Changeset 1758 for trunk/MagicSoft/Cosy/main

Timestamp:

02/14/03 23:18:37 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/main

Files:

• MCosy.cc (modified) (19 diffs)
• MCosy.h (modified) (7 diffs)
• Makefile (modified) (1 diff)

trunk/MagicSoft/Cosy/main/MCosy.cc

@@ -10 +10 @@
 #include <TApplication.h>
 #include <TTimer.h>
+
+#include <TH2.h>
+#include <TProfile.h>
+#include <TCanvas.h>
 
 #include "MGCosy.h"
@@ -147 +151 @@
 //  are avaraged. The values are returned as a ZdAz object.
 //
+//  If one of the two shaftencoders on the elevation axis is missing
+//  the other one's position is returned.
+//
 //  The positions are alway up-to-date because the shaftencoders are
 //  sending all changes immediatly.
@@ -152 +159 @@
 ZdAz MCosy::GetSePos()
 {
+    const int pa = fAz->GetPos();
+    if (fZd1->IsZombieNode() && fZd2->IsZombieNode())
+        return ZdAz(0, pa);
+
     //
     // Get the values
     //
-    const int p0 = fZd1->GetPos();
-    const int p1 = fZd2->GetPos();
-    const int p2 = fAz->GetPos();
+    const int p1 =  fZd1->GetPos();
+    const int p2 = -fZd2->GetPos();
+
+    if (fZd1->IsZombieNode())
+        return ZdAz(p2, pa);
+    if (fZd2->IsZombieNode())
+        return ZdAz(p1, pa);
 
     //
     // interpolate shaft encoder positions
     //
-    const float p = (float)(p0-p1)/2;
+    float p = (float)(p1+p2)/2;
 
     //
     // calculate 'regelabweichung'
     //
-    return ZdAz(p, p2);
+    return ZdAz(p, pa);
 }
 
@@ -655 +670 @@
 void MCosy::TrackPosition(const RaDec &dst) // ra, dec [rad]
 {
-    SlaStars sla;
+    SlaStars sla(fObservatory);
 
     //
     // Position to actual position
     //
-    sla.SetMjd2Now();
+    sla.Now();
     ZdAz dest = sla.CalcZdAz(dst);
 
@@ -707 +722 @@
     //
     fRaDec = dst;
-    fTracking = kTRUE;
+    fBackground = kBgdTracking;
 
 //---    ofstream fout("log/cosy.pos");
@@ -729 +744 @@
         // Request theoretical Position for a time in the future (To+dt) from CPU
         //
-        sla.SetMjd(sla.CalcMjd()+dt/(60*60*24));
+        sla.SetMjd(sla.GetMjd()+dt/(60*60*24));
         ZdAz dummy = fBending(sla.CalcZdAz(fRaDec));
         dest = CorrectTarget(GetSePos(), dummy); // [se]
@@ -817 +832 @@
     }
 
-    fTracking = kFALSE;
+    fBackground = kBgdNone;
     StopMovement();
     lout << "Tracking stopped." << endl;
@@ -915 +930 @@
                 return (void*)0xebb0;
 
-            SlaStars sla;
-            sla.SetMjd2Now();
+            SlaStars sla(fObservatory);
+            sla.Now();
 
             RaDec rd = *((RaDec*)mp);
@@ -943 +958 @@
         {
             cout << "WM_TPoint: start." << endl;
-            SlaStars sla;
-            sla.SetMjd2Now();
+            SlaStars sla(fObservatory);
+            sla.Now();
 
             RaDec rd = *((RaDec*)mp);
@@ -976 +991 @@
         cout << "WM_Position: done. (return 0x7777)" << endl;
         return (void*)0x7777;
+
+    case WM_TESTSE:
+        cout << "WM_TestSe: start." << endl;
+        fBackground = mp ? kBgdSeTest : kBgdNone;
+        cout << "WM_TestSe: done. (return 0x1e51)" << endl;
+        return (void*)0x1e51;
 
     case WM_TRACK:
@@ -1040 +1061 @@
             cout << endl;
 
-            SlaStars sla;
-            sla.SetMjd2Now();
+            SlaStars sla(fObservatory);
+            sla.Now();
 
