FACT camera power interlock control

Index: trunk/FACT++/src/pwrctrl.cc =================================================================== --- trunk/FACT++/src/pwrctrl.cc (revision 14516) +++ trunk/FACT++/src/pwrctrl.cc (revision 14518) @@ -1,7 +1,5 @@ #include -#include // std::string -#include // std::transform -#include // std::tolower +#include #include @@ -18,5 +16,5 @@ #include "tools.h" -#include "HeadersLid.h" +#include "HeadersPower.h" namespace ba = boost::asio; @@ -29,83 +27,5 @@ { protected: - - struct Status - { - bool fWaterFlowOk; - bool fWaterLevelOk; - - bool fPwrBiasOn; - bool fPwr24VOn; - bool fPwrPumpOn; - bool fPwrDriveOn; - - bool fDriveMainSwitchOn; - bool fDriveFeedbackOn; - - Status() { } - - bool Set(bool &rc, const QString &value) - { - rc = value.toInt(); - return true; - } - - bool Set(const QDomNamedNodeMap &map) - { - if (!map.contains("id") || !map.contains("title")) - return false; - - QString item = map.namedItem("id").nodeValue(); - QString value = map.namedItem("title").nodeValue(); - - if (item==(QString("flow_meter"))) - return Set(fWaterFlowOk, value); - - if (item==(QString("level"))) - return Set(fWaterLevelOk, value); - - if (item==(QString("bias_power"))) - return Set(fPwrBiasOn, value); - - if (item==(QString("power_24v"))) - return Set(fPwr24VOn, value); - - if (item==(QString("pump"))) - return Set(fPwrPumpOn, value); - - if (item==(QString("drive_power"))) - return Set(fPwrDriveOn, value); - - if (item==(QString("drive_on"))) - return Set(fDriveMainSwitchOn, value); - - if (item==(QString("drive_enable"))) - return Set(fDriveFeedbackOn, value); - - return false; - } - - void Print(ostream &out, const string &title, const bool &val, const string &t="enabled", const string &f="disabled") - { - out << setw(15) << (title+":"); - if (val) - out << kGreen << t << endl; - else - out << kRed << f << endl; - } - - void Print(ostream &out) - { - Print(out, "Water flow", fWaterFlowOk, "ok", "low"); - Print(out, "Water level", fWaterLevelOk, "ok", "low"); - Print(out, "Power bias", fPwrBiasOn); - Print(out, "Power 24V", fPwr24VOn); - Print(out, "Power pump", fPwrPumpOn); - Print(out, "Power drive", fPwrDriveOn); - Print(out, "Drive main", fDriveMainSwitchOn, "on", "off"); - Print(out, "Drive feedback", fDriveFeedbackOn, "on", "off"); - } - - }; + bool fIsValid; private: @@ -113,4 +33,5 @@ bool fIsVerbose; + bool fDebugRx; string fSite; @@ -123,7 +44,7 @@ Time fLastReport; - Status fStatus; - - virtual void Update(const Status &) + Power::Status fStatus; + + virtual void Update(const Power::Status &) { } @@ -132,5 +53,5 @@ void ProcessAnswer() { - if (fIsVerbose) + if (fDebugRx) { Out() << "------------------------------------------------------" << endl; @@ -139,34 +60,5 @@ } - /* - fRdfData = - "HTTP/1.1 200 OK\n" - "Content-Type: text/html\n" - "Connnection: close\r\n" - "\r\n" - "\n" - "\n" - "\n" - "FACT camera power interlock control\n" - "\n" - "\n" - "\n"; - */ - const size_t p1 = fRdfData.find("\r\n\r\n"); - //const size_t p1 = fRdfData.find("\n\n"); if (p1==string::npos) { @@ -187,56 +79,25 @@ } + if (fDebugRx) + Out() << "Parsed:\n-------\n" << doc.toString().toStdString() << endl; + + const QDomNodeList imageElems = doc.elementsByTagName("span"); + + for (unsigned int i=0; i " << e.text().toStdString() << endl; - }*/ - - for (unsigned int i=0; i0xfff) - { - ostringstream msg; - msg << "Position " << evt.GetUShort() << " for motor " << mid+1 << " out of range [0,1023]."; - T::Error(msg); - return T::GetCurrentState(); - } - - fLid.MoveMotor(mid, evt.GetUShort()); - + fPower.Post("dt="); return T::GetCurrentState(); - }*/ + + } int Execute() @@ -576,12 +414,5 @@ poll_one(); - const int rc = fLid.GetState(); - - if (T::GetCurrentState()==Lid::State::kMoving && - (rc==Lid::State::kConnected || rc==Lid::State::kDisconnected) && - fLastCommand+boost::posix_time::seconds(6*fLid.GetInterval()) < Time()) - return