source: trunk/FACT++/src/feedback.cc@ 12219

Last change on this file since 12219 was 12187, checked in by tbretz, 14 years ago
Replaced dic_cmnd_service by DimClient::sendCommandNB.
File size: 26.4 KB
Line 
1#include <valarray>
2
3#include "Dim.h"
4#include "Event.h"
5#include "Shell.h"
6#include "StateMachineDim.h"
7#include "Connection.h"
8#include "Configuration.h"
9#include "Console.h"
10#include "Converter.h"
11#include "DimServiceInfoList.h"
12#include "PixelMap.h"
13
14#include "tools.h"
15
16#include "LocalControl.h"
17
18#include "HeadersFAD.h"
19#include "HeadersBIAS.h"
20
21namespace ba = boost::asio;
22namespace bs = boost::system;
23namespace dummy = ba::placeholders;
24
25using namespace std;
26
27// ------------------------------------------------------------------------
28
29#include "DimDescriptionService.h"
30
31// ------------------------------------------------------------------------
32
33class StateMachineFeedback : public StateMachineDim, public DimInfoHandler
34{
35 /*
36 int Wrap(boost::function<void()> f)
37 {
38 f();
39 return T::GetCurrentState();
40 }
41
42 boost::function<int(const EventImp &)> Wrapper(boost::function<void()> func)
43 {
44 return bind(&StateMachineMCP::Wrap, this, func);
45 }*/
46
47private:
48 enum states_t
49 {
50 kStateDimNetworkNA = 1,
51 kStateDisconnected,
52 kStateConnecting,
53 kStateConnected,
54 kStateTempCtrlIdle,
55 kStateFeedbackCtrlIdle,
56 kStateTempCtrlRunning,
57 kStateFeedbackCtrlRunning,
58 };
59
60 PixelMap fMap;
61
62 DimServiceInfoList fNetwork;
63
64 pair<Time, int> fStatusDim;
65 pair<Time, int> fStatusFAD;
66 pair<Time, int> fStatusFSC;
67 pair<Time, int> fStatusBias;
68
69 DimStampedInfo fDim;
70 DimStampedInfo fFAD;
71 DimStampedInfo fFSC;
72 DimStampedInfo fBias;
73
74 DimStampedInfo *fBiasData;
75 DimStampedInfo *fCameraTemp;
76
77 DimDescribedService fDimReference;
78 DimDescribedService fDimDeviation;
79
80 vector<vector<float>> fData;
81
82 uint64_t fCursor;
83
84 Time fBiasLast;
85 Time fStartTime;
86
87 valarray<double> fPV[3]; // Process variable (intgerated/averaged amplitudes)
88 valarray<double> fSP; // Set point (target amplitudes)
89
90 double fKp; // Proportional constant
91 double fKi; // Integral constant
92 double fKd; // Derivative constant
93 double fT; // Time constant (cycle time)
94 double fGain; // Gain (conversion from a DRS voltage deviation into a BIAS voltage change at G-APD reference voltage)
95
96 double fT21;
97
98 bool fOutputEnabled;
99
100 pair<Time, int> GetNewState(DimStampedInfo &info) const
101 {
102 const bool disconnected = info.getSize()==0;
103
104 // Make sure getTimestamp is called _before_ getTimestampMillisecs
105 const int tsec = info.getTimestamp();
106 const int tms = info.getTimestampMillisecs();
107
108 return make_pair(Time(tsec, tms*1000),
109 disconnected ? -2 : info.getQuality());
110 }
111
112 void ResetData()
113 {
114 fData.clear();
115 fData.resize(500);
116 fCursor = 0;
117 fStartTime = Time();
118
119 fSP.resize(416);
120 fSP = valarray<double>(0., 416);
121
122 vector<float> vec(2*BIAS::kNumChannels);
123 fDimDeviation.Update(vec);
124
125 fPV[0].resize(0);
126 fPV[1].resize(0);
