Index: trunk/MagicSoft/Cosy/.cosyrc_magic =================================================================== --- trunk/MagicSoft/Cosy/.cosyrc_magic (revision 2018) +++ trunk/MagicSoft/Cosy/.cosyrc_magic (revision 2019) @@ -1,32 +1,9 @@ -# -# -85.0 , +310.0 -# -Az_MaxTime2ReachHome[s]: 150 - -# -# -# -Zd_MaxTime2ReachHome[s]: 150 - -# Model: Az_GearRatio[U_mot/U_tel]: 5891.7/4 -# Model: Zd_GearRatio[U_mot/U_tel]: 2475.6/4 - -#Az_GearRatio[U_mot/U_tel]: 5353.2 -#Zd_GearRatio[U_mot/U_tel]: 4600 Az_GearRatio[U_mot/U_tel]: 1338.8 # 1338.3 Zd_GearRatio[U_mot/U_tel]: 1165.2 +# old value: 1165.2, try: 1211.8 #1149.5 #1208.29 - -#Az_ResRE[re/U_mot]: 500 -#Zd_ResRE[re/U_mot]: 500 - -#Az_Min[deg]: -90 -#Az_Max[deg]: 318 - -#Zd_Min[deg]: -74.5 -#Zd_Max[deg]: 100.5 Az_Id-MAC1: 1 Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 2018) +++ trunk/MagicSoft/Cosy/Changelog (revision 2019) @@ -1,3 +1,42 @@ -*-*- END -*-*- + 2003/04/28 - Thomas Bretz + + * .cosyrc_magic: + - removed Time2ReachHome + - changed Gear Ratio + + * bending_magic.txt: + - added bening model calculated in March + + * cosy.cc: + - added disable output to screen + + * prepos_magic.txt: + - made positions fit the present bending model + + * candrv/nodedrv.[h,cc]: + - added posibility to implement fake guarding (eg. check a + PDO frequence) + + * devdrv/macs.cc: + - added HandleNodeguard to handling of PDO + + * main/MCosy.[h,cc]: + - GetSePos declared const + - AlignTrackingPos declared const + - define EXPERT + - implemented EXPERT mode + - implemented Gear while positioning for Elevation axes + - fixed some bugs in LimitSpeed - to be chacked again! + - implemented preliminary version of starguider + - some small changes to the tracking + - changed default end positions + - fixed display of fZdAzSoll and fTrackingError + + * videodev/Filter.cc: + fixed dealing with values above max and below min when stretching + + + 2003/04/13 - Thomas Bretz Index: trunk/MagicSoft/Cosy/candrv/nodedrv.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 2018) +++ trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 2019) @@ -490,10 +490,11 @@ // least one Nodeguard message was answered. // -void NodeDrv::StartGuarding() +void NodeDrv::StartGuarding(Bool_t real=kTRUE) { if (fTimerOn) return; - SendNodeguard(); + if (!real) + SendNodeguard(); fTimerOn = kTRUE; @@ -512,5 +513,5 @@ } -void NodeDrv::StartGuarding(Int_t ms, Int_t ltf) +void NodeDrv::StartGuarding(Int_t ms, Int_t ltf, Bool_t real) { if (fTimerOn) @@ -522,5 +523,5 @@ fLifeTimeFactor = ltf; - StartGuarding(); + StartGuarding(real); } Index: trunk/MagicSoft/Cosy/candrv/nodedrv.h =================================================================== --- trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 2018) +++ trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 2019) @@ -109,6 +109,6 @@ void