Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 1700) +++ trunk/MagicSoft/Cosy/Changelog (revision 1701) @@ -23,4 +23,7 @@ - implemented WM_HOME - fixed workaround for the encoder resolutions of the MACS + + * base/MGLIst.h + - removed (use the one from Mars) Index: trunk/MagicSoft/Cosy/base/MGList.h =================================================================== --- trunk/MagicSoft/Cosy/base/MGList.h (revision 1700) +++ (revision ) @@ -1,34 +1,0 @@ -#ifndef MARS_MGList -#define MARS_MGList - -#ifndef ROOT_TList -#include -#endif - -class TGWidget; -class TGPicture; - -class MGList : public TList -{ -private: - TGWidget *GetWidget(TObject *obj) const; - Bool_t IsExisting(TObject *obj) const; - - void AddPicture(const TGPicture *pic, const char *name); - -public: - MGList() : TList() {} - virtual ~MGList(); - - void Add(TObject *obj); - void Add(TObject *obj, Option_t *opt); - - const TGPicture *GetPicture(const char *name); - const TGPicture *GetPicture(const char *name, Int_t width, Int_t height); - - TObject *FindWidget(Int_t id) const; - - ClassDef(MGList, 0) -}; - -#endif Index: trunk/MagicSoft/Cosy/candrv/network.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/network.cc (revision 1700) +++ trunk/MagicSoft/Cosy/candrv/network.cc (revision 1701) @@ -235,5 +235,6 @@ if (fNodes[i]) { - lout << "- Setting up Node #" << dec << i << endl; + lout << "- Setting up Node #" << dec << i << " ("; + lout << fNodes[i]->GetNodeName() << ")" << endl; fNodes[i]->InitDevice(this); if (!fNodes[i]->IsZombieNode()) Index: trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 1700) +++ trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 1701) @@ -110,10 +110,10 @@ case 0x6002: - lout << "- Velocity resolution " << GetNodeName() << ": " << dec << val << " ticks/min" << endl; + lout << "- " << GetNodeName() << ": Velocity resolution = " << dec << val << " ticks/min" << endl; fVelRes = val; return; case 0x6501: - lout << "- Encoder resolution " << GetNodeName() << ": " << dec << val << " ticks/min" << endl; + lout << "- " << GetNodeName() << ": Encoder resolution = " << dec << val << " ticks/min" << endl; fRes = val; return; @@ -132,5 +132,5 @@ case 0: lout << ddev(MLog::eGui); - lout << "- Velocity set (" << GetNodeName() << ")" << endl; + lout << "- " << GetNodeName() << ": Velocity set." << endl; lout << edev(MLog::eGui); return; @@ -142,10 +142,10 @@ case 0: lout << ddev(MLog::eGui); - lout << "- Acceleration set (" << GetNodeName() << ")" << endl; + lout << "- " << GetNodeName() << ": Acceleration set." << endl; lout << edev(MLog::eGui); return; case 1: lout << ddev(MLog::eGui); - lout << "- Deceleration set (" << GetNodeName() << ")" << endl; + lout << "- " << GetNodeName() << ": Decceleration set." << endl; lout << edev(MLog::eGui); return; @@ -157,5 +157,5 @@ case 0: lout << ddev(MLog::eGui); - lout << "- RPM mode switched (" << GetNodeName() << ")" << endl; + lout << "- " << GetNodeName() << ": RPM mode switched." << endl; lout << edev(MLog::eGui); return; @@ -182,5 +182,5 @@ case 0: lout << ddev(MLog::eGui); - lout << "- Absolute positioning started (" << GetNodeName() << ")" << endl; + lout << "- " << GetNodeName() << ": Absolute positioning started." << endl; lout << edev(MLog::eGui); return; @@ -188,5 +188,5 @@ case 1: lout << ddev(MLog::eGui); - lout << "- Relative positioning started (" << GetNodeName() << ")" << endl; + lout << "- " << GetNodeName() << ": Relative positioning started." << endl; lout << edev(MLog::eGui); return; @@ -202,12 +202,19 @@ void Macs::ReqVelRes() { - lout << "- Requesting velocity resolution (velres, 0x6002) of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting velocity resolution (velres, 0x6002)." << endl; RequestSDO(0x6002); WaitForSdo(0x6002); } +void Macs::ReqRes() +{ + lout << "- " << GetNodeName() << ": Requesting encoder resolution (res, 0x6501)." << endl; + RequestSDO(0x6501); + WaitForSdo(0x6501); +} + void Macs::SetPDO1On(BYTE_t flag) { - lout << "- " << (flag?"Enable":"Disable") << " PDO1 of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": " << (flag?"Enable":"Disable") << " PDO1." << endl; SendSDO(0x1800, 1, (LWORD_t)(flag?0:1)<<31); WaitForSdo(0x1800, 1); @@ -216,7 +223,7 @@ void Macs::InitDevice(Network *net) { - lout << "- MAC Init device." << endl; + lout << "- " << GetNodeName() << ": MAC Init device." << endl; NodeDrv::InitDevice(net); - lout << "- MAC Init device...done." << endl; + lout << "- " << GetNodeName() << ": MAC Init device...done." << endl; // SendSDO(0x4003, (LWORD_t)('E'<<24 | 'X'<<16 | 'I'<<8 'T')); @@ -238,5 +245,5 @@ EnableTimeout(kFALSE); - lout << "- Requesting Mac Software Version of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting Mac Software Version." << endl; RequestSDO(0x100a); WaitForSdo(0x100a); @@ -244,7 +251,8 @@ SetRpmMode(FALSE); + ReqRes(); // Init fRes ReqVelRes(); // Init fVelRes - lout << "- Motor on of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Motor on." << endl; SendSDO(0x3000, string('o', 'n')); WaitForSdo(0x3000); @@ -286,5 +294,5 @@ SetPDO1On(FALSE); - lout << "- Motor off of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Motor off." << endl; SendSDO(0x3000, string('o', 'f', 'f')); WaitForSdo(0x3000); @@ -299,19 +307,12 @@ void Macs::ReqPos() { - lout << "- Requesting Position of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting Position." << endl; RequestSDO(0x6004); WaitForSdo(0x6004); } -void Macs::ReqRes() -{ - lout << "- Requesting Encoder Resolution of " << GetNodeName() << endl; - RequestSDO(0x6501); - WaitForSdo(0x6501); -} - void Macs::ReqVel() { - lout << "- Requesting Velocity of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting Velocity." << endl; RequestSDO(0x2002); WaitForSdo(0x2002); @@ -320,5 +321,11 @@ void Macs::SetHome(LWORDS_t pos, WORD_t maxtime) { - lout << "- Driving " << GetNodeName() << " to home position, Offset=" << dec << pos << endl; + /* + Bool_t to = fTimerOn; + + if (to) + EnableTimeout(kFALSE); + */ + lout << "- " << GetNodeName() << ": Driving to home position, Offset=" << dec << pos << endl; SendSDO(0x6003, 2, (LWORD_t)pos); // home WaitForSdo(0x6003, 2); @@ -328,8 +335,11 @@ SendSDO(0x3001, string('h','o','m','e')); // home WaitForSdo(0x3001, 0, maxtime*1000); - lout << "- Home position of " << GetNodeName() << " reached. " << endl; + lout << "- " << GetNodeName() << ": Home position reached. " << endl; SendSDO(0x6003, 0, string('s','e','t')); // home WaitForSdo(0x6003, 0); + + //if (to) + // EnableTimeout(kTRUE); } @@ -379,5 +389,5 @@ void Macs::SetNoWait(BYTE_t flag) { - lout << "- Setting NOWAIT " << (flag?"ON ":"OFF ") << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Setting NOWAIT " << (flag?"ON":"OFF") << "." << endl; SendSDO(0x3008, flag ? string('o', 'n') : string('o', 'f', 'f')); WaitForSdo(0x3008); @@ -390,5 +400,5 @@ // or by a positioning command (POSA, ...) // - lout << "- Setting Vel Sync Mode of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Starting RPM Sync Mode." << endl; SendSDO(0x3007, 0, string('s', 'y', 'n', 'c')); WaitForSdo(0x3007, 0); @@ -401,5 +411,5 @@ // or by a positioning command (POSA, ...) // - lout << "- Setting Pos Sync Mode of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Starting Posistion Sync Mode." << endl; SendSDO(0x3007, 1, string('s', 'y', 'n', 'c')); WaitForSdo(0x3007, 1); @@ -446,5 +456,5 @@ if (!errnum) { - lout << "Mac " << GetNodeName() << " reports Error occursion." << endl; + lout << "- " << GetNodeName() << ": reports Error occursion." << endl; SetError(-1); return; @@ -456,5 +466,13 @@ // if (GetError()>0) - lout << GetNodeName() << " WARNING! Error #" << GetError() << " unhandled by software." << endl; + { + lout << GetNodeName() << ": WARNING! Error #" << GetError() << " unhandled (not cleared) by software." << endl; + + // + // If the error is unhadled and/or not cleared, don't try it again. + // + if (GetError()==errnum) + return; + } SetError(errnum); @@ -464,5 +482,11 @@ { case 6: + // + // Report the error to the user. All possible movements should have + // been stopped anyhow. Now delete the error to prevent the system + // from reporting this error a thousands of times. + // lout << "Home position not the first positioning command." << endl; + SetError(0); return; @@ -607,5 +631,5 @@ void Macs::EnableTimeout(bool enable, LWORDS_t ms) { - lout << "- MAC " << (enable?"En":"Dis") << "able timeout, " << dec << ms << "ms." << endl; + lout << "- " << GetNodeName() << ": " << (enable?"En":"Dis") << "able timeout, " << dec << ms << "ms." << endl; if (!enable) { @@ -613,5 +637,5 @@ WaitForSdo(0x4000, 1); - lout << "- Stopping handshake (PC)." << endl; + lout << "- " << GetNodeName() << ": Stopping handshake (PC)." << endl; fTimeout->Stop(); //kTRUE); @@ -634,9 +658,9 @@ // any reason // - lout << "- MAC starting handshake." << endl; + lout << "- " << GetNodeName() << ": starting handshake." << endl; SendSDO(0x4000, 1, string('o', 'n')); WaitForSdo(0x4000, 1); } - lout << "- Timeout timer of " << GetNodeName() << " turned " + lout << "- " << GetNodeName() << ": Timeout timer turned " << (enable?"on.":"off.") << endl; } Index: trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.h (revision 1700) +++ trunk/MagicSoft/Cosy/devdrv/macs.h (revision 1701) @@ -39,6 +39,4 @@ Bool_t HandleTimer(TTimer *t); - void ReqRes(); - public: Macs(const BYTE_t nodeid, const char *name=NULL, MLog &out=gLog); @@ -65,4 +63,5 @@ //void ReqAxEnd(); void ReqVelRes(); + void ReqRes(); void SetHome(LWORDS_t pos=0, WORD_t maxtime=25); void SetAcceleration(LWORD_t acc); Index: trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 1700) +++ trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 1701) @@ -60,4 +60,5 @@ lout << "Scaling: " << (val&4 ?"on":"off") << " "; lout << "Modulo: " << (val&4096?"on":"off") << endl; + return; case 0x6001: @@ -78,6 +79,8 @@ case 0x6502: + if (val==0) + val = 1; // Single Turn = Multiturn