1 | #include <valarray>
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2 |
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3 | #include "Dim.h"
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4 | #include "Event.h"
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5 | #include "Shell.h"
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6 | #include "StateMachineDim.h"
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7 | #include "Connection.h"
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8 | #include "Configuration.h"
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9 | #include "Console.h"
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10 | #include "Converter.h"
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11 | #include "DimServiceInfoList.h"
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12 | #include "PixelMap.h"
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13 |
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14 | #include "tools.h"
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15 |
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16 | #include "LocalControl.h"
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17 |
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18 | #include "HeadersFAD.h"
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19 | #include "HeadersBIAS.h"
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20 |
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21 | namespace ba = boost::asio;
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22 | namespace bs = boost::system;
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23 | namespace dummy = ba::placeholders;
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24 |
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25 | using namespace std;
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26 |
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27 | // ------------------------------------------------------------------------
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28 |
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29 | #include "DimDescriptionService.h"
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30 |
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31 | // ------------------------------------------------------------------------
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32 |
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33 | class StateMachineFeedback : public StateMachineDim, public DimInfoHandler
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34 | {
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35 | /*
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36 | int Wrap(boost::function<void()> f)
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37 | {
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38 | f();
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39 | return T::GetCurrentState();
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40 | }
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41 |
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42 | boost::function<int(const EventImp &)> Wrapper(boost::function<void()> func)
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43 | {
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44 | return bind(&StateMachineMCP::Wrap, this, func);
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45 | }*/
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46 |
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47 | private:
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48 | enum states_t
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49 | {
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50 | kStateDimNetworkNA = 1,
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51 | kStateDisconnected,
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52 | kStateConnecting,
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53 | kStateConnected,
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54 | kStateTempCtrlIdle,
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55 | kStateFeedbackCtrlIdle,
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56 | kStateTempCtrlRunning,
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57 | kStateFeedbackCtrlRunning,
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58 | kStateCalibrating,
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59 | };
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60 |
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61 | enum control_t
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62 | {
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63 | kIdle,
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64 | kTemp,
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65 | kFeedback,
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66 | kFeedbackGlobal
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67 | };
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68 |
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69 | control_t fControlType;
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70 |
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71 | PixelMap fMap;
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72 |
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73 | DimServiceInfoList fNetwork;
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74 |
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75 | pair<Time, int> fStatusDim;
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76 | pair<Time, int> fStatusFAD;
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77 | pair<Time, int> fStatusFSC;
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78 | pair<Time, int> fStatusBias;
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79 |
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80 | DimStampedInfo fDim;
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81 | DimStampedInfo fFAD;
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82 | DimStampedInfo fFSC;
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83 | DimStampedInfo fBias;
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84 | DimStampedInfo fBiasA;
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85 |
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86 | DimStampedInfo fBiasData;
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87 | DimStampedInfo fCameraTemp;
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88 |
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89 | DimDescribedService fDimReference;
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90 | DimDescribedService fDimDeviation;
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91 | DimDescribedService fDimCalibration;
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92 |
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93 | vector<int64_t> fCurrentsAvg;
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94 | vector<int64_t> fCurrentsRms;
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95 |
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96 | vector<float> fCalibration;
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97 |
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98 | vector<vector<float>> fData;
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99 |
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100 | uint64_t fCursor;
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101 |
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102 | Time fBiasLast;
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103 | Time fStartTime;
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104 |
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105 | valarray<double> fPV[3]; // Process variable (intgerated/averaged amplitudes)
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106 | valarray<double> fSP; // Set point (target amplitudes)
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107 |
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108 | double fKp; // Proportional constant
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109 | double fKi; // Integral constant
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110 | double fKd; // Derivative constant
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111 | double fT; // Time constant (cycle time)
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112 | double fGain; // Gain (conversion from a DRS voltage deviation into a BIAS voltage change at G-APD reference voltage)
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113 |
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114 | double fT21;
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115 |
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116 | double fBiasOffset;
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117 |
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118 | bool fOutputEnabled;
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119 |
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120 | pair<Time, int> GetNewState(DimStampedInfo &info) const
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121 | {
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122 | const bool disconnected = info.getSize()==0;
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123 |
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124 | // Make sure getTimestamp is called _before_ getTimestampMillisecs
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125 | const int tsec = info.getTimestamp();
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126 | const int tms = info.getTimestampMillisecs();
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127 |
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128 | return make_pair(Time(tsec, tms*1000),
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129 | disconnected ? -2 : info.getQuality());
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130 | }
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131 |
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132 | void HandleCameraTemp()
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133 | {
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134 | if (fCameraTemp.getSize()!=60*sizeof(float))
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135 | return;
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136 |
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137 | const float *ptr = static_cast<float*>(fCameraTemp.getData());
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138 |
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139 | double avg = 0;
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140 | int num = 0;
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141 | for (int i=1; i<32; i++)
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142 | if (ptr[i]!=0)
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143 | {
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144 | avg += ptr[i];
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145 | num++;
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146 | }
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147 |
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148 | if (num==0)
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149 | return;
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150 |
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151 | avg /= num;
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152 |
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153 |
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154 | const float diff = (avg-25)*4./70 + fBiasOffset;
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155 |
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156 | vector<float> vec(2*BIAS::kNumChannels);
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157 | for (int i=0; i<BIAS::kNumChannels; i++)
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158 | vec[i+416] = diff;
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159 |
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160 | if (fControlType!=kTemp)
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161 | return;
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162 |
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163 | fDimDeviation.Update(vec);
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164 |
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165 | if (!fOutputEnabled || fStatusBias.second!=BIAS::kVoltageOn)
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166 | return;
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167 |
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168 | Info("Sending correction to feedback.");
