Changeset 15363 for trunk/FACT++/src
- Timestamp:
- 04/18/13 10:21:36 (12 years ago)
- File:
-
- 1 edited
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- Added
- Removed
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trunk/FACT++/src/drivectrl.cc
r15211 r15363 129 129 uint64_t fTrackingCounter; 130 130 131 void ProcessDriveStatus(const string &line) 132 { 133 Message(line); 134 } 135 136 bool ProcessStargReport(const string &line) 137 { 138 istringstream stream(line); 139 140 // 0: Error 141 // 1: Standby 142 // 2: Monitoring 143 uint16_t status1; 144 stream >> status1; 145 /*const Time t1 = */ReadTime(stream); 146 147 uint16_t status2; 148 stream >> status2; 149 /*const Time t2 = */ReadTime(stream); 150 151 double misszd, missaz; 152 stream >> misszd >> missaz; 153 154 const double zd = ReadAngle(stream); 155 const double az = ReadAngle(stream); 156 157 double cx, cy; 158 stream >> cx >> cy; 159 160 int ncor; 161 stream >> ncor; 162 163 double bright, mjd; 164 stream >> bright >> mjd; 165 166 int nled, nring, nstars; 167 stream >> nled >> nring >> nstars; 168 169 if (stream.fail()) 170 return false; 171 172 DimStarguider data; 173 174 data.fMissZd = misszd; 175 data.fMissAz = missaz; 176 data.fNominalZd = zd; 177 data.fNominalAz = az; 178 data.fCenterX = cx; 179 data.fCenterY = cy; 180 data.fNumCorrelated = ncor; 181 data.fBrightness = bright; 182 data.fNumLeds = nled; 183 data.fNumRings = nring; 184 data.fNumStars = nstars; 185 186 UpdateStarguider(Time(mjd), data); 187 188 return true; 189 } 190 191 bool ProcessTpointReport(const string &line) 192 { 193 istringstream stream(line); 194 195 uint16_t status1; 196 stream >> status1; 197 const Time t1 = ReadTime(stream); 198 199 uint16_t status2; 200 stream >> status2; 201 /*const Time t2 =*/ ReadTime(stream); 202 203 char type; 204 stream >> type; 205 if (type != 'T') 206 return false; 207 208 double az1, alt1, az2, alt2, ra, dec, dzd, daz; 209 stream >> az1 >> alt1 >> az2 >> alt2 >> ra >> dec >> dzd >> daz; 210 211 // c: center, s:start 212 double mjd, cmag, smag, cx, cy, sx, sy; 213 stream >> mjd >> cmag >> smag >> cx >> cy >> sx >> sy; 214 215 int nled, nring, nstar, ncor; 216 stream >> nled >> nring >> nstar >> ncor; 217 218 double bright, mag; 219 stream >> bright >> mag; 220 221 string name; 222 stream >> name; 223 224 if (stream.fail()) 225 return false; 226 227 DimTPoint tpoint; 228 229 tpoint.fRa = ra; 230 tpoint.fDec = dec; 231 232 tpoint.fNominalZd = 90-alt1-dzd; 233 tpoint.fNominalAz = 90-az1 +daz; 234 235 tpoint.fPointingZd = 90-alt1; 236 tpoint.fPointingAz = az1; 237 238 tpoint.fFeedbackZd = 90-alt2; 239 tpoint.fFeedbackAz = az2; 240 241 tpoint.fNumLeds = nled; 242 tpoint.fNumRings = nring; 243 244 tpoint.fCenterX = cx; 245 tpoint.fCenterY = cy; 246 tpoint.fCenterMag = cmag; 247 248 tpoint.fStarX = sx; 249 tpoint.fStarY = sy; 250 tpoint.fStarMag = smag; 251 252 tpoint.fRealMag = mag; 253 254 UpdateTPoint(t1, tpoint, name); 255 256 return true; 257 } 258 259 bool ProcessDriveReport(const string &line) 260 { 261 // DRIVE-REPORT M1 262 // 01 2011 05 14 11 31 19 038 263 // 02 1858 11 17 00 00 00 000 264 // + 000 00 000 + 000 00 000 265 // + 000 00 000 266 // 55695.480081 267 // + 000 00 000 + 000 00 000 268 // + 000 00 000 + 000 00 000 269 // 0000.000 0000.000 270 // 0 2 271 272 // status 273 // year month day hour minute seconds millisec 274 // year month day hour minute seconds millisec 275 // ra(+ h m s) dec(+ d m s) ha(+ h m s) 276 // mjd 277 // zd(+ d m s) az(+ d m s) 278 // zd(+ d m s) az(+ d