Index: /trunk/MagicSoft/Cosy/Changelog =================================================================== --- /trunk/MagicSoft/Cosy/Changelog (revision 1110) +++ /trunk/MagicSoft/Cosy/Changelog (revision 1111) @@ -1,3 +1,131 @@ -*-*- END -*-*- + + 2001/12/12 - Thomas Bretz: + + * base/coord.h: + - added constants for unit transformations + + * base/msgqueue.h: + - replaced pthread.h by thread.h + + * base/timer.h: + - removed unistd.h + - added forward declaration for timeval + + * candrv/CandrvLinkDef.h: + - added VmodIcan + - added CanOpen + - added Network + - added NodeDrv + - added PendingSDO + - added PendingSDOList + + * candrv/nodedrv.h, candrv/sdolist.h, candrv/vmodican.h, + videodev/Camera.h, videodev/Writer.h: + - added ClassDef + - added some declarations for __CINT__ case + + * base/MThread.h: + - added some declarations for __CINT__ case + + * base/threads.h: + - added + + * catalog/CatalogLinkDef.h: + - added Slalib+ + - added SlaStars+ + - added SlaPlanets+ + - added SaoFile+ + - added StarCatalog+ + + * catalog/SlaStars.h: + - added ClassDef + - included coord.h for coordation tranformations + + * catalog/SlaStars.cc, catalog/Slalib.cc, gui/MGSkyPosition.cc: + - added ClassImp + - changed slalib macros to coord.h constants + + * catalog/StarCatalog.h: + - added ClassDef + - changed slalib macros to coord.h constants + + * devdrv/DevdrvLinkDef.h: + - added Macs+; + - added ShaftEncoder+; + + * gui/GuiIncl.h: + - added coord.h + + * gui/GuiLinkDef.h: + - added MGAccuracy+; + - added MGCoordinate+; + - added MGCoordinates+; + - added MGEmbeddedCanvas+; + - added MGImage+; + - added MGSkyPosition+; + - added MGVelocity+; + - added MGCosy+; + - added MGStarguider+; + + * gui/MGCoordinate.[h,cc]: + - changed Flist to pointer type + + * gui/MGCosy.cc: + - added ClassImp + - fixed a bug which causes 'Exit' not to work + - changed slalib macros to coord.h constants + + * gui/MGCosy.h: + - added ClassDef + + * gui/MGEmbeddedCanvas.h: + - added ClassImp + - removed consts + + * gui/MGStarguider.[h,cc]: + - added ClassImp/Def + - change fList to pointer type + - change fRaDec to pinter type + - changed fSao to pointer type + + * main/MCosy.[h,cc]: + - added ClassImp + - changed order + - added comments + - changed slalib macros to coord.h constants + - changed defines to enums + + * main/MainCint.h: + - removed + + * main/MainLinkDef.h: + - added MCosy + + * devdrv/Makefile, candrv/Makefile, catalog/Makefile, gui/Makefile, + main/Makefile, videodev/Makefile: + - added CINTHEADERS + + * candrv/canopen.cc, candrv/network.cc,candrv/nodedrv.cc, candrv/sdolist.cc + candrv/vmodican.cc, catalog/SaoFile.cc, catalog/SlaPlanets.cc, + catalog/StarCatalog.cc, devdrv/macs.cc, devdrv/shaftencoder.cc, + gui/MGAccuracy.cc, gui/MGCoordinate.cc, gui/MGCoordinates.cc, + gui/MGEmbeddedCanvas.cc, gui/MGImage.cc, gui/MGVelocity.cc, + videodev/Camera.cc, videodev/Filter.cc, videodev/Writer.cc: + - added ClassImp + + * candrv/network.h, catalog/SaoFile.h, catalog/SlaPlanets.h, + catalog/Slalib.h, devdrv/macs.h, devdrv/shaftencoder.h, + gui/MGAccuracy.h, gui/MGCoordinate.h, gui/MGCoordinates.h, + gui/MGImage.h, gui/MGSkyPosition.h, gui/MGVelocity.h, + videodev/Filter.h: + - added ClassDef + + * videodev/VideodevLinkDef.h: + - added Writer+; + - added Filter+; + - added Camera+; + + 2001/09/10 - Thomas Bretz: @@ -28,5 +156,5 @@ - + 2001/09/07 - Thomas Bretz: Index: /trunk/MagicSoft/Cosy/base/MThread.h =================================================================== --- /trunk/MagicSoft/Cosy/base/MThread.h (revision 1110) +++ /trunk/MagicSoft/Cosy/base/MThread.h (revision 1111) @@ -2,7 +2,11 @@ #define MTHREAD_H +#ifdef __CINT__ +typedef unsigned long int pthread_t; +#else #include +#endif -class MThread +class MThread { private: Index: /trunk/MagicSoft/Cosy/base/threads.h =================================================================== --- /trunk/MagicSoft/Cosy/base/threads.h (revision 1111) +++ /trunk/MagicSoft/Cosy/base/threads.h (revision 1111) @@ -0,0 +1,12 @@ +#ifndef THREADS_H +#define THREADS_H + +#ifndef __CINT__ +#include +#else +typedef unsigned long int pthread_t; +struct pthread_mutex_t; +struct pthread_cond_t; +#endif + +#endif Index: /trunk/MagicSoft/Cosy/catalog/StarCatalog.h =================================================================== --- /trunk/MagicSoft/Cosy/catalog/StarCatalog.h (revision 1110) +++ /trunk/MagicSoft/Cosy/catalog/StarCatalog.h (revision 1111) @@ -73,10 +73,12 @@ const AltAz &altaz); - const AltAz GetAltAz() const { return fAltAz*360/D2PI; } - const ZdAz GetZdAz() const { return ZdAz(DPI/2-fAltAz.Alt(), fAltAz.Az())*360/D2PI; } - const RaDec GetRaDec() const { return fRaDec*360/D2PI; } + const AltAz GetAltAz() const { return fAltAz*kRad2Deg; } + const ZdAz GetZdAz() const { return ZdAz(kPiDiv2-fAltAz.Alt(), fAltAz.Az())*kRad2Deg; } + const RaDec GetRaDec() const { return fRaDec*kRad2Deg; } void SetPixSize(const double pixsize); void SetLimitMag(const float mag) { fLimitMag = mag; }; + + ClassDef(StarCatalog, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGAccuracy.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGAccuracy.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGAccuracy.cc (revision 1111) @@ -18,4 +18,6 @@ #include "coord.h" + +ClassImp(MGAccuracy); void MGAccuracy::DrawCoordinateSystem() Index: /trunk/MagicSoft/Cosy/gui/MGAccuracy.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGAccuracy.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGAccuracy.h (revision 1111) @@ -12,11 +12,8 @@ #endif -class TList; class TLine; class TText; -class TCanvas; class ZdAz; -class SlaPlanets; class MGAccuracy : public MGEmbeddedCanvas @@ -40,4 +37,6 @@ void Update(ZdAz &pos, ZdAz &acc); + + ClassDef(MGAccuracy, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGCoordinate.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCoordinate.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGCoordinate.cc (revision 1111) @@ -17,4 +17,6 @@ #include "slamac.h" +ClassImp(MGCoordinate); + enum { IDM_kDeg, @@ -28,4 +30,6 @@ : TGFrame(p, 119, flag?76:46, kSunkenFrame|kFixedSize), fDeg(deg), fMin(min), fSec(sec) { + fList = new MGList; + // p = pointer to MainFrame (not owner) if (flag) @@ -43,7 +47,7 @@ fTextEntryMin->MapWindow(); fTextEntrySec->MapWindow(); - fList.Add(fTextEntrySec); - fList.Add(fTextEntryMin); - fList.Add(fTextEntryDeg); + fList->Add(fTextEntrySec); + fList->Add(fTextEntryMin); + fList->Add(fTextEntryDeg); Set(fTextEntryDeg, fDeg); @@ -66,7 +70,7 @@ fLabelMin->MapWindow(); fLabelSec->MapWindow(); - fList.Add(fLabelSec); - fList.Add(fLabelDeg); - fList.Add(fLabelMin); + fList->Add(fLabelSec); + fList->Add(fLabelDeg); + fList->Add(fLabelMin); Set(fLabelDeg, fDeg); @@ -78,5 +82,5 @@ fLabel->Move(4, 4); fLabel->MapWindow(); - fList.Add(fLabel); + fList->Add(fLabel); TGLabel *label; @@ -92,5 +96,5 @@ label->Move(39, 26); label->MapWindow(); - fList.Add(label); + fList->Add(label); label = new TGLabel(this, min); @@ -98,5 +102,5 @@ label->Move(73, 26); label->MapWindow(); - fList.Add(label); + fList->Add(label); label = new TGLabel(this, sec); @@ -104,5 +108,5 @@ label->Move(107, 26); label->MapWindow(); - fList.Add(label); + fList->Add(label); } @@ -111,5 +115,5 @@ label->Move(39, ypos); label->MapWindow(); - fList.Add(label); + fList->Add(label); label = new TGLabel(this, min); @@ -117,5 +121,5 @@ label->Move(73, ypos); label->MapWindow(); - fList.Add(label); + fList->Add(label); label = new TGLabel(this, sec); @@ -123,5 +127,5 @@ label->Move(107, ypos); label->MapWindow(); - fList.Add(label); + fList->Add(label); MapWindow(); @@ -130,5 +134,5 @@ MGCoordinate::~MGCoordinate() { - // cout << "MGCoordinate destroyed." << endl; + delete fList; } Index: /trunk/MagicSoft/Cosy/gui/MGCoordinate.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCoordinate.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGCoordinate.h (revision 1111) @@ -29,5 +29,5 @@ Int_t fSec; - MGList fList; + MGList *fList; TGTextEntry *fTextEntryDeg; @@ -57,4 +57,6 @@ void Print(); + + ClassDef(MGCoordinate, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGCoordinates.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCoordinates.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGCoordinates.cc (revision 1111) @@ -10,4 +10,7 @@ #include "MGCoordinate.h" +#include "coord.h" + +ClassImp(MGCoordinates); MGCoordinates::MGCoordinates(const TGWindow* p, Index: /trunk/MagicSoft/Cosy/gui/MGCoordinates.