Index: trunk/MagicSoft/Cosy/.cosyrc_magic =================================================================== --- trunk/MagicSoft/Cosy/.cosyrc_magic (revision 4075) +++ trunk/MagicSoft/Cosy/.cosyrc_magic (revision 4076) @@ -1,18 +1,34 @@ +# +# .cosyrc +# +# Default values are commented out +# +# Number of motor revolution necessary to turn the +# telescope 360deg. (Remark: Here we do not talk about +# revolutions of the 'real' motor, but about revolutions +# 'seen' by the Macs) 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 +# CANbus Id of the three MACS. -1 means not connected. +# MAC1 is Azimuth-1 +# MAC2 is Azimuth-2 +# MAC is Zenith Angle Az_Id-MAC1: 1 Az_Id-MAC2: -1 Zd_Id-MAC: 3 +# CANbus Id of the three Shaftencoders. +# SE1 is Zenith Angle-1 +# SE2 is Zenith Angle-2 +# SE is Azimuth Az_Id-SE: 16 Zd_Id-SE1: 17 Zd_Id-SE2: 18 - - +# Software endswitch +#Az_Min[deg]: -95.0 +#Zd_Min[deg]: -75.0 +#Az_Max[deg]: 305.0 +#Zd_Max[deg]: 98.25 Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 4075) +++ trunk/MagicSoft/Cosy/Changelog (revision 4076) @@ -1,3 +1,127 @@ -*-*- END -*-*- + 2004/05/15 - Thomas Bretz (La Palma) + + * .cosyrc_magic: + - updated with some comments + + * Makefile: + - added many more links necessary for current make + (should be replaced by libmars.so in the future) + + * Makefile.conf.general: + - added GX11 and HistPainter + + * cosy.cc, starg.cc: + - Moved initialization of Camera to MStarguider + - added command line option to choose ccd channel + + * leds.txt: + - replaced with new LED positions (OFFSETS MISSING) + + * stars.txt: + - added many more stars + + * base/coord.h: + - added operator/=(XY&) + + * base/msgqueue.cc, candrv/sdolist.cc: + - added more output in case mutex is already locked by the same thread + + * candrv/vmodican.cc: + - some changes to output + + * catalog/SlaStars.cc: + - changed some comments + + * catalog/StarCatalog.[h,cc]: + - replaced old algorithms by MAstroCatalog and new simplifications + to calculate star-positions accuratly by combining slalib with + MAstroCatalog + + * devdrv/macs.h: + - added GetPosTime + + * devdrv/shaftencoder.[h,cc]: + - added output to report file + + * gui/MGAccuracy.[h,cc]: + - added time development curve (blue) + + * gui/MGEmbeddedCanvas.h, gui/MGSkyPosition.h, + gui/MGVelocity.h: + - changed ifndef define + + * gui/MGImage.[h,cc]: + - enhancements in speed + - enhancements in mutex locking mechanism + + * gui/MGPngReader.cc, gui/MGTPoint.cc: + - changed meaning of PixSize + + * gui/MGVelocity.cc: + - fixed units + + * main/MCaos.[h,cc]: + - changed ring radius from 266/272 to 266,268 + - moved drawing circles to MStarguider + + * main/MCosy.[h,cc]: + - moved big parts of the code to MPointing and MTracking + - removed old conversion constants (Se to RE, etc) and + replaced by more meaningful ones + - prepare displaying starguider image + - added GetFileName to globally prepare correct file names + + * main/MPointing.cc: + - fixed missing SetDecelaration + - changed to new unit conversion constants + - Use SendStatus instead of Send + + * main/MStarguider.cc: + - added update and support of cosy-image display + - added channel swicthing for the frame grabber + - added algorithm to find star position FindStar + - commented out starguider algorithms + - draw support lines and grid stuff + + * main/MTracking.[h,cc]: + - changed to new unit conversion constants + - added output of RE stuff to report file + - some simplification to tracking thread + + * base/MString.[h,cc]: + - added as a thread safe replacement for Form() + + * tcpip/MCeCoCom.