m s) 279 // zd_err az_err 280 // armed(0=unlocked, 1=locked) 281 // stgmd(0=none, 1=starguider, 2=starguider off) 282 istringstream stream(line); 283 284 uint16_t status1; 285 stream >> status1; 286 const Time t1 = ReadTime(stream); 287 288 uint16_t status2; 289 stream >> status2; 290 /*const Time t2 =*/ ReadTime(stream); 291 292 const double ra = ReadAngle(stream); 293 const double dec = ReadAngle(stream); 294 const double ha = ReadAngle(stream); 295 296 double mjd; 297 stream >> mjd; 298 299 const double zd1 = ReadAngle(stream); // Nominal (zd/az asynchronous, dev synchronous, mjd synchronous with zd) 300 const double az1 = ReadAngle(stream); // Nominal (zd/az asynchronous, dev synchronous, mjd synchronous with z) 301 const double zd2 = ReadAngle(stream); // Masured (zd/az synchronous, dev asynchronous, mjd asynchronous) 302 const double az2 = ReadAngle(stream); // Measurd (zd/az synchronous, dev asynchronous, mjd asynchronous) 303 304 double zd_err, az_err; 305 stream >> zd_err; // Deviation = Nominal - Measured 306 stream >> az_err; // Deviation = Nominal - Measured 307 308 uint16_t armed, stgmd; 309 stream >> armed; 310 stream >> stgmd; 311 312 uint32_t pdo3; 313 stream >> hex >> pdo3; 314 315 if (stream.fail()) 316 return false; 317 318 // Status 0: Error 319 // Status 1: Stopped 320 // Status 3: Stopping || Moving 321 // Status 4: Tracking 322 if (status1==0) 323 status1 = StateMachineImp::kSM_Error - Drive::State::kNotReady; 324 325 const bool ready = (pdo3&0xef00ef)==0xef00ef; 326 if (!ready) 327 fState = Drive::State::kNotReady; 328 else 329 fState = status1==1 ? 330 Drive::State::kReady+armed : 331 Drive::State::kNotReady+status1; 332 333 // kDisconnected = 1, 334 // kConnected, 335 // kNotReady, 336 // kReady, 337 // kArmed, 338 // kMoving, 339 // kTracking, 340 // kOnTrack, 341 342 // pdo3: 343 // 1 Ab 344 // 2 1 345 // 4 Emergency 346 // 8 OverVolt 347 // 10 Move (Drehen-soll) 348 // 20 Af 349 // 40 1 350 // 80 Power on Az 351 // ------------------ 352 // 100 NOT UPS Alarm 353 // 200 UPS on Battery 354 // 400 UPS charging 355 356 // Power cut: 2ef02ef 357 // charging: 4ef04ef 358 359 // Convert to deg 360 zd_err /= 3600; 361 az_err /= 3600; 362 363 // Calculate absolut deviation on the sky 364 const double dev = GetDevAbs(zd1, zd1-zd_err, az_err)*3600; 365 366 // If any other state than tracking or a deviation 367 // larger than 60, reset the counter 368 if (fState!=State::kTracking || dev>fDeviationLimit) 369 fTrackingCounter = 0; 370 else 371 fTrackingCounter++; 372 373 // If in tracking, at least five consecutive reports (5s) 374 // must be below 60arcsec deviation, this is considered OnTrack 375 if (fState==State::kTracking && fTrackingCounter>=fDeviationCounter) 376 fState = State::kOnTrack; 377 378 // Having th state as Tracking will reset the counter 379 if (fState==State::kOnTrack && dev>fDeviationMax) 380 fState = State::kTracking; 381 382 // 206 206 ce ce pwr vlt emcy fs | pwr vlt emcy fs 383 // 239 239 ef ef pwr vlt emcy fs bb rf | pwr vlt emcy fs bb rf 384 // 111 78 6f 4e vlt emcy fs bb rf | emcy fs bb 385 386 /* 387 fArmed = data[3]&0x01; // armed status 388 fPosActive = data[3]&0x02; // positioning active 389 fRpmActive = data[3]&0x04; // RPM mode switched on 390 // data[3]&0x08; // - unused - 391 // data[3]&0x10; // - unused - 392 // data[3]&0x20; // - unused - 393 //fInControl = data[3]&0x40; // motor uncontrolled 394 // data[3]&0x80; // axis resetted (after errclr, motor stop, motor on) 395 396 fStatus = data[3]; 397 } 398 399 const LWORD_t stat = data[0] | (data[1]<<8); 400 if (fStatusPdo3!