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169 |
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170 | DimClient::sendCommandNB((char*)"BIAS_CONTROL/SET_GAPD_REFERENCE_OFFSET",
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171 | (void*)&diff, sizeof(float));
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172 | }
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173 |
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174 | void HandleCalibration()
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175 | {
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176 | if (fBiasA.getSize()!=416*sizeof(int16_t))
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177 | return;
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178 |
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179 | if (fStatusBias.second==BIAS::kRamping)
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180 | return;
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181 |
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182 | const int16_t *ptr = static_cast<int16_t*>(fBiasA.getData());
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183 |
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184 | for (int i=0; i<416; i++)
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185 | if (ptr[i]>0)
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186 | {
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187 | fCurrentsAvg[i] += ptr[i];
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188 | fCurrentsRms[i] += ptr[i]*ptr[i];
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189 | }
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190 |
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191 | if (++fCursor<100)
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192 | {
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193 | DimClient::sendCommandNB("BIAS_CONTROL/REQUEST_STATUS", NULL, 0);
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194 | return;
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195 | }
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196 |
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197 | fCalibration.resize(416*2);
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198 | for (int i=0; i<416; i++)
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199 | {
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200 | fCalibration[i] = double(fCurrentsAvg[i])/fCursor;
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201 | fCalibration[i+416] = sqrt(double(fCurrentsRms[i])/fCursor-fCalibration[i]*fCalibration[i]);
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202 | }
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203 |
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204 | fDimCalibration.Update(fCalibration);
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205 |
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206 | fOutputEnabled = false;
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207 | fControlType = kIdle;
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208 |
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209 | DimClient::sendCommandNB("BIAS_CONTROL/REQUEST_STATUS", NULL, 0);
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210 | }
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211 |
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212 | void HandleFeedback()
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213 | {
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214 | if (fBiasData.getSize()!=1440*sizeof(float))
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215 | return;
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216 |
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217 | // -------- Check age of last stored event --------
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218 |
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219 | // Must be called in this order
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220 | const int tsec = fBiasData.getTimestamp();
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221 | const int tms = fBiasData.getTimestampMillisecs();
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222 |
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223 | const Time tm(tsec, tms*1000);
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224 |
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225 | if (Time()-fBiasLast>boost::posix_time::seconds(30))
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226 | {
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227 | Warn("Last received event data older than 30s... resetting average calculation.");
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228 | ResetData();
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229 | }
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230 | fBiasLast = tm;
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231 |
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232 | // -------- Store new event --------
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233 |
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234 | fData[fCursor%fData.size()].assign(reinterpret_cast<float*>(fBiasData.getData()),
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235 | reinterpret_cast<float*>(fBiasData.getData())+1440);
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236 |
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237 | if (++fCursor<fData.size())
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238 | return;
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239 |
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240 | // -------- Calculate statistics --------
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241 |
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242 | valarray<double> med(1440);
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243 |
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244 | for (int ch=0; ch<1440; ch++)
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245 | {
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246 | vector<float> arr(fData.size());
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247 | for (size_t i=0; i<fData.size(); i++)
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248 | arr[i] = fData[i][ch];
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249 |
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250 | sort(arr.begin(), arr.end());
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251 |
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252 | med[ch] = arr[arr.size()/2];
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253 | }
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254 |
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255 | /*
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256 | vector<float> med(1440);
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257 | vector<float> rms(1440);
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258 | for (size_t i=0; i<fData.size(); i++)
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259 | {
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260 | if (fData[i].size()==0)
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261 | return;
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262 |
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263 | for (int j=0; j<1440; j++)
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264 | {
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265 | med[j] += fData[i][j];
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266 | rms[j] += fData[i][j]*fData[i][j];
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267 | }
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268 | }
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269 | */
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270 |
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271 | vector<double> avg(BIAS::kNumChannels);
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272 | vector<int> num(BIAS::kNumChannels);
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273 | for (int i=0; i<1440; i++)
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274 | {
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275 | const PixelMapEntry &ch = fMap.hw(i);
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276 |
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277 | // FIXME: Add a consistency check if the median makes sense...
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278 | // FIXME: Add a consistency check to remove pixels with bright stars (median?)
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279 |
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280 | avg[ch.hv()] += med[i];
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281 | num[ch.hv()]++;
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282 | }
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283 |
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284 | for (int i=0; i<BIAS::kNumChannels; i++)
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285 | {
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286 | if (num[i])
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287 | avg[i] /= num[i];
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288 |
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289 | }
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290 |
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291 | // -------- Calculate correction --------
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292 |
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293 | // http://bestune.50megs.com/typeABC.htm
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294 |
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295 | // CO: Controller output
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296 | // PV: Process variable
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297 | // SP: Set point
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298 | // T: Sampling period (loop update period)
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299 | // e = SP - PV
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300 | //
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301 | // Kp : No units
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302 | // Ki : per seconds
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303 | // Kd : seconds
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304 |
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305 | // 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) ]
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306 |
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307 | if (fCursor%fData.size()>0)
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308 | return;
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309 |
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310 | // FIXME: Take out broken / dead boards.
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311 |
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312 | const Time tm0 = Time();
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313 |
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314 | /*const*/ double T21 = fT>0 ? fT : (tm0-fStartTime).total_microseconds()/1000000.;
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315 | const double T10 = fT21;
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316 | fT21 = T21;
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317 |
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318 | fStartTime = tm0;
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319 |
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320 | ostringstream out;
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321 | out << "New " << fData.size() << " event received: " << fCursor << " / " << setprecision(3) << T21 << "s";
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322 | Info(out);
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323 |
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324 | if (fPV[0].size()==0)
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325 | {
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326 | fPV[0].resize(avg.size());
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327 | fPV[0] = valarray<double>(avg.data(), avg.size());
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328 | return;
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329 | }
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330 |
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331 | if (fPV[1].size()==0)
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332 | {
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333 | fPV[1].resize(avg.size());
