Index: trunk/FACT++/src/drivectrl.cc =================================================================== --- trunk/FACT++/src/drivectrl.cc (revision 12806) +++ trunk/FACT++/src/drivectrl.cc (revision 12807) @@ -14,4 +14,9 @@ #include "tools.h" +#define HAS_SQL + +#ifdef HAS_SQL +#include +#endif namespace ba = boost::asio; @@ -140,5 +145,5 @@ { } - virtual void UpdateSource(const array &) + virtual void UpdateSource(const array &, const string& = "") { } @@ -149,5 +154,6 @@ ba::streambuf fBuffer; - Time ReadTime(istream &in) +public: + static Time ReadTime(istream &in) { uint16_t y, m, d, hh, mm, ss, ms; @@ -157,5 +163,5 @@ } - double ReadAngle(istream &in) + static double ReadAngle(istream &in) { char sgn; @@ -169,4 +175,5 @@ } +protected: void HandleReceivedReport(const boost::system::error_code& err, size_t bytes_received) { @@ -643,5 +650,5 @@ "|dZd[deg]:Control deviation Zd" "|dAz[deg]:Control deviation Az"), - fDimSource("DRIVE_CONTROL/SOURCE_POSITION", "D:1;D:1;D:1;D:1;D:1;D:1", + fDimSource("DRIVE_CONTROL/SOURCE_POSITION", "D:1;D:1;D:1;D:1;D:1;D:1;C:31", "|Ra_cmd[h]:Command right ascension" "|Dec_cmd[deg]:Command declination" @@ -649,5 +656,6 @@ "|Dec_src[deg]:Source declination" "|Offfset[deg]:Wobble offset" - "|Angle[deg]:Wobble angle"), + "|Angle[deg]:Wobble angle" + "|Name[string]:Source name if available"), 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" @@ -675,13 +683,17 @@ void UpdateSource() { - const array arr = {{ 0, 0, 0, 0, 0, 0 }}; + const vector empty(6*sizeof(double)+31, 0); fDimSource.setQuality(0); - fDimSource.Update(arr); - } - - void UpdateSource(const array &arr) - { + fDimSource.Update(empty); + } + + void UpdateSource(const array &arr, const string &name="") + { + vector dat(6*sizeof(double)+31, 0); + memcpy(dat.data(), arr.data(), 6*sizeof(double)); + strncpy(dat.data()+6*sizeof(double), name.c_str(), 30); + fDimSource.setQuality(1); - fDimSource.Update(arr); + fDimSource.Update(dat); } @@ -719,4 +731,7 @@ }; + typedef map> sources; + sources fSources; + // Status 0: Error // Status 1: Unlocked @@ -801,15 +816,12 @@ } - int Wobble(const EventImp &evt) - { - if (!CheckEventSize(evt.GetSize(), "Wobble", 32)) - return T::kSM_FatalError; - - const double *dat = evt.Ptr(); - - const double ra = dat[0]*M_PI/12; - const double dec = dat[1]*M_PI/180; - const double off = dat[2]*M_PI/180; - const double dir = dat[3]*M_PI/180; + int StartWobble(const double &srcra, const double &srcdec, + const double &woboff, const double &wobang, + const string name="") + { + const double ra = srcra *M_PI/12; + const double dec = srcdec*M_PI/180; + const double off = woboff*M_PI/180; + const double dir = wobang*M_PI/180; const double cosdir = cos(dir); @@ -823,8 +835,8 @@ { const array dim = {{ ra, dec, ra, dec, 0, 0 }}; - fDrive.UpdateSource(dim); + fDrive.UpdateSource(dim, name); string command = "RADEC "; - command += AngleToStr(dat[0]) + ' ' + AngleToStr(dat[1]); + command += AngleToStr(srcra) + ' ' + AngleToStr(srcdec); return SendCommand(command, false); } @@ -846,5 +858,5 @@ const array dim = {{ ra, dec, nra, ndec, off, dir }}; - fDrive.UpdateSource(dim); + fDrive.UpdateSource(dim, name); string command = "RADEC "; @@ -853,4 +865,29 @@ } + int Wobble(const EventImp &evt) + { + if (!CheckEventSize(evt.GetSize(), "Wobble", 32)) + return T::kSM_FatalError; + + const double *dat = evt.Ptr(); + + return StartWobble(dat[0], dat[1], dat[2], dat[3]); + } + + int Track(const EventImp &evt) + { + const double *dat = evt.Ptr(); + const string name = evt.Ptr(16); + + const sources::const_iterator it = fSources.find(name); + if (it==fSources.end()) + return T::Error("Source '"+name+"'not found in list."); + + const double &ra = it->second.first; + const double &dec = it->second.second; + + return StartWobble(ra, dec, dat[0], dat[1], name); + } + int SetLedBrightness(const EventImp &evt) { @@ -873,4 +910,18 @@ fDrive.SetVerbose(evt.GetBool()); + return T::GetCurrentState(); + } + + int Print() + { + for (sources::const_iterator it=fSources.begin(); + it!