Index: trunk/FACT++/src/drivectrl.cc =================================================================== --- trunk/FACT++/src/drivectrl.cc (revision 12308) +++ trunk/FACT++/src/drivectrl.cc (revision 12309) @@ -55,16 +55,19 @@ struct DimTPoint { - double fNominalAlt; - double fNominalAz; - - double fCurrentAlt; - double fCurrentAz; - - double fDevZd; - double fDevAz; - double fRa; double fDec; + double fNominalZd; + double fNominalAz; + + double fPointingZd; + double fPointingAz; + + double fFeedbackZd; + double fFeedbackAz; + + uint16_t fNumLeds; + uint16_t fNumRings; + double fCenterX; double fCenterY; @@ -75,11 +78,5 @@ double fStarMag; - double fBrightness; double fRealMag; - - uint16_t fNumLeds; - uint16_t fNumRings; - uint16_t fNumStars; - uint16_t fNumCorrelated; } __attribute__((__packed__)); @@ -131,5 +128,5 @@ } - virtual void UpdateTPoint(const Time &, const Drive::DimTPoint &) + virtual void UpdateTPoint(const Time &, const Drive::DimTPoint &, const string &) { } @@ -260,4 +257,9 @@ const Time t2 = ReadTime(stream); + char type; + stream >> type; + if (type != 'T') + return; + double az1, alt1, az2, alt2, ra, dec, dzd, daz; stream >> az1 >> alt1 >> az2 >> alt2 >> ra >> dec >> dzd >> daz; @@ -281,12 +283,18 @@ Drive::DimTPoint tpoint; - tpoint.fNominalAz = az1; - tpoint.fNominalAlt = alt1; - tpoint.fCurrentAz = az2; - tpoint.fCurrentAlt = alt2; - tpoint.fDevAz = daz; - tpoint.fDevZd = dzd; tpoint.fRa = ra; tpoint.fDec = dec; + + tpoint.fNominalZd = 90-alt1-dzd; + tpoint.fNominalAz = 90-az1 +daz; + + tpoint.fPointingZd = 90-alt1; + tpoint.fPointingAz = az1; + + tpoint.fFeedbackZd = 90-alt2; + tpoint.fFeedbackAz = az2; + + tpoint.fNumLeds = nled; + tpoint.fNumRings = nring; tpoint.fCenterX = cx; @@ -298,14 +306,7 @@ tpoint.fStarMag = smag; - tpoint.fBrightness = bright; - - tpoint.fNumCorrelated = ncor; - tpoint.fNumLeds = nled; - tpoint.fNumRings = nring; - tpoint.fNumStars = nstar; - - tpoint.fRealMag = mag; - - UpdteTPoint(t1, tpoint); + tpoint.fRealMag = mag; + + UpdateTPoint(t1, tpoint, name); return; @@ -383,5 +384,5 @@ ra, dec, ha, zd1, az1, - zd_err, az_err + zd_err/3600, az_err/3600 }}; UpdateTracking(Time(mjd), track); @@ -533,16 +534,11 @@ DimDescribedService fDimPointing; DimDescribedService fDimTracking; - - template - void Update(DimDescribedService &svc, const Time &t, const array &arr) const - { - svc.setData(arr); - svc.Update(t); - } + DimDescribedService fDimTPoint; virtual void UpdatePointing(const Time &t, const array &arr) { - Update(fDimPointing, t, arr); + fDimPointing.setData(arr); + fDimPointing.Update(t); } @@ -550,5 +546,17 @@ const array &arr) { - Update(fDimTracking, t, arr); + fDimTracking.setData(arr); + fDimTracking.Update(t); + } + virtual void UpdateTPoint(const Time &t, + const Drive::DimTPoint &data, + const string &name) + { + vector dim(sizeof(data)+name.length()+1); + memcpy(dim.data(), &data, sizeof(data)); + memcpy(dim.data()+sizeof(data), name.c_str(), name.length()+1); + + fDimTPoint.setData(dim); + fDimTPoint.Update(t); } @@ -556,6 +564,34 @@ ConnectionDimDrive(ba::io_service& ioservice, MessageImp &imp) : ConnectionDrive(ioservice, imp), - fDimPointing("FTM_CONTROL/POINTING_POSITION", "D:2", ""), - fDimTracking("FTM_CONTROL/TRACKING_POSITION", "D:7", "") + fDimPointing("DRIVE_CONTROL/POINTING_POSITION", "D:1;D:1", + "|Zd[deg]:Zenith