Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 1701) +++ trunk/MagicSoft/Cosy/Changelog (revision 1702) @@ -1,3 +1,48 @@ -*-*- END -*-*- + + 2003/01/13 - Thomas Bretz: + + * bending.txt: + - changed to fit the parameters of the model + + * cosy.cc: + - made the 'standard mode' the default + + * base/MTimeout.h: + - fixed the change of the base member function name of Notify + + * candrv/network.[h,cc]: + - don't set fNodes[i] to NULL if Node is Zombie + - implemented HasZombie and RebootZomies + + * candrv/nodedrv.[h,cc]: + - implemented a base function Reboot + - set node to Zombie status if waitforsdo timed out + + * candrv/vmodican.cc: + - added more precise output for CTXcon + + * devdrv/macs.[h,cc]: + - if first waitforsdo fails set don't go on + - implemented fStatus + - implemented enum for fStatus + + * gui/MGAccuracy.cc, gui/MGSkyPosition.cc, gui/MGVelocity.cc: + - call SetNoContextMenu in constructor + + * gui/MGCosy.[h,cc]: + - some new labels + - implemented SetLabelColor + + * gui/MGEmbeddedCanvas.[h,cc]: + - implemented SetNoContextMenu + + * main/MCosy.cc: + - exchanged all conditionals for the pointers to the nodes + by IsZombieNode + - implemented check for zombies in Proc + + + 2003/01/10 - Thomas Bretz: Index: trunk/MagicSoft/Cosy/base/MTimeout.h =================================================================== --- trunk/MagicSoft/Cosy/base/MTimeout.h (revision 1701) +++ trunk/MagicSoft/Cosy/base/MTimeout.h (revision 1702) @@ -6,5 +6,5 @@ class MTimeout : public TTimer { - Bool_t Notify(TTimer *t) + Bool_t Notify() { TurnOff(); // remove from system list Index: trunk/MagicSoft/Cosy/bending.txt =================================================================== --- trunk/MagicSoft/Cosy/bending.txt (revision 1701) +++ trunk/MagicSoft/Cosy/bending.txt (revision 1702) @@ -1,5 +1,4 @@ MMT 1987 July 8 S 36 7.3622 41.448 -0.0481 -IA 136.6 -1 -IE -45.5 -1 -END +IA 157 -1 +IE -35 -1 END Index: trunk/MagicSoft/Cosy/candrv/network.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/network.cc (revision 1701) +++ trunk/MagicSoft/Cosy/candrv/network.cc (revision 1702) @@ -240,6 +240,6 @@ if (!fNodes[i]->IsZombieNode()) fNodeInitialized[i] = TRUE; - else - fNodes[i]=NULL; + /*else + fNodes[i]=NULL;*/ } lout << "- All Nodes setup." << endl; @@ -288,2 +288,38 @@ return rc; } + +// -------------------------------------------------------------------------- +// +// returns true if one of the nodes is a zombie node +// +bool Network::HasZombie() const +{ + for (int i=0; i<32; i++) + if (fNodes[i]) + if (fNodes[i]->IsZombieNode()) + return true; + + return false; +} + +// -------------------------------------------------------------------------- +// +// try to reboot all zombie nodes to get them working again. all other +// nodes are left untouched. +// +bool Network::RebootZombies() +{ + lout << "- Trying to reboot all Zombies..." << endl; + for (int i=0; i<32; i++) + if (fNodes[i]) + if (fNodes[i]->IsZombieNode()) + if (!fNodes[i]->Reboot()) + { + lout << "- Failed to reboot " << fNodes[i]->GetNodeName() << "." << endl; + return false; + } + + lout << "- All Zombies rebooted." << endl; + + return true; +} Index: trunk/MagicSoft/Cosy/candrv/network.h =================================================================== --- trunk/MagicSoft/Cosy/candrv/network.h (revision 1701) +++ trunk/MagicSoft/Cosy/candrv/network.h (revision 1702) @@ -32,4 +32,7 @@ bool HasError() const; + bool HasZombie() const; + + bool RebootZombies(); ClassDef(Network, 0) // collection of nodes (nodedrv) Index: trunk/MagicSoft/Cosy/candrv/nodedrv.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 1701) +++ trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 1702) @@ -87,4 +87,15 @@ // -------------------------------------------------------------------------- // +// This should be called from a master or main thread to get a node out +// of the Zombie-Status. Overload it by your needs. +// +bool NodeDrv::Reboot() +{ + fIsZombie = false; + return true; +} + +// -------------------------------------------------------------------------- +// // Init device, sets the pointer to the whole network and enables // the Can messages to be passed through the interface: @@ -315,5 +326,10 @@ bool NodeDrv::WaitForSdo(WORD_t idx, BYTE_t subidx, WORDS_t timeout) { - return fNetwork->WaitForSdo(fId, idx, subidx, timeout); + bool rc = fNetwork->WaitForSdo(fId, idx, subidx, timeout); + + if (!rc) + fIsZombie = kTRUE; + + return rc; } Index: trunk/MagicSoft/Cosy/candrv/nodedrv.h =================================================================== --- trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 1701) +++ trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 1702) @@ -34,5 +34,5 @@ void DelError() { fError = 0; } - Bool_t fIsZombie; + Bool_t fIsZombie; // A Zombie node is a node which doesn't answer... public: @@ -60,4 +60,6 @@ virtual void HandlePDO3(BYTE_t *data, timeval_t *tv) {}; virtual void HandlePDO4(BYTE_t *data, timeval_t *tv) {}; + + virtual bool Reboot(); void SendPDO1(BYTE_t data[8]); Index: trunk/MagicSoft/Cosy/candrv/vmodican.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 1701) +++ trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 1702) @@ -202,5 +202,5 @@ const WORD_t cobid = desc>>5; - switch (msg->cmd) + switch (msg->cmd) // FROM mican.h { case M_MSG_LOST: @@ -208,6 +208,14 @@ return; + case M_BCAN_TX_con: /* confirm (+/-) transmission */ + cout << "VmodIcan reports: CTXcon=0x35" << endl; + cout << "This normally means, that the transmission of the following CAN frame failed:" << hex << endl; + cout << "Descr: 0x" << cobid << dec; + cout << " Rtr: " << (rtr?"Yes":"No"); + cout << " Len: " << (int)len << endl; + return; + case M_BCAN_EVENT_ind: - cout << "VmodIcan reports: CEVTind=0x37, " << hex; + cout << "VmodIcan reports: CEVTind=0x37: " << hex; switch (msg->data[0]) // error indicator { Index: trunk/MagicSoft/Cosy/cosy.cc =================================================================== --- trunk/MagicSoft/Cosy/cosy.cc (revision 1701) +++ trunk/MagicSoft/Cosy/cosy.cc (revision 1702) @@ -50,5 +50,5 @@ // check for the right usage of the program // - int mode = 2; + int mode = 0; if (argc==2 && (argv[1][0]=='-' || argv[1][1]=='m')) switch (argv[1][2]) @@ -59,4 +59,7 @@ case '1': // SE mode mode = 1; + break; + case '2': // GUI demo mode + mode = 2; break; } Index: trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 1701) +++ trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 1702) @@ -243,10 +243,12 @@ WaitForSdo(0x2004); */ - EnableTimeout(kFALSE); - lout << "- " << GetNodeName() << ": Requesting Mac Software Version." << endl; RequestSDO(0x100a); WaitForSdo(0x100a); + if (IsZombie()) + return; + + EnableTimeout(kFALSE); SetRpmMode(FALSE); @@ -437,6 +439,14 @@ fPdoPos = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7]; - fPosActive = data[3]&0x02; - fRpmActive = data[3]&0x04; + // data[3]&0x01; // motor not moving + fPosActive = data[3]&kPosActive; // positioning active + fRpmActive = data[3]&kRpmActive; // RPM mode switched on + // data[3]&0x08; // - unused - + // data[3]&0x10; // - unused - + // data[3]&0x20; // - unused - + fInControl = data[3]&0x40; // motor uncontrolled + // data[3]&0x80; // axis resetted (after errclr, motor stop, motor on) + + fStatus = data[3]; fPdoTime.SetTimer(tv); @@ -450,5 +460,5 @@ // // errnum==0 gives a sudden information that something happened. Now the - // microcontroller is running inside its interrup procedure which + // microcontroller is running inside its interrupt procedure which // stopped the normal program. The interrupt procedure should try to clear // the error state of the hardware. This should never create a new error! Index: trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.h (revision 1701) +++ trunk/MagicSoft/Cosy/devdrv/macs.h (revision 1702) @@ -25,4 +25,6 @@ BYTE_t fPosActive; BYTE_t fRpmActive; + BYTE_t fInControl; + BYTE_t fStatus; TTimer *fTimeout; @@ -40,4 +42,14 @@ public: + enum + { + kNotMoving = BIT(0), // motor not moving + kPosActive = BIT(1), // positioning active + kRpmActive = BIT(2), // RPM mode switched on + // BIT(3-5) unsused + kOutOfControl = BIT(6), // motor uncontrolled + kAxisReset = BIT(7) // axis resetted (after errclr, motor stop, motor on) + }; + Macs(const BYTE_t nodeid, const char *name=NULL, MLog &out=gLog); virtual ~Macs(); @@ -90,5 +102,6 @@ void StopMotor(); - int IsPositioning() { return fPosActive; } + int IsPositioning() const { return fPosActive; } + BYTE_t GetStatus() const { return fStatus; } double GetTime(); @@ -98,10 +111,10 @@ double GetPdoMjd(); - LWORDS_t GetPdoPos() { return fPdoPos; } + LWORDS_t GetPdoPos() const { return fPdoPos; } - LWORDS_t GetPos() { return fPos; } - LWORDS_t GetVel() { return fVel; } - LWORD_t GetVelRes() { return fVelRes; } // Velocity units (would be 100 for %) - LWORD_t GetRes() { return fRes; } // Encoder resolution + LWORDS_t GetPos() const { return fPos; } + LWORDS_t GetVel() const { return fVel; } + LWORD_t GetVelRes() const { return fVelRes; } // Velocity units (would be 100 for %) + LWORD_t GetRes() const { return fRes; } // Encoder resolution void HandleError(); Index: trunk/MagicSoft/Cosy/gui/MGAccuracy.