Changeset 2278

Timestamp:

07/15/03 15:05:21 (22 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy

Files:

• Changelog (modified) (1 diff)
• Makefile.conf.linux (modified) (2 diffs)
• aposs/Manual.m (modified) (1 diff)
• base/coord.h (modified) (1 diff)
• base/timer.cc (modified) (3 diffs)
• base/timer.h (modified) (3 diffs)
• bending_magic.txt (modified) (2 diffs)
• candrv/network.cc (modified) (1 diff)
• candrv/nodedrv.cc (modified) (1 diff)
• candrv/nodedrv.h (modified) (1 diff)
• candrv/vmodican.cc (modified) (1 diff)
• caos/Led.cc (modified) (2 diffs)
• caos/Led.h (modified) (2 diffs)
• caos/Leds.cc (modified) (1 diff)
• caos/Leds.h (modified) (1 diff)
• caos/Ring.cc (modified) (4 diffs)
• caos/Ring.h (modified) (1 diff)
• caos/Rings.cc (modified) (4 diffs)
• caos/Rings.h (modified) (1 diff)
• catalog/StarCatalog.cc (modified) (6 diffs)
• cosy.cc (modified) (4 diffs)
• devdrv/macs.cc (modified) (9 diffs)
• devdrv/macs.h (modified) (3 diffs)
• devdrv/shaftencoder.cc (modified) (1 diff)
• gui/GuiLinkDef.h (modified) (1 diff)
• gui/MGAccuracy.cc (modified) (1 diff)
• gui/MGCosy.cc (modified) (25 diffs)
• gui/MGCosy.h (modified) (4 diffs)
• gui/MGEmbeddedCanvas.cc (modified) (2 diffs)
• gui/MGEmbeddedCanvas.h (modified) (1 diff)
• gui/MGImage.cc (modified) (7 diffs)
• gui/MGImage.h (modified) (4 diffs)
• gui/MGSkyPosition.cc (modified) (5 diffs)
• gui/MGSkyPosition.h (modified) (2 diffs)
• gui/MGStarguider.cc (deleted)
• gui/MGStarguider.h (deleted)
• gui/MGVelocity.cc (modified) (7 diffs)
• gui/MGVelocity.h (modified) (2 diffs)
• gui/Makefile (modified) (1 diff)
• leds.txt (added)
• main/MCaos.cc (added)
• main/MCaos.h (added)
• main/MCosy.cc (modified) (26 diffs)
• main/MCosy.h (modified) (3 diffs)
• main/MStarguider.cc (added)
• main/MStarguider.h (added)
• main/MainLinkDef.h (modified) (1 diff)
• main/Makefile (modified) (2 diffs)
• starg.cc (modified) (2 diffs)
• tpoint/tpointfit.C (modified) (2 diffs)
• videodev/Camera.cc (modified) (2 diffs)
• videodev/Camera.h (modified) (1 diff)
• videodev/CaosFilter.cc (modified) (4 diffs)
• videodev/CaosFilter.h (modified) (1 diff)
• videodev/Filter.cc (modified) (3 diffs)
• videodev/Filter.h (modified) (2 diffs)
• videodev/FilterLed.cc (added)
• videodev/FilterLed.h (added)
• videodev/Makefile (modified) (1 diff)
• videodev/PixGetter.cc (added)
• videodev/PixGetter.h (added)
• videodev/PngReader.h (modified) (1 diff)
• videodev/VideodevLinkDef.h (modified) (1 diff)

trunk/MagicSoft/Cosy/Changelog

@@ -1 +1 @@
                                                                   -*-*- END -*-*-
+ 2003/07/15 - Thomas Bretz (La Palma)
+
+   * leds.txt:
+     - new configuration file
+     
+   * main/MCaos.[h,cc]:
+     - added
+
+   * main/MStarguider.[h,cc]:
+     - added
+     
+   * videodev/PixGetter.[h,cc]:
+     - added
+     
+   * videodev/FilterLed.[h,cc]:
+     - added
+     - highly optimized for speed!
+     
+   * Makefile.conf.linux:
+     - added -O5 optimization option
+     
+   * bending_magic.txt:
+     - changed to newly determined bending correction
+     
+   * cosy.cc:
+     - included starguider
+     - do not overwrite log file
+     - added EXPERT mode
+     
+   * starg.cc:
+     - changed from MGStarguider to MStarguider
+     - simplified by use of PixGetter
+
+   * aposs/Manual.m:
+     - removed a wrong character
+     
+   * base/coord.h:
+     - changed operator<<
+     
+   * base/timer.[h,cc]:
+     - const argument for copy constructor
+     - added operator<<
+
+   * candrv/network.[h,cc], candrv/nodedrv.[h,cc]:
+     - added data argument to HandleSDOOK
+     
+   * candrv/vmodican.cc:
+     - return from constructor if Module not found
+     
+   * caos/Led.[h,cc]:
+     - included TROOT
+     - formated Print-output
+     - Initialize fDx, fDy and fDphi
+     - added AddOffset
+     
+   * caos/Leds.[h,cc]:
+     - added Add
+     
+   * caos/Ring.[h,cc]:
+     - added constructor
+     - use hypot
+     - devide by n instead of n-1
+     - formated Print-output
+
+   * caos/Rings.[h,cc]:
+     - Do not calculated Center for less than 5 rings
+     - included Radius filter
+     
+   * catalog/StarCatalog.cc:
+     - Do not output Alt/Az, fAzCnt, fAltMin, etc.
+     
+   * devdrv/macs.[h,cc]:
+     - added data argument to HandleSDOOK
+     - implemented StartNode() and check for initialization
+     - changed minimum MACS software version to 0.69
+     - moved SetNoWait to the MACS software
+     - removed StopMotor
+     
+   * devdrv/shaftencoder.[h,cc]:
+     - initialize all values to 0
+
+   * gui/GuiLinkDef.h:
+     - removed MGStarguider
+     
+   * gui/MGAccuracy.cc:
+     - small change
+     
+   * gui/MGCosy.[h,cc]:
+     - added moving in Zd/Az by buttons while tracking (Experts only)
+     - some changes to the menu bar
+     - removed displaying offsets
+     - changed EXPERT mode
+
+   * gui/MGEmbeddedCanvas.[h,cc]:
+     - changed range argument in constructor to double (problems
+       with the optimization - strange!)
+
+   * gui/MGImage.[h,cc]:
+     - switched from my own code completely to tVirtualX code
+       + requires root 3.05./05!
+     - highly optimized for speed!
+     - at the moment only 32 bit screen depth is supported!
+     
+   * gui/MGSkyPosition.[h,cc]:
+     - fixed position of vega
+     - added new bright star
+     - cut displaying position into two. \n not supported by
+       root 3.05/05
+     
+   * gui/MGVelocity.[h,cc]:
+     - removed displaying numbers
+     
+   * gui/Makefile:
+     - removed MGStarguider
+     
+   * main/MCosy.[h,cc]:
+     - added output of time when tracking is started or stopped
+     - added output of time when slewing is started or stopped
+     - removed sign changing limits in LimitSpeed
+     - changed EXPERT mode
+     - added MStarguider support
+     - fixed Calc-Alt/Az
+     - added GetPointingPos     
+     - removed fOffset from Update
+     
+   * main/MainLinkDef.h, main/Makefile:
+     - added MStarguider
+
+   * main/MStarguider.[h,cc]:
+     - added
+     
+   * tpoint/tpointfit.C:
+     - fixed reading of data
+     - removed absolute path
+
+   * videodev/Camera.[h,cc]:
+     - small simplification
+     - derived from new PixGetter
+     
+   * videodev/CaosFilter.[h,cc], videodev/Filter.[h,cc]:
+     - optimized, but not used anymore, will be removed soon
+     
+   * videodev/Makefile, videodev/VideodevLinkDef.h:
+     - added PixGetter to Makefile
+     - removed Filter
+     - removed Filter2
+     - removed CaosFilter
+     - added FilterLed
+     
+   * videodev/PngReader.h:
+     - derived from PixGetter
+
+
+     
  2003/05/05 - Thomas Bretz
 

trunk/MagicSoft/Cosy/Makefile.conf.linux

@@ -12 +12 @@
 # compilers
 
-CC            = gcc
-CXX           = g++
-F77           = f77
-AR            = ar -rc
+CC  = gcc
+CXX = g++
+F77 = f77
+AR  = ar -rc
 #
 #  ----->>>   settings for compilation
@@ -21 +21 @@
 
 #-O2
-OPTIM    = -Wall -fno-rtti -fno-exceptions -fPIC -Wtraditional -Wpointer-arith -Wcast-align -Wwrite-strings -Wconversion -Wstrict-prototypes -Wmissing-prototypes -Wnested-externs -Woverloaded-virtual -D_REENTRANT 
-DEBUG    = -g
+OPTIM = -O5 -Wall -fno-exceptions -fPIC -Wtraditional -Wpointer-arith -Wcast-align -Wwrite-strings -Wconversion -Wstrict-prototypes -Wmissing-prototypes -Wnested-externs -Woverloaded-virtual -D_REENTRANT 
+DEBUG = -g
 
-MARS_LIB  = -Llib $(SUBDIRS:%=-l%)
-INCLUDES  = -I. $(SUBDIRS:%=-I%)
+MARS_LIB = -Llib $(SUBDIRS:%=-l%) -lX11 -lXpm
+INCLUDES = -I. $(SUBDIRS:%=-I%)
 
 # uncomment this for quiet compilation

trunk/MagicSoft/Cosy/aposs/Manual.m

@@ -1 @@
-#/* ----------------------------------------------------------------------- */
+/* ----------------------------------------------------------------------- */
 /*                                                                         */               
 /*  Version:                                                               */

trunk/MagicSoft/Cosy/base/coord.h

@@ -74 +74 @@
 
 inline ifstream& operator>>(ifstream &in,  XY &xy) { in  >> xy.fX; in  >> xy.fY; return in; }
-inline ofstream& operator<<(ofstream &out, XY &xy) { out << xy.fX << " " << xy.fY; return out; }
+inline ofstream& operator<<(ofstream &out, const XY &xy) { out << xy.X() << " " << xy.Y(); return out; }
 
 class AltAz : public XY

trunk/MagicSoft/Cosy/base/timer.cc

@@ -68 +68 @@
 }
 
-Timer::Timer(Timer &t)
+Timer::Timer(const Timer &t)
 {
     fMs   = t.fMs;
@@ -124 +124 @@
 }
 
-Timer::operator double() //[s]
+Timer::operator double() const //[s]
 {
     return fMs+fSecs;
@@ -142 +142 @@
 }
 
+ostream &operator<<(ostream &out, Timer &t)
+{
+    char text[256];
+
+    sprintf(text, "%d/%02d/%02d %d:%02d:%02d.%01li",
+            t.fYea, t.fMon, t.fDay, t.fHor, t.fMin, t.fSec, (long)(10.0*t.fMs));
+
+    out << text;
+    return out;
+}

trunk/MagicSoft/Cosy/base/timer.h

@@ -1 @@
-#ifndef TIMER_H
-#define TIMER_H
+#ifndef COSY_Timer
+#define COSY_Timer
 
 struct timeval;
 
+class ostream;
+
 class Timer
 {
+    friend ostream &operator<<(ostream &out, Timer &t);
 private:
     double fMs;
@@ -28 +31 @@
     Timer(double t);
     Timer(struct timeval *tv);
-    Timer(Timer &t);
+    Timer(const Timer &t);
 
     void SetTimer(int tv_sec, double tv_usec);
@@ -54 +57 @@
     void Print();
 
-    operator double(); //[s]
+    operator double() const; //[s]
 };
 