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334 | fPV[1] = valarray<double>(avg.data(), avg.size());
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335 | return;
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336 | }
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337 |
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338 | if (fPV[2].size()==0)
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339 | {
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340 | fPV[2].resize(avg.size());
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341 | fPV[2] = valarray<double>(avg.data(), avg.size());
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342 | return;
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343 | }
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344 |
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345 | fPV[0] = fPV[1];
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346 | fPV[1] = fPV[2];
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347 |
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348 | fPV[2].resize(avg.size());
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349 | fPV[2] = valarray<double>(avg.data(), avg.size());
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350 |
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351 | if (T10<=0 || T21<=0)
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352 | return;
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353 |
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354 | //cout << "Calculating (" << fCursor << ":" << T21 << ")... " << endl;
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355 |
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356 | // fKi[j] = response[j]*gain;
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357 | // Kp = 0;
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358 | // Kd = 0;
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359 |
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360 | // => Kp = 0.01 * gain = 0.00005
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361 | // => Ki = 0.8 * gain/20s = 0.00025
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362 | // => Kd = 0.1 * gain/20s = 0.00003
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363 |
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364 | /*
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365 | fKp = 0;
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366 | fKd = 0;
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367 | fKi = 0.00003*20;
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368 | T21 = 1;
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369 | */
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370 |
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371 | //valarray<double> correction = - Kp*(PV[2] - PV[1]) + Ki * dT * (SP-PV[2]) - Kd/dT * (PV[2] - 2*PV[1] + PV[0]);
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372 | //valarray<double> correction =
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373 | // - Kp * (PV[2] - PV[1])
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374 | // + dT * Ki * (SP - PV[2])
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375 | // - Kd / dT * (PV[2] - 2*PV[1] + PV[0]);
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376 | //
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377 | // - (Kp+Kd/dT1) * (PV[2] - PV[1])
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378 | // + dT2 * Ki * (SP - PV[2])
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379 | // + Kd / dT1 * (PV[1] - PV[0]);
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380 | //
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381 | // - Kp * (PV[2] - PV[1])
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382 | // + Ki * (SP - PV[2])*dT
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383 | // - Kd * (PV[2] - PV[1])/dT
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384 | // + Kd * (PV[1] - PV[0])/dT;
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385 | //
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386 | //valarray<double> correction =
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387 | // - Kp*(PV[2] - PV[1]) + Ki * T21 * (SP-PV[2]) - Kd*(PV[2]-PV[1])/T21 - Kd*(PV[0]-PV[1])/T01;
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388 | const valarray<double> correction = 1./fGain/1000*
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389 | (
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390 | - (fKp+fKd/T21)*(fPV[2] - fPV[1])
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391 | + fKi*T21*(fSP-fPV[2])
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392 | + fKd/T10*(fPV[1]-fPV[0])
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393 | );
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394 |
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395 | /*
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396 | integral = 0
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397 | start:
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398 | integral += (fSP - fPV[2])*dt
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399 |
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400 | output = Kp*(fSP - fPV[2]) + Ki*integral - Kd*(fPV[2] - fPV[1])/dt
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401 |
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402 | wait(dt)
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403 |
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404 | goto start
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405 | */
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406 |
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407 | vector<float> vec(2*BIAS::kNumChannels);
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408 | for (int i=0; i<BIAS::kNumChannels; i++)
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409 | vec[i] = fPV[2][i]-fSP[i];
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410 |
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411 | for (int i=0; i<BIAS::kNumChannels; i++)
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412 | vec[i+416] = avg[i]<5*2.5 ? 0 : correction[i];
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413 |
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414 | fDimDeviation.Update(vec);
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415 |
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416 | if (!fOutputEnabled || fStatusBias.second!=BIAS::kVoltageOn)
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417 | return;
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418 |
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419 | Info("Sending correction to feedback.");
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420 |
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421 | DimClient::sendCommandNB((char*)"BIAS_CONTROL/ADD_REFERENCE_VOLTAGES",
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422 | (void*)(vec.data()+416), 416*sizeof(float));
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423 | }
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424 |
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425 | void HandleGlobalFeedback()
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426 | {
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427 | if (fBiasData.getSize()!=1440*sizeof(float))
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428 | return;
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429 |
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430 | // -------- Store new event --------
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431 |
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432 | vector<float> arr(reinterpret_cast<float*>(fBiasData.getData()),
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433 | reinterpret_cast<float*>(fBiasData.getData())+1440);
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434 |
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435 | sort(arr.begin(), arr.end());
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436 |
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437 | const float med = arr[arr.size()/2];
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438 |
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439 | fData[fCursor%fData.size()].resize(1); //assign(&med, &med);
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440 | fData[fCursor%fData.size()][0] = med; //assign(&med, &med);
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441 |
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442 | if (++fCursor<fData.size())
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443 | return;
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444 |
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445 | // -------- Calculate statistics --------
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446 |
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447 | double avg=0;
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448 | double rms=0;
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449 | for (size_t i=0; i<fData.size(); i++)
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450 | {
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451 | avg += fData[i][0];
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452 | rms += fData[i][0]*fData[i][0];
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453 | }
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454 |
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455 | avg /= fData.size();
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456 | rms /= fData.size();
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457 |
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458 | rms = sqrt(rms-avg*avg);
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459 |
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460 | // -------- Calculate correction --------
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461 |
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462 | if (fCursor%fData.size()!=0)
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463 | return;
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464 |
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465 | Out() << "Amplitude: " << avg << " +- " << rms << endl;
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466 |
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467 | // FIXME: Take out broken / dead boards.
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468 |
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469 | /*
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470 | ostringstream out;
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471 | out << "New " << fData.size() << " event received: " << fCursor << " / " << setprecision(3) << T21 << "s";
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472 | Info(out);
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473 | */
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474 |
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475 | if (fPV[0].size()==0)
|
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476 | {
|
---|
477 | fPV[0].resize(1);
|
---|
478 | fPV[0] = valarray<double>(&avg, 1);
|
---|
479 | return;
|
---|
480 | }
|
---|
481 |
|
---|
482 | if (fPV[1].size()==0)
|
---|
483 | {
|
---|
484 | fPV[1].resize(1);
|
---|
485 | fPV[1] = valarray<double>(&avg, 1);
|
---|
486 | return;
|
---|
487 | }
|
---|
488 |
|
---|
489 | if (fPV[2].size()==0)
|
---|
490 | {
|
---|
491 | fPV[2].resize(1);
|
---|
492 | fPV[2] = valarray<double>(&avg, 1);
|
---|
493 | return;
|
---|
494 | }
|
---|
495 |
|
---|
496 | fPV[0] = fPV[1];
|
---|
497 | fPV[1] = fPV[2];
|
---|
498 |
|
---|
499 | fPV[2].resize(1);
|
---|
500 | fPV[2] = valarray<double>(&avg, 1);
|
---|
501 |
|
---|
502 | const double T21 = 1; // feedback is 1s
|
---|
503 | const double T10 = 1; // feedback is 20s
|
---|
504 |
|
---|
505 | // => Kp = 0.01 * gain = 0.00005
|
---|
506 | // => Ki = 0.8 * gain/20s = 0.00025
|
---|
507 | // => Kd = 0.1 * gain/20s = 0.00003
|
---|
508 |
|
---|
509 | /*
|
---|
510 | fKp = 0;
|
---|
511 | fKd = 0;
|
---|
512 | fKi = 0.00003*20;
|
---|
513 | */
|
---|
514 |
|
---|
515 | // correction = (fSP[0]-fPV[2])*fKi
|
---|
516 | const valarray<double> correction = 1./fGain/1000*
|
---|
517 | (
|
---|
518 | - (fKp+fKd/T21)*(fPV[2] - fPV[1])
|
---|
519 | + fKi*T21*(fSP[0]-fPV[2])
|
---|
520 | + fKd/T10*(fPV[1]-fPV[0])
|
---|
521 | );
|
---|
522 |
|
---|
523 | Out() << "Correction: " << correction[0] << "V (" << fSP[0] << ")" << endl;
|
---|
524 |
|
---|
525 | const int nch = BIAS::kNumChannels;
|
---|
526 |
|
---|
527 | // FIXME: Sanity check!