with one turn lout << "- Possible Turns: " << dec << val << endl; - fTurns = val ? val : 1; // Single Turn = Multiturn with one turn + fTurns = val; return; @@ -198,5 +201,5 @@ // Requesting and checking (FIXME) type of encoder // - lout << "- Requesting Hardware Type (SDO 0x1000) of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting Hardware Type (0x1000)." << endl; RequestSDO(0x1000); if (!WaitForSdo(0x1000)) @@ -210,5 +213,5 @@ // Read physical ticks per revolution // - lout << "- Requesting physical ticks/revolution (SDO 0x6501) of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting physical ticks/revolution (SDO 0x6501)." << endl; RequestSDO(0x6501); WaitForSdo(0x6501); @@ -217,5 +220,5 @@ // Read number of possible ticks per revolution // - lout << "- Requesting possible ticks/revolution (SDO 0x6502) of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting possible ticks/revolution (SDO 0x6502)." << endl; RequestSDO(0x6502); WaitForSdo(0x6502); @@ -224,5 +227,5 @@ // Set logic ticks/revolution = physical ticks/revolution => scale factor = 1 // - lout << "- Configuring SDO 0x6001 of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Configuring log. tick/rev (0x6001)." << endl; SendSDO(0x6001, fTicks); WaitForSdo(0x6001); @@ -231,26 +234,26 @@ // Set maximum number of ticks (ticks * turns) // - lout << "- Configuring SDO 0x6002 of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Configuring max number of ticks (0x6002)." << endl; SendSDO(0x6002, (LWORD_t)(fTicks*fTurns)); WaitForSdo(0x6002); // + // Delete preset Value + // + lout << "- " << GetNodeName() << ": Delete preset value (0x6003)." << endl; + SendSDO(0x6003, (LWORD_t)0xffffffff); + WaitForSdo(0x6003); + + // // Configure PDOs // - lout << "- Configuring SDO 0x1802 of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Configuring PDOs (0x1802)." << endl; SendSDO(0x1802, 1, (LWORD_t)0x281); WaitForSdo(0x1802, 1); // - // Delete preset Value - // - lout << "- Configuring SDO 0x6003 of " << GetNodeName() << endl; - SendSDO(0x6003, (LWORD_t)0xffffffff); - WaitForSdo(0x6003); - - // // Request Parameter // - lout << "- Requesting SDO 0x6000 of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting SDO 0x6000." << endl; RequestSDO(0x6000); WaitForSdo(0x6000); @@ -258,5 +261,5 @@ ReqPos(); - lout << "- Start Node " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Start Node (NMT)." << endl; SendNMT(kNMT_START); } @@ -267,5 +270,5 @@ // Request Position // - lout << "- Requesting Position of " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Requesting Position." << endl; RequestSDO(0x6004); WaitForSdo(0x6004); @@ -277,5 +280,5 @@ fTurn = pre/16384; - lout << " - Setting Preset " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Setting Preset." << endl; SendSDO(0x6003, (LWORD_t)fPos); WaitForSdo(0x6003); @@ -284,5 +287,5 @@ void ShaftEncoder::StopDevice() { - lout << "- Stop Node " << GetNodeName() << endl; + lout << "- " << GetNodeName() << ": Stop Node (NMT)." << endl; SendNMT(kNMT_STOP); } Index: trunk/MagicSoft/Cosy/gui/MGAccuracy.