=stat) 401 { 402 gLog << inf << MTime(-1) << ": " << GetNodeName() << " - PDO3(0x" << hex << (int)stat << dec << ") = "; 403 const Bool_t ready = stat&0x001; 404 const Bool_t fuse = stat&0x002; 405 const Bool_t emcy = stat&0x004; 406 const Bool_t vltg = stat&0x008; 407 const Bool_t mode = stat&0x010; 408 const Bool_t rf = stat&0x020; 409 const Bool_t brake = stat&0x040; 410 const Bool_t power = stat&0x080; 411 const Bool_t alarm = stat&0x100; // UPS Alarm (FACT only) 412 const Bool_t batt = stat&0x200; // UPS on battery (FACT only) 413 const Bool_t charge = stat&0x400; // UPS charging (FACT only) 414 if (ready) gLog << "DKC-Ready "; 415 if (fuse) gLog << "FuseOk "; 416 if (emcy) gLog << "EmcyOk "; 417 if (vltg) gLog << "OvervoltOk "; 418 if (mode) gLog << "SwitchToManualMode "; 419 if (rf) gLog << "RF "; 420 if (brake) gLog << "BrakeOpen "; 421 if (power) gLog << "PowerOn "; 422 if (alarm) gLog << "UPS-PowerLoss "; 423 if (batt) gLog << "UPS-OnBattery "; 424 if (charge) gLog << "UPS-Charging "; 425 gLog << endl; 426 427 fStatusPdo3 = stat; 428 }*/ 429 430 // ((stat1&0xffff)<<16)|(stat2&0xffff) 431 // no alarm, no batt, no charge 432 const array<uint8_t, 3> state = {{ uint8_t(pdo3>>16), uint8_t(pdo3), uint8_t(pdo3>>24) }}; 433 UpdateStatus(t1, state); 434 435 const array<double, 2> point = {{ zd2, az2 }}; 436 UpdatePointing(t1, point); 437 438 const array<double, 8> track = 439 {{ 440 ra, dec, ha, 441 zd1, az1, 442 zd_err, az_err, 443 dev 444 }}; 445 if (mjd>0) 446 UpdateTracking(Time(mjd), track); 447 448 // ---- DIM ----> t1 as event time 449 // status1 450 // mjd 451 // ra/dec/ha 452 // zd/az (nominal) 453 // zd/az (current) 454 // err(zd/az) 455 // [armed] [stgmd] 456 457 // Maybe: 458 // POINTING_POSITION --> t1, zd/az (current), [armed, stgmd, status1] 459 // 460 // if (mjd>0) 461 // TRACKING_POSITION --> mjd, zd/az (nominal), err(zd/az) 462 // ra/dec, ha(not well defined), 463 // [Nominal + Error == Current] 464 465 // MJD is the time which corresponds to the nominal position 466 // t1 is the time which corresponds to the current position/HA 467 468 return true; 469 } 470 131 471 protected: 132 472 void HandleReceivedReport(const boost::system::error_code& err, size_t bytes_received) … … 164 504 if (line.substr(0, 13)=="DRIVE-STATUS ") 165 505 { 166 Message(line.substr(70));506 ProcessDriveStatus(line.substr(70)); 167 507 return; 168 508 } … … 170 510 if (line.substr(0, 13)=="STARG-REPORT ") 171 511 { 172 istringstream stream(line.substr(16)); 173 174 // 0: Error 175 // 1: Standby 176 // 2: Monitoring 177 uint16_t status1; 178 stream >> status1; 179 /*const Time t1 = */ReadTime(stream); 180 181 uint16_t status2; 182 stream >> status2; 183 /*const Time t2 = */ReadTime(stream); 184 185 double misszd, missaz; 186 stream >> misszd >> missaz; 187 188 const double zd = ReadAngle(stream); 189 const double az = ReadAngle(stream); 190 191 double cx, cy; 192 stream >> cx >> cy; 193 194 int ncor; 195 stream >> ncor; 196 197 double bright, mjd; 198 stream >> bright >> mjd; 199 200 int nled, nring, nstars; 201 stream >> nled >> nring >> nstars; 202 203 if (stream.fail()) 204 return; 205 206 DimStarguider data; 207 208 data.fMissZd = misszd; 209 data.fMissAz = missaz; 210 data.fNominalZd = zd; 211 data.fNominalAz = az; 212 data.fCenterX = cx; 213 data.fCenterY = cy; 214 data.fNumCorrelated = ncor; 215 data.fBrightness = bright; 216 data.fNumLeds = nled; 217 data.fNumRings = nring; 218 data.fNumStars = nstars; 219 220 