|
---|
528 |
|
---|
529 | vector<float> vec;
|
---|
530 | vec.reserve(2*nch);
|
---|
531 | vec.insert(vec.begin(), nch, fPV[2][0]-fSP[0]);
|
---|
532 | vec.insert(vec.begin()+nch, nch, correction[0]);
|
---|
533 |
|
---|
534 | fDimDeviation.Update(vec);
|
---|
535 |
|
---|
536 | if (!fOutputEnabled || fStatusBias.second!=BIAS::kVoltageOn)
|
---|
537 | return;
|
---|
538 |
|
---|
539 | Info("Sending global correction to feedback.");
|
---|
540 | DimClient::sendCommandNB((char*)"BIAS_CONTROL/ADD_REFERENCE_VOLTAGES",
|
---|
541 | (void*)(vec.data()+416), 416*sizeof(float));
|
---|
542 | }
|
---|
543 |
|
---|
544 | void infoHandler()
|
---|
545 | {
|
---|
546 | DimInfo *curr = getInfo(); // get current DimInfo address
|
---|
547 | if (!curr)
|
---|
548 | return;
|
---|
549 |
|
---|
550 | if (curr==&fBias)
|
---|
551 | {
|
---|
552 | fStatusBias = GetNewState(fBias);
|
---|
553 | return;
|
---|
554 | }
|
---|
555 |
|
---|
556 | if (curr==&fFAD)
|
---|
557 | {
|
---|
558 | fStatusFAD = GetNewState(fFAD);
|
---|
559 | return;
|
---|
560 | }
|
---|
561 |
|
---|
562 | if (curr==&fFSC)
|
---|
563 | {
|
---|
564 | fStatusFSC = GetNewState(fFSC);
|
---|
565 | return;
|
---|
566 | }
|
---|
567 |
|
---|
568 | if (curr==&fDim)
|
---|
569 | {
|
---|
570 | fStatusDim = GetNewState(fDim);
|
---|
571 | fStatusDim.second = curr->getSize()==4 ? curr->getInt() : 0;
|
---|
572 | return;
|
---|
573 | }
|
---|
574 |
|
---|
575 | if (curr==&fCameraTemp)
|
---|
576 | HandleCameraTemp();
|
---|
577 |
|
---|
578 | if (curr==&fBiasA && fControlType==kTemp && GetCurrentState()==kStateCalibrating)
|
---|
579 | HandleCalibration();
|
---|
580 |
|
---|
581 | if (curr==&fBiasData && fControlType==kFeedback)
|
---|
582 | HandleFeedback();
|
---|
583 |
|
---|
584 | if (curr==&fBiasData && fControlType==kFeedbackGlobal)
|
---|
585 | HandleGlobalFeedback();
|
---|
586 | }
|
---|
587 |
|
---|
588 | bool CheckEventSize(size_t has, const char *name, size_t size)
|
---|
589 | {
|
---|
590 | if (has==size)
|
---|
591 | return true;
|
---|
592 |
|
---|
593 | ostringstream msg;
|
---|
594 | msg << name << " - Received event has " << has << " bytes, but expected " << size << ".";
|
---|
595 | Fatal(msg);
|
---|
596 | return false;
|
---|
597 | }
|
---|
598 |
|
---|
599 | void PrintState(const pair<Time,int> &state, const char *server)
|
---|
600 | {
|
---|
601 | const State rc = fNetwork.GetState(server, state.second);
|
---|
602 |
|
---|
603 | Out() << state.first.GetAsStr("%H:%M:%S.%f").substr(0, 12) << " - ";
|
---|
604 | Out() << kBold << server << ": ";
|
---|
605 | Out() << rc.name << "[" << rc.index << "]";
|
---|
606 | Out() << kReset << " - " << kBlue << rc.comment << endl;
|
---|
607 | }
|
---|
608 |
|
---|
609 | int Print()
|
---|
610 | {
|
---|
611 | Out() << fStatusDim.first.GetAsStr("%H:%M:%S.%f").substr(0, 12) << " - ";
|
---|
612 | Out() << kBold << "DIM_DNS: ";
|
---|
613 | if (fStatusDim.second==0)
|
---|
614 | Out() << "Offline" << endl;
|
---|
615 | else
|
---|
616 | Out() << "V" << fStatusDim.second/100 << 'r' << fStatusDim.second%100 << endl;
|
---|
617 |
|
---|
618 | PrintState(fStatusFAD, "FAD_CONTROL");
|
---|
619 | PrintState(fStatusFSC, "FSC_CONTROL");
|
---|
620 | PrintState(fStatusBias, "BIAS_CONTROL");
|
---|
621 |
|
---|
622 | return GetCurrentState();
|
---|
623 | }
|
---|
624 |
|
---|
625 | int PrintCalibration()
|
---|
626 | {
|
---|
627 | if (fCalibration.size()==0)
|
---|
628 | {
|
---|
629 | Out() << "No calibration performed so far." << endl;
|
---|
630 | return GetCurrentState();
|
---|
631 | }
|
---|
632 |
|
---|
633 | for (int k=0; k<13; k++)
|
---|
634 | for (int j=0; j<8; j++)
|
---|
635 | {
|
---|
636 | Out() << setw(2) << k << "|" << setw(2) << j*4 << "|";
|
---|
637 | for (int i=0; i<4; i++)
|
---|
638 | Out() << Tools::Form(" %6.1f+-%4.1f", fCalibration[k*32+j*4+i], fCalibration[k*32+j*4+i+416]);
|
---|
639 | Out() << endl;
|
---|
640 | }
|
---|
641 |
|
---|
642 | return GetCurrentState();
|
---|
643 | }
|
---|
644 |
|
---|
645 | int SetConstant(const EventImp &evt, int constant)
|
---|
646 | {
|
---|
647 | if (!CheckEventSize(evt.GetSize(), "SetConstant", 8))
|
---|
648 | return kSM_FatalError;
|
---|
649 |
|
---|
650 | switch (constant)
|
---|
651 | {
|
---|
652 | case 0: fKi = evt.GetDouble(); break;
|
---|
653 | case 1: fKp = evt.GetDouble(); break;
|
---|
654 | case 2: fKd = evt.GetDouble(); break;
|
---|