+ostream &operator<<(ostream &out, Timer &t);
+
 #endif

trunk/MagicSoft/Cosy/bending_magic.txt

@@ -1 @@
-MAGIC1 2003/03/07 20:40:26.88604 
+MAGIC1 2003/07/15 13:28:46.783326
 S   00   000000   000000  0000000
- IA     499.0188249 -1
- IE     -10.741869 -1
- CA     -0.23939033 -1
- NPAE   2.3247554 -1
- AN     0          -1
- AW     -1.1901258 -1
+ IA     141.81712 -1
+ IE     -9.0736584 -1
+ CA     0 -1
+ NPAE   0.14617499 -1
+ AN     0 -1
+ AW     -1.5469003 -1
  NRX    0 -1
  NRY    0 -1
@@ -15 +15 @@
  ECEC   0 -1
  ACEC   0 -1
- MAGIC1 0 -1
- MAGIC2 0 -1
 END

trunk/MagicSoft/Cosy/candrv/network.cc

@@ -105 +105 @@
 
         case kSDO_TX_OK:     // answer to a SDO_TX message
-            fNodes[node]->HandleSDOOK(idx, subidx, tv);
+            fNodes[node]->HandleSDOOK(idx, subidx, data, tv);
             return;
 

trunk/MagicSoft/Cosy/candrv/nodedrv.cc

@@ -144 +144 @@
 //
 // Print an "SDO idx/subidx set." from this device message.
-// This output is never redirected to the GUI
-//
-void NodeDrv::HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv)
+// This output is never redirected to the GUI.
+// In standard CANOpen operation data is meaningless (we are using
+// it in the 'non-standard' CANOpen communication with the MACS)
+//
+void NodeDrv::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv)
 {
     const Bool_t gui = lout.IsOutputDeviceEnabled(MLog::eGui);

trunk/MagicSoft/Cosy/candrv/nodedrv.h

@@ -69 +69 @@
 
     virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
-    virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv);
+    virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv);
     virtual void HandleSDOError(LWORD_t data);
 

trunk/MagicSoft/Cosy/candrv/vmodican.cc

@@ -950 +950 @@
         cout << "Cannot open device '" << dev << "'... exit." << endl;
         cout << strerror(errno) << endl;
+        return;
 //        exit(1);                       // open module
     }

trunk/MagicSoft/Cosy/caos/Led.cc

@@ -2 +2 @@
 
 #include <iostream.h>
+
+#include <TROOT.h>
 #include <TMath.h>
 
@@ -16 +18 @@
 {
     cout << "Led: ";
-    cout << "x="   << fX   << "+-" << fDx   << ", ";
-    cout << "y="   << fY   << "+-" << fDy   << ", ";
-    cout << "phi=" << fPhi << "+-" << fDphi << ", ";
+    cout << "x="   << Form("%5.1f", fX)   << "+-" << fDx   << ", ";
+    cout << "y="   << Form("%5.1f", fY)   << "+-" << fDy   << ", ";
+    cout << "phi=" << Form("%6.1f", fPhi) << "+-" << fDphi << ", ";
     cout << "mag=" << fMag << endl;
 }

trunk/MagicSoft/Cosy/caos/Led.h

@@ -23 +23 @@
 public:
     Led(Double_t x=0, Double_t y=0, Double_t dx=0, Double_t dy=0, Double_t mag=0) :
-        fX(x), fY(y), fDx(dx), fDy(dy), fMag(mag)
+        fX(x), fY(y), fPhi(0), fDx(dx), fDy(dy), fDphi(-1), fMag(mag)
     {
     }
@@ -48 +48 @@
     Double_t GetMag() const  { return fMag; }
 
-        Bool_t IsSortable() const { return kTRUE; }
+    void AddOffset(Double_t dx, Double_t dy) { fX+=dx; fY+=dy; }
+
+    Bool_t IsSortable() const { return kTRUE; }
 
     void CalcPhi(const Ring &ring);

trunk/MagicSoft/Cosy/caos/Leds.cc

@@ -12 +12 @@
 }
 
+void Leds::Add(Double_t x, Double_t y, Double_t dx, Double_t dy, Double_t mag)
+{
+    Set(GetEntriesFast(), x, y, dx, dy, mag);
+}
+
 void Leds::Print(Option_t *o=NULL) const
 {

trunk/MagicSoft/Cosy/caos/Leds.h

@@ -19 +19 @@
     //
 
-    void Set(Int_t i, Double_t x, Double_t y, Double_t dx, Double_t dy, Double_t mag);
+    void Set(Int_t i, Double_t x, Double_t y, Double_t dx=0, Double_t dy=0, Double_t mag=0);
+    void Add(Double_t x, Double_t y, Double_t dx=0, Double_t dy=0, Double_t mag=0);
 
     //nst Led &GetLed(int i) const { return *(Led*)( (*this)[i] ); }

trunk/MagicSoft/Cosy/caos/Ring.cc

@@ -9 +9 @@
 
 ClassImp(Ring);
+
+Ring::Ring() :
+    fX(0), fY(0), fR(0), fPhi(0), fDx(-1), fDy(-1), fDr(-1), fDphi(-1)
+{
+}
+
 
 bool Ring::CalcCenter(const Leds &leds, Int_t i, Int_t j, Int_t k)
@@ -53 +59 @@
     fY = ((m2*(leds(i).GetY() + leds(j).GetY()) +m1*m2*(leds(k).GetX() - leds(i).GetX())-m1*(leds(j).GetY() + leds(k).GetY()))/(m2-m1)/2);
 
-    fR = sqrt(sqr(fX-leds(i).GetX())+sqr(fY-leds(i).GetY()));
+    fR = hypot(fX-leds(i).GetX(), fY-leds(i).GetY());
 
     return kTRUE;
@@ -101 +107 @@
     }
 
-    fDx=sqrt(fDx)/(n-1);
-    fDy=sqrt(fDy)/(n-1);
-    fDr=sqrt(fDr)/(n-1);
+    fDx=sqrt(fDx)/n;
+    fDy=sqrt(fDy)/n;
+    fDr=sqrt(fDr)/n;
 }
 
@@ -109 +115 @@
 {
     cout << "Ring: ";
-    cout << "x="   << fX   << "+-" << fDx   << ", ";
-    cout << "y="   << fY   << "+-" << fDy   << ", ";
-    cout << "r="   << fR   << "+-" << fDr   << ", ";
-    cout << "phi=" << fPhi << "+-" << fDphi << endl;
+    cout << "x="   << Form("%5.1f", fX) << "+-" << Form("%.1f", fDx) << ", ";
+    cout << "y="   << Form("%5.1f", fY) << "+-" << Form("%.1f", fDy) << ", ";
+    cout << "r="   << Form("%5.1f", fR) << "+-" << Form("%.1f", fDr) << ", ";
+    cout << "phi=" << fPhi              << "+-" << fDphi << endl;
 }
 

trunk/MagicSoft/Cosy/caos/Ring.h

@@ -32 +32 @@
 
 public:
+    Ring();
 
     Double_t GetX() const   { return fX; }

trunk/MagicSoft/Cosy/caos/Rings.cc

@@ -8 +8 @@
 ClassImp(Rings);
 
-void Rings::CalcCenters(const Leds &leds)
+void Rings::CalcCenters(const Leds &leds, Float_t min, Float_t max)
 {
     Clear();
 
     int nPoints = leds.GetEntries();
+
+    if (nPoints<5)
+        return;
 
     int n=0;
@@ -27 +30 @@
                 }
 
+                //
+                //filter and remove rings with too big or too small radius
+                //
+                if ((min>=0&&ring.GetR()<min) || (max>=0&&ring.GetR()>max))
+                {
+                    RemoveAt(n);
+                    continue;
+                }
+
                 n++;
             }
@@ -33 +45 @@
 }
 
-void Rings::CalcRings(Leds &leds)
+void Rings::CalcRings(Leds &leds, Float_t min, Float_t max)
 {
-    CalcCenters(leds);
+    CalcCenters(leds, min, max);
 
     fCenter.InterpolCenters(*this);
@@ -51 +63 @@
 {
     cout << "Number of Rings: " << GetEntries() << endl;
-    TClonesArray::Print();
-    cout << "Center: " << endl;
-    fCenter.Print();
+    if (GetEntriesFast()>0)
+    {
+        TClonesArray::Print();
+        cout << "Center: " << endl;
+        fCenter.Print();
+    }
 }

trunk/MagicSoft/Cosy/caos/Rings.h

@@ -17 +17 @@
     Ring fCenter;
 
-    void CalcCenters(const Leds &leds);
+    void CalcCenters(const Leds &leds, Float_t min, Float_t max);
 
 public:
     Rings() : TClonesArray("Ring", 1) {}
 
-    void CalcRings(Leds &leds);
+    void CalcRings(Leds &leds, Float_t min=-1, Float_t max=-1);
 
     void Print(Option_t *o=NULL) const;

trunk/MagicSoft/Cosy/catalog/StarCatalog.cc

@@ -93 +93 @@
     fAltAz = CalcAltAz(fRaDec);
 
-    cout << "Alt: " << 360.0/D2PI*fAltAz.Alt() << "  ";
-    cout << "Az: "  << 360.0/D2PI*fAltAz.Az()  << endl;
+    //cout << "Alt: " << 360.0/D2PI*fAltAz.Alt() << "  ";
+    //cout << "Az: "  << 360.0/D2PI*fAltAz.Az()  << endl;
 
     CalcRaDecRange();
@@ -170 +170 @@
             fAzCnt++;
 
-    cout << "fAzCnt: " << setw(3) << fAzCnt << "  " << flush;
+    //cout << "fAzCnt: " << setw(3) << fAzCnt << "  " << flush;
 
     //
@@ -204 +204 @@
     }
 
-    cout << "fAltMin: " << setw(3) << fAltMin << "  ";
-    cout << "fAltMax: " << setw(3) << fAltMax << endl;
+    //cout << "fAltMin: " << setw(3) << fAltMin << "  ";
+    //cout << "fAltMax: " << setw(3) << fAltMax << endl;
 }
 
@@ -291 +291 @@
         if (fRa0[x])
             fRaCnt++;
-    cout << "fRaCnt: " << setw(3) << fRaCnt << "  " << flush;
+    //cout << "fRaCnt: " << setw(3) << fRaCnt << "  " << flush;
 
     //
@@ -323 +323 @@
     }
 
-    cout << "fDecMin: " << setw(3) << fDecMin << "  ";
-    cout << "fDecMax: " << setw(3) << fDecMax << endl;
+    //cout << "fDecMin: " << setw(3) << fDecMin << "  ";
+    //cout << "fDecMax: " << setw(3) << fDecMax << endl;
 }
 
@@ -707 +707 @@
     }
 
-    cout << " " << count+deleted << "-" << deleted << "=" << count << " " << endl;
+    cout << "Showing " << count+deleted << "-" << deleted << "=" << count << " stars." << endl;
 }
 

trunk/MagicSoft/Cosy/cosy.cc

@@ -11 +11 @@
 #include "base/timer.h"
 
+#include "Camera.h"
+#include "PngReader.h"
+#include "MStarguider.h"
+
+#define EXPERT
+
 #define clog(txt) \
     { \
@@ -20 +26 @@
 
 TROOT root("Cosy", "Magic Control System");
+
+/* ---------------------------------------------------------------------- */
+//extern void InitGui();
+//VoidFuncPtr_t initfuncs[] = { InitGui, 0 };
 
 int main(int argc, char **argv)
@@ -37 +47 @@
     // this must move to MGCosy !!!! (or MApplication)
     //
-    MLog *l = new MLog("log/cosy.log", kTRUE);
+    int i=0;
+    char name[100];
+    while (1)
+    {
+        sprintf(name, "log/cosy%03d.log", i++);
+        if (gSystem->AccessPathName(name, kFileExists))
+            break;
+    }
+
+    MLog *l = new MLog(name, kTRUE);
     MLog &lout = *l;
 
@@ -75 +94 @@
 
     clog("- Starting MCosy.");
+#ifndef EXPERT
     lout.DisableOutputDevice(MLog::eStdout);
+#endif
     cosy->Start();
 
+    clog("- Starting Camera.");
+    MStarguider *client=new MStarguider(MObservatory::kMagic1);
+    Camera *cam = new Camera(*client);
+    cam->Loop(0);
+
+    cosy->SetStarguider(client);
+    client->SetCosy(cosy);
+
     clog("- Starting mainloop.");
+#ifndef EXPERT
     lout.DisableOutputDevice(MLog::eStdout);
+#endif
     app->Run(kTRUE);
+
+    client->SetCosy(NULL);
+    cosy->SetStarguider(NULL);
+
+    clog("- Stopping starg.");
+    cam->ExitLoop();
+    delete cam;
+    delete client;
 
     clog("- Stopping cosy.");

trunk/MagicSoft/Cosy/devdrv/macs.cc

@@ -127 +127 @@
 }
 
-void Macs::HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv)
-{
-//    cout << "Node #" << dec << (int)GetId() << ": Sdo=" << hex << idx  << "/" << (int)subidx << " set." << endl;
+void Macs::HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv)
+{
+    //    cout << "Node #" << dec << (int)GetId() << ": Sdo=" << hex << idx  << "/" << (int)subidx << " set." << endl;
+
+    // If a real drive operation is requested from the MACS and
+    // the MACS is not correctly initialized the operation is
+    // rejected. (This is expecially harmfull if the NoWait state
+    // is set incorrectly)
+    if (data)
+        SetZombie();
+
     switch (idx)
     {
@@ -201 +209 @@
 
     }
-    NodeDrv::HandleSDOOK(idx, subidx, tv);
+    NodeDrv::HandleSDOOK(idx, subidx, data, tv);
 }
 
