Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 1274) +++ trunk/MagicSoft/Cosy/Changelog (revision 1275) @@ -1,3 +1,77 @@ -*-*- END -*-*- + + 2002/04/12 - Thomas Bretz: + + * Makefile.conf.linux-gnu: + - added -D_REENTRANT + + * base/MThread.cc: + - added debug output + + * candrv/canopen.cc: + - added debug output to destructor + + * candrv/vmodican.cc: + - added debug output to failing read + - added some general debug output + + * catalog/SlaStars.[h,cc]: + - added CalcRaDecFast + - added Calc*AzFast + - added some comments + + * devdrv/macs.cc: + - added some HandleSDOOK output + - changed timer frequency to Guard Time third instead of half + - added some degub output + - changed timer to single shot timer + - switched off Mac timeout handling!!! + + * gui/MGCosy.cc: + - added demo mode for 'Tag-der-Physik' + + * gui/MGSkyPosition.cc: + - changed 'dots' to fast calculation functions + + * gui/MGEmbeddedCanvas.cc: + - added some output + - fixed a bug with zero range + + * main/MCosy.[h,cc]: + - added and changed some output + - changed LimitSpeed + - changed TalkThread + + only change offset when a new value for this axis is available + + reset the HasChanged flag before testing it + + + + 2002/04/11 - Thomas Bretz: + + * base/MThread.[h,cc]: + - added priority to constructor + + * base/coord.h: + - added setter functions to RaDec + + * base/msgqueue.[h,cc]: + - added some comments + + * candrv/network.cc: + - HasError now checks all nodes + + * candrv/nodedrv.[h,cc]: + - fixed some buggy output + + * candrv/vmodican.cc: + - removed nonsens SetPriority (doesn't have any effect) + + * gui/MGCosy.cc: + - replaced colors by the correct requested colors + + * gui/MGSkyPosition.[h,cc]: + - added dots for the position in the past and future + + 2002/04/04 - Thomas Bretz: Index: trunk/MagicSoft/Cosy/Makefile.conf.linux-gnu =================================================================== --- trunk/MagicSoft/Cosy/Makefile.conf.linux-gnu (revision 1274) +++ trunk/MagicSoft/Cosy/Makefile.conf.linux-gnu (revision 1275) @@ -20,5 +20,5 @@ # -OPTIM = -O2 -Wall -fno-rtti -fno-exceptions -fPIC -Wtraditional -Wpointer-arith -Wcast-align -Wwrite-strings -Wconversion -Wstrict-prototypes -Wmissing-prototypes -Wnested-externs -Woverloaded-virtual +OPTIM = -O2 -Wall -fno-rtti -fno-exceptions -fPIC -Wtraditional -Wpointer-arith -Wcast-align -Wwrite-strings -Wconversion -Wstrict-prototypes -Wmissing-prototypes -Wnested-externs -Woverloaded-virtual -D_REENTRANT DEBUG = -g Index: trunk/MagicSoft/Cosy/base/MThread.cc =================================================================== --- trunk/MagicSoft/Cosy/base/MThread.cc (revision 1274) +++ trunk/MagicSoft/Cosy/base/MThread.cc (revision 1275) @@ -1,3 +1,5 @@ #include + +#include #include @@ -12,9 +14,9 @@ MThread::MThread(bool start, int prio) : fIsRunning(false), fIsDetached(false), fThread(NULL), fReturn(NULL) { - if (start) - { - SetPriority(prio); - Start(); - } + if (!start) + return; + + SetPriority(prio); + Start(); } @@ -27,6 +29,6 @@ MThread::~MThread() { - if (fIsRunning) - Stop(); + cout << "~MThread::MThread" << endl; + Stop(); } @@ -120,4 +122,5 @@ void MThread::Stop() { + cout << "MThread::Stop: fThread=" << fThread << ", fIsRunning=" << (int)fIsRunning << endl; if (!fThread || !fIsRunning) return; @@ -125,4 +128,5 @@ if (fIsDetached) { + cout << "Stopping detached thread..." << flush; pthread_cancel(*fThread); fIsRunning = false; @@ -130,9 +134,13 @@ else { + cout << "Stopping thread..." << flush; fStop = true; pthread_join(*fThread, &fReturn); } + cout << "done." << endl; delete fThread; fThread = NULL; + + cout << "MThread::Stop() done." << endl; } Index: trunk/MagicSoft/Cosy/base/msgqueue.cc =================================================================== --- trunk/MagicSoft/Cosy/base/msgqueue.cc (revision 1274) +++ trunk/MagicSoft/Cosy/base/msgqueue.cc (revision 1275) @@ -6,4 +6,8 @@ #include // PRIO_PROCESS +// -------------------------------------------------------------------------- +// +// This creates the Message queue thread, +// MsgQueue::MsgQueue() : fBreak(0) { @@ -12,10 +16,27 @@ } +// -------------------------------------------------------------------------- +// +// The destructor terminates the thread. +// MsgQueue::~MsgQueue() { + cout << "~MsgQueue::MsgQueue" << endl; pthread_cancel(fThread); delete (unsigned char*)fMp; } +// -------------------------------------------------------------------------- +// +// This is the function which must be overloaded. +// Here you process the messages. mp is a pointer which you can +// specify when posting the message. +// +// If a new messages is posted while the old one is not yet +// finished the fBreak flag is set. Please test this flag with +// Break() and try to finish (or stop) the current action as soon +// as possible. This makes sure, that before a new action is started +// the old action can be finished correctly by the user. +// void *MsgQueue::Proc(int msg, void *mp) { @@ -23,4 +44,8 @@ } +// -------------------------------------------------------------------------- +// +// This is the thread mapper. +// void *MsgQueue::MapThread(void *arg) { @@ -34,4 +59,11 @@ } +// -------------------------------------------------------------------------- +// +// This is the thread which handles the processing. +// As soon as a message is posted the fBreak flag is set (see PostMsg) +// And as soon as the current action is finished the new action is executed +// in this thread. This makes sure, that the calling program is not stalled. +// void MsgQueue::Thread() { @@ -56,12 +88,24 @@ pthread_mutex_unlock(&fMuxMsg); + cout << "Processing Msg 0x" << hex << fMsg << endl; + // --- bool quit = fMsg==WM_QUIT; fRc=Proc(fMsg, fMp); + cout << "Msg 0x" << hex << fMsg << " processed." << endl; - if (fMsg==WM_QUIT) - break; + // --- if (quit) + // --- break; + } - } + // --- fStart = 0; + // --- cout << "WM_QUIT posted... leaving msg queue." << endl; } +// -------------------------------------------------------------------------- +// +// Use this function to post a message. +// mp can be a pointer to a data structure. size should be the size of it. +// size bytes of this structure are copied and a pointer to the copy +// is forwarded to the Proc function. +// void *MsgQueue::PostMsg(int msg, void *mp, int size) { @@ -74,5 +118,7 @@ // stopped and the messages are processed serialized // + cout << "Locking MsgQueue mutex..." << flush; pthread_mutex_lock(&fMuxMsg); + cout << "done." << endl; // @@ -101,7 +147,11 @@ // fStart = 1; + cout << "Releasing MsgQueue mutex..." << flush; pthread_mutex_unlock(&fMuxMsg); - while (fStart) usleep(1); + cout << "done." << endl; + while (fStart) + usleep(1); + cout << "Returning rc = 0x" << hex << rc << endl; return rc; } Index: trunk/MagicSoft/Cosy/candrv/canopen.