source: trunk/MagicSoft/Cosy/Changelog @ 9551

Last change on this file since 9551 was 9551, checked in by tbretz, 11 years ago
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1                                                                  -*-*- END -*-*-
2 2010/02/23 Thomas Bretz
3
4   * catalog/SlaStars.[h,cc]:
5     - added ApplayOffsetAltAz
6     - added ApplayOffsetZdAz
7
8   * main/CosyMainLinkDef.h, main/Makefile:
9     - added MMoonPointing
10
11   * main/MMoonPointing.[h,cc]:
12     - added
13
14   * main/MCosy.[h,cc]:
15     - added TrackMoon
16     - added more options to TrackPlanet
17     - in msg-queue use break in switch-statement and return
18       message id by default
19
20   * main/MTracking.[h,cc]:
21     - implemented adding of moon shadow offset into UpdateSlalib
22     - added data members for fWobbleOffset wnd fWobbleAngle
23     - added setter for new data members
24     - added new function TrackMoon
25
26   * tcpip/MDriveCom.[h,cc]:
27     - added new arguments to CELEST command
28     - added new MOON command
29
30   * Makefile.conf.linux:
31     - removed Wconversion option
32
33   * caos/Leds.h, caos/Rings.h:
34     - overloaded some more Print members to get rid of some warnings
35
36   * gui/MGCoordinate.h:
37     - renamed an argument to get rid of a compiler warning
38
39   * tpoint/TPointGui.cc:
40     - include TMath
41     - return "" instead of 0 when TString is needed
42
43
44
45 2009/12/01 Thomas Bretz
46
47   * catalog/SlaStars.[h,cc]:
48     - fixed unit of GetZdAz
49     - added GetZdAzRad and GetRaDecRad
50     - added some comments
51     - added TT
52     - use TT instead of UTC in slaMappa. This should be more
53       accurate but is not needed according to the documentation
54       (maybe for the moon?)
55
56   * main/MTracking.cc:
57     - fixed unit of fTrackPos calling sla.Set
58     - don't distribute ra/dec to starguider it seems to be responsible
59       for crashes
60     - fixed units of getting coordinates from slalib
61     - keep calculating a future position in the tracking loop
62     - for the moment set the observatory key explicitly
63       (Mars doesn't store it)
64
65   * tcpip/MDriveCom.cc:
66     - fixed the number of expected arguments in CELEST command
67
68   * catalog/SlaPlanets.[h,cc]:
69     - moved TT to the base class
70     - commented out the calculation of the earth's heliocentric
71       coordinates which were never used.
72     - removed fDt which was not used either
73
74
75
76 2009/10/21 Thomas Bretz
77
78   * catalog/SlaPlanets.[h,cc]:
79     - Now derives from SlaStars
80     - new function to get the current sky position of a celestial
81       object
82
83   * catalog/SlaStars.[h,cc]:
84     - store and update hour angle when calculating local ccordinates
85
86   * main/MCosy.[h,cc]:
87     - new function TrackPlanet
88     - implemented WM_PLANET to queue
89     - added hour angle when sending report
90
91   * main/MTracking.[h,cc]:
92     - recalculate ra/dec before every cycle
93     - propagate calculated position to starguider
94     - implemented new function TrackPlanet
95     - modev tracking code to Track()
96
97   * tcpip/MDriveCom.[h,cc]:
98     - implemented new command CELEST
99     - added hour angle to report
100
101
102
103 2009/08/17 Thomas Bretz
104
105   * tpoint/TPointGui.[h,cc]:
106     - keep different paths in memory for collections and models
107     - show kept collection in window title
108     - added option to set a limiting magnitude for the fit
109     - setup a new default for the coefficients
110     - set new icon and window names
111
112
113
114 2009/05/12 Thomas Bretz (La Palma)
115
116   * main/MStarguider.cc:
117     - a few sanity fixes
118     - star-pointer doesn't exist in Starguider procedure anymore
119     - replaced fDisplay by fMode
120     - addes tar magnitude and name to output in tpoints
121     - don't switch to tpoint mode in tpoint procedure if already
122       switched on
123
124   * tcpip/MDriveCom.cc:
125     - don't post the tpoint messages but just execute
126
127
128
129 2009/05/11 Thomas Bretz (La Palma)
130
131   * cosy.cc:
132     - made compatible with newer MARS version
133     - added a connection check to the sps
134     - made ports settable by rc-file
135
136   * telesto.cc:
137     - made compatible with newer MARS version
138
139   * devdrv/dkc.[h,cc]:
140     - disarm when network is shut down
141     - changed acces to armed
142     - set default status to 0xff
143     - added IsRpmActive
144
145   * main/MTracking.cc:
146     - leave tracking loop when sps stopped tracking (e.g.
147       disarmed)
148
149   * tcpip/MTcpIpIO.cc:
150     - set debug level to get proper outout when MTcpIpO
151       creates a socket
152
153
154
155 2009/05/09 Thomas Bretz (La Palma)
156
157   * devdrv/shafencoder.[h,cc], devdrv/macs.[h,cc]:
158     - obsolete: removed
159
160   * cosy.cc:
161     - get telescope number from rc-file
162     - let MCosy read the pointing model
163     - added some more debug out
164
165   * candrv/CandrvLinkDef.h:
166     - removed VModIcan
167     - removed Ethernet
168
169   * candrv/Makefile:
170     - removed vmodican.cc
171
172   * candrv/canopen.h:
173     - made compile again with the removed vmodican
174
175   * candrv/ethernet.[h,cc]:
176     - removed from dictionary (due to possible double inheritance)
177
178   * catalog/SlaPlanets.cc:
179     - fixed a typo in a comment
180
181   * catalog/SlaStars.cc:
182     - changed temperature to 10deg (which is a good average over
183       the year)
184     - changed pressure to 780 (which is for sure a better value than
185       1013)
186     - changed the humidity to 0.25 which should be better than 0.5
187
188   * catalog/Slalib.[h,cc]:
189     - removed obsolete Round()
190
191   * catalog/StarCatalog.cc:
192     - replaced D2PI/360 by TMath::DegToRad()
193     - slightly changed the coordinate system in which CalcStars gets
194       ccd coordinates
195     - simplified the tranformation from Zd/Az to pixels (only one
196       rotation necessary)
197     - added CalcDeltaZdAzFromPix which is a direct inverse of the
198       tranformation to pixels
199     - divided fBox into fBoxX and fBoxY
200
201   * devdrv/dkc.[h,cc]:
202     - removed usage of subindices
203     - removed obsolete functions StartVelSync and StartPosSync
204
205   * gui/MGCosy.[h,cc]:
206     - get the name of the file with the predefined positions from
207       external
208     - fixed Scaling in accuracy plots
209
210   * gui/MGStarg.cc:
211     - fixed Scaling in accuracy plots
212
213   * main/MCaos.cc:
214     - fixed a typo in ReadEnv
215
216   * main/MCosy.[h,cc]:
217     - improved output in case of range exceedings
218     - pipe string to StartTPoint
219     - pipie bool to StartStarguider
220     - get the name of the file with the predefined positions from
221       external
222     - added starguider status to drive reports
223     - simplified and unified constructors
224     - read pointing model in constructor
225
226   * main/MStarguider.[h,cc]:
