending handlers have been processed poll(); */ return T::GetCurrentState(); } int Reconnect(const EventImp &evt) { // Close all connections to supress the warning in SetEndpoint fDrive.PostClose(false); // Now wait until all connection have been closed and // all pending handlers have been processed poll(); if (evt.GetBool()) fDrive.SetEndpoint(evt.GetString()); // Now we can reopen the connection fDrive.PostClose(true); return T::GetCurrentState(); } int Execute() { // Dispatch (execute) at most one handler from the queue. In contrary // to run_one(), it doesn't wait until a handler is available // which can be dispatched, so poll_one() might return with 0 // handlers dispatched. The handlers are always dispatched/executed // synchronously, i.e. within the call to poll_one() poll_one(); return fDrive.GetState(); } public: StateMachineDrive(ostream &out=cout) : T(out, "DRIVE_CONTROL"), ba::io_service::work(static_cast(*this)), fDrive(*this, *this) { // ba::io_service::work is a kind of keep_alive for the loop. // It prevents the io_service to go to stopped state, which // would prevent any consecutive calls to run() // or poll() to do nothing. reset() could also revoke to the // previous state but this might introduce some overhead of // deletion and creation of threads and more. // State names AddStateName(kStateDisconnected, "Disconnected", "No connection to cosy"); AddStateName(kStateConnected, "Connected", "Cosy connected, drive stopped"); AddStateName(kStateNotReady, "NotReady", "Drive system not ready for movement"); AddStateName(kStateReady, "Ready", "Drive system ready for movement"); AddStateName(kStateArmed, "Armed", "Cosy armed, drive stopped"); AddStateName(kStateMoving, "Moving", "Telescope moving"); AddStateName(kStateTracking, "Tracking", "Telescope tracking"); // kStateIdle // kStateArmed // kStateMoving // kStateTracking // Init // ----------- // "ARM lock" // "STGMD off" /* [ ] WAIT -> WM_WAIT [x] STOP! -> WM_STOP [x] RADEC ra(+ d m s.f) dec(+ d m s.f) [x] GRB ra(+ d m s.f) dec(+ d m s.f) [x] ZDAZ zd(+ d m s.f) az (+ d m s.f) [ ] CELEST id offset angle [ ] MOON wobble offset [ ] PREPS string [ ] TPOIN star mag [ ] ARM lock/unlock [ ] STGMD on/off */ // Drive Commands T::AddEvent("MOVE_TO", "D:2", kStateArmed) // ->ZDAZ (bind(&StateMachineDrive::SendCoordinates, this, placeholders::_1, kPoint)) ("Move the telescope to the given local coordinates" "|Zd[deg]:Zenith distance" "|Az[deg]:Azimuth"); T::AddEvent("TRACK", "D:2", kStateArmed) // ->RADEC/GRB (bind(&StateMachineDrive::SendCoordinates, this, placeholders::_1, kTrackSlow)) ("Move the telescope to the given sky coordinates and start tracking them" "|Ra[h]:Right ascension" "|Dec[deg]:Declination"); T::AddEvent("WOBBLE", "D:4", kStateArmed) // ->RADEC/GRB (bind(&StateMachineDrive::Wobble, this, placeholders::_1)) ("Move the telescope to the given wobble position around the given sky coordinates and start tracking them" "|Ra[h]:Right ascension" "|Dec[deg]:Declination" "|Offset[deg]:Wobble offset" "|Angle[deg]:Wobble angle"); T::AddEvent("TRACK_SOURCE", "D:2;W", kStateArmed) // ->RADEC/GRB (bind(&StateMachineDrive::Track, this, placeholders::_1)) ("Move the telescope to the given wobble position around the given source and start tracking" "|Offset[deg]:Wobble offset" "|Angle[deg]:Wobble angle" "|Name[string]:Source name"); T::AddEvent("MOON", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "MOON 0 0", true)) ("Start tracking the moon"); T::AddEvent("VENUS", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 2 0 0", true)) ("Start tracking Venus"); T::AddEvent("MARS", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 4 0 0", true)) ("Start tracking Mars"); T::AddEvent("JUPITER", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 5 0 0", true)) ("Start tracking Jupiter"); T::AddEvent("SATURN", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 6 0 0", true)) ("Start tracking Saturn"); T::AddEvent("TAKE_TPOINT") (bind(&StateMachineDrive::SendCommand, this, "TPOIN FACT 0", true)) ("Take a TPoint"); T::AddEvent("SET_LED_BRIGHTNESS", "I:2") (bind(&StateMachineDrive::SetLedBrightness, this, placeholders::_1)) ("Set the LED brightness of the top and bottom leds" "|top[au]:Allowed range 0-32767 for top LEDs" "|bot[au]:Allowed range 0-32767 for bottom LEDs"); T::AddEvent("LEDS_OFF") (bind(&StateMachineDrive::SendCommand, this, "LEDS 0 0", false)) ("Switch off TPoint LEDs"); T::AddEvent("STOP") (bind(&StateMachineDrive::SendCommand, this, "STOP!", true)) ("Stop any kind of movement."); // T::AddEvent("ARM", kStateConnected) // (bind(&StateMachineDrive::SendCommand, this, "ARM lock")) // (""); // Verbosity commands T::AddEvent("SET_VERBOSE", "B") (bind(&StateMachineDrive::SetVerbosity, this, placeholders::_1)) ("set verbosity state" "|verbosity[bool]:disable or enable verbosity for received data (yes/no), except dynamic data"); // Conenction commands AddEvent("DISCONNECT", kStateConnected, kStateArmed) (bind(&StateMachineDrive::Disconnect, this)) ("disconnect from ethernet"); AddEvent("RECONNECT", "O", kStateDisconnected, kStateConnected, kStateArmed) (bind(&StateMachineDrive::Reconnect, this, placeholders::_1)) ("(Re)connect ethernet connection to FTM, a new address can be given" "|[host][string]:new ethernet address in the form "); T::AddEvent("PRINT") (bind(&StateMachineDrive::Print, this)) ("Print source list."); fDrive.StartConnect(); } void SetEndpoint(const string &url) { fDrive.SetEndpoint(url); } void ReadDatabase(const string &database) { //static const boost::regex expr("(([[:word:].