UpdateStarguider(Time(mjd), data); 221 512 ProcessStargReport(line.substr(16)); 222 513 return; 223 224 514 } 225 515 226 516 if (line.substr(0, 14)=="TPOINT-REPORT ") 227 517 { 228 istringstream stream(line.substr(17)); 229 230 uint16_t status1; 231 stream >> status1; 232 const Time t1 = ReadTime(stream); 233 234 uint16_t status2; 235 stream >> status2; 236 /*const Time t2 =*/ ReadTime(stream); 237 238 char type; 239 stream >> type; 240 if (type != 'T') 241 return; 242 243 double az1, alt1, az2, alt2, ra, dec, dzd, daz; 244 stream >> az1 >> alt1 >> az2 >> alt2 >> ra >> dec >> dzd >> daz; 245 246 // c: center, s:start 247 double mjd, cmag, smag, cx, cy, sx, sy; 248 stream >> mjd >> cmag >> smag >> cx >> cy >> sx >> sy; 249 250 int nled, nring, nstar, ncor; 251 stream >> nled >> nring >> nstar >> ncor; 252 253 double bright, mag; 254 stream >> bright >> mag; 255 256 string name; 257 stream >> name; 258 259 if (stream.fail()) 260 return; 261 262 DimTPoint tpoint; 263 264 tpoint.fRa = ra; 265 tpoint.fDec = dec; 266 267 tpoint.fNominalZd = 90-alt1-dzd; 268 tpoint.fNominalAz = 90-az1 +daz; 269 270 tpoint.fPointingZd = 90-alt1; 271 tpoint.fPointingAz = az1; 272 273 tpoint.fFeedbackZd = 90-alt2; 274 tpoint.fFeedbackAz = az2; 275 276 tpoint.fNumLeds = nled; 277 tpoint.fNumRings = nring; 278 279 tpoint.fCenterX = cx; 280 tpoint.fCenterY = cy; 281 tpoint.fCenterMag = cmag; 282 283 tpoint.fStarX = sx; 284 tpoint.fStarY = sy; 285 tpoint.fStarMag = smag; 286 287 tpoint.fRealMag = mag; 288 289 UpdateTPoint(t1, tpoint, name); 290 518 ProcessTpointReport(line.substr(17)); 291 519 return; 292 520 } … … 294 522 if (line.substr(0, 13)=="DRIVE-REPORT ") 295 523 { 296 // DRIVE-REPORT M1 297 // 01 2011 05 14 11 31 19 038 298 // 02 1858 11 17 00 00 00 000 299 // + 000 00 000 + 000 00 000 300 // + 000 00 000 301 // 55695.480081 302 // + 000 00 000 + 000 00 000 303 // + 000 00 000 + 000 00 000 304 // 0000.000 0000.000 305 // 0 2 306 307 // status 308 // year month day hour minute seconds millisec 309 // year month day hour minute seconds millisec 310 // ra(+ h m s) dec(+ d m s) ha(+ h m s) 311 // mjd 312 // zd(+ d m s) az(+ d m s) 313 // zd(+ d m s) az(+ d m s) 314 // zd_err az_err 315 // armed(0=unlocked, 1=locked) 316 // stgmd(0=none, 1=starguider, 2=starguider off) 317 istringstream stream(line.substr(16)); 318 319 uint16_t status1; 320 stream >> status1; 321 const Time t1 = ReadTime(stream); 322 323 uint16_t status2; 324 stream >> status2; 325 /*const Time t2 =*/ ReadTime(stream); 326 327 const double ra = ReadAngle(stream); 328 const double dec = ReadAngle(stream); 329 const double ha = ReadAngle(stream); 330 331 double mjd; 332 stream >> mjd; 333 334 const double zd1 = ReadAngle(stream); // Nominal (zd/az asynchronous, dev synchronous, mjd synchronous with zd) 335 const double az1 = ReadAngle(stream); // Nominal (zd/az asynchronous, dev synchronous, mjd synchronous with z) 336 const double zd2 = ReadAngle(stream); // Masured (zd/az synchronous, dev asynchronous, mjd asynchronous) 337 const double az2 = ReadAngle(stream); // Measurd (zd/az synchronous, dev asynchronous, mjd asynchronous) 338 339 double zd_err, az_err; 340 stream >> zd_err; // Deviation = Nominal - Measured 341 stream >> az_err; // Deviation = Nominal - Measured 342 343 uint16_t armed, stgmd; 344 stream >> armed; 345 stream >> stgmd; 346 347 uint32_t pdo3; 348 stream >> hex >> pdo3; 349 350 if (stream.fail()) 351 return; 352 353 // Status 0: Error 354 // Status 1: Stopped 355 // Status 3: Stopping || Moving 356 // Status 4: Tracking 357 if (status1==0) 358 status1 = StateMachineImp::kSM_Error - Drive::State::kNotReady; 359 360 const bool ready = (pdo3&0xef00ef)==0xef00ef; 361 if (!ready) 362 fState = Drive::State::kNotReady; 363 else 364 fState = status1==1 ? 