127 fPV[2].resize(0);
128
129 if (fKp==0 && fKi==0 && fKd==0)
130 Warn("Control loop parameters are all set to zero.");
131 }
132
133 void infoHandler()
134 {
135 DimInfo *curr = getInfo(); // get current DimInfo address
136 if (!curr)
137 return;
138
139 if (curr==&fBias)
140 {
141 fStatusBias = GetNewState(fBias);
142 return;
143 }
144
145 if (curr==&fFAD)
146 {
147 fStatusFAD = GetNewState(fFAD);
148 return;
149 }
150
151 if (curr==&fFSC)
152 {
153 fStatusFSC = GetNewState(fFSC);
154 return;
155 }
156
157 if (curr==&fDim)
158 {
159 fStatusDim = GetNewState(fDim);
160 fStatusDim.second = curr->getSize()==4 ? curr->getInt() : 0;
161 return;
162 }
163
164 if (curr==fCameraTemp)
165 {
166 if (curr->getSize()==0)
167 return;
168 if (curr->getSize()!=60*sizeof(float))
169 return;
170
171 const float *ptr = (float*)curr->getData();
172
173 double avg = 0;
174 int num = 0;
175 for (int i=1; i<32; i++)
176 if (ptr[i]!=0)
177 {
178 avg += ptr[i];
179 num++;
180 }
181
182 if (num==0)
183 return;
184
185 const double diff = (25-avg)*0.057;
186
187 vector<float> vec(2*BIAS::kNumChannels);
188 for (int i=0; i<BIAS::kNumChannels; i++)
189 vec[i+416] = diff;
190
191 fDimDeviation.Update(vec);
192
193 if (fOutputEnabled)
194 {
195 Info("Sending correction to feedback.");
196
197 DimClient::sendCommandNB((char*)"BIAS_CONTROL/SET_GAPD_REFERENCE_OFFSET",
198 (void*)&diff, sizeof(float));
199 }
200 return;
201 }
202
203 if (curr==fBiasData)
204 {
205 if (curr->getSize()==0)
206 return;
207 if (curr->getSize()!=1440*sizeof(float))
208 return;
209
210 // -------- Check age of last stored event --------
211
212 // Must be called in this order
213 const int tsec = curr->getTimestamp();
214 const int tms = curr->getTimestampMillisecs();
215
216 const Time tm(tsec, tms*1000);
217
218 if (Time()-fBiasLast>boost::posix_time::seconds(30))
219 {
220 Warn("Last received event data older than 30s... resetting average calculation.");
221 ResetData();
222 }
223 fBiasLast = tm;
224
225 // -------- Store new event --------
226
227 fData[fCursor%fData.size()].assign(reinterpret_cast<float*>(curr->getData()),
228 reinterpret_cast<float*>(curr->getData())+1440);
229
230
231 fCursor++;
232
233 if (fCursor<fData.size())
234 return;
235
236 // -------- Calculate statistics --------
237
238 valarray<double> med(1440);
239
240 for (int ch=0; ch<1440; ch++)
241 {
242 vector<float> arr(fData.size());
243 for (size_t i=0; i<fData.size(); i++)
244 arr[i] = fData[i][ch];
245
246 sort(arr.begin(), arr.end());
247
248 med[ch] = arr[arr.size()/2];
249 }
250
251 /*
252 vector<float> med(1440);
253 vector<float> rms(1440);
254 for (size_t i=0; i<fData.size(); i++)
255 {
256 if (fData[i].size()==0)
257 return;
258
259 for (int j=0; j<1440; j++)
260 {
261 med[j] += fData[i][j];
262 rms[j] += fData[i][j]*fData[i][j];
263 }
264 }
265 */
266
267 vector<double> avg(BIAS::kNumChannels);
268 vector<int> num(BIAS::kNumChannels);
269 for (int i=0; i<1440; i++)
270 {
271 const PixelMapEntry &ch = fMap.hw(i);
272
273 // FIXME: Add a consistency check if the median makes sense...
274 // FIXME: Add a consistency check to remove pixels with bright stars (median?)