[h,cc]: + - changed support for Weather information + + * tcpip/MDriveCom.[h,cc]: + - changed output + - added SendStatus + + * tcpip/MTcpIpIO.cc: + - changed output + - output reports to report file + + * tpoint/gui.C: + - read new starg_* files + + * videodev/Camera.[h,cc]: + - some enhancements to ioctl call + - some changes to output + - changes a bit the bahaviour of mutices + - replaced fRunning by mutex + - changes to ExitLoop and IsRunning + - added support for several frame grabber channels + + * videodev/FilterLed.[h,cc] + - added new algorithms to find star + - small updates to star finding support + + * videodev/PixGetter.h: + - added a virtual empty destructor (IMPORTANT) + + + 2003/12/29 - Thomas Bretz Index: trunk/MagicSoft/Cosy/Makefile =================================================================== --- trunk/MagicSoft/Cosy/Makefile (revision 4075) +++ trunk/MagicSoft/Cosy/Makefile (revision 4076) @@ -127,18 +127,50 @@ links: @ln -sf ../../Mars/mbase/MAGIC.h base/MAGIC.h - @ln -sf ../../Mars/mbase/MLog.h base/MLog.h + @ln -sf ../../Mars/mbase/MLog.h base/MLog.h @ln -sf ../../Mars/mbase/MLog.cc base/MLog.cc - @ln -sf ../../Mars/mbase/MLogManip.h base/MLogManip.h + @ln -sf ../../Mars/mbase/MLogPlugin.h base/MLogPlugin.h + @ln -sf ../../Mars/mbase/MLogPlugin.cc base/MLogPlugin.cc + @ln -sf ../../Mars/mbase/MLogManip.h base/MLogManip.h @ln -sf ../../Mars/mbase/MLogManip.cc base/MLogManip.cc - @ln -sf ../../Mars/mbase/MAstro.h base/MAstro.h - @ln -sf ../../Mars/mbase/MAstro.cc base/MAstro.cc - @ln -sf ../../Mars/mbase/MGList.h base/MGList.h + @ln -sf ../../Mars/mbase/MGList.h base/MGList.h @ln -sf ../../Mars/mbase/MGList.cc base/MGList.cc - @ln -sf ../../Mars/mbase/MTime.h base/MTime.h + @ln -sf ../../Mars/mbase/MTime.h base/MTime.h @ln -sf ../../Mars/mbase/MTime.cc base/MTime.cc - @ln -sf ../../Mars/mbase/MParContainer.h base/MParContainer.h + @ln -sf ../../Mars/mbase/MParContainer.h base/MParContainer.h @ln -sf ../../Mars/mbase/MParContainer.cc base/MParContainer.cc - @ln -sf ../../Mars/mtemp/MObservatory.h base/MObservatory.h - @ln -sf ../../Mars/mtemp/MObservatory.cc base/MObservatory.cc + @ln -sf ../../Mars/mbase/MString.h base/MString.h + @ln -sf ../../Mars/mbase/MString.cc base/MString.cc + @ln -sf ../../Mars/mbase/MGMap.h base/MGMap.h + @ln -sf ../../Mars/mbase/MGMap.cc base/MGMap.cc + @ln -sf ../../Mars/mgeom/MGeomMirror.h base/MGeomMirror.h + @ln -sf ../../Mars/mgeom/MGeomMirror.cc base/MGeomMirror.cc + @ln -sf ../../Mars/mgeom/MGeomCam.h base/MGeomCam.h + @ln -sf ../../Mars/mgeom/MGeomCam.cc base/MGeomCam.cc + @ln -sf ../../Mars/mgeom/MGeomPix.h base/MGeomPix.h + @ln -sf ../../Mars/mgeom/MGeomPix.cc base/MGeomPix.cc + @ln -sf ../../Mars/mgeom/MGeomCamMagic.h base/MGeomCamMagic.h + @ln -sf ../../Mars/mgeom/MGeomCamMagic.cc base/MGeomCamMagic.cc + @ln -sf ../../Mars/mastro/MAstro.h base/MAstro.h + @ln -sf ../../Mars/mastro/MAstro.cc base/MAstro.cc + @ln -sf ../../Mars/mastro/MAstroCatalog.h base/MAstroCatalog.h + @ln -sf ../../Mars/mastro/MAstroCatalog.cc base/MAstroCatalog.cc + @ln -sf ../../Mars/mastro/MAstroCamera.h base/MAstroCamera.h + @ln -sf ../../Mars/mastro/MAstroCamera.cc base/MAstroCamera.cc + @ln -sf ../../Mars/mastro/MAstroSky2Local.h base/MAstroSky2Local.h + @ln -sf ../../Mars/mastro/MAstroSky2Local.cc base/MAstroSky2Local.cc + @ln -sf ../../Mars/mastro/MObservatory.h base/MObservatory.h + @ln -sf ../../Mars/mastro/MObservatory.cc base/MObservatory.cc + @ln -sf ../../Mars/mhist/MHCamera.h base/MHCamera.h + @ln -sf ../../Mars/mhist/MHCamera.cc base/MHCamera.cc + @ln -sf ../../Mars/mhbase/MH.h base/MH.h + @ln -sf ../../Mars/mhbase/MH.cc base/MH.cc + @ln -sf ../../Mars/mhbase/MBinning.h base/MBinning.h + @ln -sf ../../Mars/mhbase/MBinning.cc base/MBinning.cc + @ln -sf ../../Mars/mbase/MParList.h base/MParList.h + @ln -sf ../../Mars/mbase/MParList.cc base/MParList.cc + @ln -sf ../../Mars/mgui/MHexagon.h base/MHexagon.h + @ln -sf ../../Mars/mgui/MHexagon.cc base/MHexagon.cc + @ln -sf ../../Mars/mgui/MCamEvent.h base/MCamEvent.h + @ln -sf ../../Mars/mgui/MCamEvent.cc base/MCamEvent.cc magic: Index: trunk/MagicSoft/Cosy/Makefile.conf.general =================================================================== --- trunk/MagicSoft/Cosy/Makefile.conf.general (revision 4075) +++ trunk/MagicSoft/Cosy/Makefile.conf.general (revision 4076) @@ -4,6 +4,6 @@ ROOTVER = `root-config --version` -ROOTLIBS = `root-config --libs` -lThread -ROOTGLIBS = `root-config --glibs` -lThread +ROOTLIBS = `root-config --libs` -lThread -lGX11 -lHistPainter +ROOTGLIBS = `root-config --glibs` -lThread -lGX11 -lHistPainter ROOTCFLAGS = `root-config --cflags` Index: trunk/MagicSoft/Cosy/base/MString.cc =================================================================== --- trunk/MagicSoft/Cosy/base/MString.cc (revision 4076) +++ trunk/MagicSoft/Cosy/base/MString.cc (revision 4076) @@ -0,0 +1,4 @@ +#include "MString.h" + +ClassImp(MString); + Index: trunk/MagicSoft/Cosy/base/MString.h =================================================================== --- trunk/MagicSoft/Cosy/base/MString.h (revision 4076) +++ trunk/MagicSoft/Cosy/base/MString.h (revision 4076) @@ -0,0 +1,45 @@ +#ifndef MARS_MString +#define MARS_MString + +#ifndef ROOT_TString +#include +#endif + +#include +#include + +class MString : public TString +{ +public: + MString &Print(const char *fmt, ...) + { + va_list ap; + va_start(ap, fmt); + + Int_t n=256; + + char *ret=0; + + while (1) + { + ret = new char[n+1]; + Int_t sz = vsnprintf(ret, n, fmt, ap); + if (sz<=n) + break; + + n *= 2; + delete [] ret; + }; + + va_end(ap); + + *static_cast(this) = ret; + + delete [] ret; + + return *this; + } + ClassDef(MString, 1) +}; + +#endif Index: trunk/MagicSoft/Cosy/base/coord.h =================================================================== --- trunk/MagicSoft/Cosy/base/coord.h (revision 4075) +++ trunk/MagicSoft/Cosy/base/coord.h (revision 4076) @@ -90,4 +90,5 @@ void Az(double d) { fY=d; } void operator*=(const XY &c) { fX*=c.X(); fY*=c.Y(); } + void operator/=(const XY &c) { fX/=c.X(); fY/=c.Y(); } void operator-=(const AltAz &c) { fX-=c.fX; fY-=c.fY; } void operator+=(const AltAz &c) { fX+=c.fX; fY+=c.fY; } @@ -117,4 +118,5 @@ void Az(double d) { fY=d; } void operator*=(const XY &c) { fX*=c.X(); fY*=c.Y(); } + void operator/=(const XY &c) { fX/=c.X(); fY/=c.Y(); } void operator-=(const ZdAz &c) { fX-=c.fX; fY-=c.fY; } void operator+=(const ZdAz &c) { fX+=c.fX; fY+=c.fY; } Index: trunk/MagicSoft/Cosy/base/msgqueue.cc =================================================================== --- trunk/MagicSoft/Cosy/base/msgqueue.cc (revision 4075) +++ trunk/MagicSoft/Cosy/base/msgqueue.cc (revision 4076) @@ -89,7 +89,9 @@ // a PostMsg is processed correctly // - fMuxMsg.Lock(); + if (fMuxMsg.Lock()==13) + cout << "MsgQueue::Thread - mutex is already locked by this thread." << endl; fBreak = 0; - fMuxMsg.UnLock(); + if (fMuxMsg.UnLock()==13) + cout << "MsgQueue::Thread - tried to unlock mutex locked by other thread." << endl; #ifdef DEBUG @@ -130,5 +132,6 @@ cout << "MsgQueue::PostMsg: Locking MsgQueue mutex..." << flush; #endif - fMuxMsg.Lock(); + if (fMuxMsg.Lock()==13) + cout << "MsgQueue::PostMsg - mutex is already locked by this thread." << endl; #ifdef