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 1274) +++ trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 1275) @@ -67,4 +67,5 @@ pthread_mutex_destroy(&fPdoMux[i][j]); } + lout << "- CanOpen destroyed." << endl; } Index: trunk/MagicSoft/Cosy/candrv/vmodican.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 1274) +++ trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 1275) @@ -38,8 +38,6 @@ #include // errno #include // read -#include // pthread_create #include // gettimeofday #include // ioctl -#include // PRIO_PROCESS ClassImp(VmodIcan); @@ -110,15 +108,23 @@ while (1) { + // + // Sleeps until a message arrives + // unsigned char c; + const int n = read(fd, &c, 1); + + if (n<0) + { + cerr << "Vmodican: read(" << dec << (int)fd << "," << (void*)&c; + cerr << ",1) returned c=" << (int)c << " '" << strerror(errno); + cerr << "' (errno = " << errno << ")" << endl; + continue; + //return (void *)1; + } + + // + // read the time for the message as soon as possible + // timeval_t tv; - - // - // Sleeps until a message arrives - // - const int n = read(fd, &c, 1); - - // - // read the time for the message as soon as possible - // gettimeofday(&tv, NULL); @@ -128,5 +134,6 @@ if (n == 0) { - cerr << "panic read (errno=" << errno << ") ..." << endl; + cerr << "Vmodican: Panic read '" << strerror(errno) << "' "; + cerr << "(errno=" << errno << ")" << endl; return (void *)1; } @@ -155,5 +162,5 @@ cout << endl; - break; + continue; // @@ -171,7 +178,8 @@ HandleMessage(&msg, &tv); - - break; + continue; } + + cout << "Vmodican: read, Message c=" << (int)c << " unknown." << endl; } return NULL; @@ -495,5 +503,5 @@ void VmodIcan::DisableCanBusConnection() { - lout << "- Disconnect from Bus!" << endl; + lout << "- Disconnect VmodIcan module from Bus!" << endl; Message msg; /* buffer for module messages */ @@ -503,4 +511,6 @@ while (!Send(&msg)); + + lout << "- VmodIcan disconnected." << endl; } @@ -529,5 +539,5 @@ void VmodIcan::Close() { - lout << "- Close Device!" << endl; + lout << "- Closing device VmodIcan #" << (int)fd << endl; Message msg; /* disconnect message */ @@ -539,4 +549,6 @@ close(fd); + + lout << "- Device closed." << endl; } @@ -950,7 +962,9 @@ VmodIcan::~VmodIcan() { + lout << "- Stopping VmodIcan module." << endl; Stop(); DisableCanBusConnection(); Close(); + lout << "- VmodIcan stopped." << endl; } Index: trunk/MagicSoft/Cosy/catalog/SlaStars.cc =================================================================== --- trunk/MagicSoft/Cosy/catalog/SlaStars.cc (revision 1274) +++ trunk/MagicSoft/Cosy/catalog/SlaStars.cc (revision 1275) @@ -40,5 +40,5 @@ slaMappa(2000.0, mjd, fAmprms); slaAoppa(mjd, 0, // mjd, UT1-UTC - GetElong(), GetPhi(), 148, // g”ttingen long, lat, height + GetElong(), GetPhi(), 148, // göttingen long, lat, height 0, 0, // polar motion x, y-coordinate (radians) 273.155, 1013.25, 0.5, // temp, pressure, humidity @@ -69,4 +69,61 @@ return RaDec(ra, dec); +} + +RaDec SlaStars::CalcRaDecFast(const AltAz &altaz) const +{ + // + // This function does a coordinate system transformation only. + // This is very fast compared to a correct tranformation with all + // effects, but much less accurate. + // + // It transforms Altitude/Azimuth [rad] into + // Right Ascension/Declination [rad] + // + double ha, dec; + slaDh2e(altaz.Az(), altaz.Alt(), GetPhi(), &ha, &dec); + return RaDec(GetAlpha()-ha, dec); +} + +RaDec SlaStars::CalcRaDecFast(const ZdAz &zdaz) const +{ + // + // This function does a coordinate system transformation only. + // This is very fast compared to a correct tranformation with all + // effects, but much less accurate. + // + // It transforms Zenith Distance/Azimuth [rad] into + // Right Ascension/Declination [rad] + // + return CalcRaDecFast(AltAz(kPiDiv2-zdaz.Zd(), zdaz.Az())); +} + +ZdAz SlaStars::CalcZdAzFast(const RaDec &radec) const +{ + // + // This function does a coordinate system transformation only. + // This is very fast compared to a correct tranformation with all + // effects, but much less accurate. + // + // It transforms Right Ascension/Declination [rad] into + // zenith Distance/Azimuth [rad] + // + AltAz altaz = CalcAltAzFast(radec); + return ZdAz(kPiDiv2-altaz.Alt(), altaz.Az()); +} + +AltAz SlaStars::CalcAltAzFast(const RaDec &radec) const +{ + // + // This function does a coordinate system transformation only. + // This is very fast compared to a correct tranformation with all + // effects, but much less accurate. + // + // It transforms Right Ascension/Declination [rad] into + // Altitude/Azimuth [rad] + // + double az, el; + slaDe2h(GetAlpha()-radec.Ra(), radec.Dec(), GetPhi(), &az, &el); + return AltAz(el, az); } Index: trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 1274) +++ trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 1275) @@ -9,4 +9,22 @@ ClassImp(Macs); + +/* + --------------------------- + For test purposes + --------------------------- + +class MyTimer : public TTimer +{ +public: + MyTimer(TObject *obj, Long_t ms, Bool_t mode) : TTimer(obj, ms, mode) {} + Bool_t Notify() + { + cout << "Notify" << endl; + TTimer::Notify(); + return kTRUE; + } +}; +*/ Macs::Macs(const BYTE_t nodeid, const char *name, MLog &out) @@ -15,5 +33,5 @@ fPosActive(0), fRpmActive(0) { - fTimeout = new TTimer(this, 100, kFALSE); // 100ms + fTimeout = new TTimer(this, 100, kFALSE); // 100ms, asynchronous } @@ -102,8 +120,74 @@ void Macs::HandleSDOOK(WORD_t idx, BYTE_t subidx) { - if (idx==0x4000 && subidx==0 && fTimerOn) - { - ResetTimeout(); - return; + switch (idx) + { + case 0x2002: + switch (subidx) + { + case 0: + lout << ddev(MLog::eGui); + lout << "- Velocity set (" << GetNodeName() << ")" << endl; + lout << edev(MLog::eGui); + return; + } + break; + case 0x2003: + switch (subidx) + { + case 0: + lout << ddev(MLog::eGui); + lout << "- Acceleration set (" << GetNodeName() << ")" << endl; + lout << edev(MLog::eGui); + return; + case 1: + lout << ddev(MLog::eGui); + lout << "- Deceleration set (" << GetNodeName() << ")" << endl; + lout << edev(MLog::eGui); + return; + } + break; + case 0x3006: + switch (subidx) + { + case 0: + lout << ddev(MLog::eGui); + lout << "- RPM mode switched (" << GetNodeName() << ")" << endl; + lout << edev(MLog::eGui); + return; + + case 1: + /* + lout << ddev(MLog::eGui); + lout << "- Velocity set (" << GetNodeName() << ")" << endl; + lout << edev(MLog::eGui); + */ + return; + } + break; + case 0x4000: + if (subidx==0 && fTimerOn) + { + ResetTimeout(); + return; + } + break; + case 0x6004: + switch (subidx) + { + case 0: + lout << ddev(MLog::eGui); + lout << "- Relative positioning started (" << GetNodeName() << ")" << endl; + lout << edev(MLog::eGui); + return; + + case 1: + lout << ddev(MLog::eGui); + lout << "- Absolute positioning started (" << GetNodeName() << ")" << endl; + lout << edev(MLog::eGui); + return; + } + break; + + } NodeDrv::HandleSDOOK(idx, subidx); @@ -348,5 +432,5 @@ if (!errnum) { - cout << "Mac " << GetNodeName() << " reports Error occursion." << endl; + lout << "Mac " << GetNodeName() << " reports Error occursion." << endl; SetError(-1); return; @@ -358,21 +442,21 @@ // if (GetError()>0) - cout << "Mac " << GetNodeName() << " WARNING! Error #" << GetError() << " unhandled by software." << endl; + lout << GetNodeName() << " WARNING! Error #" << GetError() << " unhandled by software." << endl; SetError(errnum); - cout << "Mac " << GetNodeName() << " reports: "; + lout << GetNodeName() << " reports: "; switch (errnum) { case 6: - cout << "Home position not the first positioning command." << endl; + lout << "Home position not the first positioning command." << endl; return; case 8: - cout << "Control deviation overflow." << endl; + lout << "Control deviation overflow." << endl; return; case 9: - cout << "Zero index not found." << endl; + lout << "Zero index not found." << endl; return; @@ -382,19 +466,19 @@ { case -1: - cout << "Negative"; + lout << "Negative"; break; case 1: - cout << "Positive"; + lout << "Positive"; break; default: - cout << "-unknown-"; + lout << "-unknown-"; } switch (errnum) { case 11: - cout << " software endswitch activated." << endl; + lout << " software endswitch activated." << endl; break; case 25: - cout << " hardware endswitch activated." << endl; + lout << " hardware endswitch activated." << endl; break; } @@ -402,13 +486,13 @@ case 84: - cout << "Too many (>12) ON TIME calls." << endl; + lout << "Too many (>12) ON TIME calls." << endl; return; case 100: - cout << "Connection timed out." << endl; + lout << "Connection timed out." << endl; return; default: - cout << "Error Nr. " << errnum << ", " << errinf << endl; + lout << "Error Nr. " << errnum << ", " << errinf << endl; } } @@ -436,5 +520,5 @@ // we can go on working 'as usual' Eg. Initialize a Display Update // - cout << "Mac " << GetNodeName() << " Handling Error #" << GetError() << endl; + cout << GetNodeName() << " Handling Error #" << GetError() << endl; switch (GetError()) { @@ -525,8 +609,13 @@ fTimerOn = kTRUE; - fTimeout->Start(fGuardTime, kFALSE); //kTRUE); - - SendSDO(0x4000, 1, string('o', 'n')); - WaitForSdo(0x4000, 1); + fTimeout->Start(fGuardTime/*/3*2*/, kTRUE); //kFALSE); //TRUE); + // + // Start with kFALSE would be a continous timer, but this + // timer seems to stop it's activity at some stage without + // any reason + // + +// SendSDO(0x4000, 1, string('o', 'n')); +// WaitForSdo(0x4000, 1); } lout << "- Timeout timer of " << GetNodeName() << " turned " @@ -565,8 +654,17 @@ // FIXME! Use NMT! // + // --- lout << ddev(MLog::eGui); + // --- lout << "Send 0x4000: " << GetNodeName() << endl; + SendSDO(0x4000, 0, (LWORD_t)0, false); + // --- lout << "Done 0x4000: " << GetNodeName() << endl; + Timer time; - if (time.Now() > fTimeoutTime) + + // --- lout << "dT " << GetNodeName() << ": " << dec <<(int)((fTimeoutTime-time.Now())*1000) << endl; + // --- lout << edev(MLog::eGui); + + if (time.Now() > fTimeoutTime+0.5) { lout << ddev(MLog::eGui); @@ -576,8 +674,13 @@ } - //WaitForSdo(0x4000, 0, kDontWait); - // if (fTimerOn) - // fTimeout->Start(fGuardTime, kTRUE); + // + // Would not be necessary if I would Start the timer with + // kFALSE. This would be a continous timer, but this + // timer seems to stop it's activity at some stage without + // any reason + // + if (fTimerOn) + fTimeout->Start(fGuardTime/*/3*2*/, kTRUE); return kTRUE; @@ -587,12 +690,18 @@ { Timer time; - fTimeoutTime = time.Now() + 2.