             XY xy = *((XY*)mp);
@@ -1160 +1181 @@
 }
 
+void MCosy::TalkThreadTracking()
+{
+    if (fZd1->IsZombieNode() || fZd2->IsZombieNode() || fAz->IsZombieNode())
+        return;
+    if (!fMac1 || !fMac2)
+        return;
+
+    SlaStars sla(fObservatory);
+
+    ZdAz old;
+    ZdAz ist;
+
+    ZdAz sollzd;
+    ZdAz sollaz;
+
+    ZdAz istre = -fOffset;                // [re]
+    ZdAz time;
+
+    //
+    // only update fTrackingError while tracking
+    //
+    bool phca1=false;
+    bool phca2=false;
+    bool phcaz=false;
+
+    while (fBackground==kBgdTracking)
+    {
+        //
+        // Make changes (eg wind) smoother - attenuation of control function
+        //
+        const float weight = 1.; //0.3;
+
+        //
+        // This is the time constant which defines how fast
+        // you correct for external influences (like wind)
+        //
+        fZd1->ResetPosHasChanged();
+        fZd2->ResetPosHasChanged();
+        fAz->ResetPosHasChanged();
+        do
+        {
+            phca1 = fZd1->PosHasChanged();
+            phca2 = fZd2->PosHasChanged();
+            phcaz = fAz->PosHasChanged();
+            usleep(1);
+        } while (!phca1 && !phca2 && !phcaz && fBackground==kBgdTracking);
+
+        //---usleep(100000); // 0.1s
+
+        //
+        // get position, where we are
+        //
+        old = ist;
+        ist = GetSePos(); // [se]
+
+        //
+        // if the position didn't change continue
+        //
+        /*---
+         if ((int)ist.Zd() == (int)old.Zd() &&
+         (int)ist.Az() == (int)old.Az())
+         continue;
+         */
+        istre = GetRePosPdo();
+
+        //
+        // Get time from last shaftencoder position change (position: ist)
+        // FIXME: I cannot take the avarage
+        //
+        if (fZd1->GetMjd()>fZd2->GetMjd())
+            time.Zd(fZd1->GetMjd());
+        else
+            time.Zd(fZd2->GetMjd());
+        //time.Zd((fZd1->GetMjd()+fZd2->GetMjd())/2.0);
+        time.Az(fAz->GetMjd());
+
+        //
+        // if Shaftencoder changed position
+        // calculate were we should be
+        //
+        if (phca1 || phca2 /*(int)ist.Zd() != (int)old.Zd()*/)
+        {
+            sla.SetMjd(time.Zd());
+
+            ZdAz dummy = fBending(sla.CalcZdAz(fRaDec));
+            sollzd = CorrectTarget(ist, dummy); // [se]
+
+            fOffset.Zd(fOffset.Zd()*(1.-weight)+(ist.Zd()*kGearRatio.X()-istre.Zd())*weight);
+        }
+