227     - removed starguider tpoint button
228     - implemented automatic tpoint procedure initiated by
229       CC or the TPoint button.
230     - read a lot of number which were hardcoded from rc-file
231     - improved handling of tranformations for starguider
232     - switched of contrast-stretching for starguider and TPoints
233     - implemented sending reports to CC about taken TPoints
234     - unified starguider and tpoijnt output
235     - implemented switching starguider from outside (e.g. CC command)
236
237   * main/MTracking.cc:
238    - removed usage of subindices
239
240   * tcpip/MCeCoCom.[h,cc]:
241     - fixed the meaning of comstatus in the reports
242
243   * tcpip/MDriveCom.cc:
244     - replaced cout by gLog
245     - added acceptance of string from TPOIN command
246     - fixed the msg which is send in the msgqueue
247     - allow starguider also to be switched off
248     - added starguider mode to drive reports
249     - implemented full features TPoint report
250
251   * tcpip/MTcpIpIO.[h,cc]:
252     - moved the maintanance of the send socket to it's own thread,
253       because reopening the socket can block for minutes until
254       a time out takes place
255
256   * videodev/FilterLed.[h,cc]:
257     - allow the search boxs to be asymmetric
258
259   * bending_magic2.txt, leds_magic2.txt, stargleds_magic2.txt,
260     prepos_magic2.txt:
261     - added
262
263
264
265 2009/04/29 Thomas Bretz (La Palma)
266
267   * cosy.cc:
268     - added possibility to switch the ccd cameras on and off remote
269     - read setup from the resource file instead of the commandline
270
271   * caos/Rings.[h,cc]:
272     - added return value to CalcRings
273
274   * catalog/StarCatalog.h:
275     - Store rotation angle
276
277   * devdrv/DevdrvLinkDef.h, Makefile:
278     - removed macs*
279     - removed shaftencoder*
280
281   * devdrv/dkc.cc:
282     - simplified the interface to the sps (removed obsolete SDOs,
283       removed obsolete subindices)
284     - removed obsolete SetDeceleration
285
286   * main/MCaos.[h,cc]:
287     - keep number of detected leds and number of detected rings
288     - make many variables a data member which can now be setup
289       from a resource file
290     - derived from MParContainer
291
292   * main/MCosy.[h,cc]:
293     - replaced SetDecelartion for pressing stop by SetAcceleration
294     - implemented WM_STARGTPOINT
295     - implemented WM_STARGMODE
296     - allow shutdown even if no connection to SPS
297
298   * main/MStargHistograms.[h,cc]:
299     - removed old obsoelte code
300
301   * main/MStarguider.[h,cc]:
302     - removed old obsolete code (StargFindStar and RoqueLampAna)
303     - moved some build in default setup to the resource file
304     - removed AMC trigger
305     - allow some setup from resource file
306     - implemented StartStarguider for remote switching of starguider
307       mode
308     - implemented DoTPoint for remote TPoint procedure
309     - some more code cleanup
310
311   * main/MTracking.cc:
312     - removed obsolete include of shaftencoder.h
313
314   * tcpip/MCeCoCom.cc:
315     - removed check for OVER
316     - use TString::Length instead of strlen(TString&)
317
318   * tcpip/MDriveCom.[h,cc]:
319     - implemented TPOINT command and STGMD command
320     - send number of LEDs and rings instead of x/y in starguider report
321
322
323
324 2009/04/22 Thomas Bretz (La Palma)
325
326   * .cosyrc_magic2, prepos_magic2.txt, leds_magic2.txt:
327     - added
328
329   * devdrv/dkc.cc:
330     - added some initialisation in the constructor
331     - added Warning E256
332
333   * devdrv/shaftencoder.cc:
334     - removed fTurn
335     - removed fDirChangedPos
336     - removed inter-connection with macs/dkc
337     - added a sanity check for fLabel
338     - removed obsolete functions
339
340   * tcpip/MCeCoCom.[h,cc]:
341     - added telescope number to reports
342
343   * tcpip/MTcpIpIO.[h,cc]:
344     - reopen send socket if invalid
345     - added some debug output
346     - make the timeout a variable
347
348
349
350 2009/04/01 Thomas Bretz
351
352   * Makefile:
353     - changed the linking
354
355   * base/Makefile:
356     - changed name of Base to CosyBase (trouble with the same naming
357       in Mars)
358
359   * gui/Makefile
360     - changed name of Gui to CosyGui (trouble with the same naming
361       in Mars)
362
363   * main/Makefile
364     - changed name of Main to CosyMain (trouble with the same naming
365       in Mars)
366
367
368
369 2009/01/14 Thomas Bretz
370
371   * slalib/dat.c:
372     - added leap second
373
374
375
376 2008/08/26 Thomas Bretz (La Palma)
377
378   * cosy.cc:
379     - changed ceco to 151.72.130.60
380
381   * candrv/canopen.[h,cc]:
382     - added HasConnection
383
384   * candrv/network.cc:
385     - check for connection before trying to reboot zombies
386
387   * candrv/nodedrv.cc:
388     - some improvement to output
389
390   * devdrv/DevdrvLinkDef.h, devdrv/Makefile:
391     - added Dkc
392
393   * gui/MGCosy.[h,cc]:
394     - change to layout
395     - display DKC information
396     - display cabinet information
397
398   * gui/MGSkyPosition.[h,cc]:
399     - for convinience added Polaris to display
400
401   * main/MCosy.[h,cc]:
402     - removed shaftencoder and macs
403     - removed a lot of old obsolete code
404     - added Dkc
405     - set new velocity and acceleration values
406     - removed a lot of expert stuff
407     - removed ambiguity between feedback 1 and 2
408
409   * main/MSlewing.[h,cc]:
410     - replaced Macs by Dkc
411     - fixed to use new units
412     - scale velocity even with different maximum speeds
413     - changed from relative positionuing to absolute positioning
414     - implemented a new correction for the non-uniformity of the el-axis
415
416   * main/MStarguider.cc:
417     - changed usage of MString
418     - use GetSePos now instead of GetTrackingPosRaw
419
420   * main/MTracking.[h,cc]:
421     - replaced Macs by Dkc
422     - removed ambiguity of feedback 1 and feedback 2
423     - adapted definition of control deviation
424
425
426
427 2008/07/13 Thomas Bretz
428
429   * caos/Led.cc, caos/Ring.cc, gui/MGCosy.cc, tcpip/MCeCoCom.cc,
430     tcpip/MDriveCom.cc:
431     - replaced usage of MString::Print by MString::Format
432
433
434
435 2008/06/19 Thomas Bretz
436
437  * tpoint/TPointGui.cc:
438     - removed an output by chance added yestergday
439
440
441
442 2008/06/18 Thomas Bretz
443
444  * telesto.cc, tpoint/TPointGui.[h,cc]:
445     - added option to start with a pointing model
446
447
448
449 2008/06/17 Thomas Bretz
450
451   * tpoint/TPointGui.[h,cc]:
452     - implemented entry fields
453
454
455
456 2008/02/24 Thomas Bretz (La Palma)
457
458   * .cosyrc_magic:
459     - changed the azimuth gear to 1340.0
460
461   * cosy.cc:
462     - made MDriveCom a pointer to be able to delete it earlier
463
464   * devdrv/macs.cc:
465     - fixed a few typos
466
467   * main/MCosy.[h,cc]:
468     - allow disarming
469     - added armed state to report
470     - Instantiate MCosy with an MDriveCom instead of initializing it
471       internally
472     - adapted the constructor accordingly
473
474   * main/MSlewing.[h,cc]:
475     - changed the way the "position reached" window is calculated
476       it is now fixed 1/16384th of a revolution and can be
477       changed from outside
478     - added some comments
479     - tiny changes to the log out
480     - for the moment the correct calculation for the non centered
481       drive bow is switched off(!!!)