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGAccuracy.cc (revision 1700) +++ trunk/MagicSoft/Cosy/gui/MGAccuracy.cc (revision 1701) @@ -72,4 +72,5 @@ axe = new TGaxis( 0, -60*4, 0, 60*4, -4, 4, 304, "+-N"); axe->SetTitle("Zd"); // \xb0 + axe->SetLabelOffset(-0.02); axe->SetBit(kCanDelete); axe->Draw(); Index: trunk/MagicSoft/Cosy/gui/MGCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 1700) +++ trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 1701) @@ -43,4 +43,5 @@ kPB_TRACK, kPB_STOP, + kPB_HOME, kPB_CALCALTAZ, kPB_TPOINT, @@ -98,5 +99,5 @@ l = new TGLabel(f, "Mjd:"); - l->Move(x-60, y+20); + l->Move(x-60, y+17); fList->Add(l); @@ -104,18 +105,18 @@ fMjd = new TGLabel(f, "00000.000000"); fUtc->Move(x-25, y); - fMjd->Move(x-25, y+20); + fMjd->Move(x-25, y+17); fList->Add(fUtc); fList->Add(fMjd); l = new TGLabel(f, "SE-Az:"); - l->Move(x-60, y+60); + l->Move(x-60, y+40); fList->Add(l); l = new TGLabel(f, "SE-Zd1:"); - l->Move(x-60, y+80); + l->Move(x-60, y+57); fList->Add(l); l = new TGLabel(f, "SE-Zd2:"); - l->Move(x-60, y+100); + l->Move(x-60, y+74); fList->Add(l); @@ -127,7 +128,7 @@ fLabel1[1]->SetTextJustify(kTextRight); fLabel1[2]->SetTextJustify(kTextRight); - fLabel1[0]->Move(x, y+60); - fLabel1[1]->Move(x+43, y+60); - fLabel1[2]->Move(x+70, y+60); + fLabel1[0]->Move(x, y+40); + fLabel1[1]->Move(x+43, y+40); + fLabel1[2]->Move(x+70, y+40); fList->Add(fLabel1[0]); fList->Add(fLabel1[1]); @@ -144,7 +145,7 @@ fLabel2[1]->SetTextJustify(kTextRight); fLabel2[2]->SetTextJustify(kTextRight); - fLabel2[0]->Move(x, y+80); - fLabel2[1]->Move(x+43, y+80); - fLabel2[2]->Move(x+70, y+80); + fLabel2[0]->Move(x, y+57); + fLabel2[1]->Move(x+43, y+57); + fLabel2[2]->Move(x+70, y+57); fList->Add(fLabel2[0]); fList->Add(fLabel2[1]); @@ -161,7 +162,7 @@ fLabel3[1]->SetTextJustify(kTextRight); fLabel3[2]->SetTextJustify(kTextRight); - fLabel3[0]->Move(x, y+100); - fLabel3[1]->Move(x+43, y+100); - fLabel3[2]->Move(x+70, y+100); + fLabel3[0]->Move(x, y+74); + fLabel3[1]->Move(x+43, y+74); + fLabel3[2]->Move(x+70, y+74); fList->Add(fLabel3[0]); fList->Add(fLabel3[1]); @@ -172,9 +173,9 @@ l = new TGLabel(f, "Offset-Zd:"); - l->Move(x-60, y+140); + l->Move(x-60, y+102); fList->Add(l); l = new TGLabel(f, "Offset-Az:"); - l->Move(x-60, y+160); + l->Move(x-60, y+119); fList->Add(l); @@ -183,8 +184,57 @@ fOffsetZd->SetTextJustify(kTextRight); fOffsetAz->SetTextJustify(kTextRight); - fOffsetZd->Move(x, y+140); - fOffsetAz->Move(x, y+160); + fOffsetZd->Move(x, y+102); + fOffsetAz->Move(x, y+119); fList->Add(fOffsetZd); fList->Add(fOffsetAz); + + l = new TGLabel(f, "Ra (estimated):"); + l->Move(x-60, y+142); + fList->Add(l); + + l = new TGLabel(f, "Ra (soll):"); + l->Move(x-60, y+159); + fList->Add(l); + + l = new TGLabel(f, "Dec (estimated):"); + l->Move(x-60, y+182); + fList->Add(l); + + l = new TGLabel(f, "Dec (soll):"); + l->Move(x-60, y+199); + fList->Add(l); + + l = new TGLabel(f, "Zd (soll):"); + l->Move(x-60, y+222); + fList->Add(l); + + l = new TGLabel(f, "Az (soll):"); + l->Move(x-60, y+239); + fList->Add(l); + + fRaEst = new TGLabel(f, "+000h 00.0m"); + fDecEst = new TGLabel(f, "+000h 00.0m"); + fRaSoll = new TGLabel(f, "+000h 00.0m"); + fDecSoll = new TGLabel(f, "+000h 00.0m"); + fZdSoll = new TGLabel(f, "+000h 00.0m"); + fAzSoll = new TGLabel(f, "+000h 