-]+)(:(.+))?@)?([[:word:].-]+)(:([[:digit:]]+))?(/([[:word:].-]+))?"); static const boost::regex expr("(([[:word:].-]+)(:(.+))?@)?([[:word:].-]+)(:([[:digit:]]+))?(/([[:word:].-]+))"); // 2: user // 4: pass // 5: server // 7: port // 9: db boost::smatch what; if (!boost::regex_match(database, what, expr, boost::match_extra)) throw runtime_error("Couldn't parse '"+database+"'."); if (what.size()!=10) throw runtime_error("Error parsing '"+database+"'."); const string user = what[2]; const string passwd = what[4]; const string server = what[5]; const string db = what[9]; const int port = atoi(string(what[7]).c_str()); ostringstream out; out << "Connecting to '"; if (!user.empty()) out << user << "@"; out << server; if (port) out << ":" << port; if (!db.empty()) out << "/" << db; T::Message(out); mysqlpp::Connection conn(db.c_str(), server.c_str(), user.c_str(), passwd.c_str(), port); /* throws exceptions if (!conn.connected()) { cout << "MySQL connection error: " << conn.error() << endl; throw; }*/ const mysqlpp::StoreQueryResult res = conn.query("SELECT fSourceName, fRightAscension, fDeclination FROM source").store(); /* throws exceptions if (!res) { cout << "MySQL query failed: " << query.error() << endl; throw; }*/ for (vector::const_iterator v=res.begin(); v("quiet")); const vector &vec = conf.Vec("source"); for (vector::const_iterator it=vec.begin(); it!=vec.end(); it++) { istringstream stream(*it); string name; double ra=0; double dec=0; int i=0; string buffer; while (getline(stream, buffer, ',')) { istringstream is(buffer); switch (i++) { case 0: name = buffer; break; case 1: ra = ConnectionDrive::ReadAngle(is); break; case 2: dec = ConnectionDrive::ReadAngle(is); break; } if (is.fail()) break; } if (i==3) { // FIXME: Check double names fSources[name] = make_pair(ra, dec); } } if (conf.Has("source-database")) ReadDatabase(conf.Get("source-database")); // The possibility to connect should be last, so that // everything else is already initialized. SetEndpoint(conf.Get("addr")); return -1; } }; // ------------------------------------------------------------------------ #include "Main.h" template int RunShell(Configuration &conf) { return Main::execute>(conf); } void SetupConfiguration(Configuration &conf) { po::options_description control("Drive control options"); control.add_options() ("no-dim,d", po_switch(), "Disable dim services") ("addr,a", var("localhost:7404"), "Network address of Cosy") ("quiet,q", po_bool(true), "Disable printing contents of all received messages (except dynamic data) in clear text.") ("source-database", var(), "Database link as in\n\tuser:password@server[:port]/database.") ("source", vars(), "Additional source entry in the form \"name,hh:mm:ss,dd:mm:ss\"") ; conf.AddOptions(control); } /* Extract usage clause(s) [if any] for SYNOPSIS. Translators: "Usage" and "or" here are patterns (regular expressions) which are used to match the usage synopsis in program output. An example from cp (GNU coreutils) which contains both strings: Usage: cp [OPTION]... [-T] SOURCE DEST or: cp [OPTION]... SOURCE... DIRECTORY or: cp [OPTION]... -t DIRECTORY SOURCE... */ void PrintUsage() { cout << "The drivectrl is an interface to cosy.\n" "\n" "The default is that the program is started without user intercation. " "All actions are supposed to arrive as DimCommands. Using the -c " "option, a local shell can be initialized. With h or help a short " "help message about the usuage can be brought to the screen.\n" "\n" "Usage: drivectrl [-c type] [OPTIONS]\n" " or: drivectrl [OPTIONS]\n"; cout << endl; } void PrintHelp() { Main::PrintHelp>(); /* Additional help text which is printed after the configuration options goes here */ /* cout << "bla bla bla" << endl << endl; cout << endl; cout << "Environment:" << endl; cout << "environment" << endl; cout << endl; cout << "Examples:" << endl; cout << "test exam" << endl; cout << endl; cout << "Files:" << endl; cout << "files" << endl; cout << endl; */ } int main(int argc, const char* argv[]) { Configuration conf(argv[0]); conf.SetPrintUsage(PrintUsage); Main::SetupConfiguration(conf); SetupConfiguration(conf); if (!conf.DoParse(argc, argv, PrintHelp)) return -1; //try { // No console access at all if (!conf.Has("console")) { if (conf.Get("no-dim")) return RunShell(conf); else return RunShell(conf); } // Cosole access w/ and w/o Dim if (conf.Get("no-dim")) { if (conf.Get("console")==0) return RunShell(conf); else return RunShell(conf); } else { if (conf.Get("console")==0) return RunShell(conf); else return RunShell(conf); } } /*catch (std::exception& e) { cerr << "Exception: " << e.what() << endl; return -1; }*/ return 0; }