EnableCanMsg(BYTE_t fcode); - void StartGuarding(); - void StartGuarding(Int_t ms, Int_t ltf); + void StartGuarding(Bool_t real=kTRUE); + void StartGuarding(Int_t ms, Int_t ltf, Bool_t real=kTRUE); void StopGuarding(); Index: trunk/MagicSoft/Cosy/cosy.cc =================================================================== --- trunk/MagicSoft/Cosy/cosy.cc (revision 2018) +++ trunk/MagicSoft/Cosy/cosy.cc (revision 2019) @@ -79,4 +79,5 @@ clog("- Starting mainloop."); + lout.DisableOutputDevice(MLog::eStdout); app->Run(kTRUE); Index: trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 2018) +++ trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 2019) @@ -153,5 +153,5 @@ case 1: //lout << ddev(MLog::eGui); - lout << "- " << GetNodeName() << ": Decceleration set." << endl; + lout << "- " << GetNodeName() << ": Deceleration set." << endl; //lout << edev(MLog::eGui); return; @@ -278,4 +278,6 @@ SetNoWait(TRUE); +// StartGuarding(200, 2, kFALSE); // Using PDO1 @ 100ms + // StartGuarding(250, 4); // StartHostGuarding(); @@ -448,4 +450,10 @@ void Macs::HandlePDO1(BYTE_t *data, timeval_t *tv) { + // FIXME!!!! + HandleNodeguard(tv); +/* + Timer t(tv); + cout << GetNodeName()<< " " < // PRIO_PROCESS ClassImp(MCosy); @@ -52,4 +50,6 @@ */ +#define EXPERT + double MCosy::Rad2SE(double rad) const { @@ -161,5 +161,5 @@ // sending all changes immediatly. // -ZdAz MCosy::GetSePos() +ZdAz MCosy::GetSePos() const { const int pa = fAz->GetPos(); @@ -206,11 +206,8 @@ fMac1->WaitForSdo(0x6004); - // FIXME, what when waiting times out (Zombie) - // WaitForSdos(); - // // If waiting was not interrupted everything is ok. return. // - if (!(Break() || HasError()) && !HasZombie()) + if (!(Break() || HasError() || HasZombie())) return kTRUE; @@ -302,13 +299,14 @@ if (axe1) fMac2->StartRelPos(rd.Zd()); if (axe2) fMac1->StartRelPos(rd.Az()); - +#ifdef EXPERT cout << "Waiting for positioning..." << flush; - +#endif if (axe1) fMac2->WaitForSdo(0x6004, 1); if (axe2) fMac1->WaitForSdo(0x6004, 1); WaitForEndMovement(); - +#ifdef EXPERT cout << "done." << endl; +#endif } @@ -400,6 +398,6 @@ if (d.Zd()fMax.Zd()) { - lout << "ERROR: Requested Zenith Angle (" << d.Zd() << "deg) not "; - lout << "inside allowed range." << endl; + lout << "ERROR: Requested Zenith Angle (" << d.Zd() << "deg, Az="; + lout << d.Az() << ") not inside allowed range." << endl; return kFALSE; } @@ -407,6 +405,6 @@ if (d.Az()fMax.Az()) { - lout << "ERROR: Requested Azimuth Angle (" << d.Az() << "deg) not "; - lout << "inside allowed range." << endl; + lout << "ERROR: Requested Azimuth Angle (" << d.Az() << "deg, Zd="; + lout << d.Zd() << ") not inside allowed range." << endl; return kFALSE; } @@ -428,6 +426,4 @@ int MCosy::SetPosition(const ZdAz &dst, Bool_t track) // [rad] { - // FIXME: Correct by fOffset ? - const ZdAz d = dst*kRad2Deg; @@ -441,12 +437,4 @@ // const ZdAz