=fSources.end(); it++) + { + const string &name = it->first; + const double &ra = it->second.first; + const double &dec = it->second.second; + + T::Out() << name << "," << ra << "," << dec << endl; + } return T::GetCurrentState(); } @@ -999,4 +1050,11 @@ "|Offset[deg]:Wobble offset" "|Angle[deg]:Wobble angle"); + + T::AddEvent("TRACK", "D:2;C", kStateArmed) // ->RADEC/GRB + (bind(&StateMachineDrive::Track, this, placeholders::_1)) + ("Move the telescope to the given wobble position around the given source and start tracking" + "|Offset[deg]:Wobble offset" + "|Angle[deg]:Wobble angle" + "|Name[string]:Source name"); T::AddEvent("MOON", kStateArmed) @@ -1055,4 +1113,9 @@ "|[host][string]:new ethernet address in the form "); + + T::AddEvent("PRINT") + (bind(&StateMachineDrive::Print, this)) + ("Print source list."); + fDrive.StartConnect(); } @@ -1063,4 +1126,67 @@ } + void ReadDatabase(const string &database) + { + //static const boost::regex expr("(([[:word:].-]+)(:(.+))?@)?([[:word:].-]+)(:([[:digit:]]+))?(/([[:word:].-]+))?"); + static const boost::regex expr("(([[:word:].-]+)(:(.+))?@)?([[:word:].-]+)(:([[:digit:]]+))?(/([[:word:].-]+))"); + // 2: user + // 4: pass + // 5: server + // 7: port + // 9: db + + boost::smatch what; + if (!boost::regex_match(database, what, expr, boost::match_extra)) + throw runtime_error("Couldn't parse '"+database+"'."); + + if (what.size()!=10) + throw runtime_error("Error parsing '"+database+"'."); + + const string user = what[2]; + const string passwd = what[4]; + const string server = what[5]; + const string db = what[9]; + const int port = atoi(string(what[7]).c_str()); + + ostringstream out; + out << "Connecting to '"; + if (!user.empty()) + out << user << "@"; + out << server; + if (port) + out << ":" << port; + if (!db.empty()) + out << "/" << db; + + T::Message(out); + + mysqlpp::Connection conn(db.c_str(), server.c_str(), user.c_str(), passwd.c_str(), port); + /* throws exceptions + if (!conn.connected()) + { + cout << "MySQL connection error: " << conn.error() << endl; + throw; + }*/ + + const mysqlpp::StoreQueryResult res = + conn.query("SELECT fSourceName, fRightAscension, fDeclination FROM scheduling.source").store(); + /* throws exceptions + if (!res) + { + cout << "MySQL query failed: " << query.error() << endl; + throw; + }*/ + + for (vector::const_iterator v=res.begin(); v("quiet")); + + const vector &vec = conf.Vec("source"); + + for (vector::const_iterator it=vec.begin(); it!=vec.end(); it++) + { + istringstream stream(*it); + + string name; + double ra=0; + double dec=0; + + int i=0; + + string buffer; + while (getline(stream, buffer, ',')) + { + istringstream is(buffer); + + switch (i++) + { + case 0: name = buffer; break; + case 1: ra = ConnectionDrive::ReadAngle(is); break; + case 2: dec = ConnectionDrive::ReadAngle(is); break; + } + + if (is.fail()) + break; + } + + if (i==3) + { + // FIXME: Check double names + fSources[name] = make_pair(ra, dec); + } + } + + if (conf.Has("source-database")) + ReadDatabase(conf.Get("source-database")); return -1; @@ -1091,4 +1255,6 @@ ("addr,a", var("localhost:7404"), "Network address of Cosy") ("quiet,q", po_bool(true), "Disable printing contents of all received messages (except dynamic data) in clear text.") + ("source-database", var(), "Database link as in\n\tuser:password@server[:port]/database.") + ("source", vars(), "Additional source entry in the form \"name,hh:mm:ss,dd:mm:ss\"") ;