Index: trunk/FACT++/src/HeadersFeedback.h =================================================================== --- trunk/FACT++/src/HeadersFeedback.h (revision 13922) +++ trunk/FACT++/src/HeadersFeedback.h (revision 13922) @@ -0,0 +1,27 @@ +#ifndef FACT_HeadersFeedback +#define FACT_HeadersFeedback + +namespace Feedback +{ + namespace State + { + enum states_t + { + kDimNetworkNA = 1, + kDisconnected, + kConnecting, + kConnectedFSC, + kConnectedFAD, + kConnected, + kTempCtrlIdle, // 7 + kFeedbackCtrlIdle, // 8 + kCurrentCtrlIdle, // 9 + kTempCtrlRunning, // 9->10 + kFeedbackCtrlRunning, // 10->11 + kCurrentCtrlRunning, // 12 + kCalibrating, // 11->13 + }; + } +} + +#endif Index: trunk/FACT++/src/feedback.cc =================================================================== --- trunk/FACT++/src/feedback.cc (revision 13921) +++ trunk/FACT++/src/feedback.cc (revision 13922) @@ -16,16 +16,12 @@ #include "HeadersFAD.h" +#include "HeadersFSC.h" #include "HeadersBIAS.h" - -namespace ba = boost::asio; -namespace bs = boost::system; -namespace dummy = ba::placeholders; +#include "HeadersFeedback.h" + +#include "DimState.h" +#include "DimDescriptionService.h" using namespace std; - -// ------------------------------------------------------------------------ - -#include "DimDescriptionService.h" -#include "DimState.h" // ------------------------------------------------------------------------ @@ -34,21 +30,4 @@ { private: - enum states_t - { - kStateDimNetworkNA = 1, - kStateDisconnected, - kStateConnecting, - kStateConnectedFSC, - kStateConnectedFAD, - kStateConnected, - kStateTempCtrlIdle, // 7 - kStateFeedbackCtrlIdle, // 8 - kStateCurrentCtrlIdle, // 9 - kStateTempCtrlRunning, // 9->10 - kStateFeedbackCtrlRunning, // 10->11 - kStateCurrentCtrlRunning, // 12 - kStateCalibrating, // 11->13 - }; - enum control_t { @@ -138,5 +117,5 @@ const double dUt = (avgt-25)*4./70; // [V] - if (GetCurrentState()==kStateCalibrating && fBiasOffset>dUt-1.2) + if (GetCurrentState()==Feedback::State::kCalibrating && fBiasOffset>dUt-1.2) { ostringstream msg; @@ -149,5 +128,5 @@ // FIXME: If calibrating do not wait for the temperature! fAppliedOffset = fBiasOffset; - if (GetCurrentState()!=kStateCalibrating) + if (GetCurrentState()!=Feedback::State::kCalibrating) fAppliedOffset += dUt; @@ -275,9 +254,9 @@ fDimDeviation.Update(vec); - if (!fOutputEnabled || fDimBias.state()!=BIAS::kVoltageOn) + if (!fOutputEnabled || fDimBias.state()!=BIAS::State::kVoltageOn) return GetCurrentState(); // Trigger calibration - if (GetCurrentState()==kStateCalibrating && fCursorTemp==1) + if (GetCurrentState()==Feedback::State::kCalibrating && fCursorTemp==1) { DimClient::sendCommandNB("BIAS_CONTROL/REQUEST_STATUS", NULL, 0); @@ -321,5 +300,5 @@ return -1; - if (fDimBias.state()!=BIAS::kVoltageOn) + if (fDimBias.state()!