DEBUG cout << "done." << endl; @@ -145,5 +148,6 @@ if (fBreak) { - fMuxMsg.UnLock(); + if (fMuxMsg.UnLock()==13) + cout << "MsgQueue::PostMsg - tried to unlock mutex locked by other thread." << endl; #ifdef DEBUG cout << "------------> MsgQueue::PostMsg: Proc still pending... Message IGNORED." << endl; @@ -176,5 +180,6 @@ #endif fStart = 1; - fMuxMsg.UnLock(); + if (fMuxMsg.UnLock()==13) + cout << "MsgQueue::PostMsg - tried to unlock mutex locked by other thread." << endl; #ifdef DEBUG cout << "done." << endl; Index: trunk/MagicSoft/Cosy/candrv/sdolist.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/sdolist.cc (revision 4075) +++ trunk/MagicSoft/Cosy/candrv/sdolist.cc (revision 4076) @@ -20,5 +20,6 @@ void PendingSDOList::DelAll() { - fMux.Lock(); + if (fMux.Lock()==13) + cout << "PendingSDOList::DelAll - mutex is already locked by this thread" << endl; PendingSDO *prev = fFirst; @@ -35,5 +36,6 @@ fLast = fFirst; - fMux.UnLock(); + if (fMux.UnLock()==13) + cout << "PendingSDOList::DelAll - tried to unlock mutex locked by other thread." << endl; } @@ -42,5 +44,6 @@ PendingSDO *sdo = fFirst; - fMux.Lock(); + if (fMux.Lock()==13) + cout << "PendingSDOList::Add - mutex is already locked by this thread" << endl; while ((sdo=sdo->Next)) if (sdo->Node==node && sdo->Idx==idx && sdo->Subidx==subidx) @@ -54,5 +57,6 @@ fLast->Next = new PendingSDO(node, idx, subidx); fLast = fLast->Next; - fMux.UnLock(); + if (fMux.UnLock()==13) + cout << "PendingSDOList::Add - tried to unlock mutex locked by other thread." << endl; } @@ -62,5 +66,6 @@ PendingSDO *sdo; - fMux.Lock(); + if (fMux.Lock()==13) + cout << "PendingSDOList::Del - mutex is already locked by this thread" << endl; while ((sdo=prev->Next)) { @@ -80,5 +85,6 @@ break; } - fMux.UnLock(); + if (fMux.UnLock()==13) + cout << "PendingSDOList::Del - tried to unlock mutex locked by other thread." << endl; } @@ -93,5 +99,6 @@ PendingSDO *sdo = fFirst; - fMux.Lock(); + if (fMux.Lock()==13) + cout << "PendingSDOList::IsPending(byte) - mutex is already locked by this thread" << endl; while ((sdo=sdo->Next)) if (sdo->Node==node) @@ -100,5 +107,6 @@ break; } - fMux.UnLock(); + if (fMux.UnLock()==13) + cout << "PendingSDOList::IsPending(byte) - tried to unlock mutex locked by other thread." << endl; return rc; @@ -110,5 +118,6 @@ PendingSDO *sdo = fFirst; - fMux.Lock(); + if (fMux.Lock()==13) + cout << "PendingSDOList::IsPending - mutex is already locked by this thread" << endl; while ((sdo=sdo->Next)) if (sdo->Node==node && sdo->Idx==idx && sdo->Subidx==subidx) @@ -117,5 +126,6 @@ break; } - fMux.UnLock(); + if (fMux.UnLock()==13) + cout << "PendingSDOList::IsPending - tried to unlock mutex locked by other thread." << endl; return rc; Index: trunk/MagicSoft/Cosy/candrv/vmodican.cc =================================================================== --- trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 4075) +++ trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 4076) @@ -116,12 +116,10 @@ unsigned char c; const int n = read(fd, &c, 1); - if (n<0) { cerr << "Vmodican: read(" << dec << (int)fd << "," << (void*)&c; - cerr << ",1) returned c=" << (int)c << " '" << strerror(errno); - cerr << "' (errno = " << errno << ")" << endl; + cerr << ",1) returned rc=" << n << " c=" << (int)c << " '"; + cerr << strerror(errno) << "' (errno = " << errno << ")" << endl; continue; - //return (void *)1; } @@ -936,5 +934,5 @@ // and switch the can bus communication on // -VmodIcan::VmodIcan(const char *dev, const int baud, MLog &out) : Log(out), MThread(false, -10)//: CanDriver(dev, baud) +VmodIcan::VmodIcan(const