00.0m"); + fRaEst->SetTextJustify(kTextRight); + fDecEst->SetTextJustify(kTextRight); + fRaSoll->SetTextJustify(kTextRight); + fDecSoll->SetTextJustify(kTextRight); + fZdSoll->SetTextJustify(kTextRight); + fAzSoll->SetTextJustify(kTextRight); + fRaEst->Move(x+30, y+142); + fRaSoll->Move(x+30, y+159); + fDecEst->Move(x+30, y+182); + fDecSoll->Move(x+30, y+199); + fZdSoll->Move(x+30, y+222); + fAzSoll->Move(x+30, y+239); + fList->Add(fRaEst); + fList->Add(fDecEst); + fList->Add(fRaSoll); + fList->Add(fDecSoll); + fList->Add(fZdSoll); + fList->Add(fAzSoll); @@ -329,4 +379,11 @@ fList->Add(but); + but = new TGTextButton(tf1, "Home", kPB_HOME); + but->Resize(80, 25); + but->Move(160, 197); + but->SetToolTipText("Initiate Home Drive."); + but->Associate(this); + fList->Add(but); + but= new TGTextButton(tf2, "Calc Zd/Az", kPB_CALCALTAZ); but->Resize(80, 25); @@ -637,4 +694,62 @@ } +void MGCosy::UpdateRaDec(ZdAz &pos, double mjd, RaDec &radec) +{ + static Int_t rai=~0; + static Int_t deci=~0; + static Int_t ras=~0; + static Int_t decs=~0; + + static SlaStars sla; + sla.SetMjd(mjd); + + RaDec rd = sla.CalcRaDec(pos*2*TMath::Pi()/360); + + char text[64]; + + rd.Ra(rd.Ra() * 24/2/TMath::Pi()); + rd.Dec(rd.Dec()*360/2/TMath::Pi()); + + radec.Ra(radec.Ra() * 24/2/TMath::Pi()); + radec.Dec(radec.Dec()*360/2/TMath::Pi()); + + RaDec test = rd*600; + + if (rai!=(int)test.Ra()) + { + rai = (int)test.Ra(); + sprintf(text, "%c%dh %.1fm", rd.Ra()<0?'-':'+', abs((int)rd.Ra()), 0.1*(abs((int)test.Ra())%600)); + fRaEst->SetText(new TGString(text)); + } + if (deci!=(int)test.Dec()) + { + deci = (int)test.Dec(); + sprintf(text, "%c%dd %.1fm", rd.Dec()<0?'-':'+' , abs((int)rd.Dec()), 0.1*(abs((int)test.Dec())%600)); + fDecEst->SetText(new TGString(text)); + } + + if (radec.Dec()>90|| radec.Dec()<-90) + { + radec.Ra(radec.Ra()+12); + radec.Dec(180-radec.Dec()); + } + radec.Ra(fmod((radec.Ra()+48), 24)); + + test = radec*600; + + if (ras!=(int)test.Ra()) + { + ras = (int)test.Ra(); + sprintf(text, "%c%dh %.1fm", radec.Ra()<0?'-':'+', abs((int)radec.Ra()), 0.1*(abs((int)test.Ra())%600)); + fRaSoll->SetText(new TGString(text)); + } + if (decs!=(int)test.Dec()) + { + decs = (int)test.Dec(); + sprintf(text, "%c%dd %.1fm", radec.Dec()<0?'-':'+' , abs((int)radec.Dec()), 0.1*(abs((int)test.Dec())%600)); + fDecSoll->SetText(new TGString(text)); + } +} + void MGCosy::UpdateOffset(ZdAz &off) { @@ -647,5 +762,5 @@ { zd = (Int_t)off.Zd(); - sprintf(text, "%d", zd); + sprintf(text, "%dre", zd); fOffsetZd->SetText(new TGString(text)); } @@ -653,9 +768,34 @@ { az = (Int_t)off.Az(); - sprintf(text, "%d", az); + sprintf(text, "%dre", az); fOffsetAz->SetText(new TGString(text)); } } +void MGCosy::UpdateZdAz(ZdAz &soll) +{ + soll *= 360/2/TMath::Pi(); + + static Int_t zd=~0; + static Int_t az=~0; + + char text[21]; + + ZdAz test = soll*600; + + if (zd!=(int)test.Zd()) + { + zd = (int)test.Zd(); + sprintf(text, "%c%dh %.1fm", soll.Zd()<0?'-':'+', abs((int)soll.Zd()), 0.1*(abs((int)test.Zd())%600)); + fZdSoll->SetText(new TGString(text)); + } + if (az!=(int)test.Az()) + { + az = (int)test.Az(); + sprintf(text, "%c%dd %.1fm", soll.Az()<0?'