distance (encoder readout)" + "|Az[deg]:Azimuth angle (encoder readout)"), + fDimTracking("DRIVE_CONTROL/TRACKING_POSITION", "D:1;D:1;D:1;D:1;D:1;D:1;D:1", + "|Ra[h]:Command right ascension" + "|Dec[deg]:Command declination" + "|Ha[h]:Corresponding hour angle" + "|Zd[deg]:Nominal zenith distance" + "|Az[deg]:Nominal azimuth angle" + "|dZd[deg]:Control deviation Zd" + "|dAz[deg]:Control deviation Az"), + fDimTPoint("DRIVE_CONTROL/TPOINT", "D:1;D:1;D:1;D:1;D:1;D:1;D:1;D:1;S:1;D:1;D:1;D:1;D:1;D:1;D:1;D:1;C", + "|Ra[h]:Command right ascension" + "|Dec[deg]:Command declination" + "|Zd_nom[deg]:Nominal zenith distance" + "|Az_nom[deg]:Nominal azimuth angle" + "|Zd_cur[deg]:Current zenith distance (calculated from image)" + "|Az_cur[deg]:Current azimuth angle (calculated from image)" + "|Zd_enc[deg]:Feedback zenith axis (from encoder)" + "|Az_enc[deg]:Feedback azimuth angle (from encoder)" + "|N_leds[cnt]:Number of detected LEDs" + "|N_rings[cnt]:Number of rings used to calculate the camera center" + "|Xc[pix]:X position of center in CCD camera frame" + "|Yc[pix]:Y position of center in CCD camera frame" + "|Ic[au]:Average intensity (LED intensity weighted with their frequency of occurance in the calculation)" + "|Xs[pix]:X position of start in CCD camera frame" + "|Ys[pix]:Y position of star in CCD camera frame" + "|Ms[mag]:Artifical magnitude of star (calculated form image))" + "|Mc[mag]:Catalog magnitude of star") + { } @@ -746,17 +782,17 @@ // State names AddStateName(kStateDisconnected, "Disconnected", - ""); + "No connection to cosy"); AddStateName(kStateConnected, "Connected", - ""); + "Cosy connected, drive stopped"); AddStateName(kStateArmed, "Armed", - ""); + "Cosy armed, drive stopped"); AddStateName(kStateMoving, "Moving", - ""); + "Telescope moving"); AddStateName(kStateTracking, "Tracking", - ""); + "Telescope tracking"); // kStateIdle @@ -787,49 +823,51 @@ T::AddEvent("MOVE_TO", "D:2", kStateArmed) // ->ZDAZ (bind(&StateMachineDrive::SendCoordinates, this, placeholders::_1, kPoint)) - ("" - "|zd[deg]:" - "|az[deg]:"); + ("Move the telescope to the given local coordinates" + "|Zd[deg]:Zenith distance" + "|Az[deg]:Azimuth"); T::AddEvent("TRACK", "D:2", kStateArmed) // ->RADEC/GRB (bind(&StateMachineDrive::SendCoordinates, this, placeholders::_1, kTrackSlow)) - ("" - "|ra[h]:" - "|dec[deg]:"); + ("Move the telescope to the given sky coordinates and start tracking them" + "|Ra[h]:Right ascension" + "|Dec[deg]:Declination"); T::AddEvent("MOON", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "MOON 0 0")) - (""); + ("Start tracking the moon"); T::AddEvent("VENUS", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 2 0 0")) - (""); + ("Start tracking Venus"); T::AddEvent("MARS", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 4 0 0")) - (""); + ("Start tracking Mars"); T::AddEvent("JUPITER", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 5 0 0")) - (""); + ("Start tracking Jupiter"); T::AddEvent("SATURN", kStateArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 6 0 0")) - (""); - - T::AddEvent("TPOINT") + ("Start tracking Saturn"); + + T::AddEvent("TAKE_TPOINT") (bind(&StateMachineDrive::SendCommand, this, "TPOIN FACT 0")) - (""); + ("Take a TPoint"); T::AddEvent("SET_LED_BRIGHTNESS", "I:2") (bind(&StateMachineDrive::SetLedBrightness, this, placeholders::_1)) - (""); + ("Set