655 | case 3: fT = evt.GetDouble(); break;
|
---|
656 | case 4: fGain = evt.GetDouble(); break;
|
---|
657 | default:
|
---|
658 | Fatal("SetConstant got an unexpected constant id -- this is a program bug!");
|
---|
659 | return kSM_FatalError;
|
---|
660 | }
|
---|
661 |
|
---|
662 | return GetCurrentState();
|
---|
663 | }
|
---|
664 |
|
---|
665 | int EnableOutput(const EventImp &evt)
|
---|
666 | {
|
---|
667 | if (!CheckEventSize(evt.GetSize(), "EnableOutput", 1))
|
---|
668 | return kSM_FatalError;
|
---|
669 |
|
---|
670 | fOutputEnabled = evt.GetBool();
|
---|
671 |
|
---|
672 | return GetCurrentState();
|
---|
673 | }
|
---|
674 |
|
---|
675 | void ResetData()
|
---|
676 | {
|
---|
677 | fData.clear();
|
---|
678 | fData.resize(500);
|
---|
679 | fCursor = 0;
|
---|
680 | fStartTime = Time();
|
---|
681 |
|
---|
682 | fSP = valarray<double>(0., 416);
|
---|
683 |
|
---|
684 | vector<float> vec(2*BIAS::kNumChannels);
|
---|
685 | fDimDeviation.Update(vec);
|
---|
686 |
|
---|
687 | fPV[0].resize(0);
|
---|
688 | fPV[1].resize(0);
|
---|
689 | fPV[2].resize(0);
|
---|
690 |
|
---|
691 | if (fKp==0 && fKi==0 && fKd==0)
|
---|
692 | Warn("Control loop parameters are all set to zero.");
|
---|
693 | }
|
---|
694 |
|
---|
695 | int StartFeedback()
|
---|
696 | {
|
---|
697 | ResetData();
|
---|
698 |
|
---|
699 | fControlType = kFeedback;
|
---|
700 |
|
---|
701 | return GetCurrentState();
|
---|
702 | }
|
---|
703 |
|
---|
704 | int StartFeedbackGlobal()
|
---|
705 | {
|
---|
706 | ResetData();
|
---|
707 | fData.resize(5);
|
---|
708 |
|
---|
709 | fControlType = kFeedbackGlobal;
|
---|
710 |
|
---|
711 | return GetCurrentState();
|
---|
712 | }
|
---|
713 |
|
---|
714 | int StartTempCtrl(const EventImp &evt)
|
---|
715 | {
|
---|
716 | if (!CheckEventSize(evt.GetSize(), "StartTempCtrl", 4))
|
---|
717 | return kSM_FatalError;
|
---|
718 |
|
---|
719 | fBiasOffset = evt.GetFloat();
|
---|
720 | fControlType = kTemp;
|
---|
721 |
|
---|
722 | ostringstream out;
|
---|
723 | out << "Starting temperature feedback with an offset of " << fBiasOffset << "V";
|
---|
724 | Message(out);
|
---|
725 |
|
---|
726 | return GetCurrentState();
|
---|
727 | }
|
---|
728 |
|
---|
729 | int StopFeedback()
|
---|
730 | {
|
---|
731 | fControlType = kIdle;
|
---|
732 |
|
---|
733 | return GetCurrentState();
|
---|
734 | }
|
---|
735 |
|
---|
736 | int StoreReference()
|
---|
737 | {
|
---|
738 | if (!fPV[0].size() && !fPV[1].size() && !fPV[2].size())
|
---|
739 | {
|
---|
740 | Warn("No values in memory. Take enough events first!");
|
---|
741 | return GetCurrentState();
|
---|
742 | }
|
---|
743 |
|
---|
744 | // FIXME: Check age
|
---|
745 |
|
---|
746 | if (!fPV[1].size() && !fPV[2].size())
|
---|
747 | fSP = fPV[0];
|
---|
748 |
|
---|
749 | if (!fPV[2].size())
|
---|
750 | fSP = fPV[1];
|
---|
751 | else
|
---|
752 | fSP = fPV[2];
|
---|
753 |
|
---|
754 | vector<float> vec(BIAS::kNumChannels);
|
---|
755 | for (int i=0; i<BIAS::kNumChannels; i++)
|
---|
756 | vec[i] = fSP[i];
|
---|
757 | fDimReference.Update(vec);
|
---|
758 |
|
---|
759 | return GetCurrentState();
|
---|
760 | }
|
---|
761 |
|
---|
762 | int SetReference(const EventImp &evt)
|
---|
763 | {
|
---|
764 | if (!CheckEventSize(evt.GetSize(), "SetReference", 4))
|
---|
765 | return kSM_FatalError;
|
---|
766 |
|
---|
767 | const float val = evt.GetFloat();
|
---|
768 | /*
|
---|
769 | if (!fPV[0].size() && !fPV[1].size() && !fPV[2].size())
|
---|
770 | {
|
---|
771 | Warn("No values in memory. Take enough events first!");
|
---|
772 | return GetCurrentState();
|
---|
773 | }*/
|
---|
774 |
|
---|
775 | vector<float> vec(BIAS::kNumChannels);
|
---|
776 | for (int i=0; i<BIAS::kNumChannels; i++)
|
---|
777 | vec[i] = fSP[i] = val;
|
---|
778 | fDimReference.Update(vec);
|
---|
779 |
|
---|
780 | Out() << "New global reference value: " << val << "mV" << endl;
|
---|
781 |
|
---|
782 | return GetCurrentState();
|
---|
783 | }
|
---|
784 |
|
---|
785 | int CalibrateCurrents()
|
---|
786 | {
|
---|
787 | // if (!CheckEventSize(evt.GetSize(), "StartTempCtrl", 4))
|
---|
788 | // return kSM_FatalError;
|
---|
789 |
|
---|
790 | ostringstream out;
|
---|
791 | out << "Starting temperature feedback with an offset of -2V";
|
---|
792 | Message(out);
|
---|
793 |
|
---|
794 | fBiasOffset = -2;
|
---|
795 | fControlType = kTemp;
|
---|
796 | fCursor = 0;
|
---|