275
276 avg[ch.hv()] += med[i];
277 num[ch.hv()]++;
278 }
279
280 for (int i=0; i<BIAS::kNumChannels; i++)
281 {
282 if (num[i])
283 avg[i] /= num[i];
284
285 }
286
287 // -------- Calculate correction --------
288
289 // http://bestune.50megs.com/typeABC.htm
290
291 // CO: Controller output
292 // PV: Process variable
293 // SP: Set point
294 // T: Sampling period (loop update period)
295 // e = SP - PV
296 //
297 // Kp : No units
298 // Ki : per seconds
299 // Kd : seconds
300
301 // CO(k)-CO(k-1) = - Kp[ PV(k) - PV(k-1) ] + Ki * T * (SP(k)-PV(k)) - Kd/T [ PV(k) - 2PV(k-1) + PV(k-2) ]
302
303 if (fCursor%fData.size()==0)
304 {
305 // FIXME: Take out broken / dead boards.
306
307 const Time tm0 = Time();
308
309 const double T21 = fT>0 ? fT : (tm0-fStartTime).total_microseconds()/1000000.;
310 const double T10 = fT21;
311 fT21 = T21;
312
313 fStartTime = tm0;
314
315 ostringstream out;
316 out << "New " << fData.size() << " event received: " << fCursor << " / " << setprecision(3) << T21 << "s";
317 Info(out);
318
319 if (fPV[0].size()==0)
320 {
321 fPV[0].resize(avg.size());
322 fPV[0] = valarray<double>(avg.data(), avg.size());
323 }
324 else
325 if (fPV[1].size()==0)
326 {
327 fPV[1].resize(avg.size());
328 fPV[1] = valarray<double>(avg.data(), avg.size());
329 }
330 else
331 if (fPV[2].size()==0)
332 {
333 fPV[2].resize(avg.size());
334 fPV[2] = valarray<double>(avg.data(), avg.size());
335 }
336 else
337 {
338 fPV[0] = fPV[1];
339 fPV[1] = fPV[2];
340
341 fPV[2].resize(avg.size());
342 fPV[2] = valarray<double>(avg.data(), avg.size());
343
344 if (T10<=0 || T21<=0)
345 return;
346
347 cout << "Calculating (" << fCursor << ":" << T21 << ")... " << endl;
348
349 // fKi[j] = response[j]*gain;
350 // Kp = 0;
351 // Kd = 0;
352
353 // -110 / -110 (-23 DAC / -0.51V)
354 // Reference voltage: -238 / -203
355 // -360 / -343 ( 23 DAC / 0.51V)
356
357 // 0.005 A/V
358 // 220 Amplitude / 1V
359
360 // Gain = 1V / 200 = 0.005
361
362 // => Kp = 0.01 * gain = 0.00005
363 // => Ki = 0.8 * gain/20s = 0.00025
364 // => Kd = 0.1 * gain/20s = 0.00003
365
366 //valarray<double> correction = - Kp*(PV[2] - PV[1]) + Ki * dT * (SP-PV[2]) - Kd/dT * (PV[2] - 2*PV[1] + PV[0]);
367 //valarray<double> correction =
368 // - Kp*(PV[2] - PV[1]) + Ki * T21 * (SP-PV[2]) - Kd*(PV[2]-PV[1])/T21 - Kd*(PV[0]-PV[1])/T01;
369 const valarray<double> correction = fGain/1000*
370 (
371 - (fKp+fKd/T21)*(fPV[2] - fPV[1])
372 + fKi*T21*(fSP-fPV[2])
373 + fKd/T10*(fPV[1]-fPV[0])
374 );
375
376 vector<float> vec(2*BIAS::kNumChannels);
377 for (int i=0; i<BIAS::kNumChannels; i++)
378 vec[i] = fPV[2][i]-fSP[i];
379
380 for (int i=0; i<BIAS::kNumChannels; i++)
381 vec[i+416] = correction[i];
382
383 fDimDeviation.Update(vec);
384
385 if (fOutputEnabled)
386 {
387 Info("Sending correction to feedback.");
388
389 DimClient::sendCommandNB((char*)"BIAS_CONTROL/ADD_REFERENCE_VOLTAGES",
390 (void*)(vec.data()+416), 416*sizeof(float));
391
392 /*
393 if (!Dim::SendCommand("BIAS_CONTROL/ADD_REFERENCE_VOLTAGES",
394 (const void*)(vec.data()+416), 416*sizeof(float)))
395 {
396 Error("Sending correction to bias control failed... switching off.");