char *dev, const int baud, MLog &out) : Log(out), MThread(false, 10)//: CanDriver(dev, baud) { // Index: trunk/MagicSoft/Cosy/catalog/SlaStars.cc =================================================================== --- trunk/MagicSoft/Cosy/catalog/SlaStars.cc (revision 4075) +++ trunk/MagicSoft/Cosy/catalog/SlaStars.cc (revision 4076) @@ -159,6 +159,6 @@ double az; slaAopqk (r, d, (double*)fAoprms, - &az, // observed azimuth (radians: N=0,E=90) - &zd, // observed zenith distance (radians) [-pi/2, pi/2] + &az, // observed azimuth (radians: N=0,E=90) [-pi, pi] + &zd, // observed zenith distance (radians) [-pi/2, pi/2] &h0, // observed hour angle (radians) &d1, // observed declination (radians) @@ -175,4 +175,6 @@ ZdAz SlaStars::GetApproxVel(const RaDec &radec) const // [rad/rad] { + // radec [rad] + // GetApproxVel [rad/rad] double az, vaz, aaz; double el, vel, ael; Index: trunk/MagicSoft/Cosy/catalog/StarCatalog.cc =================================================================== --- trunk/MagicSoft/Cosy/catalog/StarCatalog.cc (revision 4075) +++ trunk/MagicSoft/Cosy/catalog/StarCatalog.cc (revision 4076) @@ -5,4 +5,5 @@ #include +#include #include "slalib.h" @@ -11,56 +12,25 @@ #include "MStarList.h" +#include "MAstroCatalog.h" ClassImp(StarCatalog); -StarCatalog::StarCatalog(MObservatory::LocationName_t key) : SlaStars(key), fSao(NULL), fSrt(NULL), fEntries(0), fSinAngle(0), fCosAngle(1) -{ - // p = pointer to MainFrame (not owner) - - // - // read index file - // - File idx("sao/sao-sort.idx", "r"); - if (!idx) - return; - - while (!idx.Eof()) - { - idx.Newline(); - fEntries++; - } - - idx.Reset(); - - fSrt = new sort_t[fEntries]; - - for (int i=0; iSetObservatory(*this); + fAstro->SetPlainScreen(); } StarCatalog::~StarCatalog() { - if (fSrt) - delete fSrt; - if (fSao) - delete fSao; + delete fAstro; } void StarCatalog::SetPixSize(const double pixsize) { - fPixSize = D2PI/360.0 * pixsize; - - fWidth = fPixSize * 768/2; - fHeight = fPixSize * 576/2; + // pixsize [arcsec/pixel] + fPixSize = D2PI/360.0*pixsize/3600; // [rad / (deg*pixel)] + fAstro->SetRadiusFOV(pixsize, 768, 576); } @@ -70,328 +40,47 @@ } +void StarCatalog::SetLimitMag(const float mag) +{ + fLimitMag = mag; + fAstro->SetLimMag(mag); +} + +void StarCatalog::SetMjd(double mjd) +{ + SlaStars::SetMjd(mjd); + fAstro->SetTime(MTime(mjd)); +} void StarCatalog::SetAltAz(const AltAz &altaz) { fAltAz = altaz * D2PI/360.0; - - cout << "Set --> Alt: " << 360.0/D2PI*fAltAz.Alt(); - cout << " Az: " << fAltAz.Az() << endl; - fRaDec = CalcRaDec(fAltAz); - cout << "Ra: " << 360.0/D2PI*fRaDec.Ra(); - cout << " Dec: " << 360.0/D2PI*fRaDec.Dec() << endl; - - CalcAltAzRange(); - CalcRaDecRange(); + fAstro->SetRaDec(fRaDec.Ra(), fRaDec.Dec()); +} + +void StarCatalog::Reload() +{ + fAstro->SetLimMag(99); + //fAstro->ReadBSC("bsc5.dat"); + //fAstro->ReadHeasarcPPM("heasarc_ppm.tdat"); + fAstro->ReadCompressed("ppm9.bin"); + fAstro->SetLimMag(fLimitMag); } void StarCatalog::SetRaDec(const RaDec &radec) { - fRaDec = radec; - fRaDec *= D2PI/360.0; - + const RaDec rd = fRaDec*360.0/D2PI;; + + const Bool_t same = + rd.Ra() >radec.Ra() -1e-5 && rd.Ra() radec.Dec()-1e-5 && rd.Dec()88 && az%5) || alt>89.5) - continue; - - DrawAltAz(color, img, alt, az); - } - } - - // - // ------------ draw alt lines --------------- - // - for (int alt=fAltMin; alt88 && ra%5) || dec>89.5) - continue; - - DrawRaDec(color, img, ra, dec, ra==0||ra==90); - } - } - - // - // ------------ draw dec lines --------------- - // - for (int dec=fDecMin; decSetRaDec(fRaDec.Ra(), fRaDec.Dec()); + if (!same) + Reload(); } @@ -409,61 +98,6 @@ memset(cimg, 0, 768*576); - DrawSCAltAz(cimg, 2<<4); - DrawSCRaDec(cimg, 2); - DrawStars(list, cimg); DrawCross(img, 768/2, 576/2); -} - -void StarCatalog::GetImg(byte *img, byte *cimg, const double utc, - const RaDec &radec) -{ - MStarList list; - GetStars(list, utc, radec); - GetImg(img, cimg, list); - /* - // memset(img, 0, 768*576); - SetMjd(utc); - //fAlpha = sla.GetAlpha(); - SetRaDec(radec); - //CalcImg(cimg); - */ -} - -void StarCatalog::GetImg(byte *img, byte *cimg, const double utc, - const AltAz &altaz) -{ - MStarList list; - GetStars(list, utc, altaz); - GetImg(img, cimg, list); - /* - // memset(img, 0, 768*576); - - SetMjd(utc); - //fAlpha = sla.GetAlpha(); - SetAltAz(altaz); - - CalcRaDecRange(); - - //CalcImg(img); - */ - -} - -void StarCatalog::GetStars(MStarList &list, const double utc, const RaDec &radec) -{ - SetMjd(utc); - SetRaDec(radec); - - CalcStars(list); -} - -void StarCatalog::GetStars(MStarList &list, const double utc, const AltAz &altaz) -{ - SetMjd(utc); - SetAltAz(altaz); - - CalcRaDecRange(); - CalcStars(list); } @@ -489,143 +123,9 @@ } -Bool_t StarCatalog::DrawAltAz(const int color, byte *img, double alt, double az, int size) const -{ - // - // alt/az[deg] -> alt/az[rad] - // - alt *= D2PI/360.0; - az *= D2PI/360.0; - - // - // alt/az[rad] -> alt/az[pix] - // - double dx, dy; - slaDe2h(az-fAltAz.Az(), -alt, DPI/2-fAltAz.Alt(), &dx, &dy); - - // - // Align alt/az[pix] - // - const int xx = (int)(((dx-DPI)*fCosAngle - dy*fSinAngle + fWidth)/fPixSize); - const int yy = (int)(((dx-DPI)*fSinAngle + dy*fCosAngle + fHeight)/fPixSize); - //const int xx = 767-(int)((fWidth-dx+DPI)/fPixSize); - //const int yy = (int)((fHeight+dy)/fPixSize); - - // - // Range Check - // - if (!(0<=xx && xx<768 && 0<=yy && yy<576)) - return kFALSE; - - // - // Draw - // - DrawCircle(color, img, xx, yy, size); - - return kTRUE; -} - -Bool_t StarCatalog::Draw(const int color, byte *img, const AltAz &altaz) -{ - return DrawAltAz(color, img, altaz.Alt(), altaz.Az()); -} - -/* -Bool_t StarCatalog::Draw(const int color, byte *img, const SaoFile *sao) -{ - if (sao->MagV() > fLimitMag) - return kFALSE; - - // - // ---- mean to observed --- - // - AltAz altaz=CalcAltAz(sao->GetRaDec()) * 360.0/D2PI; - - const int mag = (10 - (sao->MagV()>1 ? (int)sao->MagV() : 1))/2; - - // - // ---- imaging ----- - // - return DrawAltAz(color, img, altaz.Alt(), altaz.Az(), mag); -} -*/ - -Bool_t StarCatalog::DrawRaDec(const int color, byte *img, double ra, double dec, int size) const -{ - // - // radec[deg] -> radec[rad] - // - ra *= D2PI/360.0; - dec *= D2PI/360.0; - - // - // radec[rad] -> hadec[rad] - // - const double ha = GetAlpha()-ra; - - // - // hadec[rad] -> altaz[rad] - // - double alt, az; - slaDe2h(ha, dec, GetPhi(), &az, &alt); - - // - // altaz[rad] -> altaz[deg] - // - alt *= 360.0/D2PI; - az *= 360.0/D2PI; - - return DrawAltAz(color, img, alt, az, size); -} - -Bool_t StarCatalog::Draw(const int color, byte *img, const RaDec &radec) -{ - return DrawRaDec(color, img, radec.Ra(), radec.Dec()); -} -/* -void StarCatalog::CalcImg(byte *img) -{ - - // - // --------- search for stars in catalog ---------- - // - int count = 0; - int deleted = 0; - - int idx = 0; - - while (fSrt[idx].decGetEntry(nr++); - - // - // Try to draw star into the image - // white = 0xff - // - if (!Draw(0x0f, img, fSao)) - deleted++; - - count++; - } - while ((int)(360.0/D2PI*fSao->Ra())==ra); - } - - cout << " " << count << "-" << deleted << "=" << count-deleted << " " << flush; -} -*/ +void StarCatalog::PaintImg(unsigned char *buf, int w, int h) +{ + fAstro->PaintImg(buf, w, h); +} + void