+        if (phcaz /*(int)ist.Az() != (int)old.Az()*/)
+        {
+            sla.SetMjd(time.Az());
+
+            ZdAz dummy = fBending(sla.CalcZdAz(fRaDec));
+            sollaz = CorrectTarget(ist, dummy); // [se]
+
+            fOffset.Az(fOffset.Az()*(1.-weight)+(ist.Az()*kGearRatio.Y()-istre.Az())*weight);
+        }
+
+        ZdAz soll(sollzd.Zd(), sollaz.Az());
+        fZdAzSoll = fBending.CorrectBack(soll*2*TMath::Pi()/16384);
+
+        fTrackingError.Set((ist.Zd()-sollzd.Zd())*kGearRatio.X(),
+                           (ist.Az()-sollaz.Az())*kGearRatio.Y());
+
+        //---            fout << setprecision(15) << setw(17) << time.Zd()*60.*60.*24. << " ";
+        //---            fout << setprecision(5)  << setw(7)  << fTrackingError.Zd() << "  ";
+        //---            fout << setprecision(15) << setw(17) << time.Az()*60.*60.*24. << " ";
+        //---            fout << setprecision(5)  << setw(7)  << fTrackingError.Az() << endl;
+    }
+    //---        fout << endl << endl;
+}
+
+void MCosy::TalkThreadSeTest()
+{
+//    if (fZd1->IsZombieNode() || fZd2->IsZombieNode())
+    //        return;
+
+    if (fHistTestSe)
+    {
+        lout << "You are much too fast... try again." << endl;
+        return;
+    }
+
+    fHistTestSe = new TH2F("Diff", "Difference of SE values",
+                           201, fMin.Zd(), fMax.Zd(), 101, -50, 50);
+    fHistTestSe->SetXTitle("ZA [\\circ]");
+    fHistTestSe->SetYTitle("\\Delta SE");
+
+    Double_t offset = 0;
+
+    int cnt = 0;
+
+    lout << "Starting Shaftencoder Test..." << endl;
+
+    while (fBackground==kBgdSeTest)
+    {
+        fZd1->ResetPosHasChanged();
+        fZd2->ResetPosHasChanged();
+
+        while (!fZd1->PosHasChanged() && !fZd2->PosHasChanged() &&
+               fBackground==kBgdSeTest)
+            usleep(1);
+
+        const Double_t pos[3] = { fZd1->GetPos(), fZd2->GetPos(), fAz->GetPos() };
+
+        //
+        //  Estimate Offset from the first ten positions
+        //
+        if (cnt++<10)
+            offset += pos[0]+pos[1];
+        if (cnt++==10)
+            offset /= 10;
+        if (cnt<11)
+            continue;
+
+        Double_t apos = (pos[0]-pos[1])/2 * TMath::Pi()*2 / 16384;
+
+        ZdAz bend = fBending(ZdAz(apos, pos[2]))*kRad2Deg;
+
+        fHistTestSe->Fill(bend.Zd(), pos[0]+pos[1]-offset);
+    }
+
+    lout << "Shaftencoder Test Stopped... displaying Histogram." << endl;
+}
+
 void MCosy::TalkThread()
 {
@@ -1180 +1368 @@
     /*** FOR DEMO MODE ***/
 