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCoordinates.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGCoordinates.h (revision 1111) @@ -11,7 +11,6 @@ #include #endif -#ifndef COORD_H -#include "coord.h" -#endif + +class XY; enum { @@ -38,4 +37,6 @@ void Print(); + + ClassDef(MGCoordinates, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 1111) @@ -4,4 +4,5 @@ #include "msgqueue.h" +#include "coord.h" #include @@ -28,4 +29,6 @@ #include "SlaStars.h" +ClassImp(MGCosy); + #define IDM_EXIT 1 #define IDM_TEXT 2 @@ -50,6 +53,6 @@ // TGPopupMenu *fFileMenu = new TGPopupMenu(gClient->GetRoot()); - fFileMenu->AddEntry ("Exit", IDM_EXIT) ; - //fFileMenu->Associate(this); + fFileMenu->AddEntry("Exit", IDM_EXIT); + fFileMenu->Associate(this); fList->Add(fFileMenu); @@ -516,5 +519,5 @@ cout << "Ra/Dec: " << rd.Ra() << kDEG << " " << rd.Dec() << kDEG << endl; - ZdAz aa=sla.CalcZdAz(rd*D2PI/360.0)*360.0/D2PI; + ZdAz aa=sla.CalcZdAz(rd*kDeg2Rad)*kRad2Deg; cout << "Zd/Az: " << aa.Zd() << kDEG << " " << aa.Az() << kDEG << endl; } Index: /trunk/MagicSoft/Cosy/gui/MGCosy.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 1111) @@ -6,15 +6,5 @@ #endif -//#ifndef ROOT_TOrdCollection -//#include -//#endif - -#ifndef ROOT_TGWidget -#include -#endif - -#include - -#include "coord.h" +class TIterator; class TGLabel; @@ -23,6 +13,12 @@ class TGHorizontal3DLine; class TGLayoutHints; +class TGCompositeFrame; +class TGTab; +class TGListBox; + +class ZdAz; +class RaDec; class MsgQueue; -class TIterator; + class MGImage; class MGList; @@ -31,7 +27,4 @@ class MGAccuracy; class MGVelocity; -class TGCompositeFrame; -class TGTab; -class TGListBox; class MGCosy : public TGMainFrame @@ -99,4 +92,6 @@ Bool_t ProcessMessage(Long_t msg, Long_t mp1, Long_t mp2); + + ClassDef(MGCosy, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc (revision 1111) @@ -9,4 +9,6 @@ #include #include + +ClassImp(MGEmbeddedCanvas); MGEmbeddedCanvas::MGEmbeddedCanvas(const char *name, const TGWindow* p, Index: /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h (revision 1111) @@ -26,7 +26,7 @@ TList *fList; - const UInt_t fWidth; - const Float_t fRange; - const Float_t fPix; + UInt_t fWidth; // const: rootcint/TMemberInspector + Float_t fRange; // const: rootcint/TMemberInspector + Float_t fPix; // const: rootcint/TMemberInspector void InitCanvas(); @@ -40,4 +40,6 @@ void SetModified() { fModified = kTRUE; } + + ClassDef(MGEmbeddedCanvas, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGImage.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGImage.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGImage.cc (revision 1111) @@ -11,4 +11,6 @@ #include #include + +ClassImp(MGImage); MGImage::MGImage(const TGWindow* p, UInt_t w, UInt_t h, UInt_t options, ULong_t back) Index: /trunk/MagicSoft/Cosy/gui/MGImage.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGImage.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGImage.h (revision 1111) @@ -42,4 +42,6 @@ void DrawImg(const byte *buffer); void DrawColImg(const byte *gbuf, const byte *cbuf); + + ClassDef(MGImage, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc (revision 1111) @@ -17,4 +17,6 @@ #include "coord.h" #include "SlaPlanets.h" + +ClassImp(MGSkyPosition); void MGSkyPosition::InitPlanets() @@ -208,5 +210,5 @@ static int Ry=~0; - const float rad = D2PI*az/360.0; + const float rad = az*kDeg2Rad; const float s = sin(rad); @@ -306,5 +308,5 @@ const float c = cos(zdaz.Az()); - const float deg = 360.0/D2PI*zdaz.Zd(); + const float deg = zdaz.Zd()*kRad2Deg; const float x = s*deg; Index: /trunk/MagicSoft/Cosy/gui/MGSkyPosition.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGSkyPosition.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGSkyPosition.h (revision 1111) @@ -58,4 +58,6 @@ void Update(ZdAz &pos); + + ClassDef(MGSkyPosition, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGStarguider.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGStarguider.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGStarguider.cc (revision 1111) @@ -10,7 +10,13 @@ #include "MGCoordinates.h" +#include "coord.h" + +#include "StarCatalog.h" + #include "Filter.h" #include "Writer.h" #include "base/timer.h" + +ClassImp(MGStarguider); enum { @@ -42,6 +48,11 @@ MGStarguider::MGStarguider() -: Camera(), TGMainFrame(gClient->GetRoot(), 768, 700), fRaDec(180, 40) -{ +: Camera(), TGMainFrame(gClient->GetRoot(), 768, 700) +{ + fList = new MGList; + + fSao = new StarCatalog; + fRaDec = new RaDec(180, 40); + // p = pointer to MainFrame (not owner) @@ -55,5 +66,5 @@ fDisplay->AddEntry("Sao &Catalog", IDM_kCatalog); fDisplay->Associate(this); - fList.Add(fDisplay); + fList->Add(fDisplay); fFileType = new TGPopupMenu(p); @@ -62,5 +73,5 @@ fFileType->CheckEntry(IDM_kPNG); fFileType->Associate(this); - fList.Add(fFileType); + fList->Add(fFileType); fWriteType = new TGPopupMenu(p); @@ -69,5 +80,5 @@ fWriteType->CheckEntry(IDM_kOnce); fWriteType->Associate(this); - fList.Add(fWriteType); + fList->Add(fWriteType); fWriteRate = new TGPopupMenu(p); @@ -81,5 +92,5 @@ fWriteRate->CheckEntry(IDM_kRate1m); fWriteRate->Associate(this); - fList.Add(fWriteRate); + fList->Add(fWriteRate); fWrtRate = 25*60; @@ -94,5 +105,5 @@ fWrite->DisableEntry(IDM_kStop); fWrite->Associate(this); - fList.Add(fWrite); + fList->Add(fWrite); fLimMag = new TGPopupMenu(p); @@ -106,12 +117,12 @@ fLimMag->CheckEntry(IDM_kLimMag8); fLimMag->Associate(this); - fList.Add(fLimMag); - - fSao.SetLimitMag(8.0); + fList->Add(fLimMag); + + fSao->SetLimitMag(8.0); fSetup = new TGPopupMenu(p); fSetup->AddPopup("Lim. &Magnitude", fLimMag); fSetup->Associate(this); - fList.Add(fSetup); + fList->Add(fSetup); fMenu = new TGMenuBar(this, 0, 0, kHorizontalFrame); @@ -121,19 +132,19 @@ fMenu->Resize(fMenu->GetDefaultSize()); AddFrame(fMenu); //, new TGLayoutHints (kLHintsNormal, 0, 4, 0, 0)); - fList.Add(fMenu); + fList->Add(fMenu); fCRaDec = new MGCoordinates(this, kETypeRaDec); fCRaDec->Move(1, fMenu->GetDefaultHeight()+584); AddFrame(fCRaDec); - fList.Add(fCRaDec); + fList->Add(fCRaDec); fCZdAz = new MGCoordinates(this, kETypeZdAz); fCZdAz->Move(240+12, fMenu->GetDefaultHeight()+584); AddFrame(fCZdAz); - fList.Add(fCZdAz); + fList->Add(fCZdAz); // TGHorizontal3DLine *fLineSep = new TGHorizontal3DLine(this); // AddFrame(fLineSep, new TGLayoutHints (kLHintsNormal | kLHintsExpandX)); - // fList.Add(fLineSep); + // fList->Add(fLineSep); // @@ -143,5 +154,5 @@ fImage->Move(0, fMenu->GetDefaultHeight()); AddFrame(fImage); - fList.Add(fImage); + fList->Add(fImage); // @@ -154,9 +165,13 @@ MapWindow(); - fSao.SetPixSize(0.006); + fSao->SetPixSize(0.006); } MGStarguider::~MGStarguider() { + delete fSao; + delete fRaDec; + + delete fList; cout << "Camera Display destroyed." << endl; } @@ -281,5 +296,5 @@ fLimMag->UnCheckEntry(i); - fSao.SetLimitMag(mp1-IDM_kLimMag3+3); + fSao->SetLimitMag(mp1-IDM_kLimMag3+3); return kTRUE; } @@ -331,11 +346,11 @@ XY xy = fCRaDec->GetCoordinates(); - fRaDec.Set(xy.X(), xy.Y()); + fRaDec->Set(xy.X(), xy.Y()); Timer time(tm); - fSao.GetImg(img, cimg, time.CalcMjd(), fRaDec); + fSao->GetImg(img, cimg, time.CalcMjd(), *fRaDec); fImage->DrawColImg(img, cimg); - fCZdAz->SetCoordinates(fSao.GetZdAz()); + fCZdAz->SetCoordinates(fSao->GetZdAz()); } else Index: /trunk/MagicSoft/Cosy/gui/MGStarguider.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGStarguider.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGStarguider.h (revision 1111) @@ -11,5 +11,6 @@ #include "MGList.h" #include "MGImage.h" -#include "StarCatalog.h" + +class RaDec; class TGMenuBar; @@ -19,8 +20,10 @@ class MGCoordinates; +class StarCatalog; + class MGStarguider : public Camera, public TGMainFrame { private: - MGList fList; + MGList *fList; TGMenuBar *fMenu; @@ -38,7 +41,7 @@ MGCoordinates *fCZdAz; - StarCatalog fSao; + StarCatalog *fSao; - RaDec fRaDec; + RaDec *fRaDec; int fWrtRate; @@ -50,5 +53,5 @@ virtual ~MGStarguider(); - void Update(); + //void Update(); void Layout(); @@ -61,4 +64,6 @@ // void ProcessFrame(const unsigned long n, byte *img, struct timeval *tm); + + ClassDef(MGStarguider, 0) }; Index: /trunk/MagicSoft/Cosy/gui/MGVelocity.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGVelocity.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGVelocity.cc (revision 1111) @@ -20,4 +20,6 @@ #include "coord.h" +ClassImp(MGVelocity); + void MGVelocity::DrawCoordinateSystem() { Index: /trunk/MagicSoft/Cosy/gui/MGVelocity.