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGAccuracy.cc (revision 1701) +++ trunk/MagicSoft/Cosy/gui/MGAccuracy.cc (revision 1702) @@ -178,4 +178,6 @@ InitCanvas(); + + SetNoContextMenu(); } Index: trunk/MagicSoft/Cosy/gui/MGCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 1701) +++ trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 1702) @@ -238,11 +238,15 @@ fList->Add(fAzSoll); - - fError = new TGLabel(f, "Error"); - fMoving = new TGLabel(f, "Moving"); - fTracking = new TGLabel(f, "Tracking"); - fStopping = new TGLabel(f, "Stopping"); - fStopped = new TGLabel(f, "Stopped"); - + fError = new TGLabel(f, "Error"); + fMoving = new TGLabel(f, "Moving"); + fTracking = new TGLabel(f, "Tracking"); + fStopping = new TGLabel(f, "Stopping"); + fStopped = new TGLabel(f, "Stopped"); + fAvailMac1 = new TGLabel(f, "- MAC1 -"); + fAvailMac2 = new TGLabel(f, "- MAC2 -"); + fAvailMac3 = new TGLabel(f, "- MAC3 -"); + fAvailSe1 = new TGLabel(f, "-SE/Zd1-"); + fAvailSe2 = new TGLabel(f, "-SE/Zd2-"); + fAvailSe3 = new TGLabel(f, "- SE/Az -"); ULong_t color; @@ -250,4 +254,10 @@ gClient->GetColorByName("Red", color); fError->SetBackgroundColor(color); + fAvailMac1->SetBackgroundColor(color); + fAvailMac2->SetBackgroundColor(color); + fAvailMac3->SetBackgroundColor(color); + fAvailSe1->SetBackgroundColor(color); + fAvailSe2->SetBackgroundColor(color); + fAvailSe3->SetBackgroundColor(color); gClient->GetColorByName("LightBlue", color); fMoving->SetBackgroundColor(color); @@ -264,4 +274,10 @@ fStopping->Move(10, 25+60); fStopped ->Move(10, 25+80); + fAvailMac1->Move(10, 25+120); + fAvailMac2->Move(10, 25+140); + fAvailMac3->Move(10, 25+160); + fAvailSe1->Move(10, 25+180); + fAvailSe2->Move(10, 25+200); + fAvailSe3->Move(10, 25+220); fError ->Resize(60, 20); @@ -270,4 +286,10 @@ fStopping->Resize(60, 20); fStopped ->Resize(60, 20); + fAvailMac1->Resize(60, 20); + fAvailMac2->Resize(60, 20); + fAvailMac3->Resize(60, 20); + fAvailSe1->Resize(60, 20); + fAvailSe2->Resize(60, 20); + fAvailSe3->Resize(60, 20); fList->Add(fError); @@ -276,4 +298,10 @@ fList->Add(fStopping); fList->Add(fStopped); + fList->Add(fAvailMac1); + fList->Add(fAvailMac2); + fList->Add(fAvailMac3); + fList->Add(fAvailSe1); + fList->Add(fAvailSe2); + fList->Add(fAvailSe3); } @@ -679,4 +707,25 @@ cout << "MGCosy::~MGCosy done." << endl; } + +void MGCosy::SetLabelColor(TGLabel *label, Bool_t col) +{ + ULong_t red, green; + + gClient->GetColorByName("Red", red); + gClient->GetColorByName("Green", green); + + if (col && label->TestBit(BIT(14))) + return; + + if (!col && !label->TestBit(BIT(14))) + return; + + col ? label->SetBit(BIT(14)) : label->ResetBit(BIT(14)); + + label->UnmapWindow(); + label->SetBackgroundColor(col ? green : red); + label->MapWindow(); +} + // ====================================================================== void MGCosy::EnableLabel(TGLabel *label, Bool_t stat) @@ -823,5 +872,5 @@ void MGCosy::Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, RaDec