*fGuardTime/1000.; //[usec] + + // --- lout << ddev(MLog::eGui); + // --- lout << "Reset " << GetNodeName() << ": " << dec << (int)((fTimeoutTime-time.Now())*1000) << endl; + // --- lout << edev(MLog::eGui); + + fTimeoutTime = time.Now() + 3.*fGuardTime/1000.; } void Macs::SetTimeoutTime(LWORD_t ms) { - fGuardTime = ms/2; // FIXME: Is '/2' the best choose? - - SendSDO(0x4000, 2, ms); + // FIXME: Is '/2' the best choose? + fGuardTime = ms/3; // how often do we send/request the handshake + + SendSDO(0x4000, 2, ms); // How often do we check for the handshake WaitForSdo(0x4000, 2); } Index: trunk/MagicSoft/Cosy/gui/MGCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 1274) +++ trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 1275) @@ -206,4 +206,5 @@ TGCompositeFrame *tf1 = fTab->AddTab("Position Zd/Az"); TGCompositeFrame *tf2 = fTab->AddTab("Track Ra/Dec"); + TGCompositeFrame *tf3 = fTab->AddTab("Demo Mode"); fCZdAz = new MGCoordinates(tf1, kETypeZdAz); @@ -467,4 +468,5 @@ cout << "Closing window - waiting until all nodes are stopped." << endl; fQueue->PostMsg(WM_QUIT, 0, 0); + cout << "Closing window - done." << endl; // gApplication->Terminate(0); } @@ -497,4 +499,89 @@ cout << "PostMsg (WM_Position) returned." << endl; } + +// +// ************************** For demo purpose ********************** +// +#include +class MDemo : public MThread +{ +private: + MsgQueue *fQueue; + TRandom fRand; + +public: + MDemo() : MThread(false) {} + + void SetQueue(MsgQueue *q) { fQueue = q; } + + virtual void *Thread() + { + while (1) + { + Timer tm; + tm.Now(); + + Float_t h = 2.+tm.H()+(8.+tm.M())/60.; + RaDec dest(h*15, 130); + + cout << dest.Ra()/15 << "h " << dest.Dec() << "°" << endl; + + fQueue->PostMsg(WM_TRACK, &dest, sizeof(dest)); + + int i = 0; + while (!HasStopFlag() && i++<130) // 2.5min + usleep(1000000); + if (HasStopFlag()) + break; + + //fQueue->PostMsg(WM_STOP, 0, 0); + + ZdAz dest1(fRand.Integer(56)+5, fRand.Integer(360)); + + cout << "Demo: Zd=" << dest1.Zd() << "° Az=" << dest1.Az() << "°" << endl; + + fQueue->PostMsg(WM_POSITION, &dest1, sizeof(dest1)); + + i = 0; + while (!HasStopFlag() && i++<30) // 30s + usleep(1000000); + if (HasStopFlag()) + break; + + //ZdAz dest2(5, 30); + //fQueue->PostMsg(WM_POSITION, &dest2, sizeof(dest2)); + /* + i = 0; + while (!HasStopFlag() && i++<30) // 30s + usleep(1000000); + */ + //if (HasStopFlag()) + // break; + } + cout << "Demo Thread: done." << endl; + return NULL; + } +}; + +MDemo demo; + +void MGCosy::StartDemo() +{ + cout << "Start Demo." << endl; + + demo.SetQueue(fQueue); + demo.Start(); + + cout << "PostMsg (WM_Demo) returned." << endl; +} + +void StopDemo() +{ + cout << "Stopping demo." << endl; + demo.Stop(); +} +// +// ****************************************************************** +// Bool_t MGCosy::ProcessMessage(Long_t msg, Long_t mp1, Long_t mp2) @@ -526,10 +613,23 @@ */ case kPB_START: - fTab->GetCurrent() ? StartTrack() : StartPos(); + switch (fTab->GetCurrent()) + { + case 0: + StartPos(); + return kTRUE; + case 1: + StartTrack(); + return kTRUE; + case 2: + StartDemo(); + return kTRUE; + } return kTRUE; case kPB_STOP: cout << "Sending stop movement msg." << endl; + StopDemo(); fQueue->PostMsg(WM_STOP, 0, 0); + cout << "PostMsg (WM_Stop) returned." << endl; return kTRUE; @@ -563,5 +663,7 @@ { case IDM_EXIT: + cout << "IDM_EXIT: Posting WM_QUIT." << endl; fQueue->PostMsg(WM_QUIT, 0, 0); + cout << "IDM_EXIT: WM_QUIT done." << endl; //cout << "Idm_Exit." << endl; //CloseWindow(); Index: trunk/MagicSoft/Cosy/gui/MGCosy.