482
483   * videodev/VideodevIncl.h:
484     - added TVector2
485
486   * aposs/Magic.m:
487     - added GRB mode
488     - added a division by four to the setting of the rpm mode velocity
489
490
491
492 2008/02/22 Thomas Bretz (La Palma)
493
494   * aposs/Magic.m:
495     - added a trigger on the falling and rising edge of the door-lock
496       switch which will stop the telescope and refuse any movement
497       command
498     - changed version number from 0.69 to 0.70
499     - move the arbitrary factor 4 from cosy to aposs
500     - changed control loop parameters as suggested in Robert's thesis
501       (TO BE CHECKED)
502
503   * devdrv/macs.cc:
504     - changed the requires software version from 0.69 to 0.70
505     - do not start the node automatically
506
507   * main/MStarguider.cc:
508     - added an ExitLoop for fGetter
509     - added a sanity check if GetDriveCom returns a valid pointer
510
511   * main/MTracking.cc:
512     - removed the arbitrary factor 4 from the code (it is now
513       implemented in the MACS)
514
515
516
517 2008/02/21 Thomas Bretz (La Palma)
518
519   * cosy.cc:
520     - moved instantisation of MDriveCom out of MCosy
521     - adde options to set the ceco ports
522
523   * candrv/canopen.cc:
524     - changed logging output
525
526   * devdrv/macs.cc:
527     - added some more DKC errors
528     - SetZombie if not armed
529     - added some debug output
530
531   * devdrv/shaftencoder.cc:
532     - added some initialisations as suggested by valgrind
533
534   * main/MSlewing.h:
535     - removed obsolete base class MLog
536
537   * main/MTracking.[h,cc]:
538     - replaced some fixed numbers by variables
539     - added forward declaration for MLog
540
541   * tcpip/MCeCoCom.[h,cc]:
542     - moved fixed port numbers out of the constructor
543
544   * tcpip/MDriveCom.[h,cc]:
545     - secured called to fQueue with if-conditions
546     - added Dummy for TPOIN command
547     - implemented ARM command
548     - added arm status to drive report
549     - added summy for sending TPOINT-REPORT
550
551   * tcpip/MTcpIpIO.cc:
552     - added time to connection messages
553     - added 0 as backlog for opening the TServerSocket.
554       This seems to be necessary (why?)
555
556   * videodev/Camera.cc:
557     - added initialisation of fChannel which was missing
558
559   * videodev/FilterLed.cc:
560     - changed a detele to an array delete as suggested by valgrind
561
562   * videodev/MVideo.cc:
563     - initialize qctrl as suggested by valgrind
564
565
566
567 2008/02/20 Thomas Bretz (La Palma)
568
569   * candrv/ethernet.[h,cc]:
570     - return kFALSE even if RecvRaw return a value <0
571
572   * devdrv/macs.[h,cc]:
573     - added setting and reseeting of an armed state disallowing
574       all movements
575     - set fPosActive if positiong has been started to prevent lags
576       in the program flow
577     - added fArmed to PDO1
578     - added some debug output
579
580   * gui/MGCosy.[h,cc]:
581     - added "Arm" button to the display in expert mode
582     - added armed state to the Update member function
583
584   * main/MCosy.[h,cc]:
585     - commented out all accesses to the third MACS
586     - added code to allow the armed state to be set from the gui
587     - pipe the armed state to the gui
588
589   * tcpip/MTcpIpIO.[h,cc]:
590     - added a timeout to MTcpIpI when waiting for new data
591       which is set to 5s by default
592     - return kFALSE even if RecvRaw return a value <0
593     - wait for new connection in case of timeout
594
595
596
597 2008/02/17 Thomas Bretz (La Palma)
598
599   * cosy.cc:           
600     - enable output device file for log-files
601     - set sps default address to "sps"
602
603   * candrv/canopen.[h,cc]:
604     - added member function HasError to return an error status
605       of the network connection
606
607   * candrv/ethernet.[h,cc]:
608     - improved the way a lost connection is reestablished
609     - added HasConnection to return the connection status
610
611   * candrv/interface.h:
612     - added HasConnection to return the connection status
613
614   * candrv/network.cc:
615     - when setting zombies check also the status of the network
616
617   * candrv/nodedrv.h:
618     - made HasError a bit more fool proof
619
620   * devdrv/macs.[cc.h]:
621     - added some more DKC error codes
622     - improved printed error DKC message
623     - do not treat warnings as errors anymore
624
625   * gui/MGCosy.cc:
626     - the RA in TrackPos and CalibPos is in degrees
627
628   * main/MCosy.cc:
629     - replaced some build-in numbers for the shaftenecoder-
630       resolution by it
631     - fixed a weird error: in one case when checking for errors
632       fMac3 was checked without testing for NULL pointer!
