Changeset 2278 for trunk/MagicSoft/Cosy/main

Timestamp:

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

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/main

Files:

• MCaos.cc (added)
• MCaos.h (added)
• MCosy.cc (modified) (26 diffs)
• MCosy.h (modified) (3 diffs)
• MStarguider.cc (added)
• MStarguider.h (added)
• MainLinkDef.h (modified) (1 diff)
• Makefile (modified) (2 diffs)

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)