radec, - ZdAz soll, UInt_t stat) + ZdAz soll, UInt_t stat, UInt_t stat2) { double mjd = UpdateTime(); @@ -848,4 +897,11 @@ EnableLabel(fZdSoll, stat&kMoving); EnableLabel(fAzSoll, stat&kMoving); + + SetLabelColor(fAvailMac1, stat2&0x01); + SetLabelColor(fAvailMac2, stat2&0x02); + SetLabelColor(fAvailMac3, stat2&0x04); + SetLabelColor(fAvailSe1, stat2&0x08); + SetLabelColor(fAvailSe2, stat2&0x10); + SetLabelColor(fAvailSe3, stat2&0x20); stat&kTracking ? fAccuracy->MapWindow() : fAccuracy->UnmapWindow(); Index: trunk/MagicSoft/Cosy/gui/MGCosy.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 1701) +++ trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 1702) @@ -77,4 +77,10 @@ TGLabel *fStopping; TGLabel *fStopped; + TGLabel *fAvailMac1; + TGLabel *fAvailMac2; + TGLabel *fAvailMac3; + TGLabel *fAvailSe1; + TGLabel *fAvailSe2; + TGLabel *fAvailSe3; TGListBox *fLog; @@ -91,4 +97,5 @@ void EnableLabel(TGLabel *label, Bool_t stat); + void SetLabelColor(TGLabel *label, Bool_t col); void UpdateOffset(ZdAz &off); void UpdateZdAz(ZdAz &off); @@ -108,5 +115,5 @@ TGListBox *GetLog() const { return fLog; } - void Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, RaDec radec, ZdAz soll, UInt_t stat); + void Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, RaDec radec, ZdAz soll, UInt_t stat, UInt_t stat2); Bool_t ProcessMessage(Long_t msg, Long_t mp1, Long_t mp2); Index: trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc (revision 1701) +++ trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc (revision 1702) @@ -52,4 +52,9 @@ } +// ------------------------------------------------------------------------ +// +// Map the subwindows, resize to its quadratic size, map the window itself +// and set it to Non-Editable. +// void MGEmbeddedCanvas::InitCanvas() { @@ -71,5 +76,5 @@ // X11 Pixmap error) Update hangs the Gui system. // - // Fixed: Using root 3.01/06 and doing the update from within the + // Fixed: By using root 3.01/06 and doing the update from within the // mainthread. // @@ -80,2 +85,15 @@ fModified = kFALSE; } + +// ------------------------------------------------------------------------ +// +// Set's the kNoContextMenu bit for all primitives in the embedded canvas +// and the canvas itself, so that no context menu is displayed. +// +void MGEmbeddedCanvas::SetNoContextMenu() +{ + TList &list = *fCanvas->GetListOfPrimitives(); + list.ForEach(TObject, SetBit)(kNoContextMenu); + + fCanvas->SetBit(kNoContextMenu); +} Index: trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h (revision 1701) +++ trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h (revision 1702) @@ -41,4 +41,6 @@ void SetModified() { fModified = kTRUE; } + void SetNoContextMenu(); + ClassDef(MGEmbeddedCanvas, 0) }; Index: trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc (revision 1701) +++ trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc (revision 1702) @@ -177,4 +177,5 @@ InitText(); InitCanvas(); + SetNoContextMenu(); } Index: trunk/MagicSoft/Cosy/gui/MGVelocity.