src = GetSePos(); // [se] - - /* - if (fMac1->IsZombieNode() || fMac2->IsZombieNode()) - { - cout << "SetPosition: No connection to at least one of the MACS!" << endl; - return TRUE; - } - */ // @@ -457,9 +445,4 @@ //if (fMac3->IsZombieNode()) // return false; - - // ==================================== - RequestRePos(); - ZdAz before = GetRePos(); - // ==================================== // @@ -477,14 +460,4 @@ cout << "Shortest Dest Zd: " << dest.Zd() << "se Az:" << dest.Az() << "se" << endl; - /* - * re(se) = -28.1*cos(x*360/16384/se - 14.4) + 443.2*re/se - * - * int(re) = -1278.86*sin(0.021972656 *x/se - 14.4 )re + 443.2re x/se - * int(re) = -73273.4*sin(0.000383495197*x/se - .2513274)re + 443.2re x/se - * - * int (-75deg..95deg) = 3.28343e7 re - * - */ - // // Set velocities @@ -493,5 +466,5 @@ int i; - for (i=0; i<10 && !(Break() || HasError()) && !HasZombie(); i++) + for (i=0; i<10 && !(Break() || HasError() || HasZombie()); i++) { @@ -506,40 +479,18 @@ // ZdAz rd = dest-p; // [se] -/* - if (rd.Az()>0 && rd.Az()<0.5) - rd.Az(1); - if (rd.Az()<0 && rd.Az()>-0.5) - rd.Az(-1); -*/ - cout << "Deviation: " << rd.Zd() << "se Az:" << rd.Az() << "se" << endl; - // =========================================== - Float_t k1 = dest.Zd()*360/16384 - 14.3979; //[deg] - Float_t k0 = p.Zd()*360/16384 - 14.3979; //[deg] - - // - // -28re/se*cos((x/deg-14.4)*pi/180) + 443.2re/se x - // 28re/se*2*pi/360*sin((x/deg-14.4)*pi/180)*deg + 443.2re/se*x/deg - // - - Float_t dk = 443.152*(dest.Zd()-p.Zd()); - Float_t dx = 28.0148/2/TMath::Pi()*(sin(k1/kRad2Deg)-sin(k0/kRad2Deg)); - - cout << "Using: " << rd.Zd()*kGearRatio.X() << endl; // [re] - cout << "Estimated1: " << 16384*dx + dk << endl; - cout << "Estimated2: " << (16384*dx + dk)/1.085949688 << endl; - cout << "Estimated3: " << rd.Zd()*432 << endl; + const ZdAz ist = dst-rd*TMath::Pi()/8192; + + const double p1 = ist.Zd()-19.0605/kRad2Deg; + const double p2 = dst.Zd()-19.0605/kRad2Deg; + + const double f1 = (-26.0101*sin(p1)+443.761*ist.Zd())*8192/TMath::Pi(); + const double f2 = (-26.0101*sin(p2)+443.761*dst.Zd())*8192/TMath::Pi(); // =========================================== - ZdAz cd = rd; // [se] cd.Round(); -/* - if (rd.Az()>0 && rd.Az()<0.5) - rd.Az(0.5); - if (rd.Az()<0 && rd.Az()>-0.5) - rd.Az(-0.5); -*/ + // // Check if there is a control deviation on the axis @@ -555,13 +506,4 @@ lout << "Positioning done in " << i << (i==1?" step.":" steps.") << endl; SetStatus(MCosy::kStopped); - - // ==================================== - RequestRePos(); - ZdAz after = GetRePos(); - // ==================================== - - after -= before; - - cout << "Drove: " << after.Zd() << " " << after.Az() << endl; return TRUE; } @@ -571,4 +513,5 @@ // rd *= kGearRatio; // [re] + rd.Zd(f2-f1); // @@ -590,5 +533,7 @@ if (rd.Az()>-15*kGearRatio.Y() && rd.Az()<15*kGearRatio.Y()) { +#ifdef