@@ -223 +231 @@
     SendSDO(0x1800, 1, (LWORD_t)(flag?0:1)<<31); 
     WaitForSdo(0x1800, 1);           
+}
+
+void Macs::StartNode()
+{
+    //
+    // Switch node from pre-operational state to operational state
+    // (This is not CANOpen compatible)
+    // After this the MACS will react on real movement commands.
+    //
+    lout << "- " << GetNodeName() << ": Starting Node." << endl;
+    SendSDO(0x1000, 1, (LWORD_t)1);
+    WaitForSdo(0x1000, 1);
 }
 
@@ -251 +271 @@
     StopGuarding();
 
-    usleep(2000*GetGuardTime());
+// ****FIXME***   usleep(2000*GetGuardTime());
 
     lout << "- " << GetNodeName() << ": Requesting Mac Software Version." << endl;
@@ -257 +277 @@
     WaitForSdo(0x100a);
     // FIXME! Not statically linked!
-    if (fSoftVersion<0x00000044) // 00.68
+    //if (fSoftVersion<0x00000044) // 00.68
+    if (fSoftVersion<0x00000045) // 00.69
     {
         lout << GetNodeName() << " - Software Version too old!" << endl;
@@ -269 +290 @@
     ReqVelRes(); // Init fVelRes
 
-    lout << "- " << GetNodeName() << ": Motor on." << endl;
-    SendSDO(0x3000, string('o', 'n'));
-    WaitForSdo(0x3000);
+    /* Should not be necessary anymore. This is done by the MACS itself.
+     lout << "- " << GetNodeName() << ": Motor on." << endl;
+     SendSDO(0x3000, string('o', 'n'));
+     WaitForSdo(0x3000);
+     */
 
     SetPDO1On(FALSE); // this is a workaround for the Macs
     SetPDO1On(TRUE);
 
-    SetNoWait(TRUE);
-
-//    StartGuarding(200, 2, kFALSE); // Using PDO1 @ 100ms
-
-//    StartGuarding(250, 4);
-//    StartHostGuarding();
-}
-
+    //This is now standard in the MACS
+    //SetNoWait(TRUE);
+
+    // StartGuarding(200, 2, kFALSE); // Using PDO1 @ 100ms
+    // StartGuarding(250, 4);
+    // StartHostGuarding();
+
+    StartNode();
+}
+/*
 void Macs::StopMotor()
 {
@@ -292 +317 @@
     WaitForSdo(0x3000);
 }
-
+*/
 void Macs::StopDevice()
 {
     //EnableTimeout(kFALSE);
 
-    SetNoWait(FALSE);
+    //No need to switch it off.
+    //SetNoWait(FALSE);
 
     StopHostGuarding();
@@ -402 +428 @@
 }
 
+/*
 void Macs::SetNoWait(BYTE_t flag)
 {
@@ -408 +435 @@
     WaitForSdo(0x3008);
 }
+*/
 
 void Macs::StartVelSync()

trunk/MagicSoft/Cosy/devdrv/macs.h

@@ -34 +34 @@
 
     void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, timeval_t *tv);
-    void HandleSDOOK(WORD_t idx, BYTE_t subidx, timeval_t *tv);
+    void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, timeval_t *tv);
     //void HandleSDOError(LWORD_t data) { NodeDrv::HandleSDOError(data); }
 
@@ -84 +84 @@
     void SetDeceleration(LWORD_t dec);
     void SetVelocity(LWORD_t vel);
-    void SetNoWait(BYTE_t flag=TRUE);
+    //void SetNoWait(BYTE_t flag=TRUE);
     void SetRpmMode(BYTE_t mode=TRUE);
     void SetRpmVelocity(LWORDS_t cvel);
@@ -99 +99 @@
     void StartAbsPos(LWORDS_t pos);
 
-    void StopMotor();
+    //void StopMotor();
+
+    void StartNode();
 
     int IsPositioning() const { return fPosActive; }

trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc

@@ -16 +16 @@
 
 ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name, MLog &out)
-    : NodeDrv(nodeid, name, out), fLabel(NULL), fPosHasChanged(false)
+    : NodeDrv(nodeid, name, out), fPos(0), fVel(0), fAcc(0),
+    fTurn(0), fLabel(NULL), fPosHasChanged(false)
 {
 }

trunk/MagicSoft/Cosy/gui/GuiLinkDef.h

@@ -18 +18 @@
 
 #pragma link C++ class MGCosy+;
-#pragma link C++ class MGStarguider+;
 
 #endif

trunk/MagicSoft/Cosy/gui/MGAccuracy.cc

@@ -170 +170 @@
 
 MGAccuracy::MGAccuracy(const TGWindow* p, const UInt_t w)
-: MGEmbeddedCanvas("Accuracy", p, w, 75*4)
+: MGEmbeddedCanvas("Accuracy", p, w, 300)
 {
     DrawCoordinateSystem();

trunk/MagicSoft/Cosy/gui/MGCosy.cc

@@ -55 +55 @@
     kPB_DECp,
     kPB_DECm,
+    kPB_ZDp,
+    kPB_ZDm,
+    kPB_AZp,
+    kPB_AZm,
     kPB_LoadBending,
     kPB_ResetBending,
     kPB_CALIBSE,
     kCB_PredefPos,
+    kCB_StarList,
 
     // kLog
@@ -85 +90 @@
     TGPopupMenu *logmenu = new TGPopupMenu(gClient->GetRoot());
     logmenu->AddEntry("&Copy Selected", kLogCopy);
-    logmenu->AddEntry("Clear all",      kLogClear);
+    logmenu->AddEntry("&Select All",    kLogSelect);
     logmenu->AddSeparator();
-    logmenu->AddEntry("Select All",     kLogSelect);
+    logmenu->AddEntry("Clear &all",     kLogClear);
     /*
      logmenu->AddSeparator();
@@ -93 +98 @@
      */
     logmenu->AddSeparator();
-    logmenu->AddEntry("Save",           kLogSave);
-    logmenu->AddEntry("Save append",    kLogAppend);
+    logmenu->AddEntry("Sa&ve",          kLogSave);
+    logmenu->AddEntry("Save a&ppend",   kLogAppend);
     logmenu->Associate(this);
 
@@ -160 +165 @@
     fList->Add(fLabel2);
     fList->Add(fLabel3);
-
+/*
     l = new TGLabel(f, "Offset-Zd:");
     l->Move(x-60, y+102);
@@ -177 +182 @@
     fList->Add(fOffsetZd);
     fList->Add(fOffsetAz);
-
+*/
     l = new TGLabel(f, "Ra (estimated):");
-    l->Move(x-60, y+142);
+    l->Move(x-60, y+142-20);
     fList->Add(l);
 
     l = new TGLabel(f, "Ra (nominal):");
-    l->Move(x-60, y+159);
+    l->Move(x-60, y+159-20);
     fList->Add(l);
 
     l = new TGLabel(f, "Dec (estimated):");
-    l->Move(x-60, y+182);
+    l->Move(x-60, y+182-20);
     fList->Add(l);
 
     l = new TGLabel(f, "Dec (nominal):");
-    l->Move(x-60, y+199);
+    l->Move(x-60, y+199-20);
     fList->Add(l);
 
@@ -214 +219 @@
     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);
+    fRaEst->Move(x+30, y+142-20);
+    fRaSoll->Move(x+30, y+159-20);
+    fDecEst->Move(x+30, y+182-20);
+    fDecSoll->Move(x+30, y+199-20);
     fZdSoll->Move(x+30, y+222);
     fAzSoll->Move(x+30, y+239);
@@ -311 +316 @@
     if (!fin)
     {
-        cout << "ERROR: Predifined posiion in 'prepos.txt' not found." << endl;
+        cout << "ERROR: Predifined positions in 'prepos.txt' not found." << endl;
         return;
     }
@@ -329 +334 @@
 }
 
-void MGCosy::CreateTabs(TGTab *fTab)
+void MGCosy::CreateStarList(TGCompositeFrame *tf1)
+{
+    /*
+    TGComboBox *box = new TGComboBox(tf1, kCB_StarList);
+    box->Resize(120, 20);
+    box->Associate(this);
+
+    TGLayoutHints *lay = new TGLayoutHints(kLHintsLeft|kLHintsTop,
+                                           27, 0, 200, 0);
+    tf1->AddFrame(box, lay);
+
+    fList->Add(box);
+    fList->Add(lay);
+
+    ifstream fin("stars.txt");
+    if (!fin)
+    {
+        cout << "ERROR: Star List 'stars.txt' not found." << endl;
+        return;
+    }
+
+    int i=0;
+    while (1)
+    {
+        TString str;
+        Int_t h, m, s, d, am, as;
+        fin >> h >> m >> s >> d >> am >> as;
+        if (!fin)
+            break;
+
+        box->AddEntry(str, i++);
+
+        fStarList.Add(zd, az);
+        }
+        */
+}
+
+void MGCosy::CreateTabs()
 {
     TGCompositeFrame *tf1 = fTab->AddTab("Position");
     TGCompositeFrame *tf2 = fTab->AddTab("Track");
+    TGCompositeFrame *tf4 = fTab->AddTab("Calib");
 #ifdef EXPERT
-    TGCompositeFrame *tf4 = fTab->AddTab("Calib");
     TGCompositeFrame *tf5 = fTab->AddTab("Test SE");
     TGCompositeFrame *tf6 = fTab->AddTab("Gear");
@@ -345 +387 @@
 
     CreatePredefinedPos(tf1);
+    CreateStarList(tf4);
 
     fCRaDec = new MGCoordinates(tf2, kETypeRaDec);
@@ -350 +393 @@
     fList->Add(fCRaDec);
 
-#ifdef EXPERT
     fCCalib = new MGCoordinates(tf4, kETypeRaDec);
     fCCalib->Move(27, 105);
     fList->Add(fCCalib);
-#endif
 
     const int x=15;
@@ -386 +427 @@
     fList->Add(l3);
 
-#ifdef EXPERT
     l1 = new TGLabel(tf4, "Start the calibration using the Start button.");
     l2 = new TGLabel(tf4, "Write a coordinate pair to a TPoint file using");
@@ -401 +441 @@
     fList->Add(l4);
 
+#ifdef EXPERT
     l1 = new TGLabel(tf5, "START starts histograming the differences of");
     l2 = new TGLabel(tf5, "the two shaftencoders at the elevation axis.");
@@ -495 +536 @@
     fList->Add(but);
     */
+#ifdef EXPERT
     but = new TGTextButton(tf4, "Load", kPB_LoadBending);
-    but->Resize(80, 25);
-    but->Move(25, 190);
+    but->Resize(50, 25);
+    but->Move(151, 185);
     but->SetToolTipText("Load bending corrections from file 'bending.txt'");
     but->Associate(this);
@@ -503 +545 @@
 
     but = new TGTextButton(tf4, "Reset", kPB_ResetBending);
-    but->Resize(80, 25);
-    but->Move(25, 220);
+    but->Resize(50, 25);
+    but->Move(206, 185);
     but->SetToolTipText("Reset bending correction (coefficients=0)");
     but->Associate(this);
     fList->Add(but);
+#endif EXPERT
 
     but = new TGTextButton(tf4, "TPoint", kPB_TPOINT);
-    but->Resize(80, 25);
-    but->Move(25, 250);
+    but->Resize(50, 25);
+    but->Move(176/*231*/, 213);
     but->SetToolTipText("Trigger writing a tpoint coordinate pair.");
+    but->Associate(this);
+    fList->Add(but);
+
+    but= new TGTextButton(tf4, "Zd -",  kPB_ZDm);
+    but->Resize(50, 25);
+    but->Move(25, 210);
+    but->SetToolTipText("Zenith Distance -= 1SE");
+    but->Associate(this);
+    fList->Add(but);
+    but= new TGTextButton(tf4, "Zd +",  kPB_ZDp);
+    but->Resize(50, 25);
+    but->Move(90, 210);
+    but->SetToolTipText("Zenith Distance += 1SE");
+    but->Associate(this);
+    fList->Add(but);
+    but= new TGTextButton(tf4, "Az +",  kPB_AZp);
+    but->Resize(50, 25);
+    but->Move(55, 185);
+    but->SetToolTipText("Azimuth += 1SE");
+    but->Associate(this);
+    fList->Add(but);
+    but= new TGTextButton(tf4, "Az -",  kPB_AZm);
+    but->Resize(50, 25);
+    but->Move(55, 235);
+    but->SetToolTipText("Azimuth -= 1SE");
     but->Associate(this);
     fList->Add(but);
@@ -728 +796 @@
     AddFrame(f2, hints2);
 