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 1274) +++ trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 1275) @@ -73,4 +73,5 @@ void StartPos(); void StartTrack(); + void StartDemo(); void EnableLabel(TGLabel *label, Bool_t stat); Index: trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc (revision 1274) +++ trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc (revision 1275) @@ -6,4 +6,6 @@ #include "MGEmbeddedCanvas.h" + +#include #include @@ -17,11 +19,19 @@ fModified(kFALSE), fWidth(width), fRange(range), fPix(2.*range/width) { + cout << "MGEmbeddedCanvas: Initializing." << endl; fCanvas = GetCanvas(); + cout << "MGEmbeddedCanvas: fCanvas = 0x" << fCanvas << endl; + + cout << "MGEmbeddedCanvas: SetFillColor." << endl; fCanvas->SetFillColor(39); // s. TAttFill - fCanvas->Range(-fRange, -fRange, fRange, fRange); + cout << "MGEmbeddedCanvas: fRange=" << fRange << endl; + if (fRange>0) + fCanvas->Range(-fRange, -fRange, fRange, fRange); fList = new TList; fList->SetOwner(); + + cout << "MGEmbeddedCanvas: Initializing done." << endl; } Index: trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc (revision 1274) +++ trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc (revision 1275) @@ -208,5 +208,5 @@ { RaDec rd(radec.Ra()+off*360/24*kDeg2Rad, radec.Dec()); - ZdAz zdaz = fSlaStar->CalcZdAz(rd); + ZdAz zdaz = fSlaStar->CalcZdAzFast(rd); const float s = sin(zdaz.Az()); @@ -319,5 +319,5 @@ UpdatePlanet(kEMars, fMars); - RaDec radec = fSlaStar->CalcRaDec(pos*kDeg2Rad); + RaDec radec = fSlaStar->CalcRaDecFast(pos*kDeg2Rad); UpdatePosition(radec, pos.Zd(), pos.Az()); Index: trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.cc (revision 1274) +++ trunk/MagicSoft/Cosy/main/MCosy.cc (revision 1275) @@ -187,5 +187,5 @@ // if (HasError()) - lout << "Error #6004 (requesting re pos from Macs) happened." << endl; + lout << "Error while requesting re pos from Macs (SDO #6004)" << endl; return kFALSE; @@ -400,5 +400,6 @@ if (!cdzd && !cdaz) { - lout << "Positioning done with " << i << "manuvers." << endl; + lout << "Positioning done in " << i << (i==1?" step.":" steps.") << endl; + SetStatus(MCosy::kStopped); return TRUE; } @@ -468,5 +469,5 @@ // if (HasError()) - lout << "Error #3006 (setting velocity of Macs) happened." << endl; + lout << "Error while setting velocity (SDO #3006)" << endl; return kFALSE; @@ -520,7 +521,31 @@ const Float_t limit = 0.25; - - if (sgn(vt->Az()) != sgn(vcalc.Az()) && - fabs(vt->Az()) < limit*fabs(vcalc.Az())) +/* + if (sgn(vt->Az()) != sgn(vcalc.Az())) + vt->Az(0); +// else + { + if (fabs(vt->Az()) < fabs(vcalc.Az()) *0.5) + vt->Az(0.5*vcalc.Az()); + + if (fabs(vt->Az()) > fabs(vcalc.Az()) *1.5) + vt->Az(1.5*vcalc.Az()); + } + + if (sgn(vt->Zd()) != sgn(vcalc.Zd())) + vt->Zd(0); +// else + { + if (fabs(vt->Zd()) > fabs(vcalc.Az()) *1.5) + vt->Zd(1.5*vcalc.Zd()); + + if (fabs(vt->Zd()) < fabs(vcalc.Az()) *0.5) + vt->Zd(0.5*vcalc.Zd()); + } + */ + + if (sgn(vt->Az()) != sgn(vcalc.Az()) + && fabs(vt->Az()) < limit*fabs(vcalc.Az()) + ) vt->Az(0); else @@ -531,6 +556,7 @@ } - if (sgn(vt->Zd()) != sgn(vcalc.Zd()) && - fabs(vt->Zd()) < limit*fabs(vcalc.Zd())) + if (sgn(vt->Zd()) != sgn(vcalc.Zd()) + && fabs(vt->Zd()) < limit*fabs(vcalc.Zd()) + ) vt->Zd(0); else @@ -605,4 +631,11 @@ { // + // The loop should not be executed faster than the ramp of + // a change in the velocity can be followed. + // (This is important on fast machines >500MHz) + // + //usleep(100000000); + + // // Request Target position for this moment // @@ -715,5 +748,5 @@ // Stop revolution mode (movement) // - cout << "Stoping possibleRPM mode..." << endl; + cout << "Stopping possibleRPM mode..." << endl; fMac1->SetRpmMode(FALSE); fMac2->SetRpmMode(FALSE); @@ -734,4 +767,5 @@ void *MCosy::Proc(int msg, void *mp) { + cout << "MCosy::Proc: 0x" << msg << endl; switch (msg) { @@ -846,4 +880,5 @@ << Deg2ZdRE(env.GetValue("MaxZd[Deg]", +1.0)) << "RE" << endl; */ + cout << "Setting up software endswitch..." << flush; @@ -890,9 +925,6 @@ // wait until a tracking session is started // - while (!fTracking && !fTTalk->HasStopFlag()) + while (!fTracking) usleep(1); - - if (fTTalk->HasStopFlag()) - break; ofstream fout("log/cosy.err"); @@ -915,5 +947,9 @@ // only update fTrackingError while tracking // - while (fTracking && !fTTalk->HasStopFlag()) + bool phca1=false; + bool phca2=false; + bool phcaz=false; + + while (fTracking) { // @@ -922,17 +958,11 @@ const float weight = 1.; //0.3; - ZdAz offset(fOffset.Zd()*(1.-weight)+(ist.Zd()*kGearRatio.X()-istre.Zd())*weight, - fOffset.Az()*(1.-weight)+(ist.Az()*kGearRatio.Y()-istre.Az())*weight); - - fOffset = offset; - // // This is the time constant which defines how fast // you correct for external influences (like wind) // - bool phca1; - bool phca2; - bool phcaz; - + fZd1->ResetPosHasChanged(); + fZd2->ResetPosHasChanged(); + fAz->ResetPosHasChanged(); do { @@ -941,5 +971,6 @@ phcaz = fAz->PosHasChanged(); usleep(1); - } while (!phca1 && !phca2 && !phcaz); + } while (!phca1 && !phca2 && !phcaz && fTracking); + //---usleep(100000); // 0.1s @@ -975,4 +1006,6 @@ sla.SetMjd(time.Zd()); sollzd = CorrectTarget(ist, sla.CalcZdAz(fRaDec)); // [se] + + fOffset.Zd(fOffset.Zd()*(1.-weight)+(ist.Zd()*kGearRatio.X()-istre.Zd())*weight); } @@ -981,4 +1014,6 @@ sla.SetMjd(time.Az()); sollaz = CorrectTarget(ist, sla.CalcZdAz(fRaDec)); // [se] + + fOffset.Az(fOffset.Az()*(1.-weight)+(ist.Az()*kGearRatio.Y()-istre.Az())*weight); } @@ -1063,4 +1098,6 @@ // Create Nodes // + lout << "- Setting up network." << endl; + fMac1=new Macs(1, "Mac.1/Az", lout); fMac2=new Macs(2, "Mac.2/Zd", lout); @@ -1084,6 +1121,8 @@ // Create Gui Event timer and Gui // + lout << "- Initializing GUI Timer." << endl; fUpdateGui = new TTimer(this, 100); // 100ms + lout << "- Starting GUI." << endl; fWin=new MGCosy(this, gClient->GetRoot(), 1, 1); @@ -1108,4 +1147,7 @@ */ + lout.DisableOutputDevice(MLog::eGui); + lout.SetOutputGui(NULL, kFALSE); + gApplication->Terminate(0); } Index: trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.h (revision 1274) +++ trunk/MagicSoft/Cosy/main/MCosy.h (revision 1275) @@ -15,5 +15,4 @@ #define WM_STOP 0x1003 #define WM_POLARIS 0x1004 -#define WM_QUIT 0x1005 class ShaftEncoder; @@ -33,6 +32,8 @@ { SetPriority(10); + Detach(); Start(); } + ~MTTalk() { cout << "~MTTalk::MTTalk" << endl; } }; @@ -41,5 +42,4 @@ class MCosy : public Network, public MsgQueue, public TObject { - friend class MTGui; friend class MTTalk; @@ -94,5 +94,4 @@ void TalkThread(); - void GuiThread(MTGui *t); int SetPosition(const ZdAz &dst);