397 fOutputEnabled=false;
398 }
399 else
400 Info("Success!");
401 */
402 }
403 }
404
405 }
406
407 /*
408 vector<float> correction(416);
409 vector<float> response(416);
410 vector<float> dev(416);
411
412 double gain = 0;
413
414 for (int j=0; j<416; j++)
415 {
416 //avg[j] /= fData.size();
417 //rms[j] /= sqrt((rms[j]*fData.size() - avg[j]*avg[j]))/fData.size();
418
419 dev[j] = avg[j] - target[j];
420
421 // Determine correction from response maxtrix and change voltages
422 correction[j] = -dev[j]*response[j]*gain;
423
424 if (correction[j]==0)
425 continue;
426
427 // Limit voltage steps // Limit changes to 100 mV
428// if (fabs(correction[j]) > 0.1)
429// correction[j] = 0.1*fabs(correction[j])/correction[j];
430
431 // Add voltage change command if not too noisy
432// if (fabs(Average[i]) > 2*Sigma[i])
433// Cmd << fIDTable[i] << " " << std::showpos << Correction/Multiplicity[i] << " ";
434
435 }
436 */
437 return;
438 }
439
440 }
441
442 bool CheckEventSize(size_t has, const char *name, size_t size)
443 {
444 if (has==size)
445 return true;
446
447 ostringstream msg;
448 msg << name << " - Received event has " << has << " bytes, but expected " << size << ".";
449 Fatal(msg);
450 return false;
451 }
452
453 void PrintState(const pair<Time,int> &state, const char *server)
454 {
455 const State rc = fNetwork.GetState(server, state.second);
456
457 Out() << state.first.GetAsStr("%H:%M:%S.%f").substr(0, 12) << " - ";
458 Out() << kBold << server << ": ";
459 Out() << rc.name << "[" << rc.index << "]";
460 Out() << kReset << " - " << kBlue << rc.comment << endl;
461 }
462
463 int Print()
464 {
465 Out() << fStatusDim.first.GetAsStr("%H:%M:%S.%f").substr(0, 12) << " - ";
466 Out() << kBold << "DIM_DNS: ";
467 if (fStatusDim.second==0)
468 Out() << "Offline" << endl;
469 else
470 Out() << "V" << fStatusDim.second/100 << 'r' << fStatusDim.second%100 << endl;
471
472 PrintState(fStatusFAD, "FAD_CONTROL");
473 PrintState(fStatusBias, "BIAS_CONTROL");
474
475 return GetCurrentState();
476 }
477
478 int SetConstant(const EventImp &evt, int constant)
479 {
480 if (!CheckEventSize(evt.GetSize(), "SetConstant", 8))
481 return kSM_FatalError;
482
483 switch (constant)
484 {
485 case 0: fKi = evt.GetDouble(); break;
486 case 1: fKp = evt.GetDouble(); break;
487 case 2: fKd = evt.GetDouble(); break;
488 case 3: fT = evt.GetDouble(); break;
489 case 4: fGain = evt.GetDouble(); break;
490 default:
491 Fatal("SetConstant got an unexpected constant id -- this is a program bug!");
492 return kSM_FatalError;
493 }
494
495 return GetCurrentState();
496 }
497
498 int EnableOutput(const EventImp &evt)
499 {
500 if (!CheckEventSize(evt.GetSize(), "EnableOutput", 1))
501 return kSM_FatalError;
502
503 fOutputEnabled = evt.GetBool();
504
505 return GetCurrentState();
506 }
507
508 int StartFeedback()
509 {
510 fBiasData = new DimStampedInfo("FAD_CONTROL/FEEDBACK_DATA", (void*)NULL, 0, this);
511
512 ResetData();
513
514 return GetCurrentState();
515 }
516
517 int StartTempCtrl()
518 {
519 fCameraTemp = new DimStampedInfo("FSC_CONTROL/TEMPERATURE", (void*)NULL, 0, this);
520
521 return GetCurrentState();