-    //
-    // FIXME!
-    //
 #ifdef DEBUG
     cout << "MGCosy: Creating Tabs" << endl;
 #endif
-    CreateTabs(fTab);
+    CreateTabs();
 #ifdef DEBUG
     cout << "MGCosy: Creating Label" << endl;
@@ -871 +936 @@
     }
 }
-
+/*
 void MGCosy::UpdateOffset(ZdAz &off)
 {
@@ -892 +957 @@
     }
 }
-
+*/
 void MGCosy::UpdateZdAz(ZdAz &soll)
 {
@@ -954 +1019 @@
 }
 
-void MGCosy::Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, RaDec radec,
+void MGCosy::Update(ZdAz pos, ZdAz acc, ZdAz vel, /*ZdAz off,*/ RaDec radec,
                     ZdAz soll, UInt_t stat, UInt_t stat2)
 {
@@ -962 +1027 @@
     double mjd = UpdateTime();
     fSkyPosition->Update(pos, mjd);
-    fAccuracy->Update(pos, acc);
-    fVelocity->Update(vel);
-    UpdateOffset(off);
+    //UpdateOffset(off);
     UpdateRaDec(pos, mjd, radec);
     UpdateZdAz(soll);
@@ -991 +1054 @@
     SetLabelColor(fAvailSe3,  stat2&0x20);
 
-    stat&kTracking ? fAccuracy->MapWindow() : fAccuracy->UnmapWindow();
-    stat&kTracking ? fVelocity->MapWindow() : fVelocity->UnmapWindow();
+    if (stat&kTracking)
+    {
+        fAccuracy->Update(pos, acc);
+        fVelocity->Update(vel);
+        fAccuracy->MapWindow();
+        fVelocity->MapWindow();
+    }
+    else
+    {
+        fAccuracy->UnmapWindow();
+        fVelocity->UnmapWindow();
+    }
     //    stat&kTracking ? fOffset->MapWindow()   : fOffset->UnmapWindow();
 
@@ -1022 +1095 @@
 }
 
-void MGCosy::StartTrack()
+void MGCosy::StartTrack(bool track)
 {
     cout << "Start tracking." << endl;
 
-    XY xy = fCRaDec->GetCoordinates();
-    RaDec dest(xy.X()*15., xy.Y()); // xy.X()  [h]->[ø]
-
-    cout << dest.Ra() << "h " << dest.Dec() << "\xb0" << endl;
+    XY xy0 = fCRaDec->GetCoordinates();
+    XY xy1 = track ? xy0 : fCCalib->GetCoordinates();
+
+    RaDec dest0(xy0.X()*15., xy0.Y()); // xy.X()  [h]->[ø]
+    RaDec dest1(xy1.X()*15., xy1.Y()); // xy.X()  [h]->[ø]
+
+    cout << "TrackPos: " << dest0.Ra() << "h " << dest0.Dec() << "\xb0" << endl;
+    cout << "CalibPos: " << dest1.Ra() << "h " << dest1.Dec() << "\xb0" << endl;
+
+    RaDec dest[2] = { dest0, dest1 };
 
     fQueue->PostMsg(WM_TRACK, &dest, sizeof(dest));
@@ -1036 +1115 @@
 }
 
-void MGCosy::StartTrackPos()
+void MGCosy::StartTrackPos(Long_t mp1)
 {
     cout << "Start tracking Zd/Az pos." << endl;
@@ -1043 +1122 @@
 
     ZdAz za(xy.X(), xy.Y());
+
+    switch (mp1)
+    {
+    case kPB_ZDm:
+        za.Zd(za.Zd()-360/16384.);
+        break;
+    case kPB_ZDp:
+        za.Zd(za.Zd()+360/16384.);
+        break;
+    case kPB_AZm:
+        za.Az(za.Az()-360/16384.);
+        break;
+    case kPB_AZp:
+        za.Az(za.Az()+360/16384.);
+        break;
+    }
 
     cout << za.Zd() << "\xb0 " << za.Az() << "\xb0" << endl;
@@ -1203 +1298 @@
                     return kTRUE;
                 case 1:
-                    StartTrack();
+                    StartTrack(true);
                     return kTRUE;
                 case 2:
                     fCRaDec->SetCoordinates(fCCalib->GetCoordinates());
+                    StartTrack(false);
                     return kTRUE;
                 case 3:
@@ -1261 +1357 @@
                         break;
                     }
-                    RaDec dest(xy.X()*15., xy.Y()); // xy.X()  [h]->[ø]
-                    fQueue->PostMsg(WM_TRACK, &dest, sizeof(dest));
-                    //fQueue->Proc(WM_NEWTRACK, &dest);
                     fCRaDec->SetCoordinates(xy);
-
-                    cout << "New Ra/Dec: " << dest.Ra() << "h " << dest.Dec() << "\xb0" << endl;
+                    StartTrack(false);
+                    /*
+                     RaDec dest(xy.X()*15., xy.Y()); // xy.X()  [h]->[ø]
+                     fQueue->PostMsg(WM_TRACK, &dest, sizeof(dest));
+                     //fQueue->Proc(WM_NEWTRACK, &dest);
+                     */
+                    //cout << "New Ra/Dec: " << dest.Ra() << "h " << dest.Dec() << "\xb0" << endl;
                 }
+                return kTRUE;
+
+            case kPB_ZDp:
+            case kPB_ZDm:
+            case kPB_AZp:
+            case kPB_AZm:
+                StartTrackPos(mp1);
                 return kTRUE;
 

trunk/MagicSoft/Cosy/gui/MGCosy.h

@@ -50 +50 @@
     TGLabel       *fLabel3;
 
-    TGLabel       *fOffsetZd;
-    TGLabel       *fOffsetAz;
+    // TGLabel       *fOffsetZd;
+    // TGLabel       *fOffsetAz;
 
     TGLabel       *fRaEst;
@@ -98 +98 @@
     void CreateMenu();
     void CreateLabel(TGCompositeFrame *f);
-    void CreateTabs(TGTab *fTab);
+    void CreateTabs();
     void CreatePredefinedPos(TGCompositeFrame *tf1);
+    void CreateStarList(TGCompositeFrame *tf1);
 
     void StartPos();
-    void StartTrack();
-    void StartTrackPos();
+    void StartTrack(bool track);
+    void StartTrackPos(Long_t mp1=0);
     void StartDemo();
     //void StartCalib();
@@ -110 +111 @@
     void EnableLabel(TGLabel *label, Bool_t stat);
     void SetLabelColor(TGLabel *label, Bool_t col);
-    void UpdateOffset(ZdAz &off);
+    //void UpdateOffset(ZdAz &off);
     void UpdateZdAz(ZdAz &off);
     void UpdateRaDec(ZdAz &pos, double mjd, RaDec &radec);
@@ -127 +128 @@
     TGTextView *GetLog() const { return fLog; }
 
-    void Update(ZdAz pos, ZdAz acc, ZdAz vel, ZdAz off, RaDec radec, ZdAz soll, UInt_t stat, UInt_t stat2);
+    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);

trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.cc

@@ -17 +17 @@
 
 MGEmbeddedCanvas::MGEmbeddedCanvas(const char *name, const TGWindow* p,
-                                   const UInt_t width, Float_t range)
+                                   UInt_t width, Double_t range)
     : TRootEmbeddedCanvas(name, p, width+1, width+1, 0/*kRaisedFrame*/),
-      fModified(kFALSE), fWidth(width), fRange(range), fPix(2.*range/width)
+      fModified(kFALSE), fWidth(width), fRange(fabs(range)), fPix(2.*fabs(range)/width)
 {
 #ifdef DEBUG
@@ -34 +34 @@
     fCanvas->SetFillColor(39); // s. TAttFill
 #ifdef DEBUG
-    cout << "MGEmbeddedCanvas: fRange=" << fRange << endl;
+    cout << "MGEmbeddedCanvas." << endl;
 #endif
-    if (fRange>0)
-        fCanvas->Range(-fRange, -fRange, fRange, fRange);
+
+    fCanvas->Range(-fRange, -fRange, fRange, fRange);
 
     fList = new TList;

trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h

@@ -34 +34 @@
 public:
     MGEmbeddedCanvas(const char *name, const TGWindow* p,
-                     const UInt_t width, const Float_t range);
+                     UInt_t width, Double_t range);
     ~MGEmbeddedCanvas();
 

trunk/MagicSoft/Cosy/gui/MGImage.cc

@@ -12 +12 @@
 #include <pthread.h>
 
+#include <X11/Xlib.h>
+
 #include <TTimer.h>
 #include <TSystem.h>
@@ -18 +20 @@
 
 ClassImp(MGImage);
+/*
+class MyX11 : public TGX11
+{
+public:
+    Display *GetDisplay() { return fDisplay; }
+    Drawable GetRootWin() { return fRootWin; }
+    Drawable GetVisRootWin() { return fVisRootWin; }
+    Int_t    GetDepth() { return fDepth; }
+};
+*/
 
 MGImage::MGImage(const TGWindow* p, UInt_t w, UInt_t h, UInt_t options, ULong_t back)
@@ -27 +39 @@
 
     //
-    // Set Color Table (Gray scale)
-    //
-    const int cols = 0x100+4*4*4;
-
-    for (int c=0; c<0x100; c++)
-        sprintf(fColors[c], "%02x", c);
-
-    //
-    // create space for the pixmap buffer, initialize pointer to data area
-    //
-    fBuffer = new char*[1+cols+fHeight+1];
-    fBody   = &fBuffer[1+cols];
-
-    //
-    // fill buffer with header informations
-    //
-    fBuffer[0] = new char[14];
-    sprintf(fBuffer[0], "%3d %3d %3d %1d", fWidth, fHeight, cols, 2);
-
-    for (int k=0; k<0x100; k++)
-    {
-        const int l = k+1;
-        fBuffer[l] = new char[13];
-        fBuffer[l][0]  = fColors[k][0];
-        fBuffer[l][1]  = fColors[k][1];
-        fBuffer[l][2]  = '\t';
-        fBuffer[l][3]  = 'c';
-        fBuffer[l][4]  = ' ';
-        fBuffer[l][5]  = '#';
-        fBuffer[l][6]  = fColors[k][0];
-        fBuffer[l][7]  = fColors[k][1];
-        fBuffer[l][8]  = fColors[k][0];
-        fBuffer[l][9]  = fColors[k][1];
-        fBuffer[l][10] = fColors[k][0];
-        fBuffer[l][11] = fColors[k][1];
-        fBuffer[l][12] = '\0';
-    }
-
-    for (int b=0; b<4; b++)
-        for (int g=0; g<4; g++)
-            for (int r=0; r<4; r++)
-            {
-                const int nr = r+(g<<2)+(b<<4);
-                const int l = 0x100+nr+1;
-
-                fBuffer[l] = new char[13];
-                fBuffer[l][0]  = 'f'+nr/8+1;
-                fBuffer[l][1]  = 'f'+nr%8+1;
-                fBuffer[l][2]  = '\t';
-                fBuffer[l][3]  = 'c';
-                fBuffer[l][4]  = ' ';
-                fBuffer[l][5]  = '#';
-                fBuffer[l][6]  = fColors[r*85][0];
-                fBuffer[l][7]  = fColors[r*85][1];
-                fBuffer[l][8]  = fColors[g*85][0];
-                fBuffer[l][9]  = fColors[g*85][1];
-                fBuffer[l][10] = fColors[b*85][0];
-                fBuffer[l][11] = fColors[b*85][1];
-                fBuffer[l][12] = '\0';
-            }
-
-    //
-    // mark end of lines of the data area
-    //
-    for (UInt_t y=0; y<fHeight; y++)
-    {
-        fBody[y] = new char[fWidth*2+1];
-        fBody[y][fWidth*2] = '\0';
-    }
-    //
-    // mark end of buffer
-    //
-    fBuffer[1+cols+fHeight] = '\0';
-
-    //
-    // Create Default Graphic Context (XCreateGC)
-    //
-    fDefGC = gVirtualX->CreateGC(fId, 0); // GetBckgndGC().GetGC(); //
-
-    //
     // Creat drawing semaphore
     //
@@ -112 +44 @@
     pthread_mutex_init((pthread_mutex_t*)fMuxPixmap, NULL);
 
-    //
-    // create empty (black) pixmap
-    //   return (Pixmap_t) XCreatePixmap(fDisplay, (Drawable) id, w, h,
-    //          DefaultDepth(fDisplay, DefaultScreen(fDisplay)));
-    //
-    fPixmap = kNone; //@@@gVirtualX->CreatePixmap(fId, fWidth, fHeight);
-
     Resize(w, h);
 