=BIAS::State::kVoltageOn) return false; @@ -347,5 +326,5 @@ if (fCursorCur= BIAS::kConnecting; - const bool fsc = fDimFSC.state() >= 2; - const bool fad = fDimFAD.state() >= FAD::kConnected; + const bool bias = fDimBias.state() >= BIAS::State::kConnecting; + const bool fsc = fDimFSC.state() >= FSC::State::kConnected; + const bool fad = fDimFAD.state() >= FAD::State::kConnected; if (!bias) @@ -931,5 +910,5 @@ Message(out); - if (fDimBias.state()==BIAS::kVoltageOn) + if (fDimBias.state()==BIAS::State::kVoltageOn) DimClient::sendCommandNB("BIAS_CONTROL/REQUEST_STATUS", NULL, 0); @@ -1022,5 +1001,5 @@ // return kSM_FatalError; - if (fDimBias.state()==BIAS::kRamping) + if (fDimBias.state()==BIAS::State::kRamping) { Warn("Calibration cannot be started when biasctrl is in state Ramping."); @@ -1050,5 +1029,5 @@ fOutputEnabled = true; - return kStateCalibrating; + return Feedback::State::kCalibrating; } @@ -1075,37 +1054,37 @@ if (!fDim.online()) - return kStateDimNetworkNA; - - const bool bias = fDimBias.state() >= BIAS::kConnecting; - const bool fad = fDimFAD.state() >= FAD::kConnected; - const bool fsc = fDimFSC.state() >= 2; + return Feedback::State::kDimNetworkNA; + + const bool bias = fDimBias.state() >= BIAS::State::kConnecting; + const bool fad = fDimFAD.state() >= FAD::State::kConnected; + const bool fsc = fDimFSC.state() >= FSC::State::kConnected; // All subsystems are not connected if (!bias && !fad && !fsc) - return kStateDisconnected; + return Feedback::State::kDisconnected; // At least one subsystem apart from bias is connected if (bias && !fad && !fsc) - return kStateConnecting; + return Feedback::State::kConnecting; /* // All subsystems are connected - if (GetCurrentStatus()==kStateConfiguringStep1) + if (GetCurrentStatus()==Feedback::State::kConfiguringStep1) { if (fCursor<1) - return kStateConfiguringStep1; + return Feedback::State::kConfiguringStep1; if (fCursor==1) { fStartTime = Time(); - return kStateConfiguringStep2; + return Feedback::State::kConfiguringStep2; } } - if (GetCurrentStatus()==kStateConfiguringStep2) + if (GetCurrentStatus()==Feedback::State::kConfiguringStep2) { if (fCursor==1) { if ((Time()-fStartTime).total_microseconds()/1000000.<1.5) - return kStateConfiguringStep2; + return Feedback::State::kConfiguringStep2; Dim::SendCommand("BIAS_CONTROL/REQUEST_STATUS"); @@ -1125,5 +1104,5 @@ cout << avg/n << endl; } - return kStateConnected; + return Feedback::State::kConnected; } */ @@ -1133,5 +1112,5 @@ { if (fControlType==kFeedback || fControlType==kFeedbackGlobal) - return fOutputEnabled ? kStateFeedbackCtrlRunning : kStateFeedbackCtrlIdle; + return fOutputEnabled ? Feedback::State::kFeedbackCtrlRunning : Feedback::State::kFeedbackCtrlIdle; } @@ -1141,8 +1120,8 @@ if (fControlType==kTemp) { - if (GetCurrentState()==kStateCalibrating && fCursorCur0 && Time()-past>boost::posix_time::milliseconds(fCurrentRequestInterval)) { - if (fDimBias.state()==BIAS::kVoltageOn) + if (fDimBias.state()==BIAS::State::kVoltageOn) DimClient::sendCommandNB("BIAS_CONTROL/REQUEST_STATUS", NULL, 0); past = Time(); } - return fOutputEnabled ? kStateCurrentCtrlRunning : kStateCurrentCtrlIdle; + return fOutputEnabled ? Feedback::State::kCurrentCtrlRunning : Feedback::State::kCurrentCtrlIdle; } } if (bias && fad && !fsc) - return kStateConnectedFAD; + return Feedback::State::kConnectedFAD; if (bias && fsc && !fad) - return kStateConnectedFSC; - - return kStateConnected; + return Feedback::State::kConnectedFSC; + + return Feedback::State::kConnected; } @@ -1218,94 +1197,94 @@ // State names - AddStateName(kStateDimNetworkNA, "DimNetworkNotAvailable", + AddStateName(Feedback::State::kDimNetworkNA, "DimNetworkNotAvailable", "The Dim DNS is not reachable."); - AddStateName(kStateDisconnected, "Disconnected", + AddStateName(Feedback::State::kDisconnected, "Disconnected", "The Dim DNS is reachable, but the required subsystems are not available."); - AddStateName(kStateConnecting, "Connecting", + AddStateName(Feedback::State::kConnecting, "Connecting", "Only biasctrl is available and connected with its hardware."); - AddStateName(kStateConnectedFSC, "ConnectedFSC", + AddStateName(Feedback::State::kConnectedFSC, "ConnectedFSC", "biasctrl and fscctrl are available and connected with their hardware."); - AddStateName(kStateConnectedFAD, "ConnectedFAD", + AddStateName(Feedback::State::kConnectedFAD, "ConnectedFAD", "biasctrl and fadctrl are available and connected with their hardware."); - AddStateName(kStateConnected, "Connected", + AddStateName(Feedback::State::kConnected, "Connected", "biasctrl, fadctrl and fscctrl are available and connected with their hardware."); - AddStateName(kStateFeedbackCtrlIdle, "FeedbackIdle", + AddStateName(Feedback::State::kFeedbackCtrlIdle, "FeedbackIdle", "Feedback control activated, but voltage output disabled."); - AddStateName(kStateTempCtrlIdle, "TempCtrlIdle", + AddStateName(Feedback::State::kTempCtrlIdle, "TempCtrlIdle", "Temperature control activated, but voltage output disabled."); - AddStateName(kStateCurrentCtrlIdle, "CurrentCtrlIdle", + AddStateName(Feedback::State::kCurrentCtrlIdle, "CurrentCtrlIdle", "Current control activated, but voltage output disabled."); - AddStateName(kStateFeedbackCtrlRunning, "FeedbackControl", + AddStateName(Feedback::State::kFeedbackCtrlRunning, "FeedbackControl", "Feedback control activated and voltage output enabled."); - AddStateName(kStateTempCtrlRunning, "TempControl", + AddStateName(Feedback::State::kTempCtrlRunning, "TempControl", "Temperature control activated and voltage output enabled."); - AddStateName(kStateCurrentCtrlRunning, "CurrentControl", + AddStateName(Feedback::State::kCurrentCtrlRunning, "CurrentControl", "Current/Temp control activated and voltage output enabled."); - AddStateName(kStateCalibrating, "Calibrating", + AddStateName(Feedback::State::kCalibrating, "Calibrating", "Calibrating current offsets."); - AddEvent("START_FEEDBACK_CONTROL", "S:1", kStateConnectedFAD, kStateConnected) + AddEvent("START_FEEDBACK_CONTROL", "S:1", Feedback::State::kConnectedFAD, Feedback::State::kConnected) (bind(&StateMachineFeedback::StartFeedback, this, placeholders::_1)) ("Start the feedback control loop" "|Num[short]:Number of events 'medianed' to calculate the correction value"); - AddEvent("START_GLOBAL_FEEDBACK", "S:1", kStateConnectedFAD, kStateConnected) + AddEvent("START_GLOBAL_FEEDBACK", "S:1", Feedback::State::kConnectedFAD, Feedback::State::kConnected) (bind(&StateMachineFeedback::StartFeedbackGlobal, this, placeholders::_1)) ("Start the global feedback control loop" "Num[short]:Number of events averaged to calculate the correction value"); - AddEvent("START_TEMP_CONTROL", "F:1", kStateConnectedFSC, kStateConnected) + AddEvent("START_TEMP_CONTROL", "F:1", Feedback::State::kConnectedFSC, Feedback::State::kConnected) (bind(&StateMachineFeedback::StartTempCtrl, this, placeholders::_1)) ("Start