Index: trunk/FACT++/src/drivectrl.cc =================================================================== --- trunk/FACT++/src/drivectrl.cc (revision 13910) +++ trunk/FACT++/src/drivectrl.cc (revision 13911) @@ -22,4 +22,6 @@ #endif +#include "HeadersDrive.h" + namespace ba = boost::asio; namespace bs = boost::system; @@ -27,68 +29,5 @@ using namespace std; - -// ------------------------------------------------------------------------ - -namespace Drive -{ - struct DimPointing - { - } __attribute__((__packed__)); - - struct DimTracking - { - } __attribute__((__packed__)); - - struct DimStarguider - { - double fMissZd; - double fMissAz; - - double fNominalZd; - double fNominalAz; - - double fCenterX; - double fCenterY; - - double fBrightness; - - uint16_t fNumCorrelated; - uint16_t fNumLeds; - uint16_t fNumRings; - uint16_t fNumStars; - - } __attribute__((__packed__)); - - struct DimTPoint - { - 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; - double fCenterMag; - - double fStarX; - double fStarY; - double fStarMag; - - double fRealMag; - - } __attribute__((__packed__)); -}; - - +using namespace Drive; // ------------------------------------------------------------------------ @@ -135,9 +74,9 @@ } - virtual void UpdateStarguider(const Time &, const Drive::DimStarguider &) - { - } - - virtual void UpdateTPoint(const Time &, const Drive::DimTPoint &, const string &) + virtual void UpdateStarguider(const Time &, const DimStarguider &) + { + } + + virtual void UpdateTPoint(const Time &, const DimTPoint &, const string &) { } @@ -252,5 +191,5 @@ return; - Drive::DimStarguider data; + DimStarguider data; data.fMissZd = misszd; @@ -308,5 +247,5 @@ return; - Drive::DimTPoint tpoint; + DimTPoint tpoint; tpoint.fRa = ra; @@ -594,5 +533,5 @@ }; -const uint16_t ConnectionDrive::kMaxAddr = 0xfff; +const uint16_t ConnectionkMaxAddr = 0xfff; // ------------------------------------------------------------------------ @@ -627,5 +566,5 @@ } - void UpdateTPoint(const Time &t, const Drive::DimTPoint &data, + void UpdateTPoint(const Time &t, const DimTPoint &data, const string &name) { @@ -708,28 +647,6 @@ class StateMachineDrive : public T, public ba::io_service, public ba::io_service::work { - int Wrap(boost::function f) - { - f(); - return T::GetCurrentState(); - } - - boost::function Wrapper(boost::function func) - { - return bind(&StateMachineDrive::Wrap, this, func); - } - private: S fDrive; - - enum states_t - { - kStateDisconnected = 1, - kStateConnected, - kStateNotReady, - kStateReady, - kStateArmed, - kStateMoving, - kStateTracking, - }; string fDatabase; @@ -1014,37 +931,30 @@ fDrive(*this, *this) { - // ba::io_service::work is a kind of keep_alive for the loop. - // It prevents the io_service to go to stopped state, which - // would prevent any consecutive calls to run() - // or poll() to do nothing. reset() could also revoke to the - // previous state but this might introduce some overhead of - // deletion and creation of threads and more. - // State names - AddStateName(kStateDisconnected, "Disconnected", + T::AddStateName(State::kDisconnected, "Disconnected", "No connection to cosy"); - AddStateName(kStateConnected, "Connected", + T::AddStateName(State::kConnected, "Connected", "Cosy connected, drive stopped"); - AddStateName(kStateNotReady, "NotReady", + T::AddStateName(State::kNotReady, "NotReady", "Drive system not ready for movement"); - AddStateName(kStateReady, "Ready", + T::AddStateName(State::kReady, "Ready", "Drive