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGVelocity.h (revision 1110) +++ /trunk/MagicSoft/Cosy/gui/MGVelocity.h (revision 1111) @@ -51,4 +51,6 @@ void Update(ZdAz &pos); + + ClassDef(MGVelocity, 0) }; Index: /trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/main/MCosy.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/main/MCosy.cc (revision 1111) @@ -22,4 +22,6 @@ //#include // PRIO_PROCESS +ClassImp(MCosy); + typedef struct tm tm_t; @@ -32,15 +34,15 @@ double Rad2SE(double rad) { - return 16384.0/D2PI*rad; + return 16384.0/k2Pi*rad; } double Rad2ZdRE(double rad) { - return 16384.0/D2PI*rad*kGearRatio.X(); + return 16384.0/k2Pi*rad*kGearRatio.X(); } double Rad2AzRE(double rad) { - return 16384.0/D2PI*rad*kGearRatio.Y(); + return 16384.0/k2Pi*rad*kGearRatio.Y(); } @@ -68,8 +70,8 @@ ZdAz source = src * 360.0/16384.0; - ZdAz dest = dst * 360.0/D2PI; + ZdAz dest = dst * kRad2Deg; if (dest.Zd()>-1e-6 && dest.Zd()<1e-6) - return dst*(16384.0/D2PI); + return dst*(16384.0/k2Pi); const float fZdMin = -67; @@ -122,7 +124,18 @@ } - +// -------------------------------------------------------------------------- +// +// GetSePos, reads the Shaftencoder positions from the Can-drivers +// for the shaftencoders. The two shaft encoders at the elevation axis +// are avaraged. The values are returned as a ZdAz object. +// +// The positions are alway up-to-date because the shaftencoders are +// sending all changes immediatly. +// ZdAz MCosy::GetSePos() { + // + // Get the values + // const int p0 = fZd1->GetPos(); const int p1 = fZd2->GetPos(); @@ -144,4 +157,46 @@ } +// -------------------------------------------------------------------------- +// +// request the current positions from the rotary encoders. +// use GetRePos to get the psotions. If the request fails the function +// returns kFALSE, otherwise kTRUE +// +Bool_t MCosy::RequestRePos() +{ + // + // Send request + // + fMac2->RequestSDO(0x6004); + fMac1->RequestSDO(0x6004); + + // + // Wait until the objects are received. + // + WaitForSdos(); + + // + // If waitng was not interrupted everything is ok. return. + // + if (!StopWaitingForSDO()) + return kTRUE; + + // + // If the waiting was interrupted due to a network error, + // print some logging message. + // + if (HasError()) + lout << "Error #6004 (requesting re pos from Macs) happened." << endl; + + return kFALSE; +} + +// -------------------------------------------------------------------------- +// +// reads the Rotary encoder positions from the last request of the Macs. +// +// The positions are returned as a ZdAz object. Use RequestRePos to request +// the current positions first. +// ZdAz MCosy::GetRePos() { @@ -149,4 +204,13 @@ } +// -------------------------------------------------------------------------- +// +// reads the Rotary encoder positions from the Macs. +// +// The positions are returned as a ZdAz object. The positions are the ones +// which are send as PDOs to the computer. This is done at a given +// frequency. Which means, that this positions are not ought to be +// up-to-date. +// ZdAz MCosy::GetRePosPdo() { @@ -154,4 +218,14 @@ } +// -------------------------------------------------------------------------- +// +// set the velocity and accelerations for position maneuvers. +// +// The acceleratin is set as given (in percent of maximum). +// The velocity is given in percent, depending on the ratio (<1 or >1) +// one of the axis becomes a slower velocity. This is used for maneuvers +// in which both axis are moved synchromously and should reach their +// target position at the same time. +// void MCosy::SetPosVelocity(const Float_t ratio, Float_t vel, Float_t acc) { @@ -186,7 +260,16 @@ } +// -------------------------------------------------------------------------- +// +// Does a relative positioning. +// +// The steps to move are given in a ZdAz object relative to the current +// position. The coordinates are given in Roteryencoder steps. +// Axis 1 is moved only if axe1==kTRUE, Axis 2 is moved only +// if Axis 2==kTRUE. The function waits for the movement to be finished. +// void MCosy::DoRelPos(const ZdAz &rd, const Bool_t axe1, const Bool_t axe2) { - SetStatus(kMoving); + SetStatus(MCosy::kMoving); if (axe1) fMac2->StartRelPos(rd.Zd()); @@ -200,21 +283,80 @@ } +// -------------------------------------------------------------------------- +// +// check for a break-signal (from the msgqueue) and errors. +// +int MCosy::StopWaitingForSDO() const +{ + return Break() || HasError(); +} + +// -------------------------------------------------------------------------- +// +// Waits for a movement to become finished. +// +// First waits for all peding Sdos, then waits until both motors are stopped +// or waiting for SDOs was stopped (either by an error or by Break) +// +void MCosy::WaitForEndMovement() +{ + WaitForSdos(); + + while ((fMac1->IsPositioning() || fMac2->IsPositioning()) && !StopWaitingForSDO()) + usleep(1); +} + +// -------------------------------------------------------------------------- +// +// Check for an error... +// +// This is ment for usage after the Action: All Motors Stop. +// void MCosy::CheckForError() { + // + // Check all Can-Nodes for an Error. If there is no error the motor + // status is set to stopped. + // if (!HasError()) { - SetStatus(kStopped); + SetStatus(MCosy::kStopped); return; } - SetStatus(kError); + // + // If there is an error, the error status is set to Error. + // + SetStatus(MCosy::kError); + + // + // No try to handle the error. + // fMac1->HandleError(); fMac2->HandleError(); + + // + // If the error couldn't get solved return + // if (HasError()) return; - SetStatus(kStopped); -} - + // + // Set motor status to stopped + // + SetStatus(MCosy::kStopped); +} + +// -------------------------------------------------------------------------- +// +// Move the telescope to the given position. The position must be given in +// a ZdAz object in rad. +// +// The first positioning is done absolutely. If we didn't reach the +// correct psotion we try to correct for this by 10 relative position +// maneuvers. If this doesn't help positioning failed. +// +// As a reference the shaftencoder values are used. +// int MCosy::SetPosition(const ZdAz &dst) // [rad] { @@ -296,27 +438,33 @@ } -Bool_t MCosy::RequestRePos() -{ - - fMac2->RequestSDO(0x6004); - fMac1->RequestSDO(0x6004); +// -------------------------------------------------------------------------- +// +// Sets the tracking velocity +// +// The velocities are given in a ZdAz object in re/min. Return kTRUE +// in case of success, kFALSE in case of failure. +// +Bool_t MCosy::SetVelocity(ZdAz v) +{ + // + // Send the new velocities for both axes. + // + fMac2->SendSDO(0x3006, 1, (LWORD_t)v.Zd()); // SetRpmVelocity [re/min] + fMac1->SendSDO(0x3006, 1, (LWORD_t)v.Az()); // SetRpmVelocity [re/min] + + // + // Wait for the objects to be OKed. + // WaitForSdos(); + + // + // If the waiting for the objects wasn't interrupted return kTRUE + // if (!StopWaitingForSDO()) return kTRUE; - if (HasError()) - lout << "Error #6004 (requesting re pos from Macs) happened." << endl; - - return kFALSE; -} - -Bool_t MCosy::SetVelocity(ZdAz v) -{ - fMac2->SendSDO(0x3006, 1, (LWORD_t)v.Zd()); // SetRpmVelocity [re/min] - fMac1->SendSDO(0x3006, 1, (LWORD_t)v.Az()); // SetRpmVelocity [re/min] - WaitForSdos(); - if (!StopWaitingForSDO()) - return kTRUE; - + // + // print a message if the interruption was due to a Can-node Error + // if (HasError()) lout << "Error #3006 (setting velocity of Macs) happened." << endl; @@ -325,4 +473,12 @@ } +// -------------------------------------------------------------------------- +// +// Initializes Tracking mode +// +// Initializes the accelerations of both axes with 90% of the maximum +// acceleration. Set the status for moving and tracking and starts thr +// revolution mode. +// void MCosy::InitTracking() { @@ -336,5 +492,5 @@ fMac1->SetDeceleration(0.90*fMac1->GetVelRes()); - SetStatus(kMoving | kTracking); + SetStatus(MCosy::kMoving | MCosy::kTracking); fMac2->SetRpmMode(TRUE); @@ -342,4 +498,12 @@ } +// -------------------------------------------------------------------------- +// +// Limits the speed. +// +// This function should work as a limiter. If a tracking error is too large +// to be corrected fast enough we would get enormous velocities. These +// velocities are limited to the maximum velocity. +// void MCosy::LimitSpeed(ZdAz *vt, const ZdAz &vcalc) const { @@ -527,34 +691,42 @@ } -int MCosy::IsPositioning() const -{ - return (fMac1->IsPositioning() || fMac2->IsPositioning()) && !StopWaitingForSDO(); -} - -void MCosy::WaitForEndMovement() -{ - WaitForSdos(); - - while (IsPositioning()) - usleep(1); -} - +// -------------------------------------------------------------------------- +// +// Stops the movement of both motors. +// +// Sets the status to stopping. Sets the deceleration to 50% of the maximum. +// stops. Quits the revolution mode and wait for the end of the movement. +// void MCosy::StopMovement() { - SetStatus(kStopping); - + // + // Set status to stopped + // + SetStatus(MCosy::kStopping); + + // + // set deceleration to 50% + // cout << "Stopping positioning..." << endl; fMac1->SetDeceleration(0.5*fMac1->GetVelRes()); fMac2->SetDeceleration(0.5*fMac2->GetVelRes()); - cout << "Stoping possible RPM mode..." << endl; + // + // Stop revolution mode (movement) + // + cout << "Stoping possibleRPM mode..." << endl; fMac1->SetRpmMode(FALSE); fMac2->SetRpmMode(FALSE); + // + // Wait for the movement to really be finished. + // cout << "Waiting for silence..." << endl; WaitForEndMovement(); + // + // Check whether everything works fine. + // CheckForError(); - cout << "Movement stopped." << endl; } @@ -587,5 +759,5 @@ RaDec rd(37.94, 89.2644); - ZdAz za=sla.CalcZdAz(rd*D2PI/360.0)*16384.0/D2PI; + ZdAz za=sla.CalcZdAz(rd*kDeg2Rad)*16384.0/k2Pi; cout << "Calc Zd: " << za.Zd() << " Az: " << za.Az() << endl; @@ -607,5 +779,5 @@ ZdAz dest = *((ZdAz*)mp); - SetPosition(dest*D2PI/360.0); + SetPosition(dest*kDeg2Rad); } cout << "WM_Position: done. (return 0x7777)" << endl; @@ -616,5 +788,5 @@ { RaDec dest = *((RaDec*)mp); - TrackPosition(dest*D2PI/360.0); + TrackPosition(dest*kDeg2Rad); } cout << "WM_Track: done. (return 0x8888)" << endl; @@ -843,9 +1015,12 @@ -int MCosy::StopWaitingForSDO() const -{ - return Break() || HasError(); -} - +// -------------------------------------------------------------------------- +// +// Start the work of the application: +// +// Start the Can-Network. +// Start the MCosy::TalkThread thread. +// turn on the gui update +// void MCosy::Start() { @@ -861,4 +1036,12 @@ } +// -------------------------------------------------------------------------- +// +// Start the work of the application: +// +// Turn of the gui update +// stop the MCosy::TalkThread thread. +// Stop the network +// void MCosy::Stop() { Index: /trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- /trunk/MagicSoft/Cosy/main/MCosy.h (revision 1110) +++ /trunk/MagicSoft/Cosy/main/MCosy.h (revision 1111) @@ -37,9 +37,4 @@ }; -#define kError 0x01 -#define kMoving 0x02 -#define kTracking 0x04 -#define kStopping 0x08 -#define kStopped 0x10 class TTimer; @@ -50,4 +45,13 @@ private: + enum + { + kError = 0x01, + kMoving = 0x02, + kTracking = 0x04, + kStopping = 0x08, + kStopped = 0x10 + }; + ShaftEncoder *fZd1; ShaftEncoder *fZd2; @@ -99,5 +103,4 @@ int StopWaitingForSDO() const; - int IsPositioning() const; void CheckForError(); @@ -117,6 +120,7 @@ static ZdAz CorrectTarget(const ZdAz &src, const ZdAz &dst); -// static ZdAz RaDec2ZdAz(const double mjd, const RaDec &pos, const RaDec &pm=RaDec(0,0)); + // static ZdAz RaDec2ZdAz(const double mjd, const RaDec &pos, const RaDec &pm=RaDec(0,0)); + ClassDef(MCosy, 0) }; Index: unk/MagicSoft/Cosy/main/MainCint.h =================================================================== --- /trunk/MagicSoft/Cosy/main/MainCint.h (revision 1110) +++ (revision ) @@ -1,35 +1,0 @@ -/******************************************************************** -* MainCint.h -********************************************************************/ -#ifdef __CINT__ -#error MainCint.h/C is only for compilation. Abort cint. -#endif -#include -#include -#include -#include -#include -#define G__ANSIHEADER -#define G__DICTIONARY -#include "G__ci.h" -extern "C" { -extern void G__cpp_setup_tagtableMainCint(); -extern void G__cpp_setup_inheritanceMainCint(); -extern void G__cpp_setup_typetableMainCint(); -extern void G__cpp_setup_memvarMainCint(); -extern void G__cpp_setup_globalMainCint(); -extern void G__cpp_setup_memfuncMainCint(); -extern void G__cpp_setup_funcMainCint(); -extern