Index: /trunk/MagicSoft/Cosy/candrv/nodedrv.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 1804) @@ -154,5 +154,5 @@ lout << hex << setfill('0'); - lout << "Node #" << (int)fId << ": Sdo=" << idx << "/" << (int)subidx << " set."; + lout << "Node #" << dec << (int)fId << ": Sdo=" << hex << idx << "/" << (int)subidx << " set."; lout << endl; @@ -500,4 +500,8 @@ fTimeout->SetTime(fGuardTime); fTimeout->Reset(); + +// Timer t; +// fTimeoutTime = t.Now() + (fGuardTime*fLifeTimeFactor/1000.); + fTimeout->TurnOn(); //fTimeout->Start(fGuardTime, kTRUE); @@ -576,4 +580,5 @@ if (now > fTimeoutTime) { + cout << "==out==> " << fmod(now*1000, 10000)/10 << " > " << fmod(fTimeoutTime*10000, 10000)/10 << endl; //cout << "ERROR - " << GetNodeName() << " didn't respond in timeout window." << endl; //lout << "ERROR - " << GetNodeName() << " didn't respond in timeout window." << endl; Index: /trunk/MagicSoft/Cosy/candrv/vmodican.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 1804) @@ -147,7 +147,7 @@ switch (c) { - // - // Fast message (not used/working) - // + // + // Fast message (not used/working) + // case FAST_QUEUE: cout << "--> Fast Queue: " << flush; Index: /trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 1804) @@ -31,5 +31,5 @@ : NodeDrv(nodeid, name, out), fMacId(2*nodeid+1), fPos(0), fPosTime(0.0), fPdoPos(0), fPdoTime(0.0), - fPosActive(0), fRpmActive(0) + fPosActive(0), fRpmActive(0), fStatusPdo3(0xff) { // fTimeout = new TTimer(this, 100); //, kFALSE); // 100ms, asynchronous @@ -57,5 +57,5 @@ case 0x2002: - cout << GetNodeName() << ": Actual velocity: " << dec << val << endl; + cout << GetNodeName() << ": Current velocity: " << dec << val << endl; fVel = val; return; @@ -273,6 +273,6 @@ SetNoWait(TRUE); - StartGuarding(100, 2); - StartHostGuarding(); + // StartGuarding(500, 2); + // StartHostGuarding(); } @@ -300,7 +300,9 @@ SetPDO1On(FALSE); - lout << "- " << GetNodeName() << ": Motor off." << endl; - SendSDO(0x3000, string('o', 'f', 'f')); - WaitForSdo(0x3000); + /* + lout << "- " << GetNodeName() << ": Motor off." << endl; + SendSDO(0x3000, string('o', 'f', 'f')); + WaitForSdo(0x3000); + */ /* @@ -550,4 +552,31 @@ } +void Macs::HandlePDO3(BYTE_t *data, timeval_t *tv) +{ + // 3 5 7 9 + // 1100 1010 1110 1001 + if (fStatusPdo3 == data[3]) + return; + + lout << GetNodeName() << ": Status PDO3 = "; + const Bool_t ready = data[3]&0x01; + const Bool_t fuse = data[3]&0x02; + const Bool_t emcy = data[3]&0x04; + const Bool_t vltg = data[3]&0x08; + const Bool_t mode = data[3]&0x10; + const Bool_t rf = data[3]&0x20; + const Bool_t brake = data[3]&0x40; + if (ready) lout << "DKC-Ready "; + if (fuse) lout << "FuseOk "; + if (emcy) lout << "EmcyOk "; + if (vltg) lout << "OvervoltOk "; + if (mode) lout << "SwitchToManualMode "; + if (rf) lout << "RF "; + if (brake) lout << "BrakeOpen "; + lout << endl; + + fStatusPdo3 = data[3]; +} + // FIXME? Handling of fIsZombie? void Macs::HandleError() Index: /trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 1803) +++ /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 1804) @@ -28,8 +28,5 @@ BYTE_t fStatus; - LWORD_t string(BYTE_t b0=0, BYTE_t b1=0, BYTE_t b2=0, BYTE_t b3=0) - { - return (LWORD_t)(b0<<24 | b1<<16 | b2<<8 | b3); - } + BYTE_t fStatusPdo3; void Init(); @@ -42,4 +39,5 @@ void HandlePDO1(BYTE_t *data, timeval_t *tv); void HandlePDO2(BYTE_t *data, timeval_t *tv); + void HandlePDO3(BYTE_t *data, timeval_t *tv); //void HandleNodeguard(timeval_t *tv); @@ -67,4 +65,9 @@ Macs(const BYTE_t nodeid, const char *name=NULL, MLog &out=gLog); virtual ~Macs(); + + static LWORD_t string(BYTE_t b0=0, BYTE_t b1=0, BYTE_t b2=0, BYTE_t b3=0) + { + return (LWORD_t)(b0<<24 | b1<<16 | b2<<8 | b3); + } void SendMsg(BYTE_t data[6]); Index: /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 1804) @@ -252,4 +252,14 @@ // + // Request Lifetimefactor for unknown reason to make guarding + // working in SE/Az... (FIXME) + // + // lout << "- " << GetNodeName() << ": Requesting Lifetimefactor (Workaround, FIXME!) (SDO 0x100d)." << endl; + // RequestSDO(0x100c); + // WaitForSdo(0x100c); + // RequestSDO(0x100d); + // WaitForSdo(0x100d); + + // // Set logic ticks/revolution = physical ticks/revolution => scale factor = 1 // @@ -291,5 +301,14 @@ SendNMT(kNMT_START); - StartGuarding(175, 2); + /* + cout << "---1---" << endl; + MTimeout t(1000); + while (!t.HasTimedOut()) + usleep(1); + cout << "---2---" << endl; + */ + + // StartGuarding(175, 2); // 175 + // StartGuarding(10*GetId(), 2); // 175 } Index: /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc (revision 1804) @@ -52,4 +52,25 @@ } +void MGEmbeddedCanvas::Resize(TGDimension size) +{ + fWidth = size.fWidth; + fPix = 2.*fRange/size.fWidth; + TRootEmbeddedCanvas::Resize(size); +} + +void MGEmbeddedCanvas::Resize(UInt_t w, UInt_t h) +{ + fWidth = w; + fPix = 2.*fRange/w; + TRootEmbeddedCanvas::Resize(w, h); +} + +void MGEmbeddedCanvas::MoveResize(Int_t x, Int_t y, UInt_t w, UInt_t h) +{ + fWidth = w; + fPix = 2.*fRange/w; + TRootEmbeddedCanvas::MoveResize(x, y, w, h); +} + // ------------------------------------------------------------------------ // Index: /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h (revision 1803) +++ /trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h (revision 1804) @@ -37,4 +37,8 @@ ~MGEmbeddedCanvas(); + void Resize(TGDimension size); + void Resize(UInt_t w, UInt_t h); + void MoveResize(Int_t x, Int_t y, UInt_t w, UInt_t h); + void UpdateCanvas(); Index: /trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc (revision 1804) @@ -262,26 +262,5 @@ float y = c*zdaz.Zd()*kRad2Deg; // [deg] - if (x>95 || x<-95 || y>95 || y<-95) - { - if (arc->GetX1()==10 && arc->GetY1()==100) - return; - - x=-100; - y= 100; - } - - const int pixx = (int)(x/fPix); - const int pixy = (int)(y/fPix); - - const int oldx = (int)(arc->GetX1()/fPix); - const int oldy = (int)(arc->GetY1()/fPix); - - if (pixx==oldx && pixy==oldy) - return; - - arc->SetX1(x); - arc->SetY1(y); - - SetModified(); //***MEMORY LEAK!!!*** + SetDotRange(arc, x, y); } @@ -393,4 +372,32 @@ } +bool MGSkyPosition::SetDotRange(TArc *arc, float &x, float &y) +{ + if (!(x>-95 && x<95 && y>-95 && y<95)) + { + if (arc->GetX1()==-100 && arc->GetY1()==100) + return false; + + x=-100; + y= 100; + } + + const int pixx = (int)(x/fPix); + const int pixy = (int)(y/fPix); + + const int oldx = (int)(arc->GetX1()/fPix); + const int oldy = (int)(arc->GetY1()/fPix); + + if (pixx==oldx && pixy==oldy) + return false; + + arc->SetX1(x); + arc->SetY1(y); + + SetModified(); + + return true; +} + void MGSkyPosition::UpdatePlanet(Int_t planet, TArc *arc) { @@ -400,5 +407,5 @@ fSlaPlanet->UpdatePlanetPos((ePlanets_t)planet); - ZdAz zdaz = fSlaPlanet->GetPlanetPos((ePlanets_t)planet); + const ZdAz zdaz = fSlaPlanet->GetPlanetPos((ePlanets_t)planet); // @@ -413,29 +420,6 @@ float y = c*deg; - if (x>95 || x<-95 || y>95 || y<-95) - { - if (arc->GetX1()==10 && arc->GetY1()==100) - return; - - x=-100; - y= 100; - } - - const int pixx = (int)(x/fPix); - const int pixy = (int)(y/fPix); - - const int oldx = (int)(arc->GetX1()/fPix); - const int oldy = (int)(arc->GetY1()/fPix); - - if (oldx==pixx && oldy==pixy) + if (!SetDotRange(arc, x, y)) return; - - // - // Set new position - // - arc->SetX1(x); - arc->SetY1(y); - - SetModified(); if (planet==kESaturn) Index: /trunk/MagicSoft/Cosy/gui/MGSkyPosition.