633
634   * tcpip/MTcpIpIO.[h,cc]:
635     - imporved the whole communication stuff again, especially
636       the error handling and reestablishing of connections
637
638
639
640 2008/02/15 Thomas Bretz (La Palma)
641
642   * candrv/network.cc, candrv/nodedrv.h:
643     - changed arguments and contents of HandleSDOError
644
645   * devdrv/macs.[h,cc]:
646     - added status/error handling for DKC status
647
648   * devdrv/shaftencoder.cc:
649     - changed some output
650     - handle all four bytes in case of the position
651
652   * gui/MGCosy.cc:
653     - increased width of shaftencoder labels
654
655
656
657 2008/02/15 Thomas Bretz (La Palma)
658
659   * cosy.cc:
660     - added debug-env command line options
661     - added config command line option
662     - added command line options for the ip-addresses
663     - read in an MEnv
664
665   * candrv/canopen.cc:
666     - commented an obsolete output
667
668   * candrv/ethernet.[h,cc]:
669     - changed some cout to gLog stream
670     - impoved output
671     - added some some DEBUG precompiler ifs
672
673   * candrv/interface.cc:
674     - fixed an if: fReceiver instead of !fReceiver
675
676   * candrv/network.cc:
677     - fixed some problems with hex/dec output
678
679   * devdrv/shaftencoder.[h,cc]:
680     - decode all bytes in PDO2
681     - devide by fTicks instead of a fixed number
682     - improved some comments
683
684   * main/MCosy.[h,cc]:
685     - removed the arbitrary offset in GetSePos
686       (FIXME: This needs to become an option in the rc-file)
687     - take an MEnv instead of a local TEnv
688     - improved output
689     - get name for pointing model as argument
690
691   * tcpip/MCeCoCom.h, tcpip/MDriveCom.h:
692     - get ip-address as argument
693
694   * tcpip/MTcpIpIO.[h,cc]:
695     - added GetSocketAddress functions
696     - changed some cout to gLog
697     - improved output
698
699   * videodev/MVideo.[h,cc]:
700     - added an argument to Ioctl to suppress an expected error
701
702
703
704 2008/02/12 Thomas Bretz (La Palma)
705
706   * videodev/MVideo.[h,cc]:
707     - added code to enumare the controls of the device
708     - set device to PAL-N as default (this needs to be made
709       more flexible!)
710     - added a new class MVideoCtrl for control enumeration
711     - added functions to handle the controls
712     - note that this now relys on video4linux2
713     - changed the type of the frame buffer from char to unisgned char
714     - make sure that CaptureWait is called as often as CaptureStart
715       otherwise the card complains
716     - use the systems videodev.h and videodev2.h instead of our own
717
718
719
720 2008/02/09 Thomas Bretz (La Palma)
721
722   * Makefile:
723     - removed readcam
724
725   * cosy.cc:
726     - fixed a problem with the --channel option
727
728   * videodev/Camera.[h,cc]:
729     - changed argument of Process frame to unsigned
730     - always interpolate the rgb value -- this gives clearly
731       less noisy pictures
732     - fixed the switchibng of the channel
733
734   * videodev/PngReader.cc:
735     - fixed order of includes
736
737
738
739 2008/02/08 Thomas Bretz (La Palma)
740
741   * videodev/PngReader.[h,cc]:
742     - changed to use MThread
743
744   * videodev/MVideo.cc:
745     - improved error out
746
747   * videodev/Camera.[h,cc]:
748     - removed old obsolete code
749     - fixed capture loop for more than 2 buffers
750
751   * main/MStarguider.cc:
752     - removed obsolete call to Camera->Loop()
753
754   * main/MCosy.h:
755     - removed some obsolete comments
756
757
758
759 2008/02/05 Thomas Bretz (La Palma)
760
761   * cosy.cc:
762     - setup address and port in constructor of Ethernet
763
764   * candrv/ethernet.[h,cc]:
765     - added new data mebers fTxAddress and fTxPort
766     - get all io addresses in constructor
767
768   * gui/MGCosy.cc:
769     - switch off debug mode
770
771   * main/MCosy.cc, main/MStarguider.cc, videodev/Camera.cc:
772     - added missing stream manipulators
773
774   * tcpip/MCeCoCom.h:
775     - set address of CeCo in constructor of MTCpIpIO
776
777   * tcpip/MTcpIpIO.[h,cc]:
778     - moved setting of destination address into arguments of constructor
779
780   * videodev/MVideo.cc:
781     - tiny improfements to logging output
782
783
784
785 2008/02/04 Thomas Bretz (La Palma)
786
787   * candrv/interface.[h,cc], candrv/ethernet.[h,cc],
788     MIncl.h, MLinkDef.h:
789     - added
790
791   * Makefile:
792     - removed readcam from list of programs
793
794
795
796 2008/02/02 Thomas Bretz
797
798   * main/MCosy.cc, candrv/vmodican.cc, gui/MGCoordinates.cc,
799     gui/MGSkyPosition.cc, gui/MGImage.cc:
800     - added stream modifiers
801
802
803
804 2008/01/31 Thomas Bretz
805
806   * base/Makefile:
807     - removed MThread... now in Mars
808     - include ../mars for new location of MThread
809
810   * base/msgqueue.[h,cc], candrv/nodedrv.cc, candrv/vmodican.h,
811     main/MCosy.h, main/MTracking.h, tcpip/MTcpIpIO.[h,cc],
812     videodev/Camera.[h,cc]:
813     - renamed MyThreadX to MThread
814
815   * Makefile:
816     - removed include of mvideo
817
818   * videodev/Makefile:
819     - removed include of mvideo
820     - added class MVideo
821
822   * videodev/MVideo.[h,cc]:
823     - added
824
825   * base/coord.h, base/log.h, base/threads.h, base/timer.[h,cc],
826     catalog/SaoFile.[h,cc], base/File.[h,cc]:
827     - obsolete -> removed
828
829   * catalog/SaoFile.h, catalog/SlaPlanets.h, catalog/SlaStars.[h,cc],
830     catalog/Slalib.[h,cc], catalog/StarCatalog.[h,cc], gui/MGAccuracy.cc,
831     gui/MGCoordinates.cc, gui/MGCosy.cc, gui/MGPngReader.cc,
832     gui/MGSkyPosition.cc, gui/MGVelocity.cc, main/MStargHistograms.[h,cc],
833     main/MStarguider.cc, main/MTracking.h, tcpip/MDriveCom.cc,
834     tpoint/TPointIncl.h:
835     - revised includes
836     - revised global defines in header files
837
838   * videodev/Writer.[h,cc]:
839     - revised includes
840     - replaced XY by TVector2
841
842
843