-':'+' , abs((int)soll.Az()), 0.1*(abs((int)test.Az())%600)); + fAzSoll->SetText(new TGString(text)); + } +} + double MGCosy::UpdateTime() { @@ -682,5 +822,6 @@ } -void MGCosy::Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, UInt_t stat) +void MGCosy::Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, RaDec radec, + ZdAz soll, UInt_t stat) { double mjd = UpdateTime(); @@ -689,4 +830,6 @@ fVelocity->Update(vel); UpdateOffset(off); + UpdateRaDec(pos, mjd, radec); + UpdateZdAz(soll); #define kError 0x01 @@ -701,4 +844,8 @@ EnableLabel(fStopping, stat&kStopping); EnableLabel(fStopped, stat&kStopped); + EnableLabel(fRaSoll, stat&kTracking); + EnableLabel(fDecSoll, stat&kTracking); + EnableLabel(fZdSoll, stat&kMoving); + EnableLabel(fAzSoll, stat&kMoving); stat&kTracking ? fAccuracy->MapWindow() : fAccuracy->UnmapWindow(); @@ -706,10 +853,10 @@ // stat&kTracking ? fOffset->MapWindow() : fOffset->UnmapWindow(); - if (!fLog->TestBit(kHasChanged)) - return; - - fLog->MapSubwindows(); - fLog->Layout(); - fLog->ResetBit(kHasChanged); + if (fLog->TestBit(kHasChanged)) + { + fLog->MapSubwindows(); + fLog->Layout(); + fLog->ResetBit(kHasChanged); + } } // ====================================================================== @@ -919,5 +1066,4 @@ StopDemo(); fQueue->PostMsg(WM_STOP, 0, 0); - cout << "PostMsg (WM_Stop) returned." << endl; return kTRUE; @@ -972,4 +1118,7 @@ fQueue->Proc(WM_RESETBENDING, NULL); return kTRUE; + case kPB_HOME: + fQueue->PostMsg(WM_HOME, 0, 0); + return kTRUE; default: Index: trunk/MagicSoft/Cosy/gui/MGCosy.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 1700) +++ trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 1701) @@ -47,4 +47,13 @@ TGLabel *fOffsetAz; + TGLabel *fRaEst; + TGLabel *fDecEst; + + TGLabel *fRaSoll; + TGLabel *fDecSoll; + + TGLabel *fZdSoll; + TGLabel *fAzSoll; + TGLabel *fUtc; TGLabel *fMjd; @@ -83,4 +92,6 @@ void EnableLabel(TGLabel *label, Bool_t stat); void UpdateOffset(ZdAz &off); + void UpdateZdAz(ZdAz &off); + void UpdateRaDec(ZdAz &pos, double mjd, RaDec &radec); double UpdateTime(); @@ -97,5 +108,5 @@ TGListBox *GetLog() const { return fLog; } - void Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, UInt_t stat); + void Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, RaDec radec, ZdAz soll, UInt_t stat); Bool_t ProcessMessage(Long_t msg, Long_t mp1, Long_t mp2); Index: trunk/MagicSoft/Cosy/gui/MGVelocity.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGVelocity.cc (revision 1700) +++ trunk/MagicSoft/Cosy/gui/MGVelocity.cc (revision 1701) @@ -123,4 +123,5 @@ axe = new TGaxis(0, -60*2, 0, 60*2, -2, 2, 304, "+-N"); axe->SetTitle("Zd"); // \xb0 + axe->SetLabelOffset(-0.02); axe->SetBit(kCanDelete); axe->Draw(); Index: trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.cc (revision 1700) +++ trunk/MagicSoft/Cosy/main/MCosy.cc (revision 1701) @@ -395,11 +395,11 @@ // const ZdAz dest = CorrectTarget(src, dst); // - const ZdAz bend = fBending(dst); - const ZdAz dest = bend*16384/2/TMath::Pi(); + fZdAzSoll = fBending(dst); + const ZdAz dest = fZdAzSoll*16384/2/TMath::Pi(); lout << "Positioning to Target..." << endl; cout << "Source Zd: " << src.Zd() << "se Az:" << src.Az() << "se" << endl; cout << "Destination Zd: " << Rad2SE(dst.Zd()) << "se Az:" << Rad2SE(dst.Az()) << "se" << endl; - cout << "Bend'd Dest Zd: " << Rad2SE(bend.Zd()) << "se Az:" << Rad2SE(bend.Az()) << "se" << endl; + cout << "Bend'd Dest Zd: " << Rad2SE(fZdAzSoll.Zd()) << "se Az:" << Rad2SE(fZdAzSoll.Az()) << "se" << endl; cout << "Shortest Dest Zd: " << dest.Zd() << "se Az:" << dest.Az() << "se" << endl; @@ -674,11 +674,4 @@ { // - // The loop should not be executed faster than the ramp of - // a