-    //fTimer=new TTimer(Form("gClient->ProcessEventsFor((TGWindow*)0x%p);", this), 250, kTRUE);
-//    fTimer=new TTimer("printf(\"Timer!\\n\"); gSystem->ProcessEvents();", 250, kTRUE);
-    //fTimer->Start();
-}
-
-void MGImage::Resize(UInt_t w, UInt_t h)
-{
-//    TGFrame::Resize(w+2*GetBorderWidth(), h+2*GetBorderWidth());
-    // FIXME: RESIZE THE PIXMAP
-}
-
-void MGImage::Resize(TGDimension size)
-{
-//    TGFrame::Resize(size.fWidth+2*GetBorderWidth(), size.fHeight+2*GetBorderWidth());
-    // FIXME: RESIZE THE PIXMAP
-}
-
-void MGImage::MoveResize(Int_t x, Int_t y, UInt_t w, UInt_t h)
-{
-//   TGFrame::MoveResize(x, y, w+2*GetBorderWidth(), h+2*GetBorderWidth());
-   // FIXME: RESIZE THE PIXMAP
+    //
+    // create empty pixmap
+    //
+    fPixmap = gVirtualX->CreatePixmap(fId, fWidth, fHeight);
+    fDefGC  = gVirtualX->CreateGC(fId, 0);
+    fImage  = (XImage*)gVirtualX->CreateImage(fWidth, fHeight);
 }
 
 MGImage::~MGImage()
 {
-    //fTimer->Stop();
-    //delete fTimer;
-
     pthread_mutex_lock((pthread_mutex_t*)fMuxPixmap);
 
-    cout << "Deleting fBuffer..." << endl;
+    cout << "Deleting MGImage..." << endl;
 
-    char **b = fBuffer;
-    while (*b)
-        delete[] *b++;
-    delete[] fBuffer;
-
-    cout << "Deleting Pixmap..." << endl;
-
-    if (fPixmap!=kNone) // @@@
-    {
-        cout << "Delete Pixmap" << endl;
-        gVirtualX->DeletePixmap(fPixmap);  // XFreePixmap(fDisplay, (Pixmap) pmap);
-    }
-
-    cout << "Deleting GC..." << endl;
-
-
-    gVirtualX->DeleteGC(fDefGC);       // XFreeGC(fDisplay, (GC) gc);
+    gVirtualX->DeletePixmap(fPixmap);
+    gVirtualX->DeleteGC(fDefGC);
+    gVirtualX->DeleteImage((Drawable_t)fImage);
 
     pthread_mutex_destroy((pthread_mutex_t*)fMuxPixmap);
@@ -176 +69 @@
 }
 
-#include <X11/Xlib.h>
-/*
-#include <X11/Xutil.h>
-#include <X11/Intrinsic.h>
-XImage *fPix=NULL;
-*/
-
 void MGImage::DoRedraw()
 {
-//    TGFrame::DrawBorder();
     pthread_mutex_lock((pthread_mutex_t*)fMuxPixmap);
 
-    //===========================
-    if (TestBit(kNeedRecreate))
+    if (TestBit(kNeedRedraw))
     {
-        Pixmap_t mask = kNone;
-        PictureAttributes_t attr;
-        attr.fMask = kNone;
-
-        if (fPixmap!=kNone)
-            gVirtualX->DeletePixmap(fPixmap);
-
-        fPixmap=kNone;
-
-        if (!gVirtualX->CreatePictureFromData(fId, fBuffer, fPixmap,
-                                              mask, attr))
-        {
-            cout << "Warning: Error in CreatePictureFromData" << endl;
-            fPixmap=kNone;
-        }
-        ResetBit(kNeedRecreate);
+        gVirtualX->PutImage(fId, fDefGC, (Drawable_t)fImage, 0, 0, 0, 0, fWidth, fHeight);
+        ResetBit(kNeedRedraw);
     }
 
-    //===========================
-
-    // Copy a drawable (i.e. pixmap) to another drawable (pixmap, window).
-    // The graphics context gc will be used and the source will be copied
-    // from src_x,src_y,src_x+width,src_y+height to dest_x,dest_y.
-    // XCopyArea(fDisplay, src, dest, (GC) gc, src_x, src_y, width, height,
-    //           dest_x, dest_y);
-    if (fPixmap!=kNone) //@@@
-    {
-//        gVirtualX->DrawString(fId, fDefGC, 20, 20, "HELLO WORLD!", 12);
-//        gVirtualX->FillRectangle(fId, fDefGC, 10, 10, 50, 50);
-
-        //        cout << gVirtualX->IsA()->GetName() << endl;
-        gVirtualX->CopyArea(fPixmap, fId, fDefGC,
-                            0, 0, fWidth, fHeight,
-                            GetBorderWidth(), GetBorderWidth());
-
-        /*
-        XCopyArea((Display*)gVirtualX->GetDisplay(), pm, fId,
-                  (GC)fDefGC, 0, 0, fWidth, fHeight,
-                  GetBorderWidth(), GetBorderWidth());
-                  */
-    }
-/*
-     if (fPix)
-    {
-        cout << "put" << flush;
-        XPutImage((Display*)gVirtualX->GetDisplay(), fId,
-                  fDefGC, fPix,
-                  0, 0, GetBorderWidth(), GetBorderWidth(),
-                  fWidth, fHeight);
-
-    cout << "done " << endl;
-    }
-*/
     pthread_mutex_unlock((pthread_mutex_t*)fMuxPixmap);
 }
 
-
-//#include <TGClient.h>
 void MGImage::DrawImg(const byte *buffer)
 {
@@ -254 +87 @@
         return;
 
-    for (UInt_t y=0; y<fHeight; y++)
+    char *d = fImage->data;
+    char *e = (char*)(buffer+fWidth*fHeight);
+    char *s = (char*)buffer;
+
+    // FIXME: This loop depends on the screen color depth
+    while (s<e)
     {
-        for (UInt_t x=0; x<fWidth; x++)
-        {
-            const byte col = buffer[y*fWidth+x];
-
-            fBody[y][x*2]   = fColors[col][0];
-            fBody[y][x*2+1] = fColors[col][1];
-        }
+        *d++ = *s;
+        *d++ = *s;
+        *d++ = *s++;
+        d++;
     }
 
-/*
-    cout << "CreateImage" << flush;
-    if (!fPix)
-    {
-        Display *dsp = (Display*)gVirtualX->GetDisplay();
-        Screen  *scr = DefaultScreenOfDisplay(dsp);
-        Visual  *vis = DefaultVisualOfScreen(scr);
+    SetBit(kNeedRedraw);
 
-        cout << vis->visualid << endl;
-        cout << vis->c_class << endl;
-        cout << vis->bits_per_rgb << endl;
-        cout << vis->map_entries << endl;
-        Visual visual;
-        visual.c_class = StaticGray;
-
-        int n;
-        XPixmapFormatValues *fmt = XListPixmapFormats(dsp, &n);
-
-        cout << "N: " << n << endl;
-        for (int i=0; i<n; i++)
-        {
-            cout << fmt[i].dww.epth << " " << fmt[i].bits_per_pixel << " "
-                << fmt[i].scanline_pad << endl;
-        }
-
-        Colormap colormap = XCreateColormap(dsp, fId, vis, AllocNone);
-
-        for (int i=0; i<vis->map_entries; i++)
-        {
-            XColor color;
-            char data[4];
-
-            color.flags = DoRed | DoGreen | DoBlue;
-            color.pixel = i;
-            color.red   = (256*i/vis->map_entries) << 8;
-            color.green = (256*i/vis->map_entries) << 8;
-            color.blue  = (256*i/vis->map_entries) << 8;
-
-            XAllocColor(dsp, colormap, &color);
-
-            cout << color.pixel <<" " << flush;
-        }
-        fPix = XCreateImage(dsp, vis, 8, ZPixmap, 0,
-                            buffer, 768, 576, 32, 0);
-
-        cout << "Colors" << visual.visualid << flush;
-
-    }
-    cout << "Done " << (void*)fPix << endl;
-    */
-
-/*
-    Pixmap_t mask = kNone;
-    PictureAttributes_t attr;
-    attr.fMask = kNone;
-    if (fPixmap!=kNone) // @@@
-        gVirtualX->DeletePixmap(fPixmap); // XFreePixmap(fDisplay, (Pixmap) pmap);
-
-    // Create a pixture pixmap from data. The picture attributes
-    // are used for input and output. Returns kTRUE in case of success,
-    // kFALSE otherwise. If mask does not exist it is set to kNone.
-    //
-    // XpmAttributes xpmattr;
-    //
-    // MapPictureAttributes(attr, xpmattr);
-    //
-    // Int_t res = XpmCreatePixmapFromData(fDisplay, id, data, (Pixmap*)&pict,
-    //                                     (Pixmap*)&pict_mask, &xpmattr);
-    //
-    // MapPictureAttributes(attr, xpmattr, kFALSE);
-    // XpmFreeAttributes(&xpmattr);
-    //
-    // if (res == XpmSuccess || res == XpmColorError)
-    //   return kTRUE;
-    //
-    // if (pict) {
-    //    XFreePixmap(fDisplay, (Pixmap)pict);
-    //    pict = kNone;
-    // }
-    // if (pict_mask) {
-    //    XFreePixmap(fDisplay, (Pixmap)pict_mask);
-    //    pict_mask = kNone;
-    // }
-    // return kFALSE;
-    fPixmap=kNone;
-    if (!gVirtualX->CreatePictureFromData(fId, fBuffer, fPixmap,
-                                          mask, attr))
-    {
-        cout << "Warning: Error in CreatePictureFromData" << endl;
-        fPixmap=kNone;
-    }
-*/
-    SetBit(kNeedRecreate);
     pthread_mutex_unlock((pthread_mutex_t*)fMuxPixmap);
-    //gClient->NeedRedraw(this);
-    //fTimer->Start(10, kTRUE);
-    //gVirtualX->UpdateWindow(1);
-    //    ((TGX11*)gVirtualX)->Sync(1);
-    //new TTimer(Form("gClient->ProcessEventsFor((TGWindow*)0x%p);", this), 1, kFALSE);
-    //    DoRedraw();
 }
 
@@ -372 +110 @@
         return;
 
-    for (UInt_t y=0; y<fHeight; y++)
+    char *d  = fImage->data;
+    char *e  = (char*)(gbuf+fWidth*fHeight);
+    char *s1 = (char*)gbuf;
+    char *s2 = (char*)cbuf;
+
+    // FROM libAfterImage:
+    // -------------------
+    //#define ALPHA_TRANSPARENT         0x00
+    //#define ALPHA_SEMI_TRANSPARENT    0x7F
+    //#define ALPHA_SOLID               0xFF
+    // * Lowermost 8 bits - Blue channel
+    // * bits 8 to 15     - Green channel
+    // * bits 16 to 23    - Red channel
+    // * bits 24 to 31    - Alpha channel
+    //#define ARGB32_White              0xFFFFFFFF
+    //#define ARGB32_Black              0xFF000000
+
+    // FIXME: This loop depends on the screen color depth
+    while (s1<e)
     {
-        for (UInt_t x=0; x<fWidth; x++)
+        if (*s2)
         {
-            const byte ccol = cbuf[y*fWidth+x];
-
-            if (ccol)
-            {
-                fBody[y][x*2]   = 'f'+ccol/8+1;
-                fBody[y][x*2+1] = 'f'+ccol%8+1;
-            }
-            else
-            {
-                const byte gcol = gbuf[y*fWidth+x];
-                fBody[y][x*2]   = fColors[gcol][0];
-                fBody[y][x*2+1] = fColors[gcol][1];
-            }
+            *d++ = ((*s2>>4)&0x3)*85;
+            *d++ = ((*s2>>2)&0x3)*85;
+            *d++ = ((*s2++ )&0x3)*85;
+            d++;
+            s1++;
+        }
+        else
+        {
+            *d++ = *s1;
+            *d++ = *s1;
+            *d++ = *s1++;
+            d++;
+            s2++;
         }
     }
-/*
-    Pixmap_t mask = kNone;
-    PictureAttributes_t attr;
-    attr.fMask = kNone;
 
-    if (fPixmap!=kNone)
-        gVirtualX->DeletePixmap(fPixmap);
+    SetBit(kNeedRedraw);
 
-    fPixmap=kNone;
-
-    if (!gVirtualX->CreatePictureFromData(fId, fBuffer, fPixmap,
-                                          mask, attr))
-    {
-        cout << "Warning: Error in CreatePictureFromData" << endl;
-        fPixmap=kNone;
-    }
-    */
-    SetBit(kNeedRecreate);
     pthread_mutex_unlock((pthread_mutex_t*)fMuxPixmap);
-    //gClient->NeedRedraw(this);
-    //fTimer->Start(10, kTRUE);
-    //gVirtualX->UpdateWindow(1);
-    //    ((TGX11*)gVirtualX)->Sync(1);
-    //new TTimer(Form("gClient->ProcessEventsFor((TGWindow*)0x%p);", this), 1, kFALSE);
-    //    DoRedraw();
 }
-

trunk/MagicSoft/Cosy/gui/MGImage.h

@@ -8 +8 @@
 //   Version: V1.0 (1-8-2000)
 