844 2008/01/30 Thomas Bretz
845
846   * candrv/sdolist.cc:
847     - use the ?: operator instead of a cast
848
849   * gui/GuiIncl.h:
850     - removed obsolete coord.h
851
852   * gui/MGCoordinates.h:
853     - added include of MPointing instead of forward declaration of class XY
854
855   * gui/MGCosy.cc:
856     - revised includes
857     - added some manipulators
858
859   * main/MStarguider.cc:
860     - revised includes
861
862   * main/MCosy.[h,cc]:
863     - chnaged some manipulators
864     - adapted calls to consructors of Macs and ShaftEncoders
865
866    * tcpip/MCeCoCom.[h,cc]:
867      - adapted to the otehr changes. Note that with this all reports are
868        send to CC which means that the Drive reports get send ten times a
869        second
870
871    * candrv/CandrvLinkDef.h:
872      - for the time being Ethernet has been added and Interface be removed
873
874
875
876 2008/01/27 Thomas Bretz
877
878   * .rootrc:
879     - updated to the one of Mars
880
881   * macros/dohtml.C:
882     - added
883
884
885
886 2008/01/24 Thomas Bretz
887
888   * telesto.cc, tpoint/Makefile, tpoint/TPointLinkDef.h, tpoint/skull.xpm,
889     tpoint/TPointIncl.cc, TPointStar.[h,cc], TPointGui.[h,cc]:
890     - added
891
892   * candrv/nodedrv.cc:
893     - changed NodeGuard to new Thread model
894
895   * gui/MGCosy.cc:
896     - replaced usage of old MG*Menu classes by the corresponding basic
897       root classes
898     - use root's cleanup facility indstead of MGList where possible
899     - SetOwner of fList to ensure a real cleanup
900     - Prepare for changes in the coordinate classes
901
902   * main/MSlewing.cc, main/MTracking.cc:
903     - added modifiers to log-stream
904     - prepared for the changes in the coordinate classes
905
906   * main/MStarguider.cc:
907     - replaced MG*Menu classes by the corresponding root classes
908     - use root's cleanup facility
909     - SetOwner of the fList
910
911   * base/coord.h:
912     - removed coordinate classes, replaced by new classes from MPointing.h
913       (they are basically identical by now in libmars.so and derived from
914        TVector2)
915
916   * base/msgqueue.[h,cc]:
917     - simplified the scheme of the message queue using a single thread
918     - now the default is that new messages override pending ones
919     - the development is based on debugging with valgrind
920     - the aim is more stability due to simplification
921     - uses new threading scheme
922
923   * macros/rootlogon.C:
924     - improved
925
926   * Makefile:
927     - added telesto
928     - added inlcude directories
929     - renamed cosy.so to libcosy.so
930
931   * base/MThread.[h,cc]:
932     - implemented new Threading classe(s) -- still to be revised!
933       (should be made part of Mars finally!)
934
935   * candrv/vmodican.[h,cc]:
936     - adapted to new threading scheme
937     - replaced lout by gLog
938     - removed cast from third argument in ioctl (complains from a
939       64bit debugger)
940     - removed HandleMessage (now it is one level up -- that's not logical
941       but just simple)
942     - the same applies to SendCanFrame and MsgDescr
943     - thread is not detached anymore
944
945   * videodev/Camera.[h,cc]:
946     - for the moment the Camera class is removed from the root dictionary
947     - changed to new threading class
948     - thread doesn't run detached anymore
949     - the Camera control is now based on the new MVideo-class
950     - a lot of code has been moved to the new MVideo class
951     - we also support (as a hack for tests) color cameras with different
952       field-of-views
953     - simplified and improved the logic of the loop based on valgrinds output
954
955   * videodev/VideodevLinkDef.h:
956     - removed Camkera from dictionary
957
958   * main/MCosy.[h,cc]:
959     - replaced kDeg2Rad and kRad2Deg by TMath
960     - replaced lout by gLog
961     - made a few changes for the new coordinate classes
962     - added cancel points to thread where possible
963     - changed to new threading classes
964     - thread doesn't run detached anymore
965
966   * candrv/nodedrv.[h,cc], devdrv/macs.[h,cc], devdrv/shaftencoder.[h,cc],
967     candrv/network.[h,cc]:
968     - changed from lout to gLog
969     - added maipulators
970     - removed MLog from the constructor
971
972
973
974 2008/01/19 Thomas Bretz
975
976   * cosy.cc:
977     - gave cosy a typical Mars-like implementation
978     - added thread and memory debugging
979     - changed lout to gLog
980     - fixed the problem with TApplication in the gui classes, thus it could
981       now be instantiated as object
982
983   * devdrv/shaftencoder.cc:
984     - mainly cosmetics
985     - added some initializations suggested by valgrind
986
987   * gui/MGCosy.h:
988     - removed obsolete forward declaration of TGMenuBar
989
990   * gui/MGEmbeddedCanvas.[h,cc]:
991     - some cosmetics
992     - correctly replaced ForEach by R__FOR_EACH
993
994  * main/MStarguider.[h,cc]:
995    - use root's own cleanup facility where possible
996    - set the owenership to fList to ensure deletion
997    - use a simple way to cascade the menues
998    - replace MG*Menu by TG*Menu
999    - improved the switching of the starguider channels. Especially
1000      no recreation of the object is done if not necessary
1001
1002
1003
1004 2008/01/18 Thomas Bretz
1005
1006   * base/Makefile:
1007     - cosmetics
1008
1009   * catalog/SlaStars.cc, catalog/Slalib.cc, catalog/StarCatalog.h,
1010     gui/MGSkyPosition.cc:
1011     - replaced kRad2Deg by TMath::RadToDeg()
1012     - replaced kDeg2Rad by TMath::DegToRad()
1013     - replaced kPiDiv2  by TMath::Pi()/2
1014
1015   * main/MCaos.cc:
1016     - replaced cout by gLog and use color coding
1017     - replaced coord.h by MPointing.h
1018
1019
1020
1021 2008/01/16 Thomas Bretz
1022
1023   * gui/MGMenu.[h,cc]:
1024     - removed
1025
1026   * Makefile, Makefile.conf.general, Makefile.conf.linux,
1027     Makefile.rules, caos/Makefile, catalog/Makefile,