-    if (fZd1->IsZombieNode() || fZd2->IsZombieNode() || fAz->IsZombieNode())
-        return;
-
-    if (!fMac1 || !fMac2)
-        return;
-
     //
     // Start the Network
     //
-    /*
-     TEnv env(".cosyrc");
-
-     cout << "Setting up software endswitch..." << flush;
-     fMac1->SetNegEndswitch(Deg2AzRE(env.GetValue("Az_Min[Deg]", -1.0)));
-     fMac1->SetPosEndswitch(Deg2AzRE(env.GetValue("Az_Max[Deg]", +1.0)));
-
-     fMac2->SetNegEndswitch(Deg2ZdRE(env.GetValue("Zd_Min[Deg]", -1.0)));
-     fMac2->SetPosEndswitch(Deg2ZdRE(env.GetValue("Zd_Max[Deg]", +1.0)));
-     cout << "done." << endl;
-    */
-    SlaStars sla;
     while (1)
     {
@@ -1206 +1376 @@
         // wait until a tracking session is started
         //
-        while (!fTracking)
+        while (fBackground==kBgdNone)
             usleep(1);
 
-//---        ofstream fout("log/cosy.err");
-//---        fout << "Tracking:";
-//---        fout << " Ra: " << Rad2Deg(fRaDec.Ra())  << "\x9c  ";
-//---        fout << "Dec: " << Rad2Deg(fRaDec.Dec()) << "\x9c" << endl << endl;
-//---        fout << "     MjdZd/10ms    ErrZd/re";
-//---        fout << "     MjdAz/10ms    ErrAd/re" << endl;
-
-        ZdAz old;
-        ZdAz ist;
-
-        ZdAz sollzd;
-        ZdAz sollaz;
-
-        ZdAz istre = -fOffset;                // [re]
-        ZdAz time;
-
-        //
-        // only update fTrackingError while tracking
-        //
-        bool phca1=false;
-        bool phca2=false;
-        bool phcaz=false;
-
-        while (fTracking)
+        switch (fBackground)
         {
-            //
-            // Make changes (eg wind) smoother - attenuation of control function
-            //
-            const float weight = 1.; //0.3;
-
-            //
-            // This is the time constant which defines how fast
-            // you correct for external influences (like wind)
-            //
-            fZd1->ResetPosHasChanged();
-            fZd2->ResetPosHasChanged();
-            fAz->ResetPosHasChanged();
-            do
-            {
-                phca1 = fZd1->PosHasChanged();
-                phca2 = fZd2->PosHasChanged();
-                phcaz = fAz->PosHasChanged();
-                usleep(1);
-            } while (!phca1 && !phca2 && !phcaz && fTracking);
-
-            //---usleep(100000); // 0.1s
-
-            //
-            // get position, where we are
-            //
-            old = ist;
-            ist = GetSePos(); // [se]
-
-            //
-            // if the position didn't change continue
-            //
-            /*---
-            if ((int)ist.Zd() == (int)old.Zd() &&
-                (int)ist.Az() == (int)old.Az())
-                continue;
-            */
-            istre = GetRePosPdo();
-
-            //
-            // Get time from last shaftencoder position change (position: ist)
-            // FIXME: I cannot take the avarage
-            //
-            if (fZd1->GetMjd()>fZd2->GetMjd())
-                time.Zd(fZd1->GetMjd());
-            else
-                time.Zd(fZd2->GetMjd());
-            //time.Zd((fZd1->GetMjd()+fZd2->GetMjd())/2.0);
-            time.Az(fAz->GetMjd());
-
-            //
-            // if Shaftencoder changed position
-            // calculate were we should be
-            //
-            if (phca1 || phca2 /*(int)ist.Zd() != (int)old.Zd()*/)
-            {
-                sla.SetMjd(time.Zd());
-
-                ZdAz dummy = fBending(sla.CalcZdAz(fRaDec));
-                sollzd = CorrectTarget(ist, dummy); // [se]
-
-                fOffset.Zd(fOffset.Zd()*(1.-weight)+(ist.Zd()*kGearRatio.X()-istre.Zd())*weight);
-            }
-
-            if (phcaz /*(int)ist.Az() != (int)old.Az()*/)
-            {
-                sla.SetMjd(time.Az());
-
-                ZdAz dummy = fBending(sla.CalcZdAz(fRaDec));
-                sollaz = CorrectTarget(ist, dummy); // [se]
-
-                fOffset.Az(fOffset.Az()*(1.-weight)+(ist.Az()*kGearRatio.Y()-istre.Az())*weight);
-            }
-
-            ZdAz soll(sollzd.Zd(), sollaz.Az());
-            fZdAzSoll = fBending.CorrectBack(soll*2*TMath::Pi()/16384);
-
-            fTrackingError.Set((ist.Zd()-sollzd.Zd())*kGearRatio.X(),
-                               (ist.Az()-sollaz.Az())*kGearRatio.Y());
-
-//---            fout << setprecision(15) << setw(17) << time.Zd()*60.*60.*24. << " ";
-//---            fout << setprecision(5)  << setw(7)  << fTrackingError.Zd() << "  ";
-//---            fout << setprecision(15) << setw(17) << time.Az()*60.*60.*24. << " ";
-//---            fout << setprecision(5)  << setw(7)  << fTrackingError.Az() << endl;
+        case kBgdNone:
+            continue;
+
+        case kBgdTracking:
+            TalkThreadTracking();
+            continue;
+
+        case kBgdSeTest:
+            TalkThreadSeTest();
+            continue;
         }
-
-//---        fout << endl << endl;
     }
 }
@@ -1355 +1427 @@
                  fVelocity, fOffset, fRaDec, fZdAzSoll, fStatus, avail);
 
-
     /*
      cout << (int)(fMac1->GetStatus()&Macs::kOutOfControl) << " ";
@@ -1362 +1433 @@
      */
 
+    if (fBackground==kBgdSeTest || fHistTestSe==NULL)
+        return kTRUE;
+
+    DisplayHistTestSe();
+
     return kTRUE;
 }
 