+#ifndef ROOT_TGFrame
 #include <TGFrame.h>
+#endif
+#ifndef ROOT_TGX11
+#include <TGX11.h>
+#endif
 
 class TTimer;
@@ -16 +21 @@
 class MGImage : public TGFrame
 {
-    char fColors[0x100][3];
-
-    char **fBuffer;
-    char **fBody;
+    XImage *fImage;
 
     GContext_t fDefGC;
@@ -31 +33 @@
     TTimer *fTimer;
 
-    enum { kNeedRecreate = BIT(17) };
+    enum { kNeedRedraw = BIT(17) };
 
 public:
@@ -38 +40 @@
 
     void DoRedraw();
-
-    void Resize(UInt_t w, UInt_t h);
-    void Resize(TGDimension size);
-    void MoveResize(Int_t x, Int_t y, UInt_t w, UInt_t h);
 
     void DrawImg(const byte *buffer);

trunk/MagicSoft/Cosy/gui/MGSkyPosition.cc

@@ -69 +69 @@
     InitArc(fSaturn,  1001, kYellow/*17*/, 16);
 
-    for (int i=0; i<13; i++)
+    for (int i=0; i<14; i++)
     {
         fStars[i] = new TArc(0, 0, 1);
@@ -110 +110 @@
 }
 
-static const RaDec stars[13] =
+static const RaDec stars[14] =
 {
     // 32349   Sirius           -1.44 1.45    2.64      0.009   A0m
-    (RaDec(Slalib::Hms2Rad(  6, 45, 0), Slalib::Dms2Rad(-16, 42, 0))),
+    (RaDec(Slalib::Hms2Rad(  6, 45,  0), Slalib::Dms2Rad(-16, 42,  0))),
     // 30438   Canopus          -0.62 -5.53   95.88     0.164   F0Ib
-    (RaDec(Slalib::Hms2Rad(  6, 23, 0), Slalib::Dms2Rad(-52, 41, 0))),
+    (RaDec(Slalib::Hms2Rad(  6, 23,  0), Slalib::Dms2Rad(-52, 41,  0))),
     // 69673   Arcturus         -0.05 -0.31   11.25     1.239   K2IIIp
-    (RaDec(Slalib::Hms2Rad( 14, 15, 0), Slalib::Dms2Rad( 19, 10, 0))),
-    (RaDec(Slalib::Hms2Rad( 01, 37, 6), Slalib::Dms2Rad(-57, 14, 0))),
-    (RaDec(Slalib::Hms2Rad( 12, 26, 6), Slalib::Dms2Rad(-63, 06, 0))),
-    (RaDec(Slalib::Hms2Rad( 13, 25, 2), Slalib::Dms2Rad(-11, 10, 0))),
-    (RaDec(Slalib::Hms2Rad(  5, 14, 0), Slalib::Dms2Rad(- 8, 12, 5))),
-    (RaDec(Slalib::Hms2Rad( 19, 50, 0), Slalib::Dms2Rad(- 8, 52, 6))),
-    (RaDec(Slalib::Hms2Rad( 18, 37, 0), Slalib::Dms2Rad( 38, 47, 0))),
-    (RaDec(Slalib::Hms2Rad(  5, 16, 0), Slalib::Dms2Rad( 46, 00, 0))),
-    (RaDec(Slalib::Hms2Rad(  7, 39, 0), Slalib::Dms2Rad(  5, 14, 0))),
-    (RaDec(Slalib::Hms2Rad(  5, 55, 0), Slalib::Dms2Rad(  7, 24, 0))),
-    (RaDec(Slalib::Hms2Rad( 19, 50, 0), Slalib::Dms2Rad(  8, 52, 0)))
+    (RaDec(Slalib::Hms2Rad( 14, 15,  0), Slalib::Dms2Rad( 19, 10,  0))),
+    //         Vega              0.03
+    (RaDec(Slalib::Hms2Rad( 18, 37,  0), Slalib::Dms2Rad( 38, 47,  0))),
+    //         Altair            0.77
+    (RaDec(Slalib::Hms2Rad( 19, 50,  0), Slalib::Dms2Rad(  8, 52,  6))),
+    //         Antares           0.96
+    (RaDec(Slalib::Hms2Rad( 16, 29, 25), Slalib::Dms2Rad(-26, 25, 55))),
+    //         Spica             0.98
+    (RaDec(Slalib::Hms2Rad( 13, 25, 13), Slalib::Dms2Rad(-11,  9, 41))),
+    //         Deneb             1.25
+    (RaDec(Slalib::Hms2Rad( 20, 41, 26), Slalib::Dms2Rad( 45, 16, 49))),
+    (RaDec(Slalib::Hms2Rad(  1, 37,  6), Slalib::Dms2Rad(-57, 14,  0))),
+    (RaDec(Slalib::Hms2Rad( 12, 26,  6), Slalib::Dms2Rad(-63, 06,  0))),
+    (RaDec(Slalib::Hms2Rad(  5, 14,  0), Slalib::Dms2Rad(- 8, 12,  5))),
+    (RaDec(Slalib::Hms2Rad(  5, 16,  0), Slalib::Dms2Rad( 46, 00,  0))),
+    (RaDec(Slalib::Hms2Rad(  7, 39,  0), Slalib::Dms2Rad(  5, 14,  0))),
+    (RaDec(Slalib::Hms2Rad(  5, 55,  0), Slalib::Dms2Rad(  7, 24,  0)))
 };
 
 void MGSkyPosition::UpdateStars()
 {
-    for (int i=0; i<13; i++)
+    for (int i=0; i<14; i++)
         SetDot(fStars[i], stars[i], 0);
 }
@@ -138 +144 @@
 void MGSkyPosition::InitText()
 {
-    fText = new TText(105, 105, "");
-    //fText->SetFillStyle(4000);  // transparent
-    fText->SetTextAlign(33);  // right, top
-    fText->SetTextColor(10);  // white
-    fText->Draw();
-
-    fList->Add(fText);
+    fText1 = new TText(-105, 105, "");
+    fText2 = new TText(105, 105, "");
+
+    fText1->SetTextAlign(13);  // left, top
+    fText2->SetTextAlign(33);  // right, top
+
+    fText1->SetTextColor(10);  // white
+    fText2->SetTextColor(10);  // white
+
+    fText1->Draw();
+    fText2->Draw();
+
+    fList->Add(fText1);
+    fList->Add(fText2);
 }
 
@@ -339 +352 @@
 
     char txt[100];
-    sprintf(txt, "Zd=%s%d\xb0%02.1f'\nAz=%s%d\xb0%02.1f'",
-            x<0?"-":"", abs(xd), xm, y<0?"-":"", abs(yd), ym);
-
-    fText->SetText(fText->GetX(), fText->GetY(), txt);
+    sprintf(txt, "Zd=%s%d\xb0%02.1f'", x<0?"-":"", abs(xd), xm);
+    fText1->SetText(fText1->GetX(), fText1->GetY(), txt);
+
+    sprintf(txt, "Az=%s%d\xb0%02.1f'", y<0?"-":"", abs(yd), ym);
+    fText2->SetText(fText2->GetX(), fText2->GetY(), txt);
 
     SetModified();
@@ -379 +393 @@
             return false;
 
-        x=-100;
-        y= 100;
+        x= 100;
+        y=-100;
     }
 

trunk/MagicSoft/Cosy/gui/MGSkyPosition.h

@@ -35 +35 @@
     TArc       *fSaturn;
 
-    TArc       *fStars[13];
+    TArc       *fStars[14];
 
     TArc       *fSaturnRing;
@@ -47 +47 @@
     TLine      *fSunL[4];
 
-    TText      *fText;
+    TText      *fText1;
+    TText      *fText2;
 
     SlaStars   *fSlaStar;

trunk/MagicSoft/Cosy/gui/MGVelocity.cc

@@ -24 +24 @@
 void MGVelocity::DrawCoordinateSystem()
 {
-    /*
-    TArc arc;
-    arc.SetFillStyle(4000);  // transparent
-    arc.SetFillColor(39);
-    arc.SetLineColor(3);     // green
-    arc.SetLineStyle(2);     // dashed  (s. TAttLine)
-    arc.DrawArc(0, 0,  20);
-
-    arc.SetLineColor(5);     // yellow
-    arc.DrawArc(0, 0,  40);
-
-    arc.SetLineColor(2);     // red
-    arc.DrawArc(0, 0, 60);
-    */
-    //
-    // FIXME? Use TAxis?
-    //
-/*
-    TLine line;
-    line.SetLineColor(13);
-    line.SetLineStyle(3);  // dotted  (s. TAttLine)
-    line.DrawLine(-30., -65., -30.,  65.);
-    line.DrawLine(-65., -30.,  65., -30.);
-    line.DrawLine( 30., -65.,  30.,  65.);
-    line.DrawLine( -6.,  30.,  65.,  30.);
-
-    line.DrawLine(-15., -65., -15.,  65.);
-    line.DrawLine(-65., -15.,  65., -15.);
-    line.DrawLine( 15., -65.,  15.,  65.);
-    line.DrawLine(-65.,  15.,  65.,  15.);
-
-    line.DrawLine(-45., -65., -45.,  65.);
-    line.DrawLine(-65., -45.,  65., -45.);
-    line.DrawLine( 45., -65.,  45.,  65.);
-    line.DrawLine(-65.,  45.,  65.,  45.);
-
-    line.SetLineColor(12);
-    line.SetLineStyle(2);  // dashed  (s. TAttLine)
-    line.DrawLine(-60., -65., -60.,  65.);
-    line.DrawLine(-65., -60.,  65., -60.);
-    line.DrawLine( 60., -65.,  60.,  65.);
-    line.DrawLine(-65.,  60.,  65.,  60.);
-
-    line.SetLineColor(1);  // black
-    line.SetLineStyle(1);  // solid  (s. TAttLine)
-    line.DrawLine(-65.,   0, 65.,  0);
-    line.DrawLine(  0, -65.,  0, 65.);
-
-    line.DrawLine(-1.,  60., 1.,  60.);
-    line.DrawLine(-1., -60., 1., -60.);
-    line.DrawLine(-1.,  30., 1.,  30.);
-    line.DrawLine(-1., -30., 1., -30.);
-
-    line.DrawLine( 60., -1.,  60., 1.);
-    line.DrawLine(-60., -1., -60., 1.);
-    line.DrawLine( 30., -1.,  30., 1.);
-    line.DrawLine(-30., -1., -30., 1.);
-
-    TText text;
-    text.SetTextAlign(22);  // centered, centered (s.TAttText)
-    text.DrawText(60., 5., "vAz['/min]");
-    text.DrawText(0,  70., "vZd['/min]");
-
-    text.SetTextAlign(23);  // centered, centered (s.TAttText)
-    text.DrawText(-60., -2., "-1'");
-    text.DrawText( 60., -2., "1'");
-    text.DrawText(-30., -2., "-.5'");
-    text.DrawText( 30., -2., ".5'");
-
-    text.SetTextAlign(32);  // centered, centered (s.TAttText)
-    text.DrawText(-2., -60., "-1'");
-    text.DrawText(-2.,  60., "1'");
-    text.DrawText(-2., -30., "-.5'");
-    text.DrawText(-2.,  30., ".5'");
-    */
     TWbox box;
     box.DrawWbox(-145, 145, -35, 120,  18,  2, 1);
@@ -130 +55 @@
 void MGVelocity::InitVelocity()
 {
-    /*
-     fLin1  = new TLine(0, 0, 0, 0);
-    fLin2  = new TLine(0, 0, 0, 0);
-
-    fLin1->SetLineColor(10); // white (s. TAttFill)
-    fLin2->SetLineColor(10); // white
-    fLin1->SetLineStyle(1);  // solid (s. TAttLine)
-    fLin2->SetLineStyle(1); 
-
-    fLin1->Draw();
-    fLin2->Draw();
-
-    fList->Add(fLin1);
-    fList->Add(fLin2);
-    */
     fArrow    = new TArrow(0, 0, 0, 0, 0.01);
     fArrowX   = new TArrow(0, 0, 0, 0, 0.01);
@@ -170 +80 @@
     fText->Draw();
     fList->Add(fText);
-
-    fTextVel = new TText(2*70, 2*70, "");
-    fTextVel->SetTextAlign(33);  // right, top
-    fTextVel->SetTextColor(10);  // white
-    fTextVel->Draw();
-    fList->Add(fTextVel);
 }
 