1028     devdrv/Makefile, gui/Makefile, main/Makefile,
1029     slalib/Makefile, tcpip/Makefile, videodev/Makefile:
1030     - changed all Makefiles to the Mars Makefile style for better
1031       performance, maintanance and reliability
1032     - some updates for future code
1033
1034   * videodev/CaosFilter.h, videodev/FilterLed.h, videodev/PixClient.h,
1035     videodev/PixGetter.h, videodev/Writer.h, candrv/sdolist.h:
1036     - added virtual destructor as suggested by gcc 4
1037
1038   * devdrv/macs.[h,cc], devdrv/shaftencoder.[h,cc], candrv/canopen.[h,cc],
1039     candrv/network.[h,cc], candrv/nodedrv.[h,cc]:
1040     - replaced timeval_t* by a const reference in all arguments of
1041       member functions
1042
1043   * gui/MGEmbeddedCanvas.cc:
1044     - replaced C-style includes (iostream.h) with C++ style (iostream)
1045
1046   * videodev/FilterLed.cc:
1047     - initialized fImg as suggested by valgrind
1048
1049   * candrv/canopen.cc, candrv/network.cc, main/MTracking.cc,
1050     main/MPpointing.cc, tcpip/MTcpIpIO.cc:
1051     - replaced the lout-logging by gLog
1052
1053   * candrv/canopen.[h,cc]:
1054     - derive from a generalized base class (Interface) now instead of
1055       the specialized VmodIcan interface class
1056     - added member function to start and stop the underlaying interface
1057     - moved the RawCan handling function from VModIcan here
1058       (HandleMessage)
1059
1060   * candrv/network.[h,cc]:
1061     - start interface via CanOpen::Start and stop it via CanOpen::Stop
1062     - removed obsolete arguments from constructor
1063     - initialize fNodes and fNodeInitialized as suggested by valgrind
1064
1065   * gui/MGCoordinate.cc:
1066     - SetOwner of fList to make sure that all gui object are properly deleted
1067     - initialize the "label"-pointer as suggested by valgrind
1068
1069   * gui/MGCosy.h:
1070     - removed obsolete forward class declaration of TGMenuBar
1071
1072   * gui/MGCoordinate.cc, gui/MGPngReader.cc
1073     - SetOwner of fList to make sure that all gui object are properly deleted
1074
1075   * main/MTracking.[h,cc]:
1076     - use new threading model (uses RunThread and CancelThread instead of
1077       Start Stop)
1078     - changed return code of Thread from void* to Int_t#
1079     - replaced chacking the HasStopFlag by TThread::CancelPoint calls
1080     - renamed MPointing to MSlewing to get rid of a namespace conflic
1081       with Mars' MPointing
1082
1083   * main/MainLinkDef.h:
1084     - added the missing + for MCosy and MTracking
1085     - replaced MPointing by MSlewing
1086
1087   * main/MPointing.[h,cc]:
1088     - renamed class to MSlewing
1089     - removed
1090
1091   * main/MSlewing.[h,cc]:
1092     - added
1093
1094   * tcpip/MTcpIpIO.[h,cc]:
1095     - splitted MTcpIpIO into two base classes, one for input, one for output
1096     - made the ports an argument
1097     - derived from new threading class
1098     - also added a static function to send a frame over a exclusively
1099       opened port
1100     - replaced old HasStopFlag by new IsThreadCanceled (this is used
1101       instead of a CancelPoint to ensure correct cleanup)
1102
1103   * tcpip/MDriveCom.h:
1104     - updated constructor
1105
1106
1107
1108 2008/01/14 Thomas Bretz
1109
1110   * tpoint/gui.C:
1111     - added individual reset buttons
1112
1113
1114
1115 2008/01/09 Thomas Bretz
1116
1117   * tpoint/gui.C:
1118     - some small improvements
1119
1120
1121
1122 2007/06/06 Thomas Bretz
1123
1124   * tpoint/*:
1125     - added new tpoint files
1126     - added starguider tpoint files
1127     - cleaned up the tpoints from errorneous detections
1128
1129   * tpoint/gui.C:
1130     - added option to read collections
1131     - added new button to reread tpoints
1132
1133
1134
1135 2007/06/06 Markus Meyer
1136
1137   * tpoint/:
1138     - added tpoint files from Jan. 2007 to June 2007
1139
1140
1141
1142 2007/03/14 Thomas Bretz
1143
1144   * bend.cc, cosy.cc, starg.cc, testse.cc, base/MStarList.cc,
1145     base/MThread.cc, base/log.h, base/msgqueue.cc, candrv/nodedrv.cc,
1146     candrv/sdolist.cc, catalog/SlaPlanets.cc, catalog/Slalib.cc,
1147     catalog/StarCatalog.cc, gui/MGAccuracy.cc, gui/MGCoordinate.cc,
1148     gui/MGCoordinates.cc, gui/MGCosy.cc, gui/MGNumStars.cc,
1149     gui/MGSkyPosition.cc, main/MBending.cc, main/MStargHistograms.cc,
1150     base/coord.h, main/MCaos.cc, main/MCosy.cc, main/MPointing.cc,
1151     main/MStarguider.cc, main/MTracking.cc, videodev/FilterLed.cc,
1152     videodev/PixClient.cc, videodev/PngReader.cc, videodev/Writer.cc:
1153     - replaced obsolete .h by C++ headers
1154     - added namespace std
1155
1156   * base/MStarList.h:
1157     - fixed warnings about overwriting of Delete
1158
1159   * base/MStopwatch.h, gui/MGCoordinate.h, gui/MGCoordinates.h,
1160     main/MStarguider.h:
1161     - fixed warning about overwriting of Print()
1162
1163   * base/MTimeout.cc, candrv/nodedrv.cc, devdrv/macs.cc,
1164     tcpip/MCeCoCom.cc:
1165     - fixed default argument in declaration
1166
1167   * catalog/StarCatalog.cc, gui/MGAccuracy.cc, main/MCaos.[h,cc],
1168     main/MCosy.cc, main/MPointing.cc, main/MStarguider.cc,
1169     main/MTracking.cc:
1170     - fixed a type problem (int instead of double)
1171
1172   * gui/MGCoordinate.cc, gui/MGCosy.cc:
1173     - fixed a warning about double declaration
1174
1175   * tcpip/MCeCoCom.h:
1176     - renamed Send to SendRep
1177
1178   * tcpip/MDriveCom.cc:
1179     - replaced Send by SendRep
1180
1181   * tcpip/MTcpIpIO.cc:
1182     - added missing return
1183
1184
1185
1186 2006/11/01 Thomas Bretz
1187
1188   * tpoint/gui.C:
1189     - added the horizon
1190     - got rid of a warning about a TGraph with 0 points in case
1191       the tpoint-file didn't contain magnitudes.
1192
1193
1194
1195 2006/07/18 Thomas Bretz
1196
1197   * base/MStar.h:
1198     - fixed a really stupid bug in the constructor, which automatically
1199       converted the magnitudes into ints.