797 | fCurrentsAvg.assign(416, 0);
|
---|
798 | fCurrentsRms.assign(416, 0);
|
---|
799 | fCalibration.resize(0);
|
---|
800 | fStartTime = Time();
|
---|
801 | fOutputEnabled = true;
|
---|
802 |
|
---|
803 | return kStateCalibrating;
|
---|
804 | }
|
---|
805 |
|
---|
806 | int Execute()
|
---|
807 | {
|
---|
808 | // Dispatch (execute) at most one handler from the queue. In contrary
|
---|
809 | // to run_one(), it doesn't wait until a handler is available
|
---|
810 | // which can be dispatched, so poll_one() might return with 0
|
---|
811 | // handlers dispatched. The handlers are always dispatched/executed
|
---|
812 | // synchronously, i.e. within the call to poll_one()
|
---|
813 | //poll_one();
|
---|
814 |
|
---|
815 | if (fStatusDim.second==0)
|
---|
816 | return kStateDimNetworkNA;
|
---|
817 |
|
---|
818 | // All subsystems are not connected
|
---|
819 | if (fStatusFAD.second<FAD::kConnected &&
|
---|
820 | fStatusBias.second<BIAS::kConnecting &&
|
---|
821 | fStatusFSC.second<2)
|
---|
822 | return kStateDisconnected;
|
---|
823 |
|
---|
824 | // At least one subsystem is not connected
|
---|
825 | if (fStatusFAD.second<FAD::kConnected ||
|
---|
826 | fStatusBias.second<BIAS::kConnected ||
|
---|
827 | fStatusFSC.second<2)
|
---|
828 | return kStateConnecting;
|
---|
829 |
|
---|
830 | /*
|
---|
831 | // All subsystems are connected
|
---|
832 | if (GetCurrentStatus()==kStateConfiguringStep1)
|
---|
833 | {
|
---|
834 | if (fCursor<1)
|
---|
835 | return kStateConfiguringStep1;
|
---|
836 |
|
---|
837 | if (fCursor==1)
|
---|
838 | {
|
---|
839 | fStartTime = Time();
|
---|
840 | return kStateConfiguringStep2;
|
---|
841 | }
|
---|
842 | }
|
---|
843 | if (GetCurrentStatus()==kStateConfiguringStep2)
|
---|
844 | {
|
---|
845 | if (fCursor==1)
|
---|
846 | {
|
---|
847 | if ((Time()-fStartTime).total_microseconds()/1000000.<1.5)
|
---|
848 | return kStateConfiguringStep2;
|
---|
849 |
|
---|
850 | Dim::SendCommand("BIAS_CONTROL/REQUEST_STATUS");
|
---|
851 | }
|
---|
852 | if (fCursor==2)
|
---|
853 | {
|
---|
854 |
|
---|
855 | int n=0;
|
---|
856 | double avg = 0;
|
---|
857 | for (size_t i=0; i<fCurrents.size(); i++)
|
---|
858 | if (fCurrents[i]>=0)
|
---|
859 | {
|
---|
860 | avg += fCurrents[i];
|
---|
861 | n++;
|
---|
862 | }
|
---|
863 |
|
---|
864 | cout << avg/n << endl;
|
---|
865 | }
|
---|
866 | return kStateConnected;
|
---|
867 | }
|
---|
868 | */
|
---|
869 | if (fControlType==kFeedback || fControlType==kFeedbackGlobal)
|
---|
870 | return fOutputEnabled ? kStateFeedbackCtrlRunning : kStateFeedbackCtrlIdle;
|
---|
871 |
|
---|
872 | if (fControlType==kTemp)
|
---|
873 | {
|
---|
874 | if (GetCurrentState()==kStateCalibrating && fCursor<100)
|
---|
875 | return GetCurrentState();
|
---|
876 |
|
---|
877 | return fOutputEnabled ? kStateTempCtrlRunning : kStateTempCtrlIdle;
|
---|
878 | }
|
---|
879 |
|
---|
880 | return kStateConnected;
|
---|
881 | }
|
---|
882 |
|
---|
883 | public:
|
---|
884 | StateMachineFeedback(ostream &out=cout) : StateMachineDim(out, "FEEDBACK"),
|
---|
885 | fStatusDim(make_pair(Time(), -2)),
|
---|
886 | fStatusFAD(make_pair(Time(), -2)),
|
---|
887 | fStatusBias(make_pair(Time(), -2)),
|
---|
888 | fDim("DIS_DNS/VERSION_NUMBER", (void*)NULL, 0, this),
|
---|
889 | fFAD("FAD_CONTROL/STATE", (void*)NULL, 0, this),
|
---|
890 | fFSC("FSC_CONTROL/STATE", (void*)NULL, 0, this),
|
---|
891 | fBias("BIAS_CONTROL/STATE", (void*)NULL, 0, this),
|
---|
892 | fBiasA("BIAS_CONTROL/CURRENT", (void*)NULL, 0, this),
|
---|
893 | fBiasData("FAD_CONTROL/FEEDBACK_DATA", (void*)NULL, 0, this),
|
---|
894 | fCameraTemp("FSC_CONTROL/TEMPERATURE", (void*)NULL, 0, this),
|
---|
895 | fDimReference("FEEDBACK/REFERENCE", "F:416", ""),
|
---|
896 | fDimDeviation("FEEDBACK/DEVIATION", "F:416;F:416", ""),
|
---|
897 | fDimCalibration("FEEDBACK/CALIBRATION", "F:416;F:416", ""),
|
---|
898 | fSP(416),
|
---|
899 | fKp(0), fKi(0), fKd(0), fT(-1), fOutputEnabled(false)
|
---|
900 | {
|
---|
901 | // ba::io_service::work is a kind of keep_alive for the loop.
|
---|
902 | // It prevents the io_service to go to stopped state, which
|
---|
903 | // would prevent any consecutive calls to run()
|
---|
904 | // or poll() to do nothing. reset() could also revoke to the
|
---|
905 | // previous state but this might introduce some overhead of
|
---|
906 | // deletion and creation of threads and more.