void G__set_cpp_environmentMainCint(); -} - - -#include "TROOT.h" -#include "TMemberInspector.h" -#include "MainIncl.h" - -#ifndef G__MEMFUNCBODY -#endif - - -/* STUB derived class for protected member access */ Index: /trunk/MagicSoft/Cosy/main/MainLinkDef.h =================================================================== --- /trunk/MagicSoft/Cosy/main/MainLinkDef.h (revision 1110) +++ /trunk/MagicSoft/Cosy/main/MainLinkDef.h (revision 1111) @@ -5,3 +5,5 @@ #pragma link off all functions; +#pragma link C++ class MCosy; + #endif Index: /trunk/MagicSoft/Cosy/main/Makefile =================================================================== --- /trunk/MagicSoft/Cosy/main/Makefile (revision 1110) +++ /trunk/MagicSoft/Cosy/main/Makefile (revision 1111) @@ -35,7 +35,8 @@ MStarguider.cc -SRCS = $(SRCFILES) -HEADERS = $(SRCFILES:.cc=.h) -OBJS = $(SRCFILES:.cc=.o) +SRCS = $(SRCFILES) +HEADERS = $(SRCFILES:.cc=.h) +OBJS = $(SRCFILES:.cc=.o) +CINTHEADERS = $(HEADERS) ############################################################ Index: /trunk/MagicSoft/Cosy/videodev/Camera.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Camera.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/videodev/Camera.cc (revision 1111) @@ -21,4 +21,6 @@ #include +ClassImp(Camera); + inline int Camera::Ioctl(int req, void *opt, const char *str) { Index: /trunk/MagicSoft/Cosy/videodev/Camera.h =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Camera.h (revision 1110) +++ /trunk/MagicSoft/Cosy/videodev/Camera.h (revision 1111) @@ -2,6 +2,15 @@ #define CAMERA_H +#ifdef __CINT__ +typedef unsigned long int pthread_t; +struct pthread_mutex_t; +struct pthread_cond_t; +struct timeval; +#else +#include #include #include +#endif + typedef unsigned char byte; @@ -95,4 +104,5 @@ void GetPicPar(int *bright, int *hue, int *contrast); + ClassDef(Camera, 0) }; Index: /trunk/MagicSoft/Cosy/videodev/Filter.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Filter.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/videodev/Filter.cc (revision 1111) @@ -3,4 +3,6 @@ #include // memset #include // cout + +ClassImp(Filter); void Filter::DrawBox(const int x1, const int y1, Index: /trunk/MagicSoft/Cosy/videodev/Filter.h =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Filter.h (revision 1110) +++ /trunk/MagicSoft/Cosy/videodev/Filter.h (revision 1111) @@ -1,4 +1,8 @@ #ifndef FILTER_H #define FILTER_H + +#ifndef __CINT__ +#include +#endif typedef unsigned char byte; @@ -25,4 +29,6 @@ public: static void Execute(byte *img); + + ClassDef(Filter, 0) }; Index: /trunk/MagicSoft/Cosy/videodev/Makefile =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Makefile (revision 1110) +++ /trunk/MagicSoft/Cosy/videodev/Makefile (revision 1111) @@ -35,7 +35,8 @@ Writer.cc -SRCS = $(SRCFILES) -HEADERS = $(SRCFILES:.cc=.h) -OBJS = $(SRCFILES:.cc=.o) +SRCS = $(SRCFILES) +HEADERS = $(SRCFILES:.cc=.h) +OBJS = $(SRCFILES:.cc=.o) +CINTHEADERS = $(HEADERS) ############################################################ Index: /trunk/MagicSoft/Cosy/videodev/VideodevLinkDef.h =================================================================== --- /trunk/MagicSoft/Cosy/videodev/VideodevLinkDef.h (revision 1110) +++ /trunk/MagicSoft/Cosy/videodev/VideodevLinkDef.h (revision 1111) @@ -5,3 +5,8 @@ #pragma link off all functions; +#pragma link C++ class Writer+; +#pragma link C++ class Filter+; + +#pragma link C++ class Camera+; + #endif Index: /trunk/MagicSoft/Cosy/videodev/Writer.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Writer.cc (revision 1110) +++ /trunk/MagicSoft/Cosy/videodev/Writer.cc (revision 1111) @@ -8,4 +8,6 @@ #include "base/timer.h" + +ClassImp(Writer); void Writer::Png(const char *fname, const byte *buf, Index: /trunk/MagicSoft/Cosy/videodev/Writer.h =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Writer.h (revision 1110) +++ /trunk/MagicSoft/Cosy/videodev/Writer.h (revision 1111) @@ -2,5 +2,10 @@ #define WRITER_H +#ifdef __CINT__ +struct timeval; +#else +#include #include +#endif typedef unsigned char byte; @@ -14,4 +19,6 @@ static void Ppm(const char *fname, const byte *img); static void Png(const char *fname, const byte *buf, struct timeval *date); + + ClassDef(Writer, 0) };