1200
1201
1202
1203 2006/07/16 Thomas Bretz
1204
1205   * leds.txt:
1206     - new values
1207
1208   * gui/MGCoordinate.cc:
1209     - increased size of output text to display sign
1210
1211   * gui/MGCosy.cc:
1212     - named MACS correctly MACS
1213
1214   * gui/MGNumStars.cc:
1215     - changed color for correlated stars from magenta to cyan
1216
1217   * main/MStarguider.cc:
1218     - changed starguider angle to -0.2
1219     - changed pixsize to 48.9
1220     - update num stars only if starguider is switched on
1221     - removed bug which caused the rotation angle in fact to
1222       be always 0
1223     - reimplemented the algorithm which only takes the n-th brightest
1224       stars from the catalog if n is the number of detected stars
1225       (otherwise the catalog might be so crowded with stars that
1226        one spot is correlated with many catalog stars)
1227     - decreased the search region for the LEDs
1228     - some things are not done anymore if not necesarry
1229
1230   * videodev/FilterLed.[h,cc]:
1231     - cleaned up
1232     - changed the interface of the ClusterFinder slightly to
1233       allow it beeing used for the TPoint spot of the star
1234
1235
1236
1237 2006/07/16 Daniela Dorner
1238
1239   * main/MStarguider.[h,cc]:
1240     - improvement in showing/hiding of parts of the display in the starguider
1241       window
1242
1243
1244
1245   * main/MStarguider.cc:
1246     - fixed bug in setting menu entry for limiting magnitude
1247
1248
1249
1250 2006/07/14 Thomas Bretz (La Palma)
1251
1252   * stargleds.txt:
1253     - changed positions slightly
1254
1255   * gui/GuiLinkDef.h, gui/Makefile:
1256     - added MGNumStars
1257
1258   * gui/MGStars.[h,cc]:
1259     - addde
1260
1261   * gui/MGAccuracy.[h,cc], gui/MGStarg.[h,cc]:
1262     - unified
1263     - slight changes to layout
1264
1265   * gui/MGCoordinate.[h,cc], MGCoordinated.[h,cc]:
1266     - added a new mode which allows to suppress the title
1267
1268   * gui/MGCosy.[h,cc]:
1269     - added new status box (armed) currently switched on by default
1270     - adapted to changes in MGAccuracy
1271     - disallow changing the size of the window
1272
1273   * main/MCaos.cc:
1274     - removed an obsolete Print()
1275
1276   * main/MCosy.cc:
1277     - fixed the name of the log-files (2006 instead of 06)
1278
1279   * main/MStarguider.[h,cc]:
1280     - implemented new socket to send triggers to Amc (port 7307)
1281     - changed standard limiting magnitude from 7.0 to 9.0
1282     - changed layout of display to implement new canvas
1283       displaying the number of detected and correlated stars
1284     - adapted to changes in MGStarg
1285     - added box to change cleaning level of starguider window
1286     - set default rotation angle to -0.4deg
1287     - disallow changing of window size
1288     - CalcTrackingError: check first the number of detected spots
1289       and afterwards the number of found catalog stars
1290     - CalcTrackingError: just try to correlate all spots with all stars
1291     - decreased box size of LED box in starguider mode
1292     - replaced circles around starguider pointing position by
1293       camara size hexagons
1294     - do not show the starguider pointing position if less than three
1295       stars could be correlated
1296
1297   * tcpip/MTcpIpIO.cc:
1298     - fixed a comparison between "signed and unsigned"
1299
1300   * videodev/FilterLed.[h,cc]:
1301     - implemented DrawHexagon based on MGMap::DrawHexagon
1302     - renamed *Circle to *Box
1303     - replaced old algorithm to find stars in starguider mode (and
1304       LEDs) by a new ClusterFinder class
1305     - needs more maintanance!
1306
1307
1308
1309 2006/07/11 Thomas Bretz (La Palma)
1310
1311   * Makefile:
1312     - changed to support linking with the libmars.so instead
1313       of compiling a lot of stuff itself
1314
1315   * Makefile.conf.general: 
1316     - added -DMARSVER
1317
1318   * base/BaseLinkDef.h:
1319     - removed the now obsolete pragma
1320
1321   * base/Makefile
1322     - removed the now obsolete files
1323
1324   * candrv/Makefile, caos/Makefile, catalog/Makefile,
1325     videodev/Makefile, devdrv/Makefile, gui/Makefile,
1326     main/Makefile, tcpip/Makefile:
1327     - added the new mars include directory
1328
1329   * caos/Leds.h, caos/Rings.h:
1330     - added an overwrite for Print to make the compiler happy
1331
1332   * catalog/StarCatalog.cc:
1333     - small improvements to determination of image border
1334       by using min- and max-functions
1335
1336   * gui/MGCoordinate.cc:
1337     - small improvement to layout
1338
1339   * gui/MGImage.cc:
1340     - fixed 16bit-color mode. The encoding was just wrong
1341
1342   * videodev/Camera.cc:
1343     - unlock the tread after the broadcast. The reason why it
1344       is neccessary in root 4.04/02g to make cosy work is
1345       unknown. Anyhow it makes switching the cameras more robust
1346
1347   * cosy.cc:
1348     - updated writing log-files
1349     - implemented sanity check for batch mode
1350
1351   * gui/MGAccuracy.cc, gui/MGStarg.cc:
1352     - use GetabsDev from MAstro
1353     - scale azimuth deviation to real distance on the sky
1354
1355   * main/MCosy.[h,cc]:
1356     - updated writing log-files
1357     - do no perfect position in case of move'n'track
1358     - implemented WM_PREPS for predefined positions
1359     - unified WM_TRACK and WM_GRB
1360     - updated GetFileName
1361
1362   * main/MStarguider.cc:
1363     - undef EXPERT
1364     - some layout changes
1365     - set rotation angle of starguider camera to -0.4deg
1366     - unified FindStar and FindStarCircle
1367     - updated writing log-files
1368     - to calc skycenter the X-offset must be subtracted
1369
1370   * tcpip/MDriveCom.[h,cc]:
1371     - implemented CommandPREPS
1372     - implemented CommandARM
1373
1374   * videodev/FilterLed.[h,cc]:
1375     - unified FindStar and FindStarCircle
1376     - fixed algorithm FindStarCircle (it was not working for
1377       bright stars and didn't take care of the edge of the
1378       image!)
1379     - fixed a long outstanding bug which accessed some memory
1380       outside the image due to a wrong logical condition
1381
1382
1383
1384 2006/07/11 Daniela Dorner
1385
1386   * main/MStarguider.[h,cc]:
1387     - implemented function to disable and uncheck an entry in the menu
1388
1389   * main/MStarguider.cc:
1390     - fixed bugs in (un)checking and en/disabeling items
1391     - removed not needed if-clauses
1392     - rearranged menu
1393
1394
1395
1396 2006/07/10 Thomas Bretz (La Palma)
1397
1398   * slalib/dat.c:
1399     - added leap second from 1st January 2006
1400
1401
1402
1403 2006/06/29 Thomas Bretz
1404
1405   * main/MStarguider.cc:
1406     - fixed a bug which gave a starguider mispointing which was wrong
1407       by the pointing position.