the LED brightness of the top and bottom leds" + "|top[au]:Allowed range 0-32767 for top LEDs" + "|bot[au]:Allowed range 0-32767 for bottom LEDs"); T::AddEvent("LEDS_OFF") (bind(&StateMachineDrive::SendCommand, this, "LEDS 0 0")) - (""); + ("Switch off TPoint LEDs"); T::AddEvent("STOP") (bind(&StateMachineDrive::SendCommand, this, "STOP!")) - (""); - - T::AddEvent("ARM", kStateConnected) - (bind(&StateMachineDrive::SendCommand, this, "ARM lock")) - (""); + ("Stop any kind of movement."); + +// T::AddEvent("ARM", kStateConnected) +// (bind(&StateMachineDrive::SendCommand, this, "ARM lock")) +// (""); @@ -872,88 +910,9 @@ #include "Main.h" -/* -void RunThread(StateMachineImp *io_service) -{ - // This is necessary so that the StateMachien Thread can signal the - // Readline to exit - io_service->Run(); - Readline::Stop(); -} -*/ -/* -template -int RunDim(Configuration &conf) -{ - WindowLog wout; - - ReadlineColor::PrintBootMsg(wout, conf.GetName(), false); - - if (conf.Has("log")) - if (!wout.OpenLogFile(conf.Get("log"))) - wout << kRed << "ERROR - Couldn't open log-file " << conf.Get("log") << ": " << strerror(errno) << endl; - - // Start io_service.Run to use the StateMachineImp::Run() loop - // Start io_service.run to only use the commandHandler command detaching - StateMachineDrive io_service(wout); - if (!io_service.EvalConfiguration(conf)) - return -1; - - io_service.Run(); - - return 0; -} -*/ template int RunShell(Configuration &conf) { - return Main>(conf); -/* - static T shell(conf.GetName().c_str(), conf.Get("console")!=1); - - WindowLog &win = shell.GetStreamIn(); - WindowLog &wout = shell.GetStreamOut(); - - if (conf.Has("log")) - if (!wout.OpenLogFile(conf.Get("log"))) - win << kRed << "ERROR - Couldn't open log-file " << conf.Get("log") << ": " << strerror(errno) << endl; - - StateMachineDrive io_service(wout); - if (!io_service.EvalConfiguration(conf)) - return -1; - - shell.SetReceiver(io_service); - - boost::thread t(bind(RunThread, &io_service)); - // boost::thread t(bind(&StateMachineDrive::Run, &io_service)); - - if (conf.Has("cmd")) - { - const vector v = conf.Get>("cmd"); - for (vector::const_iterator it=v.begin(); it!=v.end(); it++) - shell.ProcessLine(*it); - } - - if (conf.Has("exec")) - { - const vector v = conf.Get>("exec"); - for (vector::const_iterator it=v.begin(); it!=v.end(); it++) - shell.Execute(*it); - } - - if (conf.Get("quit")) - shell.Stop(); - - shell.Run(); // Run the shell - io_service.Stop(); // Signal Loop-thread to stop - // io_service.Close(); // Obsolete, done by the destructor - - // Wait until the StateMachine has finished its thread - // before returning and destroying the dim objects which might - // still be in use. - t.join(); - - return 0; - */ + return Main::execute>(conf); } @@ -964,5 +923,5 @@ ("no-dim,d", po_switch(), "Disable dim services") ("addr,a", var("localhost:7404"), "Network address of FTM") - ("quiet,q", po_bool(), "Disable printing contents of all received messages (except dynamic data) in clear text.") + ("quiet,q", po_bool(true), "Disable printing contents of all received messages (except dynamic data) in clear text.") ; @@ -996,4 +955,6 @@ void PrintHelp() { +// Main::PrintHelp>(); + /* Additional help text which is printed after the configuration options goes here */