Changeset 1111 for trunk/MagicSoft/Cosy/main

Timestamp:

12/12/01 13:26:34 (23 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/main

Files:

• MCosy.cc (modified) (19 diffs)
• MCosy.h (modified) (4 diffs)
• MainCint.h (deleted)
• MainLinkDef.h (modified) (1 diff)
• Makefile (modified) (1 diff)

trunk/MagicSoft/Cosy/main/MCosy.cc

@@ -22 +22 @@
 //#include <sys/resource.h>  // PRIO_PROCESS
 
+ClassImp(MCosy);
+
 typedef struct tm tm_t;
 
@@ -32 +34 @@
 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 +70 @@
 
     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 +124 @@
 }
 
-
+// --------------------------------------------------------------------------
+//
+//  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 +157 @@
 }
 
+// --------------------------------------------------------------------------
+//
+// 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 +204 @@
 }
 
+// --------------------------------------------------------------------------
+//
+//  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 +218 @@
 }
 
+// --------------------------------------------------------------------------
+//
+//  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 +260 @@
 }
 
+// --------------------------------------------------------------------------
+//
+// 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 +283 @@
 }
 
+// --------------------------------------------------------------------------
+//
+// 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 +438 @@
 }
 
-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 +473 @@
 }
 
+// --------------------------------------------------------------------------
+//
+// 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 +492 @@
     fMac1->SetDeceleration(0.90*fMac1->GetVelRes());
 
-    SetStatus(kMoving | kTracking);
+    SetStatus(MCosy::kMoving | MCosy::kTracking);
 
     fMac2->SetRpmMode(TRUE);
@@ -342 +498 @@
 }
 
+// --------------------------------------------------------------------------
+//
+// 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 +691 @@
 }
 
-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 +759 @@
 
             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 +779 @@
             ZdAz dest = *((ZdAz*)mp);
 
-            SetPosition(dest*D2PI/360.0);
+            SetPosition(dest*kDeg2Rad);
         }
         cout << "WM_Position: done. (return 0x7777)" << endl;
@@ -616 +788 @@
         {
             RaDec dest = *((RaDec*)mp);
-            TrackPosition(dest*D2PI/360.0);
+            TrackPosition(dest*kDeg2Rad);
         }
         cout << "WM_Track: done. (return 0x8888)" << endl;
@@ -843 +1015 @@
 
 
-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 +1036 @@
 }
 
+// --------------------------------------------------------------------------
+//
+// Start the work of the application:
+//
+// Turn of the gui update
+// stop the MCosy::TalkThread thread.
+// Stop the network
+//
 void MCosy::Stop()
 {

trunk/MagicSoft/Cosy/main/MCosy.h

@@ -37 +37 @@
 };
 
-#define kError     0x01
-#define kMoving    0x02
-#define kTracking  0x04
-#define kStopping  0x08
-#define kStopped   0x10
 
 class TTimer;
@@ -50 +45 @@
 
 private:
+    enum
+    {
+        kError    = 0x01,
+        kMoving   = 0x02,
+        kTracking = 0x04,
+        kStopping = 0x08,
+        kStopped  = 0x10
+    };
+
     ShaftEncoder *fZd1;
     ShaftEncoder *fZd2;
@@ -99 +103 @@
 
     int StopWaitingForSDO() const;
-    int IsPositioning() const;
     void CheckForError();
 
@@ -117 +120 @@
 
     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)
 };
 

trunk/MagicSoft/Cosy/main/MainLinkDef.h

@@ -5 +5 @@
 #pragma link off all functions;
 
+#pragma link C++ class MCosy;
+
 #endif

trunk/MagicSoft/Cosy/main/Makefile

@@ -35 +35 @@
            MStarguider.cc
 
-SRCS    = $(SRCFILES)
-HEADERS = $(SRCFILES:.cc=.h)
-OBJS    = $(SRCFILES:.cc=.o) 
+SRCS        = $(SRCFILES)
+HEADERS     = $(SRCFILES:.cc=.h)
+OBJS        = $(SRCFILES:.cc=.o) 
+CINTHEADERS = $(HEADERS)
 
 ############################################################