@@ -255 +159 @@
     fArrowAvg->SetX2(avgx);
     fArrowAvg->SetY2(avgy);
-
-    //    cout << avgx << " " << avgy << endl;
 
     if ((fabs(avgx)>/*40.*/110. || fabs(avgy)>/*40.*/110.))
@@ -274 +176 @@
 }
 
-void MGVelocity::UpdateVelText(Float_t vx, Float_t vy)
-{
-    static int X = ~0;
-    static int Y = ~0;
-
-    vx /= 60.;  //['/min]
-    vy /= 60.;  //['/min]
-
-    int fx = (int)/*floor*/(vx*10.);
-    int fy = (int)/*floor*/(vy*10.);
-
-    if (X==fx && Y==fy)
-        return;
-
-    X = fx;
-    Y = fy;
-
-    char txt[100];
-    sprintf(txt, "Zd=%.1f'\nAz=%.1f'",
-            vy, vx);
-
-    fTextVel->SetText(fTextVel->GetX(), fTextVel->GetY(), txt);
-}
-
 void MGVelocity::Update(ZdAz &zdaz)
 {
@@ -303 +181 @@
     // calculate actual time for planet positions
     //
-    //    static int X = 0xaffe;
-    //    static int Y = 0xaffe;
-
     float vx = zdaz.Az()*3600.; // ["/min]
     float vy = zdaz.Zd()*3600.; // ["/min]
 
-    UpdateVelText(vx, vy);
-
     int pixx = (int)(vx*fScale/fPix);
     int pixy = (int)(vy*fScale/fPix);
@@ -328 +201 @@
         return;
 
-    //    cout << fScale << ": " << pixx << " " << pixy;
-    //    cout << fScale << ": " << (int)rc << (int)((int)fOld->X()==pixx) << (int)((int)fOld->Y()==pixy) << "  ";
-    //    cout << zdaz.Az()*3600. << " " << zdaz.Zd()*3600. << endl;
-
     vx *= fScale;
     vy *= fScale;

trunk/MagicSoft/Cosy/gui/MGVelocity.h

@@ -31 +31 @@
 
     TText *fText;
-    TText *fTextVel;
+//    TText *fTextVel;
 
     XY *fOld;
@@ -44 +44 @@
     void DrawCoordinateSystem();
     void UpdateText();
-    void UpdateVelText(Float_t x, Float_t y);
+    //void UpdateVelText(Float_t x, Float_t y);
 
 public:

trunk/MagicSoft/Cosy/gui/Makefile

@@ -32 +32 @@
 .SUFFIXES: .c .cc .cxx .h .hxx .o 
 
-SRCFILES = MGCoordinate.cc \
+SRCFILES = MGCosy.cc \
+           MGCoordinate.cc \
            MGCoordinates.cc \
-           MGCosy.cc \
            MGImage.cc \
            MGEmbeddedCanvas.cc \
            MGAccuracy.cc \
            MGVelocity.cc \
-           MGStarguider.cc \
            MGSkyPosition.cc \
-           MGMenu.cc
-
+           MGMenu.cc 
+           
 SRCS        = $(SRCFILES)
 HEADERS     = $(SRCFILES:.cc=.h)

trunk/MagicSoft/Cosy/main/MCosy.cc

@@ -18 +18 @@
 
 #include "MGCosy.h"
+#include "MStarguider.h"
 #include "SlaStars.h"
 
@@ -330 +331 @@
 {
     // FIXME, what when waiting times out (Zombie)
+    if (!fMac1 || !fMac2)
+        return;
 
     while ((fMac1->IsPositioning() || fMac2->IsPositioning()) &&
@@ -428 +431 @@
     const ZdAz d = dst*kRad2Deg;
 
-    lout << "Target Position: " << d.Zd() << "deg, " << d.Az() << "deg (Zd/Az)" << endl;
+    Timer t;
+    t.Now();
+    lout << t << " - Target Position: " << d.Zd() << "deg, " << d.Az() << "deg (Zd/Az)" << endl;
 
     if (!CheckRange(d))
@@ -504 +509 @@
         if (!cdzd && !cdaz)
         {
-            lout << "Positioning done in " << i << (i==1?" step.":" steps.") << endl;
+            t.Now();
+            lout << t << " - Positioning done in " << i << (i==1?" step.":" steps.") << endl;
             SetStatus(MCosy::kStopped);
             return TRUE;
@@ -577 +583 @@
         // repositioning (relative)
         //
-        lout << "Do Relative Positioning Done" << endl;
+
+        lout << "Do Relative Positioning..." << endl;
         DoRelPos(rd, cdzd, cdaz);
-
         lout << "Relative Positioning Done" << endl;
     }
@@ -588 +594 @@
         SetStatus(MCosy::kStopped);
 
-    lout << "Warning: Requested position not reached (i=" << i << ")" << endl;
+    t.Now();
+    lout << t << " - Warning: Requested position not reached (i=" << i << ")" << endl;
     return FALSE;
 }
@@ -692 +699 @@
     // is 25% of the |v|
     //
-    const Float_t limit    = 0.25;
+    //const Float_t limit    = 0.25;
 
     //
@@ -721 +728 @@
     }
     */
-
+   /*
     if (sgn(vt->Az()) != sgn(vcalc.Az())
         && fabs(vt->Az()) < limit*fabs(vcalc.Az())
@@ -729 +736 @@
             vt->Az(0);
         }
-    else
+    else*/
         if (fabs(vt->Az()) > maxtrack*vraz)
         {
@@ -735 +742 @@
             vt->Az(maxtrack*vraz*sgn(vcalc.Az()));
         }
-
+/*
     if (sgn(vt->Zd()) != sgn(vcalc.Zd())
         && fabs(vt->Zd()) < limit*fabs(vcalc.Zd())
@@ -744 +751 @@
         }
     else
-        if (fabs(vt->Zd()) > maxtrack*vrzd)
+ */       if (fabs(vt->Zd()) > maxtrack*vrzd)
         {
             lout << "Warning: Altitude speed limit (" << maxtrack*100 << "%) exceeded... limited." << endl;
@@ -880 +887 @@
     XY xy(Rad2Deg(dst.Ra())*24/360, Rad2Deg(dst.Dec()));
 
-    lout << "Start tracking:";
+    sla.Now();
+    lout << sla << " - Start tracking:";
     lout << " Ra: " << xy.X() << "h  " << "Dec: " << xy.Y() << "\xb0" << endl;
-#ifdef EXPERT
+/*#ifdef EXPERT
     ofstream fout("coordinates.txt");
     fout << xy;
     fout.close();
 #endif
-    //
+*/    //
     // Initialize Tracker (slalib or starguider)
     //
@@ -1014 +1022 @@
     }
 
+    sla.Now();
+
     fBackground = kBgdNone;
     StopMovement();
-    lout << "Tracking stopped." << endl;
+
+    lout << sla << " - Tracking stopped." << endl;
 }
 
@@ -1037 +1048 @@
     //
     cout << "Stopping movement (dec=30%)..." << endl;
+    if (fMac1 && fMac2)
+    {
 #ifdef EXPERT
-    fMac1->SetDeceleration(0.5*fMac1->GetVelRes());
-    fMac2->SetDeceleration(0.5*fMac2->GetVelRes());
+        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());
+        fMac1->SetDeceleration(0.3*fMac1->GetVelRes());
+        fMac2->SetDeceleration(0.3*fMac2->GetVelRes());
 #endif
-    fMac1->SetRpmMode(FALSE);
-    fMac2->SetRpmMode(FALSE);
+        fMac1->SetRpmMode(FALSE);
+        fMac2->SetRpmMode(FALSE);
+    }
 
 /*
@@ -1201 +1215 @@
         return (void*)0xaffe;
         */
-#ifdef EXPERT
     case WM_TPOINT:
         {
@@ -1222 +1235 @@
             cout << "     SE-Pos: " << za.Alt() << "° " << za.Az() << "°" << endl;
             *tpout << fmod(za.Az()+360, 360) << " " << za.Alt() << " ";
+
+            if (fStarguider)
+            {
+                XY tp = fStarguider->GetCoordinates();
+                *tpout << 90-tp.X() << " " << tp.Y() << " ";
+            }
+
             *tpout << rd.Ra()/15 << " " << rd.Dec() << " " << setprecision(11) << sla.GetMjd() << endl;
 
@@ -1227 +1247 @@
         }
         return (void*)0xca1b;
-#endif
 
     case WM_TRACKPOS:
@@ -1283 +1302 @@
         cout << "WM_Track: START" << endl;
         {
+            RaDec dest = ((RaDec*)mp)[0];
+            if (fStarguider)
+                fStarguider->SetPointingPosition(((RaDec*)mp)[1]);
             if (!CheckNetwork())
                 return (void*)0xebb0;
-
-            RaDec dest = *((RaDec*)mp);
             TrackPosition(dest*kDeg2Rad);
         }
@@ -1352 +1372 @@
             RaDec rd(xy.X()*15., xy.Y()); // [deg]
 
-            const ZdAz a0 = sla.CalcZdAz(rd*kDeg2Rad);
-
-            ZdAz a1;
-            AlignTrackingPos(a0, a1);
-            a1 *= 180/TMath::Pi();
-
-            const ZdAz a2 = a1*16384/360;
-            const ZdAz se = a0*16384/360;
+            ZdAz a1 = sla.CalcZdAz(rd*kDeg2Rad); // [rad]
+            const ZdAz a0 = a1*kRad2Deg;               // [deg]
 
             cout << "Ra/Dec source: " << xy.X()  << "h " << xy.Y()  << "°" << endl;
             cout << "Zd/Az target:  " << a0.Zd() << "° " << a0.Az() << "°" << endl;
+
+            if (fZd1 && fZd2 && fAz)
+                AlignTrackingPos(a0, a1);
+
+            a1 = fBending(a1)*kRad2Deg;
+
+            const ZdAz a2 = a1*16384/360;
+
             cout << "Zd/Az bended:  " << a1.Zd() << "° " << a1.Az() << "°" << endl;
-            cout << "SE target:     " << se.Zd() << "  " << se.Az() << endl;
             cout << "SE bended:     " << a2.Zd() << "  " << a2.Az() << endl;
         }
@@ -1781 +1802 @@
 }
 
+ZdAz MCosy::GetPointingPos() const
+{
+    // GetPointingPos [deg]
+    const ZdAz seist = GetSePos()*2*TMath::Pi()/16384; // [se]
+    return fBending.CorrectBack(seist)*180/TMath::Pi();
+}
+
 Bool_t MCosy::HandleTimer(TTimer *t)
 {
@@ -1793 +1821 @@
         fAz->DisplayVal();
 
-    ZdAz seist = GetSePos()*2*TMath::Pi()/16384; // [se]
-    ZdAz bendist = fBending.CorrectBack(seist);
+    ZdAz bendist = GetPointingPos();
 
     Byte_t avail = 0;
@@ -1810 +1837 @@
     lout.UpdateGui();
 
-    fWin->Update(bendist*(360.0/2/TMath::Pi()), fTrackingError,
-                 fVelocity, fOffset, fRaDec, fZdAzSoll, fStatus, avail);
+    fWin->Update(bendist, fTrackingError, fVelocity, /*fOffset,*/
+                 fRaDec, fZdAzSoll, fStatus, avail);
 
     const Bool_t trigger = fTriggerDisplay;
@@ -2076 +2103 @@
 
 MCosy::MCosy(int mode, const char *dev, const int baud, MLog &out)
-: Network(dev, baud, out), fObservatory(MObservatory::kMagic1), fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), fMac3(0), fBackground(kBgdNone)
+: Network(dev, baud, out), fObservatory(MObservatory::kMagic1), fStarguider(NULL), fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), fMac3(0), fBackground(kBgdNone), fStatus(kStopped)
 {
     TEnv env(".cosyrc");
@@ -2109 +2136 @@
     fZd2->SetDisplay(fWin->GetLabel3());
     fAz->SetDisplay(fWin->GetLabel1());
-#ifdef EXPERT
+
     int i=0;
     char name[100];
@@ -2130 +2157 @@
     *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)
 }
@@ -2156 +2182 @@
 MCosy::~MCosy()
 {
-#ifdef EXPERT
     *tpout << "END" << endl;
+    //streampos size = tpout.tellp();
     delete tpout;
-#endif
 
     cout << "Deleting GUI timer." << endl;

trunk/MagicSoft/Cosy/main/MCosy.h

@@ -36 +36 @@
 class MCosy;
 class TH1;
+class MStarguider;
 
 class MTTalk : public MThread
@@ -71 +72 @@
     const MObservatory::LocationName_t fObservatory;
 