EXPERT cout << " -------------- LO ---------------- " << endl; +#endif fMac1->SetAcceleration(0.05*vr); fMac1->SetDeceleration(0.05*vr); @@ -596,15 +541,23 @@ else { +#ifdef EXPERT cout << " -------------- HI ---------------- " << endl; + fMac1->SetAcceleration(0.4*vr);// 0.4 + fMac1->SetDeceleration(0.4*vr);// 0.4 +#else fMac1->SetAcceleration(0.2*vr); fMac1->SetDeceleration(0.1*vr); +#endif } +#ifdef EXPERT + fMac2->SetAcceleration(0.4*vr);// 0.4 + fMac2->SetDeceleration(0.4*vr);// 0.4 + SetPosVelocity(fabs(rd.Ratio()), 0.2); // 0.175 +#else fMac2->SetAcceleration(0.2*vr); fMac2->SetDeceleration(0.1*vr); - - // vel(0.6) acc(0.5) - SetPosVelocity(fabs(rd.Ratio()), 0.175); - // SetPosVelocity(fabs(rd.Ratio()), 0.1, 0.3); + SetPosVelocity(fabs(rd.Ratio()), 0.1); +#endif } @@ -632,4 +585,6 @@ if (i<10) StopMovement(); + else + SetStatus(MCosy::kStopped); lout << "Warning: Requested position not reached (i=" << i << ")" << endl; @@ -653,17 +608,13 @@ // - // Wait for the objects to be OKed. - // - + // Wait for the objects to be acknoledged. + // fMac2->WaitForSdo(0x3006, 1); fMac1->WaitForSdo(0x3006, 1); - // FIXME, what when waiting times out (Zombie) - // WaitForSdos(); - // // If the waiting for the objects wasn't interrupted return kTRUE // - if (!(Break() || HasError()) && !HasZombie()) + if (!(Break() || HasError() || HasZombie())) return kTRUE; @@ -694,11 +645,11 @@ // Start revolution mode // - fMac2->SetAcceleration(0.2*fMac2->GetVelRes()); - fMac2->SetDeceleration(0.2*fMac2->GetVelRes()); + fMac2->SetAcceleration(0.1*fMac2->GetVelRes()); + fMac2->SetDeceleration(0.1*fMac2->GetVelRes()); if (fMac2->IsZombieNode()) return false; - fMac1->SetAcceleration(0.2*fMac1->GetVelRes()); - fMac1->SetDeceleration(0.2*fMac1->GetVelRes()); + fMac1->SetAcceleration(0.1*fMac1->GetVelRes()); + fMac1->SetDeceleration(0.1*fMac1->GetVelRes()); if (fMac1->IsZombieNode()) return false; @@ -732,5 +683,4 @@ // we don't want fast changes! // - ULong_t vrzd = fMac1->GetVelRes(); ULong_t vraz = fMac2->GetVelRes(); @@ -738,5 +688,14 @@ #define sgn(x) (x<0?-1:1) - const Float_t limit = 0.25; + // + // When speed changes sign, the maximum allowed speed + // is 25% of the |v| + // + const Float_t limit = 0.25; + + // + // The maximum allowed speed while tracking is 10% + // + const Float_t maxtrack = 0.1; /* if (sgn(vt->Az()) != sgn(vcalc.Az())) @@ -766,10 +725,13 @@ && fabs(vt->Az()) < limit*fabs(vcalc.Az()) ) - vt->Az(0); + { + lout << "Warning: Negative Azimuth speed limit (" << limit*100 << "%) exceeded... set to 0." << endl; + vt->Az(0); + } else - if (fabs(vt->Az()) > 0.9*vraz) - { - lout << "Warning: Azimuth speed limit exceeded. Limiting speed to 90% max." << endl; - vt->Az(0.9*vraz*sgn(vt->Az())); + if (fabs(vt->Az()) > maxtrack*vraz) + { + lout << "Warning: Azimuth speed limit (" << maxtrack*100 << "%) exceeded... limited." << endl; + vt->Az(maxtrack*vraz*sgn(vcalc.Az())); } @@ -777,17 +739,19 @@ && fabs(vt->Zd()) < limit*fabs(vcalc.Zd()) ) - vt->Zd(0); + { + lout << "Warning: Negative Altitude speed limit (" << limit*100 << "%) exceeded... set to 0." << endl; + vt->Zd(0); + } else - if (fabs(vt->Zd()) > 0.9*vrzd) - { - lout << "Warning: Altitude speed limit exceeded. Limiting speed to 90% max." << endl; - vt->Zd(0.9*vrzd*sgn(vt->Zd())); - } -} - -Bool_t MCosy::AlignTrackingPos(ZdAz pointing, ZdAz &za) + if (fabs(vt->Zd()) > maxtrack*vrzd) + { + lout << "Warning: Altitude speed limit (" << maxtrack*100 << "%) exceeded... limited." << endl; + vt->Zd(maxtrack*vrzd*sgn(vcalc.Zd())); + } +} + +Bool_t MCosy::AlignTrackingPos(ZdAz pointing, ZdAz &za) const { // pointing [deg] - if (pointing.Zd()<0) { @@ -796,6 +760,6 @@ } - const ZdAz se = GetSePos()*360/16384; // [deg] - const ZdAz unbendedse = fBending.CorrectBack(se); // ist pointing + const ZdAz se = GetSePos()*2*TMath::Pi()/16384; // [rad] + const ZdAz unbendedse = fBending.CorrectBack(se)*kRad2Deg; // ist pointing do @@ -805,15 +769,9 @@ break; - pointing.Az(pointing.Az()+TMath::Sign(360., -d)); + pointing.Az(pointing.Az()+TMath::Sign(360., d)); } while (1); - /* - while (pointing.Az()fMax.Az()) - pointing.Az(pointing.Az() - 360); - */ + const Bool_t rc = CheckRange(pointing); - za = fBending(pointing/kRad2Deg); // [rad] + za = pointing/kRad2Deg; // [rad] if (!rc) @@ -821,4 +779,42 @@ return rc; +} + +Double_t MCosy::Starguider(Double_t mjd, ZdAz &dest) const +{ + ifstream fin("pointingpos.txt"); + if (!fin) + return -1; + + Double_t mjd0, zd, az; + fin >> mjd0 >> zd >> az; + + mjd0 += 52000; + + if (mjd0+1./24/60 5 || diff.Az()>5) + { + cout << "Starguider deviation too large... dZd=" << diff.Zd() <<" dAz="<3*TMath::Pi()/2) - dummy1.Az(dummy1.Az() -TMath::Pi()*2); - - if (!CheckRange(dummy1*kRad2Deg)) - { - lout << "Error: Tracking position out of Range." << endl; - break; - } - - ZdAz dummy = fBending(dummy1); - dest = CorrectTarget(GetSePos(), dummy); // [se] - */ - -//*LP* const ZdAz d = dest*360./16384; // [deg] - dest *= kGearRatio; // [re] - -//*LP* ZdAz min = fBending(fMin/kRad2Deg)*kRad2Deg; -//*LP* ZdAz max = fBending(fMax/kRad2Deg)*kRad2Deg; - ZdAz vcalc = sla.GetApproxVel(fRaDec) * kGearRatio2*4./60.; // [re/min] - // - // Request absolute position of rotary encoder from Macs - // - if (!RequestRePos()) - break; - - // - // distance between (To+dt) and To [re] - // position time difference < 5usec - // fOffset does the synchronization between the - // Shaft- and the rotary encoders - // - dest -= GetRePos() + fOffset; + float dtime = -1; + if (kFALSE /*fUseStarguider*/) + dtime = Starguider(mjd, dest); + + if (dtime<0) + { + dest = fBending(dest); // [rad] + dest *= 16384/TMath::Pi()/2; // [se] + dest *= kGearRatio; // [re] + + // + // Request absolute position