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGVelocity.cc (revision 1701) +++ trunk/MagicSoft/Cosy/gui/MGVelocity.cc (revision 1702) @@ -188,4 +188,6 @@ InitCanvas(); + + SetNoContextMenu(); } Index: trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.cc (revision 1701) +++ trunk/MagicSoft/Cosy/main/MCosy.cc (revision 1702) @@ -150,7 +150,7 @@ // Get the values // - const int p0 = fZd1 ? fZd1->GetPos() : 0; - const int p1 = fZd2 ? fZd2->GetPos() : 0; - const int p2 = fAz ? fAz->GetPos() : 0; + const int p0 = !fZd1->IsZombieNode() ? fZd1->GetPos() : 0; + const int p1 = !fZd2->IsZombieNode() ? fZd2->GetPos() : 0; + const int p2 = !fAz->IsZombieNode() ? fAz->GetPos() : 0; const int a0 = p0; //p0>8192?p0-16384:p0; @@ -177,5 +177,5 @@ Bool_t MCosy::RequestRePos() { - if (!(fMac1 && fMac2)) + if (fMac1->IsZombieNode() || fMac2->IsZombieNode()) return kTRUE; @@ -192,5 +192,5 @@ // - // If waitng was not interrupted everything is ok. return. + // If waiting was not interrupted everything is ok. return. // if (!StopWaitingForSDO()) @@ -216,5 +216,5 @@ ZdAz MCosy::GetRePos() { - return fMac1 && fMac2 ? ZdAz(fMac2->GetPos(), fMac1->GetPos()) : ZdAz(0,0); + return !fMac1->IsZombieNode() && !fMac2->IsZombieNode() ? ZdAz(fMac2->GetPos(), fMac1->GetPos()) : ZdAz(0,0); } @@ -304,5 +304,5 @@ int MCosy::StopWaitingForSDO() const { - return Break() || HasError(); + return Break() || HasError() || HasZombie(); } @@ -346,5 +346,5 @@ // - // No try to handle the error. + // Now try to handle the error. // fMac1->HandleError(); @@ -378,7 +378,7 @@ // FIXME: Correct by fOffset ? - if (!(fMac1 && fMac2)) + if (fMac1->IsZombieNode() || fMac2->IsZombieNode()) { - cout << "SetPosition: No MACS!" << endl; + cout << "SetPosition: No connection to at least one of the MACS!" << endl; return TRUE; } @@ -515,5 +515,5 @@ void MCosy::InitTracking() { - if (!(fMac1 && fMac2)) + if (fMac1->IsZombieNode() || fMac2->IsZombieNode()) return; @@ -656,5 +656,5 @@ fRaDec = dst; - if (!(fMac1 && fMac2)) + if (fMac1->IsZombieNode() || fMac2->IsZombieNode()) return; @@ -774,6 +774,7 @@ void MCosy::StopMovement() { - if (!fMac1 || !fMac2) + if (fMac1->IsZombieNode() || fMac2->IsZombieNode()) return; + // // Set status to Stopping @@ -810,4 +811,12 @@ void *MCosy::Proc(int msg, void *mp) { + lout << "Checking for Zombies" << endl; + if (HasZombie()) + { + lout << "Found Zombies" << endl; + if (!RebootZombies()) + return (void*)0xebb0; + } + switch (msg) { @@ -823,7 +832,7 @@ case WM_PRESET: cout << "WM_Preset: start." << endl; - if (fZd1) fZd1->SetPreset(); - if (fZd2) fZd2->SetPreset(); - if (fAz) fAz->SetPreset(); + if (!fZd1->IsZombieNode()) fZd1->SetPreset(); + if (!fZd2->IsZombieNode()) fZd2->SetPreset(); + if (!fAz->IsZombieNode()) fAz->SetPreset(); cout << "WM_Preset: done. (return 0xaffe)" << endl; return (void*)0xaffe; @@ -849,9 +858,9 @@ cout << "Got Zd: " << sepos.Zd() << " Az: " << sepos.Az() << endl; - if (fZd1) + if (!fZd1->IsZombieNode()) fZd1->SetPreset(za.Zd()); - if(fZd2) + if (!fZd2->IsZombieNode()) fZd2->SetPreset(-za.Zd()); - if(fAz) + if (!fAz->IsZombieNode()) fAz->SetPreset(za.Az()); @@ -924,9 +933,10 @@ case WM_HOME: cout << "WM_Home: START" << endl; - if (fMac1 && fMac2) + if (!fMac1->IsZombieNode() && !fMac2->IsZombieNode()) { cout << "Going Home..." << endl; - fMac1->SetHome(250000, 100); - fMac2->SetHome(250000, 100); + TEnv env(".cosyrc"); + fMac1->SetHome(250000, env.GetValue("Az_MaxTime2ReachHome[s]", 100)); + fMac2->SetHome(250000, env.GetValue("Zd_MaxTime2ReachHome[s]", 100)); fAz->SetPreset(); @@ -991,8 +1001,8 @@ Double_t resreaz = 0; - if (fMac1) + if (!fMac1->IsZombieNode()) resreaz = fMac1->GetRes(); else - if (fMac3) + if (!fMac3->IsZombieNode()) resreaz = fMac3->GetRes(); else @@ -1000,5 +1010,5 @@ Double_t resrezd = 0; - if (fMac2) + if (!fMac2->IsZombieNode()) resrezd = fMac2->GetRes(); else @@ -1006,8 +1016,8 @@ Double_t ressezd = 0; - if (fZd1) + if (!fZd1->IsZombieNode()) ressezd = fZd1->GetPhysRes(); else - if (fZd2) + if (!fZd2->IsZombieNode()) ressezd = fZd2->GetPhysRes(); else @@ -1015,5 +1025,5 @@ Double_t resseaz = 0; - if (fAz) + if (!fAz->IsZombieNode()) resseaz = fAz->GetPhysRes(); else @@ -1024,13 +1034,13 @@ cout << "done." << endl; - cout << "Setting Gear Ratios:" << endl; - cout << "--------------------" << endl; - cout << " X: " << gzd << "*" << resrezd << "/" << ressezd << "=" << kGearRatio.X() << endl; - cout << " Y: " << gaz << "*" << resreaz << "/" << resseaz << "=" << kGearRatio.Y() << endl; + cout << " * Setting Gear Ratios:" << endl; + cout << " --------------------" << endl; + cout << " * X: " << gzd << "*" << resrezd << "/" << ressezd << "=" << kGearRatio.X() << endl; + cout << " * Y: " << gaz << "*" << resreaz << "/" << resseaz << "=" << kGearRatio.Y() << endl; } void MCosy::TalkThread() { - if (!(fMac1 && fMac2)) + if (fMac1->IsZombieNode() || fMac2->IsZombieNode()) return; @@ -1048,8 +1058,5 @@ } - //fMac1->EnableTimeout(kTRUE, 500); - //fMac2->EnableTimeout(kTRUE, 500); - - if (!(fZd1 && fZd2 && fAz)) + if (fZd1->IsZombieNode() || fZd2->IsZombieNode() || fAz->IsZombieNode()) return; @@ -1058,7 +1065,7 @@ // Start the Network // - cout << "Reading configuration file..." << flush; - TEnv env(".cosyrc"); - cout << "done." << endl; + //cout << "Reading configuration file..." << flush; + //TEnv env(".cosyrc"); + //cout << "done." << endl; /* const int res = fMac3->GetVelRes(); @@ -1067,10 +1074,4 @@ fMac3->SetAcceleration(res); fMac3->SetDeceleration(res); - - cout << "Going Home..." << endl; - fMac1->SetHome(250000, env.GetValue("Az_MaxTime2ReachHome[s]", 100)); - fMac2->SetHome(250000, env.GetValue("Zd_MaxTime2ReachHome[s]", 100)); - PostMsg(WM_PRESET, 0, 0); - PostMsg(WM_WAIT, 0, 0); fMac1->ReqPos(); @@ -1098,36 +1099,7 @@ fMac2->EnableTimeout(kTRUE, 500); - const Double_t gaz = env.GetValue("Az_GearRatio[U_mot/U_tel]"); - const Double_t gzd = env.GetValue("Zd_GearRatio[U_mot/U_tel]"); - - const Double_t resreaz = env.GetValue("Az_ResRE[re/U_mot]"); - const Double_t resrezd = env.GetValue("Zd_ResRE[re/U_mot]"); - - kGearRatio.Set (gzd*resrezd/RES_SE, gaz*resreaz/RES_SE); //[re/se] - kGearRatio2.Set(gzd*resrezd/360.0, gaz*resreaz/360.0); //[re/deg] - //fMac2->SetNegEndswitch(Deg2ZdRE(env.GetValue("MinZd[Deg]", -1.0))); //fMac2->SetPosEndswitch(Deg2ZdRE(env.GetValue("MaxZd[Deg]", +1.0))); // fMac3->StartVelSync(); - - //cout << "PostMsg(WM_PRESET)" << endl; - //void *rc = - //cout << hex << "WM_PRESET: ret=" << rc << endl; - - //RaDec dest = RaDec(45.0, 30.0)*D2PI/360.0; - - //cout << "PostMsg(WM_TRACK)" << endl; - //cout << sizeof(RaDec) << "==" << sizeof(dest) << endl; - //rc=PostMsg(WM_TRACK, &dest, sizeof(dest)); - //cout << "DEST killed." << endl; - - // AltAz dest = AltAz(45.0, 30.0); - // double ra, dec; - // slaDaf2r( 71, 0, 0, &ra, &status); // 0 WARNING: RANGE - // slaDaf2r( 89, 0, 0, &dec, &status); // 49 - // cout << "Start tracking: Ra: " << Rad2Deg(ra) << kDEG << " Dec: " << Rad2Deg(dec) << kDEG << endl; - - // dest = AltAz(-46.0, 210); - // SetPosition(dest); */ SlaStars sla; @@ -1255,14 +1227,28 @@ // Update Gui, foremer MTGui. // - if (fZd1) fZd1->DisplayVal(); - if (fZd2) fZd2->DisplayVal(); - if (fAz) fAz->DisplayVal(); + if (!fZd1->IsZombieNode()) fZd1->DisplayVal(); + if (!fZd2->IsZombieNode()) fZd2->DisplayVal(); + if (!fAz->IsZombieNode()) fAz->DisplayVal(); ZdAz seist = GetSePos()*2*TMath::Pi()/16384; // [se] ZdAz bendist = fBending.CorrectBack(seist); + Byte_t avail = 0; + + avail |= !fMac1->IsZombieNode() ? 0x01 : 0; + avail |= !fMac2->IsZombieNode() ? 0x02 : 0; + avail |= !fMac3->IsZombieNode() ? 0x04 : 0; + avail |= !fZd1->IsZombieNode() ? 0x08 : 0; + avail |= !fZd2->IsZombieNode() ? 0x10 : 0; + avail |= !fAz->IsZombieNode() ? 0x20 : 0; + fWin->Update(bendist*(360.0/2/TMath::Pi()), fTrackingError/kGearRatio2, - fVelocity, fOffset/*/kGearRatio2*/, fRaDec, fZdAzSoll, - fStatus); + fVelocity, fOffset, fRaDec, fZdAzSoll, fStatus, avail); + + /* + cout << (int)(fMac1->GetStatus()&Macs::kOutOfControl) << " "; + cout << (int)(fMac2->GetStatus()&Macs::kOutOfControl) << " "; + cout << (int)(fMac3->GetStatus()&Macs::kOutOfControl) << endl; + */ return kTRUE; @@ -1282,5 +1268,5 @@ // Don't call this function twice! Network::Start(); - +/* if (fMac1) if (fMac1->IsZombieNode()) { delete fMac1; fMac1=NULL; } @@ -1289,16 +1275,16 @@ if (fMac3) if (fMac3->IsZombieNode()) { delete fMac3; fMac3=NULL; } - - if (fZd1) +*/ +/* if (fZd1) if (fZd1->IsZombieNode()) { delete fZd1; fZd1=NULL; } - else fZd1->SetDisplay(fWin->GetLabel2()); - - if (fZd2) + else */fZd1->SetDisplay(fWin->GetLabel2()); + +/* if (fZd2) if (fZd2->IsZombieNode()) { delete fZd2; fZd2=NULL; } - else fZd2->SetDisplay(fWin->GetLabel3()); - - if (fAz) + else */fZd2->SetDisplay(fWin->GetLabel3()); + +/* if (fAz) if (fAz->IsZombieNode()) { delete fAz; fAz=NULL; } - else fAz->SetDisplay(fWin->GetLabel1()); + else */fAz->SetDisplay(fWin->GetLabel1()); ReadConfig(); @@ -1345,6 +1331,6 @@ lout << "- Setting up network." << endl; - fMac1=new Macs(id1, "Mac/Az", lout); - fMac2=new Macs(id3, "Mac/Zd", lout); + fMac1=new Macs(id1, "Mac/Az", lout); + fMac2=new Macs(id3, "Mac/Zd", lout); if (id2>=0) fMac3=new Macs(id2, "Mac/Az-Sync", lout);