522 }
523
524 int StopFeedback()
525 {
526 if (fBiasData)
527 {
528 delete fBiasData;
529 fBiasData = 0;
530 }
531
532 if (fCameraTemp)
533 {
534 delete fCameraTemp;
535 fCameraTemp = 0;
536 }
537
538 return GetCurrentState();
539 }
540
541 int StoreReference()
542 {
543 if (!fPV[0].size() && !fPV[1].size() && !fPV[2].size())
544 {
545 Warn("No values in memory. Take enough events first!");
546 return GetCurrentState();
547 }
548
549 // FIXME: Check age
550
551 if (!fPV[1].size() && !fPV[2].size())
552 fSP = fPV[0];
553
554 if (!fPV[2].size())
555 fSP = fPV[1];
556 else
557 fSP = fPV[2];
558
559 vector<float> vec(BIAS::kNumChannels);
560 for (int i=0; i<BIAS::kNumChannels; i++)
561 vec[i] = fSP[i];
562 fDimReference.Update(vec);
563
564 return GetCurrentState();
565 }
566
567 int SetReference(const EventImp &evt)
568 {
569 if (!CheckEventSize(evt.GetSize(), "SetReference", 4))
570 return kSM_FatalError;
571
572 const float val = evt.GetFloat();
573 if (!fPV[0].size() && !fPV[1].size() && !fPV[2].size())
574 {
575 Warn("No values in memory. Take enough events first!");
576 return GetCurrentState();
577 }
578
579 vector<float> vec(BIAS::kNumChannels);
580 for (int i=0; i<BIAS::kNumChannels; i++)
581 vec[i] = fSP[i] = val;
582 fDimReference.Update(vec);
583
584 return GetCurrentState();
585 }
586
587
588 int Execute()
589 {
590 // Dispatch (execute) at most one handler from the queue. In contrary
591 // to run_one(), it doesn't wait until a handler is available
592 // which can be dispatched, so poll_one() might return with 0
593 // handlers dispatched. The handlers are always dispatched/executed
594 // synchronously, i.e. within the call to poll_one()
595 //poll_one();
596
597 if (fStatusDim.second==0)
598 return kStateDimNetworkNA;
599
600 // All subsystems are not connected
601 if (fStatusFAD.second<FAD::kConnected &&
602 fStatusBias.second<BIAS::kConnecting &&
603 fStatusFSC.second<2)
604 return kStateDisconnected;
605
606 // At least one subsystem is not connected
607 if (fStatusFAD.second<FAD::kConnected ||
608 fStatusBias.second<BIAS::kConnected ||
609 fStatusFSC.second<2)
610 return kStateConnecting;
611
612 // All subsystems are connected
613
614 if (fBiasData)
615 return fOutputEnabled ? kStateFeedbackCtrlRunning : kStateFeedbackCtrlIdle;
616
617 if (fCameraTemp)
618 return fOutputEnabled ? kStateTempCtrlRunning : kStateTempCtrlIdle;
619
620 return kStateConnected;
621 }
622
623public:
624 StateMachineFeedback(ostream &out=cout) : StateMachineDim(out, "FEEDBACK"),
625 fStatusDim(make_pair(Time(), -2)),
626 fStatusFAD(make_pair(Time(), -2)),
627 fStatusBias(make_pair(Time(), -2)),
628 fDim("DIS_DNS/VERSION_NUMBER", (void*)NULL, 0, this),
629 fFAD("FAD_CONTROL/STATE", (void*)NULL, 0, this),
630 fFSC("FSC_CONTROL/STATE", (void*)NULL, 0, this),
631 fBias("BIAS_CONTROL/STATE", (void*)NULL, 0, this),
632 fBiasData(0), fCameraTemp(0),
633 fDimReference("FEEDBACK/REFERENCE", "F:416", ""),
634 fDimDeviation("FEEDBACK/DEVIATION", "F:416;F:416", ""),
635 fKp(0), fKi(0), fKd(0), fT(-1), fOutputEnabled(false)
636 {
637 // ba::io_service::work is a kind of keep_alive for the loop.