1408     - fixed also the position of the displayed rings wrt to the catalog
1409       sky
1410
1411   * catalog/StarCatalog.cc:
1412     - replaced some Float_t by Int_t
1413
1414
1415
1416 2006/06/28 Thomas Bretz
1417
1418   * main/MStargHistograms.[h,cc]:
1419     - removed Center in units of Zd, Az
1420
1421   * main/MStarguider.cc:
1422     - removed obsolete and dangerous sgcenterzdaz
1423     - do not display the sky-centered rings if sky-center is invalid
1424       (LEDs not detected)
1425     - rais error in this case and send error state to CC
1426     - added lower brighness limit of 30
1427     - do not write pointingpos.txt and tracking_error.txt anymore
1428
1429   * caos/Ring.h:
1430     - added Setter SetXY
1431
1432   * catalog/StarCatalog.cc:
1433     - fixed that when checking for the region in which stars will
1434       be searched only the y- but not the x-offset has been taken into
1435       account
1436     - added a small region around the region of interest because
1437       the catalog position of visible stars might be out of the
1438       search region
1439     - commented out an obsolete function
1440
1441
1442
1443 2006/05/10 Thomas Bretz
1444
1445   * main/MStarguider.cc:
1446     - fixed an error returning the correct value in CalcTrackingError
1447     - added new value to Starguider report
1448
1449   * tcpip/MDriveCom.[h,cc]:
1450     - added new value to starguider report
1451
1452
1453   
1454 2006/03/23 - Daniela Dorner, Thomas Bretz
1455
1456   * main/MStarguider.[h,cc]:
1457     - changed starguider algorithm
1458
1459
1460
1461 2006/03/19 - Daniela Dorner
1462
1463   * main/MStargHistograms.cc:
1464     - changed name of tree from CaOs to Starg
1465
1466   * leds.txt, stargleds.txt:
1467     - added new leds
1468
1469   * main/MCosy.cc:
1470     - changed name of tpoint-files, which are written from Cosy, from
1471       tpoint*.txt to old-tpoint*.txt
1472
1473   * main/MStarguider.[h,cc]:
1474     - added StarguiderTpoint Button
1475     - included 2 new variables to allow for the implementation of
1476       StarguiderTpoints
1477     - added writing of StarguiderTpoints to the function CalcTrackingError
1478     - StarguiderTpoints are written to tpoint/starg_*.txt
1479     - Tpoints are wriiten to tpoint/tpoint_*.txt
1480     - added pulldown Mode to Menu
1481     - cleaned Menu (removed not needed items, rearanged place of items
1482     - removed expertmode
1483     - implemented Tpoint- and Starguider-Mode (switches all needed item)
1484       put some code into functions therefor
1485     - implemented releasing of button, if no tpoint can be taken
1486     - fixed small bugs in (un)checking items
1487     - removed starguider analyis (writing root-files) from starguider mode to
1488       stabilize the code
1489     - added 'fGetter->ExitLoop()' before each 'delete fGetter'
1490     - added SetDirectory(0) for histogram in starguider
1491
1492
1493
1494 2006/03/11 - Daniela Dorner
1495
1496   * tpoint/bending051124.txt:
1497     - added
1498
1499
1500
1501 2005/08/29 - Daniela Dorner
1502
1503   * main/MStarguider.cc, tcpip/MDriveCom.[h,cc]:
1504     - added to variables to the Starguider report
1505
1506
1507
1508 2005/08/22 - Thomas Bretz
1509
1510   * candrv/nodedrv.cc, main/MTracking.cc:
1511     - fixed usage of MTime (MTime(-1) instead of MTime())
1512
1513
1514
1515 2005/08/22 - Thomas Bretz
1516
1517   * caos/Ring.[h,cc]:
1518     - added a sanity check for the case a led entry == NULL
1519
1520   * caos/Rings.[h,cc]:
1521     - code cleanup
1522     - added a sanity check to CalcRings
1523
1524   * devdrv/shaftencoder.h:
1525     - added new member function GetPosDirCorrected
1526     - added new member function GetOffsetDirCorrected
1527
1528   * main/MStarguider.cc:
1529     - set number of minimum required LEDs for the ring calculation
1530       to 3. With two LEDs you can NEVER calculate a ring!
1531     - added another sanity check in FindStars
1532
1533   * main/MTracking.cc:
1534     - replaced ?:-operators by new functions Get*DirCorrected
1535     - made sure that if both directions have changed the reset
1536       really causes the correct values to be used immediatly!
1537     - added some code for future use
1538
1539
1540
1541 2005/07/28 - Florian Goebel
1542
1543   * videodev/FilterLed.[cc,h]
1544     - add GetMeanPositionCircle and FindStarCircle
1545 
1546   * devdrv/shaftencoder.[cc,h]
1547     - add: fDirHasChanged, fDirChangedPos, fDirChangedOffset,
1548            fDirection, fHysteresisPos, fHysteresisNeg
1549
1550   * main/MCosy.cc
1551     - set faster acceleration and Velocity parameters in TrackPositionGRB
1552
1553   * main/MPointing.cc
1554     - correct bug which always set speed to LO-SPEED
1555
1556   * main/MStarguider.[cc,h]
1557     - add new Popup "Operation" (functionality is not ready yet)
1558     - add new procedure: FindRoqueLamp
1559     - in MStarguider::FindStar now use Leds::FindStarCircle
1560       (instead of Leds::FindStar)
1561
1562   * main/MTracking.cc
1563     - calculate DirHasChanged etc.
1564
1565
1566
1567 2005/04/11 - Thomas Bretz
1568
1569   * main/MTracking.cc:
1570     - allow to send velocity and request position twice
1571     - enhanced some debugging output
1572
1573   * candrv/network.[h,cc]:
1574     - implemented PrintError
1575
1576   * candrv/nodedrv.[h,cc]:
1577     - implemented new argument (zombie) to WaitForSdo which allows
1578       to mark a missing CANbus message as non-critical
1579
1580
1581
1582 2005/03/21 - Thomas Bretz
1583
1584   * tcpip/MDriveCom.[h,cc]:
1585     - added a missing white space behind the brightness and
1586       fixed the wrong units of Zd/Az in the starguider report
1587
1588
1589
1590 2005/03/17 - Thomas Bretz
1591
1592   * main/MCosy.[h,cc]:
1593     - implemented WM_GRB and TrackPositionGRB for GRB mode
1594
1595   * main/MStarguider.cc:
1596     - added 'status' to FINDSTAR-REPORT
1597     - send STARG-REPORT only if Starguider is switched on
1598     - enhanced output in starguider report
1599
1600   * tcpip/MCeCoCom.cc:
1601     - tried to backengineer the CC-REPORT because it is not documented
1602       in the CC TDAS
1603     - changed critical values for windspeed from 10/20/30 to 30/40/50
1604
1605   * tcpip/MDriveCom.[h,cc]:
1606     - implemented handling of GRB command
1607     - enhanced SendStargReport. Starguider Report now:
1608       misszd[%05.3f] missaz[%05.3f]
1609       nomzd[%c %03d %02d %03d] nomaz[%c %03d %02d %03d]
1610       centerx[%05.1f] centery[%05.1f] n[%04d]
1611       bright[%03.1f] mjd[%12.6f]
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