|
---|
907 |
|
---|
908 | // fSP.resize(416);
|
---|
909 |
|
---|
910 | // State names
|
---|
911 | AddStateName(kStateDimNetworkNA, "DimNetworkNotAvailable",
|
---|
912 | "The Dim DNS is not reachable.");
|
---|
913 |
|
---|
914 | AddStateName(kStateDisconnected, "Disconnected",
|
---|
915 | "The Dim DNS is reachable, but the required subsystems are not available.");
|
---|
916 |
|
---|
917 | AddStateName(kStateConnecting, "Connecting",
|
---|
918 | "Not all subsystems (FAD, FSC, Bias) are connected to their hardware.");
|
---|
919 |
|
---|
920 | AddStateName(kStateConnected, "Connected",
|
---|
921 | "All needed subsystems are connected to their hardware, no action is performed.");
|
---|
922 |
|
---|
923 | AddStateName(kStateFeedbackCtrlIdle, "FeedbackIdle",
|
---|
924 | "Feedback control activated, but voltage output disabled.");
|
---|
925 |
|
---|
926 | AddStateName(kStateTempCtrlIdle, "FeedbackIdle",
|
---|
927 | "Temperature control activated, but voltage output disabled.");
|
---|
928 |
|
---|
929 | AddStateName(kStateFeedbackCtrlRunning, "FeedbackControl",
|
---|
930 | "Feedback control activated and voltage output enabled.");
|
---|
931 |
|
---|
932 | AddStateName(kStateTempCtrlRunning, "TempControl",
|
---|
933 | "Temperature control activated and voltage output enabled.");
|
---|
934 |
|
---|
935 | AddStateName(kStateCalibrating, "Calibrating",
|
---|
936 | "Calibrating current offsets.");
|
---|
937 |
|
---|
938 | AddEvent("START_FEEDBACK_CONTROL", kStateConnected)
|
---|
939 | (bind(&StateMachineFeedback::StartFeedback, this))
|
---|
940 | ("Start the feedback control loop");
|
---|
941 |
|
---|
942 | AddEvent("START_GLOBAL_FEEDBACK", kStateConnected)
|
---|
943 | (bind(&StateMachineFeedback::StartFeedbackGlobal, this))
|
---|
944 | ("Start the global feedback control loop");
|
---|
945 |
|
---|
946 | AddEvent("START_TEMP_CONTROL", "F:1", kStateConnected)
|
---|
947 | (bind(&StateMachineFeedback::StartTempCtrl, this, placeholders::_1))
|
---|
948 | ("Start the temperature control loop"
|
---|
949 | "|offset[V]:Offset from the nominal temperature corrected value in Volts");
|
---|
950 |
|
---|
951 | // kStateTempCtrlIdle, kStateFeedbackCtrlIdle, kStateTempCtrlRunning, kStateFeedbackCtrlRunning
|
---|
952 | AddEvent("STOP")
|
---|
953 | (bind(&StateMachineFeedback::StopFeedback, this))
|
---|
954 | ("Stop any control loop");
|
---|
955 |
|
---|
956 | AddEvent("ENABLE_OUTPUT", "B:1")//, kStateIdle)
|
---|
957 | (bind(&StateMachineFeedback::EnableOutput, this, placeholders::_1))
|
---|
958 | ("Enable sending of correction values caluclated by the control loop to the biasctrl");
|
---|
959 |
|
---|
960 | AddEvent("STORE_REFERENCE")//, kStateIdle)
|
---|
961 | (bind(&StateMachineFeedback::StoreReference, this))
|
---|
962 | ("Store the last (averaged) value as new reference (for debug purpose only)");
|
---|
963 |
|
---|
964 | AddEvent("SET_REFERENCE", "F:1")//, kStateIdle)
|
---|
965 | (bind(&StateMachineFeedback::SetReference, this, placeholders::_1))
|
---|
966 | ("Set a new global reference value (for debug purpose only)");
|
---|
967 |
|
---|
968 | AddEvent("SET_Ki", "D:1")//, kStateIdle)
|
---|
969 | (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 0))
|
---|
970 | ("Set integral constant Ki");
|
---|
971 |
|
---|
972 | AddEvent("SET_Kp", "D:1")//, kStateIdle)
|
---|
973 | (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 1))
|
---|
974 | ("Set proportional constant Kp");
|
---|
975 |
|
---|
976 | AddEvent("SET_Kd", "D:1")//, kStateIdle)
|
---|
977 | (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 2))
|
---|
978 | ("Set derivative constant Kd");
|
---|
979 |
|
---|
980 | AddEvent("SET_T", "D:1")//, kStateIdle)
|
---|
981 | (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 3))
|
---|
982 | ("Set time-constant. (-1 to use the cycle time, i.e. the time for the last average cycle, instead)");
|
---|
983 |
|
---|
984 | AddEvent("CALIBRATE_CURRENTS", kStateConnected)//, kStateIdle)
|
---|
985 | (bind(&StateMachineFeedback::CalibrateCurrents, this))
|
---|
986 | ("");
|
---|
987 |
|
---|
988 | // Verbosity commands
|
---|
989 | // AddEvent("SET_VERBOSE", "B:1")
|
---|
990 | // (bind(&StateMachineMCP::SetVerbosity, this, placeholders::_1))
|
---|
991 | // ("set verbosity state"
|
---|
992 | // "|verbosity[bool]:disable or enable verbosity for received data (yes/no), except dynamic data");
|
---|
993 |
|
---|
994 | AddEvent("PRINT")
|
---|
995 | (bind(&StateMachineFeedback::Print, this))
|
---|
996 | ("");
|
---|
997 |
|
---|
998 | AddEvent("PRINT_CALIBRATION")
|
---|
999 | (bind(&StateMachineFeedback::PrintCalibration, this))
|
---|
1000 | ("");
|
---|
1001 | }
|
---|
1002 |
|
---|
1003 | int EvalOptions(Configuration &conf)
|
---|
1004 | {
|
---|
1005 | if (!fMap.Read(conf.Get<string>("pixel-map-file")))
|
---|
1006 | {
|
---|
1007 | Error("Reading mapping table from "+conf.Get<string>("pixel-map-file")+" failed.");
|
---|
1008 | return 1;
|
---|
1009 | }
|
---|
1010 |
|
---|
1011 | fGain = 0.1; // V(Amplitude) / V(Bias)
|
---|
1012 |
|
---|
1013 | // 148 -> 248
|
---|
1014 |
|
---|
1015 | // 33 : 10s < 2%
|
---|
1016 | // 50 : 5s < 2%
|
---|
1017 | // 66 : 3s < 2%
|
---|
1018 | // 85 : 2s < 2%
|
---|
1019 |
|
---|
1020 | fKp = 0;
|
---|
1021 | fKd = 0;
|
---|
1022 | fKi = 0.66;
|
---|
1023 | fT = 1;
|
---|
1024 |
|
---|
1025 | // Is that independent of the aboslute real amplitude of
|
---|
1026 | // the light pulser?