+    MStarguider *fStarguider;
+
     ShaftEncoder *fZd1;
     ShaftEncoder *fZd2;
@@ -187 +190 @@
     Bool_t HandleTimer(TTimer *t);
 
+    ZdAz GetPointingPos(void) const;
+    void SetStarguider(MStarguider *s) { fStarguider = s; }
+  
     // static ZdAz CorrectTarget(const ZdAz &src, const ZdAz &dst);
     //    static ZdAz RaDec2ZdAz(const double mjd, const RaDec &pos, const RaDec &pm=RaDec(0,0));

trunk/MagicSoft/Cosy/main/MainLinkDef.h

@@ -6 +6 @@
 
 #pragma link C++ class MCosy;
+#pragma link C++ class MStarguider+;
 
 #pragma link C++ class MBending;

trunk/MagicSoft/Cosy/main/Makefile

@@ -21 +21 @@
 
 INCLUDES = -I. -I../base -I.. -I../gui -I../catalog -I../devdrv \
-           -I../candrv -I../incl -I../videodev
+           -I../candrv -I../incl -I../videodev -I../caos
 
 # @code 
@@ -32 +32 @@
 .SUFFIXES: .c .cc .cxx .h .hxx .o 
 
-SRCFILES = MCosy.cc \
-           MBending.cc
+SRCFILES = MBending.cc \
+           MStarguider.cc \
+           MCaos.cc \
+           MCosy.cc
 
 SRCS        = $(SRCFILES)

trunk/MagicSoft/Cosy/starg.cc

@@ -6 +6 @@
 #include "Camera.h"
 #include "PngReader.h"
-#include "MGStarguider.h"
+#include "MStarguider.h"
 
 /* ---------------------------------------------------------------------- */
@@ -27 +27 @@
     }
 
-    PixClient *client=new MGStarguider(MObservatory::kMagic1);
+    PixClient *client=new MStarguider(MObservatory::kMagic1);
+    PixGetter *get;
 
     if (dummy)
     {
         cout << " --> Starting in dummy-mode. <--" << endl;
-        PngReader *read=new PngReader(*client);
-        app->Run(kTRUE);
-        read->ExitLoop();
-        delete read;
-        //        delete client;
+        get=new PngReader(*client);
     }
     else
     {
         cout << " --> Starting in real-mode. <--" << endl;
-        //PixClient *client=new MGStarguider(MObservatory::kMagic1);
-        Camera *cam = new Camera(*client);
-        cam->Loop(0);
-        app->Run(kTRUE);
-        cam->ExitLoop();
-        delete cam;
-        //        delete client;
+        get = new Camera(*client);
+        ((Camera*)get)->Loop(0);
     }
 
+    app->Run(kTRUE);
+    get->ExitLoop();
+
+    delete get;
     delete client;
-
 
     cout << "Application end...." << endl;

trunk/MagicSoft/Cosy/tpoint/tpointfit.C

@@ -105 +105 @@
     fin >> v[3];
 
+    Double_t dummy;
+    fin>>dummy;
+    fin>>dummy;
+    fin>>dummy;
+
     set.fStarAz = v[0]*TMath::Pi()/180;
     set.fStarEl = v[1]*TMath::Pi()/180;
@@ -311 +316 @@
     gzd.SetTitle(" \\Delta Zd vs. Zd ");
 
-    ifstream fin("/home/tbretz/pc4/results/tpoint3.txt");
+    ifstream fin("tpoint.txt");
 
     while (fin && fin.get()!='\n');

trunk/MagicSoft/Cosy/videodev/Camera.cc

@@ -47 +47 @@
 void Camera::SigInit()
 {
+    return;
     struct sigaction act, old;
 
@@ -215 +216 @@
     while (img < end)
     {
-        *beg = *img;
-
+        *beg++ = *img;
         img += depth;
-        beg++;
     }
 }

trunk/MagicSoft/Cosy/videodev/Camera.h

@@ -14 +14 @@
 #endif
 
+#include "PixGetter.h"
 #include "PixClient.h"
 
-class Camera
+class Camera : public PixGetter
 {
 private:

trunk/MagicSoft/Cosy/videodev/CaosFilter.cc

@@ -28 +28 @@
 }
 
-float CaosFilter::Mean(const byte *buffer, const int offset, int *min, int *max)
-{
-    double mean = 0.0;
-
-    *min = 0xff;
-    *max = 0x00;
+void CaosFilter::GetStat(const byte *buffer, const int offset, double *mean, double *sdev)
+{
+    double sum = 0;
+    double sq  = 0;
+
+    byte *s  = (byte*)buffer;
+    const byte *e0 = s+768*576;
 
     //
     // calculate mean value
     //
-    for (int x=offset; x<768-offset; x++)
-        for (int y=offset; y<576-offset; y++)
-        {
-            byte val = buffer[y*768+x];
-
-            mean += val;
-
-            if (val>*max)
-                *max = val;
-
-            if (val<*min)
-                *min = val;
-        }
-
-    mean /= (768-2*offset)*(576-2*offset);
-
-    return mean;
+    while (s<e0)
+    {
+        const byte *e = s+576-offset;
+        s += offset;
+
+        while (s<e)
+        {
+            sum += *s;
+            sq  += *s * *s;
+            s++;
+        }
+
+        s+=offset;
+    }
+
+    const Int_t sz = (768-2*offset)*(576-2*offset);
+
+    sum /= sz;
+    sq  /= sz;
+
+    *mean = sum;
+    *sdev = sqrt(sq-sum*sum);
 }
 
@@ -80 +86 @@
     return (int)my*768 + (int)mx;
 }
-
-float CaosFilter::SDev(const byte *buffer, const int offset, const double mean)
-{
-    //
-    // calculate sigma
-    //
-    double sdev=0.0;
-
-    for (int x=offset; x<768-offset; x++)
-        for (int y=offset; y<576-offset; y++)
-        {
-            const float val = mean - buffer[y*768+x];
-
-            sdev += val*val;
-        }
-
-    sdev /= (768-2*offset)*(576-2*offset)-1;
-
-    return sqrt(sdev);
-}
-
 
 int CaosFilter::GetMeanPosition(const byte *bitmap, const int x, const int y,
@@ -389 +374 @@
     const int offset = 10;
 
-    int max;
-    int min;
-
-    const float mean = Mean(img, offset, &min, &max);
-    const float sdev = SDev(img, offset, mean);
-
-    const float cut = mean + 2.5*sdev;
+    double mean, sdev;
+    GetStat(img, offset, &mean, &sdev);
+
+    const byte max = mean+2.5*sdev>254 ? 254 : (byte)(mean+2.5*sdev);
 
     //
     // clean image from noise
     //
-    for (int x=0; x<768; x++)
-        for (int y=0; y<576; y++)
-        {
-            if (img[y*768+x]>cut)
-                continue;
-
-            //
-            // FIXME: Create LOOKUP Table!
-            //
-
-            img[y*768+x] = 0;
-        }
+    const byte *e = img+768*576;
+    byte *i = img;
+    while (i<e)
+    {
+        if (*i<=max)
+            *i = 0;
+        i++;
+    }
 
     //
@@ -511 +489 @@
     const int offset = 10;
 
-    int max;
-    int min;
-
-    const float mean = Mean(img, offset, &min, &max);
-    const float sdev = SDev(img, offset, mean);
-
-    const float cut = mean + 2.5*sdev;
+    double mean, sdev;
+    GetStat(img, offset, &mean, &sdev);
+
+    const byte cut = mean+2.5*sdev>254 ? 254 : (byte)(mean + 2.5*sdev);
 
     //
     // clean image from noise
     //
-    for (int x=0; x<768; x++)
-        for (int y=0; y<576; y++)
-        {
-            if (img[y*768+x]>cut)
-                continue;
-
-            //
-            // FIXME: Create LOOKUP Table!
-            //
-
-            img[y*768+x] = 0;
-        }
+    const byte *e = img+768*576;
+    byte *i = img;
+    while (i<e)
+    {
+        if (*i<=cut)
+            *i = 0;
+        i++;
+    }
 
     //

trunk/MagicSoft/Cosy/videodev/CaosFilter.h

@@ -19 +19 @@
                            byte *buffer, const int col);
 
-    static float Mean(const byte *buffer, const int offset,
-                      int *min, int *max);
-
-    static float SDev(const byte *buffer, const int offset,
-                      const double mean);
+    static void  GetStat(const byte *buffer, const int offset,
+                         double *mean, double *sdev);
 
     static int   GetMeanPosition(const byte *bitmap,

trunk/MagicSoft/Cosy/videodev/Filter.cc

@@ -24 +24 @@
 }
 
-float Filter::Mean(const byte *buffer, const int offset, int *min, int *max)
+float Filter::Mean(const byte *buffer, const int offset)
 {
     double mean = 0.0;
 
-    *min = 0xff;
-    *max = 0x00;
+    byte *s  = (byte*)buffer;
+    const byte *e0 = s+768*576;
 
     //
     // calculate mean value
     //
-    for (int x=offset; x<768-offset; x++)
-        for (int y=offset; y<576-offset; y++)
-        {
-            byte val = buffer[y*768+x];
+    while (s<e0)
+    {
+        const byte *e = s+576-offset;
+        s += offset;
 
-            mean += val;
+        while (s<e)
+            mean += *s++;
 
-            if (val>*max)
-                *max = val;
+        s+=offset;
+    }
 
-            if (val<*min)
-                *min = val;
-        }
+    return mean / ((768-2*offset)*(576-2*offset));
+}
 
-    mean /= (768-2*offset)*(576-2*offset);
-
-    return mean;
-}
 
 float Filter::SDev(const byte *buffer, const int offset, const double mean)
@@ -101 +97 @@
     const int offset = 10;
 
-    int max;
-    int min;
-
-    const float mean = Mean(img, offset, &min, &max);
+    const float mean = Mean(img, offset);
     const float sdev = SDev(img, offset, mean);
 
-    const float cut = mean + 2.5*sdev;
+    const byte cut = mean+2.5*sdev>254 ? 254 : (byte)(mean + 2.5*sdev);
 
     //
     // clean image from noise
     //
-    for (int x=0; x<768; x++)
-        for (int y=0; y<576; y++)
-        {
-            if (img[y*768+x]>cut)
-                continue;
-
-            //
-            // FIXME: Create LOOKUP Table!
-            //
-
-            img[y*768+x] = 0;
-        }
+    const byte *e = img+768*576;
+    byte *i = img;
+    while (i<e)
+    {
+        if (*i<=cut)
+            *i = 0;
+        i++;
+    }
 
     //
@@ -203 +192 @@
 }
 
-void Filter::Stretch(byte *img)
-{
-    const int offset = 25;
-
-    int max;
-    int min;
-
-    /*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++)
-        {
-            byte &b = img[y*768+x];
-
-            if (b<min)
-            {
-                b=0;
-                continue;
-            }
-            if (b>max)
-            {
-                b=max;
-                continue;
-            }
-            b -= min;
-            b *= 255/diff;
-        }
-}

trunk/MagicSoft/Cosy/videodev/Filter.h

@@ -17 +17 @@
                            byte *buffer, const int col);
 
-    static float Mean(const byte *buffer, const int offset,
-                      int *min, int *max);
+    static float Mean(const byte *buffer, const int offset);
 
     static float SDev(const byte *buffer, const int offset,
@@ -29 +28 @@
 public:
     static void Execute(byte *img);
-    static void Stretch(byte *img);
 
     ClassDef(Filter, 0)

trunk/MagicSoft/Cosy/videodev/Makefile

@@ -34 +34 @@
            PngReader.cc \
            PixClient.cc \
-           Filter.cc \
-           Filter2.cc \
-           CaosFilter.cc \
+           PixGetter.cc \
+           FilterLed.cc \
            Writer.cc 
 

trunk/MagicSoft/Cosy/videodev/PngReader.h

@@ -14 +14 @@
 #endif
 
+#include "PixGetter.h"
+
 class PixClient;
 
 typedef unsigned char byte;
 
-class PngReader
+class PngReader : public PixGetter
 {
 private:

trunk/MagicSoft/Cosy/videodev/VideodevLinkDef.h

@@ -6 +6 @@
 
 #pragma link C++ class Writer+;
-#pragma link C++ class Filter+;
-#pragma link C++ class Filter2+;
-#pragma link C++ class CaosFilter+;
+//#pragma link C++ class Filter+;
+//#pragma link C++ class Filter2+;
+#pragma link C++ class FilterLed+;
+//#pragma link C++ class CaosFilter+;
 
 #pragma link C++ class Camera+;