system ready for movement"); - AddStateName(kStateArmed, "Armed", + T::AddStateName(State::kArmed, "Armed", "Cosy armed, drive stopped"); - AddStateName(kStateMoving, "Moving", + T::AddStateName(State::kMoving, "Moving", "Telescope moving"); - AddStateName(kStateTracking, "Tracking", + T::AddStateName(State::kTracking, "Tracking", "Telescope tracking"); - // kStateIdle - // kStateArmed - // kStateMoving - // kStateTracking + // State::kIdle + // State::kArmed + // State::kMoving + // State::kTracking // Init @@ -1068,5 +978,5 @@ // Drive Commands - T::AddEvent("MOVE_TO", "D:2", kStateArmed) // ->ZDAZ + T::AddEvent("MOVE_TO", "D:2", State::kArmed) // ->ZDAZ (bind(&StateMachineDrive::SendCoordinates, this, placeholders::_1, kPoint)) ("Move the telescope to the given local coordinates" @@ -1074,5 +984,5 @@ "|Az[deg]:Azimuth"); - T::AddEvent("TRACK", "D:2", kStateArmed) // ->RADEC/GRB + T::AddEvent("TRACK", "D:2", State::kArmed) // ->RADEC/GRB (bind(&StateMachineDrive::SendCoordinates, this, placeholders::_1, kTrackSlow)) ("Move the telescope to the given sky coordinates and start tracking them" @@ -1080,5 +990,5 @@ "|Dec[deg]:Declination"); - T::AddEvent("WOBBLE", "D:4", kStateArmed) // ->RADEC/GRB + T::AddEvent("WOBBLE", "D:4", State::kArmed) // ->RADEC/GRB (bind(&StateMachineDrive::Wobble, this, placeholders::_1)) ("Move the telescope to the given wobble position around the given sky coordinates and start tracking them" @@ -1088,5 +998,5 @@ "|Angle[deg]:Wobble angle"); - T::AddEvent("TRACK_SOURCE", "D:2;C", kStateArmed) // ->RADEC/GRB + T::AddEvent("TRACK_SOURCE", "D:2;C", State::kArmed) // ->RADEC/GRB (bind(&StateMachineDrive::Track, this, placeholders::_1)) ("Move the telescope to the given wobble position around the given source and start tracking" @@ -1095,17 +1005,17 @@ "|Name[string]:Source name"); - T::AddEvent("MOON", kStateArmed) + T::AddEvent("MOON", State::kArmed) (bind(&StateMachineDrive::SendCommand, this, "MOON 0 0", true)) ("Start tracking the moon"); - T::AddEvent("VENUS", kStateArmed) + T::AddEvent("VENUS", State::kArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 2 0 0", true)) ("Start tracking Venus"); - T::AddEvent("MARS", kStateArmed) + T::AddEvent("MARS", State::kArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 4 0 0", true)) ("Start tracking Mars"); - T::AddEvent("JUPITER", kStateArmed) + T::AddEvent("JUPITER", State::kArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 5 0 0", true)) ("Start tracking Jupiter"); - T::AddEvent("SATURN", kStateArmed) + T::AddEvent("SATURN", State::kArmed) (bind(&StateMachineDrive::SendCommand, this, "CELEST 6 0 0", true)) ("Start tracking Saturn"); @@ -1129,6 +1039,6 @@ ("Stop any kind of movement."); -// T::AddEvent("ARM", kStateConnected) -// (bind(&StateMachineDrive::SendCommand, this, "ARM lock")) +// T::AddEvent("ARM", State::kConnected) +// (bind(&StateMachineSendCommand, this, "ARM lock")) // (""); @@ -1141,9 +1051,9 @@ // Conenction commands - AddEvent("DISCONNECT", kStateConnected, kStateArmed) + T::AddEvent("DISCONNECT", State::kConnected, State::kArmed) (bind(&StateMachineDrive::Disconnect, this)) ("disconnect from ethernet"); - AddEvent("RECONNECT", "O", kStateDisconnected, kStateConnected, kStateArmed) + T::AddEvent("RECONNECT", "O", State::kDisconnected, State::kConnected, State::kArmed) (bind(&StateMachineDrive::Reconnect, this, placeholders::_1)) ("(Re)connect ethernet connection to FTM, a new address can be given"