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGSkyPosition.h (revision 1803) +++ /trunk/MagicSoft/Cosy/gui/MGSkyPosition.h (revision 1804) @@ -54,9 +54,5 @@ const MObservatory::LocationName_t fObservatory; -// Int_t fStarX[13]; -// Int_t fStarY[13]; - -// Int_t fPlanetX[9]; -// Int_t fPlanetY[9]; + bool SetDotRange(TArc *arc, float &x, float &y); void InitArc(TArc *arc, Int_t fillstyle, Int_t fillcolor, Int_t linecolor); Index: /trunk/MagicSoft/Cosy/gui/MGStarguider.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGStarguider.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/gui/MGStarguider.cc (revision 1804) @@ -77,5 +77,4 @@ gVirtualX->GrabButton(fId, kButton2, 0, 0, 0, 0, kTRUE); - fList = new MGList; @@ -188,5 +187,5 @@ fList->Add(fCZdAz); - const Double_t pixsize = 23.4; + const Double_t pixsize = 23.5; fSao->SetPixSize(pixsize/3600); @@ -555,4 +554,18 @@ void MGStarguider::ProcessFrame(const unsigned long n, byte *img, struct timeval *tm) { + static float myimg[768*576]; + + for (int i=0; i<768*576; i++) + myimg[i] += img[i]; + + if (n%fIntRate) + return; + + cout << "Img: " << n << endl; + + byte c[768*576]; + for (int i=0; i<768*576; i++) + c[i] = (byte)(myimg[i]/fIntRate+.5); + if (!fWrite->IsEntryEnabled(IDM_kStart) && (!(n%fWrtRate) || fWriteType->IsEntryChecked(IDM_kOnce))) @@ -563,5 +576,5 @@ char name[80]; sprintf(name, "pix/file%04d.png", num++); - Writer::Png(name, img, tm); + Writer::Png(name, c, tm); } @@ -571,5 +584,5 @@ char name[80]; sprintf(name, "pix/file%04d.ppm", num++); - Writer::Ppm(name, img); + Writer::Ppm(name, c); } @@ -578,17 +591,4 @@ } - static float myimg[768*576]; - - for (int i=0; i<768*576; i++) - myimg[i] += img[i]; - - if (n%fIntRate) - return; - - cout << "Img: " << n << endl; - - byte c[768*576]; - for (int i=0; i<768*576; i++) - c[i] = (byte)(myimg[i]/fIntRate+.5); MStarList spots; Index: /trunk/MagicSoft/Cosy/videodev/PngReader.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/PngReader.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/videodev/PngReader.cc (revision 1804) @@ -94,5 +94,4 @@ // Write bitmap data // - static int first = 0; for (unsigned int y=0; y<576; y++) for (unsigned int x=0; x<768; x++) Index: /trunk/MagicSoft/Cosy/videodev/Writer.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Writer.cc (revision 1803) +++ /trunk/MagicSoft/Cosy/videodev/Writer.cc (revision 1804) @@ -21,5 +21,8 @@ FILE *fd = fopen(fname, "w"); if (!fd) + { + cout << "Warning: Cannot open file for writing." << endl; return; + } // @@ -78,4 +81,5 @@ // Write Time Chunks // + /* if (date) { @@ -87,5 +91,6 @@ sprintf(text,"*** %s %s %.1f %i ***", tzname[0], tzname[1], 1.0/3600*timezone, daylight); png_write_chunk(fPng, (png_byte*)"ZONE", (png_byte*)text, strlen(text)); - } + } + */ // @@ -117,5 +122,8 @@ ofstream fout(fname); if (!fout) + { + cout << "Warning: Cannot open file for writing." << endl; return; + } //