+void MCosy::DisplayHistTestSe()
+{
+    TH2F &hist = *fHistTestSe;
+    fHistTestSe = NULL;
+
+    TCanvas *c=new TCanvas("c1", "", 1000, 1000);
+    c->Divide(1,2);
+
+    c->cd(1);
+    TH2 *h=(TH2*)hist.DrawCopy();
+
+    TProfile *p = h->ProfileX("_pfx", -1, 9999, "s");
+    p->SetLineColor(kBlue);
+    p->Draw("same");
+    p->SetBit(kCanDelete);
+
+    c->cd(2);
+
+    TH1F p2("spread", "Spread of the differences", hist.GetNbinsX(), hist.GetBinLowEdge(1),
+            hist.GetBinLowEdge(hist.GetNbinsX()+1));
+    p2.SetXTitle("ZA [\\circ]");
+    for (int i=0; i<hist.GetNbinsX(); i++)
+        p2.SetBinError(i, p->GetBinError(i));
+    p2.SetLineColor(kRed);
+    p2.SetStats(0);
+    p2.DrawCopy();
+
+    delete &hist;
+}
 
 // --------------------------------------------------------------------------
@@ -1450 +1555 @@
 
     lout << "- Starting GUI." << endl;
-    fWin=new MGCosy(this, gClient->GetRoot(), 1, 1);
+    fWin=new MGCosy(fObservatory, this, gClient->GetRoot(), 1, 1);
 }
 
@@ -1480 +1585 @@
 
     lout << "- Starting GUI." << endl;
-    fWin=new MGCosy(this, gClient->GetRoot(), 1, 1);
+    fWin=new MGCosy(fObservatory, this, gClient->GetRoot(), 1, 1);
 }
 
@@ -1497 +1602 @@
 
     lout << "- Starting GUI." << endl;
-    fWin=new MGCosy(this, gClient->GetRoot(), 1, 1);
+    fWin=new MGCosy(fObservatory, this, gClient->GetRoot(), 1, 1);
 }
 
 MCosy::MCosy(int mode, const char *dev, const int baud, MLog &out)
-: Network(dev, baud, out), fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), fMac3(0), fTracking(kFALSE)
+: Network(dev, baud, out), fObservatory(MObservatory::kMagic1), fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), fMac3(0), fBackground(kBgdNone)
 {
     TEnv env(".cosyrc");

trunk/MagicSoft/Cosy/main/MCosy.h

@@ -7 +7 @@
 #include "MThread.h"
 #include "MBending.h"
+
+#ifndef MARS_Mobservatory
+#include "MObservatory.h"
+#endif
 
 #define kDEG ((char)0x9c)  // Linux 'ø'
@@ -22 +26 @@
 #define WM_CALCALTAZ    0x1009
 #define WM_HOME         0x100a
+#define WM_TESTSE       0x100b
 
 
@@ -28 +33 @@
 class MGCosy;
 class MCosy;
+class TH2F;
 
 class MTTalk : public MThread
@@ -46 +52 @@
 };
 
-
 class TTimer;
 class MCosy : public Network, public MsgQueue, public TObject
@@ -62 +67 @@
     };
 
+    const MObservatory::LocationName_t fObservatory;
+
     ShaftEncoder *fZd1;
     ShaftEncoder *fZd2;
@@ -76 +83 @@
                           // with a generic interface to both...
 
+    enum BackgroundAction_t
+    {
+        kBgdNone,
+        kBgdTracking,
+        kBgdSeTest
+    };
+
+    BackgroundAction_t fBackground;    // Flag for present backgroundthread
+
     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
     ZdAz  fAccuracy;      // Actual accuracy of Tracking
     ZdAz  fVelocity;      // Actual velocity of Tracking
     ZdAz  fMin;
     ZdAz  fMax;
+
+    TH2F *fHistTestSe;
 
     XY kGearRatio;        // describing the gear of the system [re/se]
@@ -119 +136 @@
 
     void TalkThread();
+    void TalkThreadTracking();
+    void TalkThreadSeTest();
+
+    void DisplayHistTestSe();
 
     int  SetPosition(const ZdAz &dst);

trunk/MagicSoft/Cosy/main/Makefile

@@ -33 +33 @@
 
 SRCFILES = MCosy.cc \
-           MBending.cc \
-           MStarguider.cc
+           MBending.cc
 
 SRCS        = $(SRCFILES)