change in the velocity can be followed. - // (This is important on fast machines >500MHz) - // - //usleep(100000000); - - // // Request Target position for this moment // @@ -759,4 +752,9 @@ // update time // + // + // The loop should not be executed faster than the ramp of + // a change in the velocity can be followed. + // (This is important on fast machines >500MHz) + // usleep(50000); // 0.05s } @@ -779,5 +777,5 @@ return; // - // Set status to stopped + // Set status to Stopping // SetStatus(MCosy::kStopping); @@ -812,5 +810,4 @@ void *MCosy::Proc(int msg, void *mp) { - cout << "MCosy::Proc: 0x" << msg << endl; switch (msg) { @@ -820,4 +817,5 @@ case WM_STOP: + cout << "MCosy::Proc: Stop." << endl; StopMovement(); return NULL; @@ -923,4 +921,22 @@ cout << "WM_ResetBending: done. (return 0xbe0e)" << endl; return (void*)0xbe0e; + + case WM_HOME: + cout << "WM_Home: START" << endl; + if (fMac1 && fMac2) + { + cout << "Going Home..." << endl; + fMac1->SetHome(250000, 100); + fMac2->SetHome(250000, 100); + + fAz->SetPreset(); + fZd1->SetPreset(); + fZd2->SetPreset(); + + fMac1->ReqPos(); + fMac2->ReqPos(); + } + cout << "WM_Home: done. (return 0x403e)" << endl; + return (void*)0x403e; case WM_CALCALTAZ: @@ -954,5 +970,5 @@ return (void*)0xaaaa; } - cout << "Unknown Msg" << endl; + cout << "MCosy::Proc: Unknown message 0x" << msg << endl; return (void*)0xffffffff; } @@ -988,5 +1004,5 @@ else resrezd = env.GetValue("Zd_ResRE[re/U_mot]", 1500); - + Double_t ressezd = 0; if (fZd1) @@ -1004,8 +1020,4 @@ resseaz = env.GetValue("Az_ResSE[se/U_mot]", 16384); - /* WORKAROUND !!!!!!!!!!!!! FIXME !!!!!!!!!!! */ - resrezd = 500; - resreaz = 500; - kGearRatio.Set (gzd*resrezd/ressezd, gaz*resreaz/resseaz); //[re/se] kGearRatio2.Set(gzd*resrezd/360.0, gaz*resreaz/360.0); //[re/deg] @@ -1036,11 +1048,11 @@ } - fMac1->EnableTimeout(kTRUE, 500); - fMac2->EnableTimeout(kTRUE, 500); + //fMac1->EnableTimeout(kTRUE, 500); + //fMac2->EnableTimeout(kTRUE, 500); if (!(fZd1 && fZd2 && fAz)) return; - /* + // // Start the Network @@ -1049,5 +1061,5 @@ TEnv env(".cosyrc"); cout << "done." << endl; - +/* const int res = fMac3->GetVelRes(); @@ -1222,4 +1234,7 @@ } + fZdAzSoll.Set(sollzd.Zd(), sollaz.Az()); + fZdAzSoll *= 2*TMath::Pi()/16384; + fTrackingError.Set((ist.Zd()-sollzd.Zd())*kGearRatio.X(), (ist.Az()-sollaz.Az())*kGearRatio.Y()); @@ -1248,5 +1263,5 @@ fWin->Update(bendist*(360.0/2/TMath::Pi()), fTrackingError/kGearRatio2, - fVelocity, fOffset/*/kGearRatio2*/, + fVelocity, fOffset/*/kGearRatio2*/, fRaDec, fZdAzSoll, fStatus); @@ -1291,8 +1306,8 @@ lout << "- Starting TX Thread." << endl; fTTalk = new MTTalk(this); + // fTGui = new MTGui(this); lout << "- Starting GUI update." << endl; fUpdateGui->TurnOn(); - // fTGui = new MTGui(this); } Index: trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.h (revision 1700) +++ trunk/MagicSoft/Cosy/main/MCosy.h (revision 1701) @@ -21,4 +21,6 @@ #define WM_RESETBENDING 0x1008 #define WM_CALCALTAZ 0x1009 +#define WM_HOME 0x100a + class ShaftEncoder; @@ -76,4 +78,5 @@ ZdAz fTrackingError; // Tracking Offset between SE and calc-pos [re] ZdAz fOffset; // Offset between se and re coordinate system [re] + ZdAz fZdAzSoll; // Soll position when moving RaDec fRaDec; // Position to track int fTracking; // Flag for present tracking action