the temperature control loop" "|offset[V]:Offset from the nominal temperature corrected value in Volts"); - AddEvent("START_CURRENT_CONTROL", "F:1", kStateConnectedFSC, kStateConnected) + AddEvent("START_CURRENT_CONTROL", "F:1", Feedback::State::kConnectedFSC, Feedback::State::kConnected) (bind(&StateMachineFeedback::StartCurrentCtrl, this, placeholders::_1)) ("Start the current/temperature control loop" "|offset[V]:Offset from the nominal current/temperature corrected value in Volts"); - // kStateTempCtrlIdle, kStateFeedbackCtrlIdle, kStateTempCtrlRunning, kStateFeedbackCtrlRunning + // Feedback::State::kTempCtrlIdle, Feedback::State::kFeedbackCtrlIdle, Feedback::State::kTempCtrlRunning, Feedback::State::kFeedbackCtrlRunning AddEvent("STOP") (bind(&StateMachineFeedback::StopFeedback, this)) ("Stop any control loop"); - AddEvent("ENABLE_OUTPUT", "B:1")//, kStateIdle) + AddEvent("ENABLE_OUTPUT", "B:1")//, Feedback::State::kIdle) (bind(&StateMachineFeedback::EnableOutput, this, placeholders::_1)) ("Enable sending of correction values caluclated by the control loop to the biasctrl"); - AddEvent("STORE_REFERENCE")//, kStateIdle) + AddEvent("STORE_REFERENCE")//, Feedback::State::kIdle) (bind(&StateMachineFeedback::StoreReference, this)) ("Store the last (averaged) value as new reference (for debug purpose only)"); - AddEvent("SET_REFERENCE", "F:1")//, kStateIdle) + AddEvent("SET_REFERENCE", "F:1")//, Feedback::State::kIdle) (bind(&StateMachineFeedback::SetReference, this, placeholders::_1)) ("Set a new global reference value (for debug purpose only)"); - AddEvent("SET_Ki", "D:1")//, kStateIdle) + AddEvent("SET_Ki", "D:1")//, Feedback::State::kIdle) (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 0)) ("Set integral constant Ki"); - AddEvent("SET_Kp", "D:1")//, kStateIdle) + AddEvent("SET_Kp", "D:1")//, Feedback::State::kIdle) (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 1)) ("Set proportional constant Kp"); - AddEvent("SET_Kd", "D:1")//, kStateIdle) + AddEvent("SET_Kd", "D:1")//, Feedback::State::kIdle) (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 2)) ("Set derivative constant Kd"); - AddEvent("SET_T", "D:1")//, kStateIdle) + AddEvent("SET_T", "D:1")//, Feedback::State::kIdle) (bind(&StateMachineFeedback::SetConstant, this, placeholders::_1, 3)) ("Set time-constant. (-1 to use the cycle time, i.e. the time for the last average cycle, instead)"); - AddEvent("CALIBRATE_CURRENTS", kStateConnectedFSC, kStateConnected)//, kStateIdle) + AddEvent("CALIBRATE_CURRENTS", Feedback::State::kConnectedFSC, Feedback::State::kConnected)//, Feedback::State::kIdle) (bind(&StateMachineFeedback::CalibrateCurrents, this)) (""); - AddEvent("SET_CURRENT_REQUEST_INTERVAL", kStateConnectedFSC, kStateConnected)//, kStateIdle) + AddEvent("SET_CURRENT_REQUEST_INTERVAL", Feedback::State::kConnectedFSC, Feedback::State::kConnected)//, Feedback::State::kIdle) (bind(&StateMachineFeedback::SetCurrentRequestInterval, this, placeholders::_1)) ("|interval[ms]:Interval between two current requests in modes which need that.");