of rotary encoder from Macs + // + if (!RequestRePos()) + break; + + // + // distance between (To+dt) and To [re] + // position time difference < 5usec + // fOffset does the synchronization between the + // Shaft- and the rotary encoders + dest -= GetRePos() + fOffset; + + dtime = dt; + } // @@ -968,5 +953,5 @@ // correct for the duration of RaDec2AltAz // - const ZdAz v = dest*60.0/(dt/*-(fMac2->GetTime()-sla)*/); + const ZdAz v = dest*60.0/(dtime/*-(fMac2->GetTime()-sla)*/); // @@ -1020,4 +1005,9 @@ // (This is important on fast machines >500MHz) // + /* + MTimeout t(1000); + while (!t.HasTimedOut()) + usleep(1); + */ usleep(1000000); // 1s //usleep(50000); // 0.05s @@ -1047,7 +1037,11 @@ // cout << "Stopping movement (dec=30%)..." << endl; - +#ifdef EXPERT + fMac1->SetDeceleration(0.5*fMac1->GetVelRes()); + fMac2->SetDeceleration(0.5*fMac2->GetVelRes()); +#else fMac1->SetDeceleration(0.3*fMac1->GetVelRes()); fMac2->SetDeceleration(0.3*fMac2->GetVelRes()); +#endif fMac1->SetRpmMode(FALSE); fMac2->SetRpmMode(FALSE); @@ -1068,5 +1062,7 @@ // Wait for the movement to really be finished. // +#ifdef EXPERT cout << "Waiting for end of movement..." << endl; +#endif WaitForEndMovement(); @@ -1075,5 +1071,7 @@ // CheckForError(); +#ifdef EXPERT cout << "Movement stopped." << endl; +#endif } @@ -1203,5 +1201,5 @@ return (void*)0xaffe; */ - +#ifdef EXPERT case WM_TPOINT: { @@ -1229,4 +1227,5 @@ } return (void*)0xca1b; +#endif case WM_TRACKPOS: @@ -1398,12 +1397,12 @@ cout << "Reading telescope range..." << flush; - const Double_t amin = env.GetValue("Az_Min[deg]", -90.0); - const Double_t zmin = env.GetValue("Zd_Min[deg]", -74.5); + const Double_t amin = env.GetValue("Az_Min[deg]", -95.0); + const Double_t zmin = env.GetValue("Zd_Min[deg]", -75.0); fMin.Set(zmin, amin); cout << " Min: " << zmin << "deg " << amin << "deg" << endl; - const Double_t amax = env.GetValue("Az_Max[deg]", 318.0); - const Double_t zmax = env.GetValue("Zd_Max[deg]", 100.5); + const Double_t amax = env.GetValue("Az_Max[deg]", 305.0); + const Double_t zmax = env.GetValue("Zd_Max[deg]", 98.25); fMax.Set(zmax, amax); @@ -1450,6 +1449,6 @@ cout << " * Setting Gear Ratios:" << endl; cout << " --------------------" << endl; - cout << " * X: " << gzd << "*" << resrezd << "/" << ressezd << "=" << kGearRatio.X() << endl; - cout << " * Y: " << gaz << "*" << resreaz << "/" << resseaz << "=" << kGearRatio.Y() << endl; + cout << " * X: " << gzd << "*" << resrezd << "/" << ressezd << "=4*" << kGearRatio.X() << endl; + cout << " * Y: " << gaz << "*" << resreaz << "/" << resseaz << "=4*" << kGearRatio.Y() << endl; } @@ -1489,5 +1488,4 @@ ZdAz ist = GetSePos(); // [se] -// ZdAz istre = -fOffset; // [re] ZdAz time; @@ -1583,26 +1581,9 @@ ZdAz soll(sollzd.Zd(), sollaz.Az()); // [rad] - AlignTrackingPos(soll*360/16384, fZdAzSoll); - /* - fZdAzSoll = fBending.CorrectBack(soll*2*TMath::Pi()/16384); - - // FIXME? - if (fZdAzSoll.Az()<-TMath::Pi()/2) - fZdAzSoll.Az(fZdAzSoll.Az() + TMath::Pi()*2); - if (fZdAzSoll.Az()>3*TMath::Pi()/2) - fZdAzSoll.Az(fZdAzSoll.Az() -TMath::Pi()*2); - - // FIXME? - while (ist.Az()>3*16384/4/2) - ist.Az(ist.Az() - 16384); - while (soll.Az()>3*16384/4/2) - soll.Az(soll.Az() - 16384); - while (ist.Az()<-16384/4) - ist.Az(ist.Az() + 16384); - while (soll.Az()<-16384/4) - soll.Az(soll.Az() + 16384); - */ + AlignTrackingPos(soll*kRad2Deg, fZdAzSoll); + ist *= TMath::Pi()*2/16384; - fTrackingError.Set(ist.Zd()-fZdAzSoll.Zd(), ist.Az()-fZdAzSoll.Az()); + soll = fBending(fZdAzSoll); + fTrackingError.Set(ist.Zd()-soll.Zd(), ist.Az()-soll.Az()); //--- fout << setprecision(15) << setw(17) << time.Zd()*60.*60.*24. << " "; @@ -1724,4 +1705,6 @@ re0.Zd(re.Zd()); + se -= dse/2; + ZdAz bend = fBending.CorrectBack(se*2*TMath::Pi()/16384)*kRad2Deg; ((TH3*)fHist)->Fill(bend.Zd(), bend.Az(), dre.Zd()/dse.Zd()); @@ -1732,4 +1715,6 @@ se0.Az(se.Az()); re0.Az(re.Az()); + + se -= dse/2; ZdAz bend = fBending.CorrectBack(se*2*TMath::Pi()/16384)*kRad2Deg; @@ -2124,5 +2109,5 @@ fZd2->SetDisplay(fWin->GetLabel3()); fAz->SetDisplay(fWin->GetLabel1()); - +#ifdef EXPERT int i=0; char name[100]; @@ -2145,4 +2130,5 @@ *tpout << time.Year() << " " << time.Month() << " " << time.Day() << " "; *tpout << /*"20 1013.25 300 0.5 0.55 0.0065" <<*/ endl; +#endif // temp(°C) pressure(mB) height(m) humidity(1) wavelength(microm) troplapserate(K/m) } @@ -2170,6 +2156,8 @@ MCosy::~MCosy() { +#ifdef EXPERT *tpout << "END" << endl; delete tpout; +#endif cout << "Deleting GUI timer." << endl; Index: trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.h (revision 2018) +++ trunk/MagicSoft/Cosy/main/MCosy.h (revision 2019) @@ -118,6 +118,7 @@ ofstream *tpout; - Bool_t AlignTrackingPos(ZdAz pointing, ZdAz &za); + Bool_t AlignTrackingPos(ZdAz pointing, ZdAz &za) const; Bool_t CheckRange(const ZdAz &d) const; + Double_t Starguider(Double_t mjd, ZdAz &dest) const; double Rad2SE(double rad) const; @@ -132,5 +133,5 @@ ZdAz GetRePos(); ZdAz GetRePosPdo(); - ZdAz GetSePos(); // [se] + ZdAz GetSePos() const; // [se] Bool_t RequestRePos(); Index: trunk/MagicSoft/Cosy/videodev/Filter.cc =================================================================== --- trunk/MagicSoft/Cosy/videodev/Filter.cc (revision 2018) +++ trunk/MagicSoft/Cosy/videodev/Filter.cc (revision 2019) @@ -205,5 +205,5 @@ void Filter::Stretch(byte *img) { - const int offset = 10; + const int offset = 25; int max; @@ -212,9 +212,23 @@ /*const float mean =*/Mean(img, offset, &min, &max); + const byte diff = max-min; + for (int x=0; x<768; x++) for (int y=0; y<576; y++) { - img[y*768+x] -= min; - img[y*768+x] *= 255/(max-min); - } -} + byte &b = img[y*768+x]; + + if (bmax) + { + b=max; + continue; + } + b -= min; + b *= 255/diff; + } +}