365 Drive::State::kReady+armed : 366 Drive::State::kNotReady+status1; 367 368 // kDisconnected = 1, 369 // kConnected, 370 // kNotReady, 371 // kReady, 372 // kArmed, 373 // kMoving, 374 // kTracking, 375 // kOnTrack, 376 377 // pdo3: 378 // 1 Ab 379 // 2 1 380 // 4 Emergency 381 // 8 OverVolt 382 // 10 Move (Drehen-soll) 383 // 20 Af 384 // 40 1 385 // 80 Power on Az 386 // ------------------ 387 // 100 NOT UPS Alarm 388 // 200 UPS on Battery 389 // 400 UPS charging 390 391 // Power cut: 2ef02ef 392 // charging: 4ef04ef 393 394 // Convert to deg 395 zd_err /= 3600; 396 az_err /= 3600; 397 398 // Calculate absolut deviation on the sky 399 const double dev = GetDevAbs(zd1, zd1-zd_err, az_err)*3600; 400 401 // If any other state than tracking or a deviation 402 // larger than 60, reset the counter 403 if (fState!=State::kTracking || dev>fDeviationLimit) 404 fTrackingCounter = 0; 405 else 406 fTrackingCounter++; 407 408 // If in tracking, at least five consecutive reports (5s) 409 // must be below 60arcsec deviation, this is considered OnTrack 410 if (fState==State::kTracking && fTrackingCounter>=fDeviationCounter) 411 fState = State::kOnTrack; 412 413 // Having th state as Tracking will reset the counter 414 if (fState==State::kOnTrack && dev>fDeviationMax) 415 fState = State::kTracking; 416 417 const array<uint8_t, 3> state = {{ uint8_t(pdo3>>16), uint8_t(pdo3), uint8_t(pdo3>>24) }}; 418 UpdateStatus(t1, state); 419 420 const array<double, 2> point = {{ zd2, az2 }}; 421 UpdatePointing(t1, point); 422 423 const array<double, 8> track = 424 {{ 425 ra, dec, ha, 426 zd1, az1, 427 zd_err, az_err, 428 dev 429 }}; 430 if (mjd>0) 431 UpdateTracking(Time(mjd), track); 432 433 // ---- DIM ----> t1 as event time 434 // status1 435 // mjd 436 // ra/dec/ha 437 // zd/az (nominal) 438 // zd/az (current) 439 // err(zd/az) 440 // [armed] [stgmd] 441 442 // Maybe: 443 // POINTING_POSITION --> t1, zd/az (current), [armed, stgmd, status1] 444 // 445 // if (mjd>0) 446 // TRACKING_POSITION --> mjd, zd/az (nominal), err(zd/az) 447 // ra/dec, ha(not well defined), 448 // [Nominal + Error == Current] 449 450 // MJD is the time which corresponds to the nominal position 451 // t1 is the time which corresponds to the current position/HA 452 524 ProcessDriveReport(line.substr(16)); 453 525 return; 454 526 } … … 1119 1191 1120 1192 Time fSunRise; 1121 1193 /* 1122 1194 int ShiftSunRise() 1123 1195 { … … 1134 1206 1135 1207 return Drive::State::kLocked; 1136 } 1208 }*/ 1137 1209 1138 1210 int Execute() … … 1145 1217 poll_one(); 1146 1218 1219 /* 1147 1220 if (T::GetCurrentState()==Drive::State::kLocked) 1148 1221 return ShiftSunRise(); … … 1152 1225 if (Time()>fSunRise) 1153 1226 return Park(); 1154 } 1227 }*/ 1228 1229 if (Time()>fSunRise) 1230 { 1231 if (T::GetCurrentState()>Drive::State::kLocked) 1232 return Park(); 1233 1234 if (T::GetCurrentState()==Drive::State::kLocked) 1235 { 1236 fSunRise = Time().GetNextSunRise(); 1237 1238 ostringstream msg; 1239 msg << "Next sun-rise will be at " << fSunRise; 1240 T::Info(msg); 1241 1242 return Drive::State::kLocked; 1243 } 1244 } 1245 1246 if (T::GetCurrentState()==Drive::State::kLocked) 1247 return Drive::State::kLocked; 1155 1248 1156 1249 const int state = fDrive.GetState();
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