Lid::State::kMoving; - - return rc==Lid::State::kConnected ? T::GetCurrentState() : rc; + return fPower.GetState(); } @@ -589,6 +420,6 @@ public: StateMachinePowerControl(ostream &out=cout) : - T(out, "LID_CONTROL"), ba::io_service::work(static_cast(*this)), - fLid(*this, *this) + T(out, "PWR_CONTROL"), ba::io_service::work(static_cast(*this)), + fPower(*this, *this) { // ba::io_service::work is a kind of keep_alive for the loop. @@ -600,21 +431,33 @@ // State names - T::AddStateName(Lid::State::kDisconnected, "NoConnection", + T::AddStateName(Power::State::kDisconnected, "NoConnection", "No connection to web-server could be established recently"); - T::AddStateName(Lid::State::kConnected, "Connected", + T::AddStateName(Power::State::kConnected, "Connected", "Connection established, but status still not known"); - T::AddStateName(Lid::State::kInconsistent, "Inconsistent", - "Both lids show different states"); - - T::AddStateName(Lid::State::kUnknown, "Unknown", - "Arduino resports both lids in an unknown status"); - - T::AddStateName(Lid::State::kClosed, "Closed", - "Both lids are closed"); - - T::AddStateName(Lid::State::kOpen, "Open", - "Both lids are open"); + T::AddStateName(Power::State::kSystemOff, "PowerOff", + "Camera, Bias and Drive power off"); + + T::AddStateName(Power::State::kBiasOn, "BiasOn", + "Camera and Drive power off, Bias on"); + + T::AddStateName(Power::State::kDriveOn, "DriveOn", + "Camera and Bias power off, Drive on"); + + T::AddStateName(Power::State::kCameraOn, "CameraOn", + "Drive and Bias power off, Camera on"); + + T::AddStateName(Power::State::kDriveOn|Power::State::kCameraOn, "BiasOff", + "Camera and Drive power on, Bias off"); + + T::AddStateName(Power::State::kBiasOn|Power::State::kCameraOn, "DriveOff", + "Camera and Bias power on, Drive off"); + + T::AddStateName(Power::State::kDriveOn|Power::State::kBiasOn, "CameraOff", + "Drive and Bias power on, Camera off"); + + T::AddStateName(Power::State::kDriveOn|Power::State::kBiasOn|Power::State::kCameraOn, "SystemOn", + "Camera, Bias and drive power on"); @@ -623,11 +466,16 @@ (bind(&StateMachinePowerControl::SetVerbosity, this, placeholders::_1)) ("set verbosity state" - "|verbosity[bool]:disable or enable verbosity for received data (yes/no), except dynamic data"); - - T::AddEvent("OPEN", Lid::State::kInconsistent, Lid::State::kClosed) - (bind(&StateMachinePowerControl::Open, this)); - - T::AddEvent("CLOSE", Lid::State::kInconsistent, Lid::State::kOpen) - (bind(&StateMachinePowerControl::Close, this)); + "|verbosity[bool]:disable or enable verbosity for interpreted data (yes/no)"); + + T::AddEvent("SET_DEBUG_RX", "B") + (bind(&StateMachinePowerControl::SetDebugRx, this, placeholders::_1)) + ("set debux-rx state" + "|debug[bool]:dump received text and parsed text to console (yes/no)"); + + T::AddEvent("CAMERA_POWER", "B") + (bind(&StateMachinePowerControl::SetCameraPower, this, placeholders::_1)); + + T::AddEvent("TOGGLE_DRIVE") + (bind(&StateMachinePowerControl::ToggleDrive, this)); T::AddEvent("POST", "C") @@ -639,10 +487,11 @@ int EvalOptions(Configuration &conf) { - fLid.SetVerbose(!conf.Get("quiet")); - fLid.SetInterval(conf.Get("interval")); - fLid.SetDebugTx(conf.Get("debug-tx")); - fLid.SetSite(conf.Get("url")); - fLid.SetEndpoint(conf.Get("addr")); - fLid.StartConnect(); + fPower.SetVerbose(!conf.Get("quiet")); + fPower.SetInterval(conf.Get("interval")); + fPower.SetDebugTx(conf.Get("debug-tx")); + fPower.SetDebugRx(conf.Get("debug-rx")); + fPower.SetSite(conf.Get("url")); + fPower.SetEndpoint(conf.Get("addr")); + fPower.StartConnect(); return -1; @@ -671,4 +520,5 @@ ("interval,i", var(5), "Interval between two updates on the server in seconds") ("debug-tx", po_bool(), "Enable debugging of ethernet transmission.") + ("debug-rx", po_bool(), "Enable debugging for received data.") ;