638 // It prevents the io_service to go to stopped state, which
639 // would prevent any consecutive calls to run()
640 // or poll() to do nothing. reset() could also revoke to the
641 // previous state but this might introduce some overhead of
642 // deletion and creation of threads and more.
643
644 // State names
645 AddStateName(kStateDimNetworkNA, "DimNetworkNotAvailable",
646 "The Dim DNS is not reachable.");
647
648 AddStateName(kStateDisconnected, "Disconnected",
649 "The Dim DNS is reachable, but the required subsystems are not available.");
650
651 AddStateName(kStateConnecting, "Connecting",
652 "Not all subsystems (FAD, FSC, Bias) are connected to their hardware.");
653
654 AddStateName(kStateConnected, "Connected",
655 "All needed subsystems are connected to their hardware, no action is performed.");
656
657 AddStateName(kStateFeedbackCtrlIdle, "FeedbackIdle",
658 "Feedback control activated, but voltage output disabled.");
659
660 AddStateName(kStateTempCtrlIdle, "FeedbackIdle",
661 "Temperature control activated, but voltage output disabled.");
662
663 AddStateName(kStateFeedbackCtrlRunning, "FeedbackControl",
664 "Feedback control activated and voltage output enabled.");
665
666 AddStateName(kStateTempCtrlRunning, "TempControl",
667 "Temperature control activated and voltage output enabled.");
668
669 AddEvent("START_FEEDBACK_CONTROL", kStateConnected)
670 (bind(&StateMachineFeedback::StartFeedback, this))
671 ("Start the feedback control loop");
672
673 AddEvent("START_TEMP_CONTROL", kStateConnected)
674 (bind(&StateMachineFeedback::StartTempCtrl, this))
675 ("Start the temperature control loop");
676
677 AddEvent("STOP", kStateTempCtrlIdle, kStateFeedbackCtrlIdle, kStateTempCtrlRunning, kStateFeedbackCtrlRunning)
678 (bind(&StateMachineFeedback::StopFeedback, this))
679 ("Stop any control loop");
680
681 AddEvent("ENABLE_OUTPUT", "B:1")//, kStateIdle)
682 (bind(&StateMachineFeedback::EnableOutput, this, placeholders::_1))
683 ("Enable sending of correction values caluclated by the control loop to the biasctrl");
684
685 AddEvent("STORE_REFERENCE")//, kStateIdle)
686 (bind(&StateMachineFeedback::StoreReference, this))
687 ("Store the last (averaged) value as new reference (for debug purpose only)");
688
689 AddEvent("SET_REFERENCE", "F:1")//, kStateIdle)
690 (bind(&StateMachineFeedback::SetReference, this, placeholders::_1))
691 ("Set a new global reference value (for debug purpose only)");
692
693 AddEvent("SET_Ki", "D:1")//, kStateIdle)
694 (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 0))
695 ("Set integral constant Ki");
696
697 AddEvent("SET_Kp", "D:1")//, kStateIdle)
698 (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 1))
699 ("Set proportional constant Kp");
700
701 AddEvent("SET_Kd", "D:1")//, kStateIdle)
702 (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 2))
703 ("Set derivative constant Kd");
704
705 AddEvent("SET_T", "D:1")//, kStateIdle)
706 (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 3))
707 ("Set time-constant. (-1 to use the cycle time, i.e. the time for the last average cycle, instead)");
708
709 // Verbosity commands
710// AddEvent("SET_VERBOSE", "B:1")
711// (bind(&StateMachineMCP::SetVerbosity, this, placeholders::_1))
712// ("set verbosity state"
713// "|verbosity[bool]:disable or enable verbosity for received data (yes/no), except dynamic data");
714
715 AddEvent("PRINT")
716 (bind(&StateMachineFeedback::Print, this))
717 ("");
718 }
719
720 int EvalOptions(Configuration &conf)
721 {
722 if (!fMap.Read(conf.Get<string>("pixel-map-file")))
723 {
724 Error("Reading mapping table from "+conf.Get<string>("pixel-map-file")+" failed.");
725 return 1;
726 }
727
728 fGain = 5; // (BIAS)V / (DRS)V ( 1V / 0.22V )
729
730 fKp = 0;
731 fKd = 0;
732 fKi = 0.12;
733 fT = 1;
734
735 ostringstream msg;
736 msg << "Control loop parameters: ";
737 msg << "Kp=" << fKp << ", Kd=" << fKd << ", Ki=" << fKi << ", ";
738 if (fT>0)
739 msg << fT;
740 else
741 msg << "<auto>";
742 msg << ", Gain(BIAS/DRS)=" << fGain << "V/V";
743
744 Message(msg);
745
746 return -1;
747 }
748};
749
750// ------------------------------------------------------------------------
751
752#include "Main.h"
753
754template<class T>
755int RunShell(Configuration &conf)
756{
757 return Main::execute<T, StateMachineFeedback>(conf);
758}
759
760void SetupConfiguration(Configuration &conf)
761{
762 po::options_description control("Feedback options");
763 control.add_options()
764 ("pixel-map-file", var<string>("FACTmapV5a.txt"), "Pixel mapping file. Used here to get the default reference voltage.")