|
---|
1027 |
|
---|
1028 | ostringstream msg;
|
---|
1029 | msg << "Control loop parameters: ";
|
---|
1030 | msg << "Kp=" << fKp << ", Kd=" << fKd << ", Ki=" << fKi << ", ";
|
---|
1031 | if (fT>0)
|
---|
1032 | msg << fT;
|
---|
1033 | else
|
---|
1034 | msg << "<auto>";
|
---|
1035 | msg << ", Gain(DRS/BIAS)=" << fGain << "V/V";
|
---|
1036 |
|
---|
1037 | Message(msg);
|
---|
1038 |
|
---|
1039 | return -1;
|
---|
1040 | }
|
---|
1041 | };
|
---|
1042 |
|
---|
1043 | // ------------------------------------------------------------------------
|
---|
1044 |
|
---|
1045 | #include "Main.h"
|
---|
1046 |
|
---|
1047 | template<class T>
|
---|
1048 | int RunShell(Configuration &conf)
|
---|
1049 | {
|
---|
1050 | return Main::execute<T, StateMachineFeedback>(conf);
|
---|
1051 | }
|
---|
1052 |
|
---|
1053 | void SetupConfiguration(Configuration &conf)
|
---|
1054 | {
|
---|
1055 | po::options_description control("Feedback options");
|
---|
1056 | control.add_options()
|
---|
1057 | ("pixel-map-file", var<string>("FACTmapV5a.txt"), "Pixel mapping file. Used here to get the default reference voltage.")
|
---|
1058 | ;
|
---|
1059 |
|
---|
1060 | conf.AddOptions(control);
|
---|
1061 | }
|
---|
1062 |
|
---|
1063 | /*
|
---|
1064 | Extract usage clause(s) [if any] for SYNOPSIS.
|
---|
1065 | Translators: "Usage" and "or" here are patterns (regular expressions) which
|
---|
1066 | are used to match the usage synopsis in program output. An example from cp
|
---|
1067 | (GNU coreutils) which contains both strings:
|
---|
1068 | Usage: cp [OPTION]... [-T] SOURCE DEST
|
---|
1069 | or: cp [OPTION]... SOURCE... DIRECTORY
|
---|
1070 | or: cp [OPTION]... -t DIRECTORY SOURCE...
|
---|
1071 | */
|
---|
1072 | void PrintUsage()
|
---|
1073 | {
|
---|
1074 | cout <<
|
---|
1075 | "The feedback control the BIAS voltages based on the calibration signal.\n"
|
---|
1076 | "\n"
|
---|
1077 | "The default is that the program is started without user intercation. "
|
---|
1078 | "All actions are supposed to arrive as DimCommands. Using the -c "
|
---|
1079 | "option, a local shell can be initialized. With h or help a short "
|
---|
1080 | "help message about the usuage can be brought to the screen.\n"
|
---|
1081 | "\n"
|
---|
1082 | "Usage: feedback [-c type] [OPTIONS]\n"
|
---|
1083 | " or: feedback [OPTIONS]\n";
|
---|
1084 | cout << endl;
|
---|
1085 | }
|
---|
1086 |
|
---|
1087 | void PrintHelp()
|
---|
1088 | {
|
---|
1089 | Main::PrintHelp<StateMachineFeedback>();
|
---|
1090 |
|
---|
1091 | /* Additional help text which is printed after the configuration
|
---|
1092 | options goes here */
|
---|
1093 |
|
---|
1094 | /*
|
---|
1095 | cout << "bla bla bla" << endl << endl;
|
---|
1096 | cout << endl;
|
---|
1097 | cout << "Environment:" << endl;
|
---|
1098 | cout << "environment" << endl;
|
---|
1099 | cout << endl;
|
---|
1100 | cout << "Examples:" << endl;
|
---|
1101 | cout << "test exam" << endl;
|
---|
1102 | cout << endl;
|
---|
1103 | cout << "Files:" << endl;
|
---|
1104 | cout << "files" << endl;
|
---|
1105 | cout << endl;
|
---|
1106 | */
|
---|
1107 | }
|
---|
1108 |
|
---|
1109 | int main(int argc, const char* argv[])
|
---|
1110 | {
|
---|
1111 | Configuration conf(argv[0]);
|
---|
1112 | conf.SetPrintUsage(PrintUsage);
|
---|
1113 | Main::SetupConfiguration(conf);
|
---|
1114 | SetupConfiguration(conf);
|
---|
1115 |
|
---|
1116 | if (!conf.DoParse(argc, argv, PrintHelp))
|
---|
1117 | return -1;
|
---|
1118 |
|
---|
1119 | //try
|
---|
1120 | {
|
---|
1121 | // No console access at all
|
---|
1122 | if (!conf.Has("console"))
|
---|
1123 | {
|
---|
1124 | // if (conf.Get<bool>("no-dim"))
|
---|
1125 | // return RunShell<LocalStream, StateMachine, ConnectionFSC>(conf);
|
---|
1126 | // else
|
---|
1127 | return RunShell<LocalStream>(conf);
|
---|
1128 | }
|
---|
1129 | // Cosole access w/ and w/o Dim
|
---|
1130 | /* if (conf.Get<bool>("no-dim"))
|
---|
1131 | {
|
---|
1132 | if (conf.Get<int>("console")==0)
|
---|
1133 | return RunShell<LocalShell, StateMachine, ConnectionFSC>(conf);
|
---|
1134 | else
|
---|
1135 | return RunShell<LocalConsole, StateMachine, ConnectionFSC>(conf);
|
---|
1136 | }
|
---|
1137 | else
|
---|
1138 | */ {
|
---|
1139 | if (conf.Get<int>("console")==0)
|
---|
1140 | return RunShell<LocalShell>(conf);
|
---|
1141 | else
|
---|
1142 | return RunShell<LocalConsole>(conf);
|
---|
1143 | }
|
---|
1144 | }
|
---|
1145 | /*catch (std::exception& e)
|
---|
1146 | {
|
---|
1147 | cerr << "Exception: " << e.what() << endl;
|
---|
1148 | return -1;
|
---|
1149 | }*/
|
---|
1150 |
|
---|
1151 | return 0;
|
---|
1152 | }
|
---|