765 ;
766
767 conf.AddOptions(control);
768}
769
770/*
771 Extract usage clause(s) [if any] for SYNOPSIS.
772 Translators: "Usage" and "or" here are patterns (regular expressions) which
773 are used to match the usage synopsis in program output. An example from cp
774 (GNU coreutils) which contains both strings:
775 Usage: cp [OPTION]... [-T] SOURCE DEST
776 or: cp [OPTION]... SOURCE... DIRECTORY
777 or: cp [OPTION]... -t DIRECTORY SOURCE...
778 */
779void PrintUsage()
780{
781 cout <<
782 "The feedback control the BIAS voltages based on the calibration signal.\n"
783 "\n"
784 "The default is that the program is started without user intercation. "
785 "All actions are supposed to arrive as DimCommands. Using the -c "
786 "option, a local shell can be initialized. With h or help a short "
787 "help message about the usuage can be brought to the screen.\n"
788 "\n"
789 "Usage: feedback [-c type] [OPTIONS]\n"
790 " or: feedback [OPTIONS]\n";
791 cout << endl;
792}
793
794void PrintHelp()
795{
796 /* Additional help text which is printed after the configuration
797 options goes here */
798
799 /*
800 cout << "bla bla bla" << endl << endl;
801 cout << endl;
802 cout << "Environment:" << endl;
803 cout << "environment" << endl;
804 cout << endl;
805 cout << "Examples:" << endl;
806 cout << "test exam" << endl;
807 cout << endl;
808 cout << "Files:" << endl;
809 cout << "files" << endl;
810 cout << endl;
811 */
812}
813
814int main(int argc, const char* argv[])
815{
816 Configuration conf(argv[0]);
817 conf.SetPrintUsage(PrintUsage);
818 Main::SetupConfiguration(conf);
819 SetupConfiguration(conf);
820
821 if (!conf.DoParse(argc, argv, PrintHelp))
822 return -1;
823
824 //try
825 {
826 // No console access at all
827 if (!conf.Has("console"))
828 {
829// if (conf.Get<bool>("no-dim"))
830// return RunShell<LocalStream, StateMachine, ConnectionFSC>(conf);
831// else
832 return RunShell<LocalStream>(conf);
833 }
834 // Cosole access w/ and w/o Dim
835/* if (conf.Get<bool>("no-dim"))
836 {
837 if (conf.Get<int>("console")==0)
838 return RunShell<LocalShell, StateMachine, ConnectionFSC>(conf);
839 else
840 return RunShell<LocalConsole, StateMachine, ConnectionFSC>(conf);
841 }
842 else
843*/ {
844 if (conf.Get<int>("console")==0)
845 return RunShell<LocalShell>(conf);
846 else
847 return RunShell<LocalConsole>(conf);
848 }
849 }
850 /*catch (std::exception& e)
851 {
852 cerr << "Exception: " << e.what() << endl;
853 return -1;
854 }*/
855
856 return 0;
857}
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