StarCatalog::DrawStars(MStarList &list, byte *img) { @@ -637,6 +137,5 @@ const int mag = (10 - (star->GetMag()>1 ? (int)star->GetMag() : 1))/2; - Double_t color = 0x0f; - + Double_t color = 0xf0; //0x0f; DrawCircle(color, img, (int)star->GetX(), (int)star->GetY(), mag); } @@ -645,80 +144,68 @@ void StarCatalog::CalcStars(MStarList &list) const { - // - // --------- search for stars in catalog ---------- - // - if (fEntries==0) - return; - - int count = 0; - int deleted = 0; - - int idx = 0; - - while (fSrt[idx].decGetRadiusFOV()*2); + + // Get List of stars from catalog + TIter Next(fAstro->GetList()); + TVector3 *star=0; + + const Double_t limmag = pow(10, -fLimitMag/2.5); + + while ((star=(TVector3*)Next())) { - const int ra = fSrt[idx].ra; - - if (!fRa0[ra]) + // Check for limiting magnitude + const Double_t mag = star->Mag(); + if (mag < limmag) continue; - int nr = fSrt[idx].nr; - do - { - // - // Get entry from catalog - // - fSao->GetEntry(nr++); - - if (fSao->MagV() > fLimitMag) - continue; - - // - // ---- mean to observed --- - // - AltAz altaz=CalcAltAz(fSao->GetRaDec()); - - // - // alt/az[rad] -> alt/az[pix] - // - double dx, dy; - slaDe2h(altaz.Az()-fAltAz.Az(), -altaz.Alt(), - DPI/2-fAltAz.Alt(), &dx, &dy); - - // - // Align and rotate alt/az[pix] - // - float xx = ((dx-DPI)*fCosAngle - dy*fSinAngle + fWidth)/fPixSize; - float yy = ((dx-DPI)*fSinAngle + dy*fCosAngle + fHeight)/fPixSize; - - // - // Range Check, add stars to the list - // - if (!(0<=xx && xx<768 && 0<=yy && yy<576)) - { - deleted++; - continue; - } - - list.Add(xx, yy, fSao->MagV()); - count++; - } - while ((int)(360.0/D2PI*fSao->Ra())==ra); + // Get star position and do an apropiate + // conversion to local coordinates + const RaDec rd(star->Phi(), TMath::Pi()/2-star->Theta()); + const ZdAz za(CalcZdAz(rd)); + + // Virtually move telescope to pointing position + TVector3 loc; + loc.SetMagThetaPhi(1, za.Zd(), za.Az()); + loc *= align; + + // Sanity check + if (loc(2)<0) + continue; + + // Stretch such, that the Z-component is alwas the same. Now + // X and Y contains the intersection point between the star-light + // and the plain of a virtual plain screen (ccd...) + loc *= 1./loc(2); + + // Do an apropriate unit conversion to pixels + loc *= scale; + + // if (loc.Mod2()>fRadiusFOV*fRadiusFOV) + // continue; + + // Rotate by the rotation angle of the video camera + Float_t xx = loc.X()*fCosAngle - loc.Y()*fSinAngle; + Float_t yy = loc.X()*fSinAngle + loc.Y()*fCosAngle; + + // Store pixel coordinates of star in list + list.Add(xx+768/2, yy+576/2, -2.5*log10(mag)); } - - cout << "Showing " << count+deleted << "-" << deleted << "=" << count << " stars." << endl; } AltAz StarCatalog::CalcAltAzFromPix(Double_t pixx, Double_t pixy) const { - pixx *= fPixSize; - pixy *= fPixSize; - - const double dx = (pixx-fWidth)*fCosAngle + (pixy-fHeight)*fSinAngle; - const double dy = -(pixx-fWidth)*fSinAngle + (pixy-fHeight)*fCosAngle; + double dx = (pixx-576/2)*fCosAngle + (pixy-768/2)*fSinAngle; + double dy = -(pixx-576/2)*fSinAngle + (pixy-768/2)*fCosAngle; + + dx *= fPixSize; + dy *= fPixSize; //const double dx = (pixx-768.0)*fPixSize + fWidth+DPI; Index: trunk/MagicSoft/Cosy/catalog/StarCatalog.h =================================================================== --- trunk/MagicSoft/Cosy/catalog/StarCatalog.h (revision 4075) +++ trunk/MagicSoft/Cosy/catalog/StarCatalog.h (revision 4076) @@ -4,4 +4,7 @@ #ifndef ROOT_TROOT #include +#endif +#ifndef ROOT_GuiTypes +#include #endif #ifndef SAOFILE_H @@ -17,15 +20,12 @@ class MStarList; +class MAstroCatalog; class StarCatalog : public SlaStars { private: - SaoFile *fSao; - sort_t *fSrt; - int fEntries; + MAstroCatalog *fAstro; double fPixSize; // [rad/pix] size of one pixel - double fWidth; // size of display - double fHeight; // double fSinAngle; double fCosAngle; @@ -34,41 +34,11 @@ AltAz fAltAz; // [rad] - byte fAz0[360]; - int fAltMin; - int fAltMax; - int fAzCnt; - RaDec fRaDec; // [rad] - byte fRa0[360]; - int fRaCnt; - int fDecMin; - int fDecMax; static void DrawCross(byte *img, const int x, const int y); static void DrawCircle(int color, byte *img, int xx, int yy, int size); - Bool_t DrawAltAz(const int color, byte *img, double alt, double az, int size=0) const; - Bool_t DrawRaDec(const int color, byte *img, double ra, double dec, int size=0) const; - - Bool_t Draw(const int color, byte *img, const AltAz &altaz); - Bool_t Draw(const int color, byte *img, const RaDec &radec); - - //Bool_t Draw(const int color, byte *img, const SaoFile *sao); - //void CalcImg(byte *); - - void CalcStars(MStarList &list) const; - - static void DrawStars(MStarList &list, byte *img); - void SetRaDec(const RaDec &radec); void SetAltAz(const AltAz &altaz); - void DrawSCAltAz(byte *img, const int color) const; - void DrawSCRaDec(byte *img, const int color) const; - - void CalcRaDecRange(); - void CalcAltAzRange(); - -// RaDec AltAz2RaDec(const AltAz &altaz) const; -// AltAz RaDec2AltAz(const RaDec &radec, const RaDec &rdpm) const; public: @@ -77,9 +47,5 @@ void GetImg(byte *img, byte *cimg, MStarList &list) const; - void GetImg(byte *img, byte *cimg, const double utc, const RaDec &radec); - void GetImg(byte *img, byte *cimg, const double utc, const AltAz &altaz); - - void GetStars(MStarList &list, const double utc, const RaDec &radec); - void GetStars(MStarList &list, const double utc, const AltAz &altaz); + void PaintImg(unsigned char *buf, int w, int h); const AltAz GetAltAz() const { return fAltAz*kRad2Deg; } @@ -88,6 +54,7 @@ void SetPixSize(const double pixsize); - void SetLimitMag(const float mag) { fLimitMag = mag; } + void SetLimitMag(const float mag); void SetRotationAngle(const float angle) { fSinAngle = sin(angle/kRad2Deg); fCosAngle = cos(angle/kRad2Deg); } + void Reload(); double GetPixSize() const; @@ -95,4 +62,14 @@ AltAz CalcAltAzFromPix(Double_t pixx, Double_t pixy) const; + virtual void SetMjd(double mjd); + + void SetPointing(double mjd, const RaDec &radec) + { + SetMjd(mjd); SetRaDec(radec); + } + + void CalcStars(MStarList &list) const; + static void DrawStars(MStarList &list, byte *img); + ClassDef(StarCatalog, 0) }; Index: trunk/MagicSoft/Cosy/cosy.cc =================================================================== --- trunk/MagicSoft/Cosy/cosy.cc (revision 4075) +++ trunk/MagicSoft/Cosy/cosy.cc (revision 4076) @@ -10,10 +10,8 @@ #include "MLogManip.h" -#include "Camera.h" -#include "PngReader.h" #include "MStarguider.h" -//#define EXPERT -//#define HAVE_CAMERA +#define EXPERT +#define HAVE_CAMERA #define clog(txt) \ @@ -36,24 +34,26 @@ gLog << endl; + Int_t channel = 0; + for (int i=0; iAccessPathName(name, kFileExists)) - break; - } - + const TString name = MCosy::GetFileName("log/cosy_%s.log"); cout << "Open Logfile: " << name << endl; MLog *l = new MLog(name, kTRUE); MLog &lout = *l; + lout.SetNoColors(); - clog("Starting Cosy at " << time << " ..."); + MTime now(-1); + clog("Starting Cosy at " << now << " ..."); // @@ -98,7 +98,5 @@ clog("- Starting Camera."); #ifdef HAVE_CAMERA - MStarguider *client=new MStarguider(MObservatory::kMagic1); - Camera *cam = new Camera(*client); - cam->Loop(0); + MStarguider *client=new MStarguider(MObservatory::kMagic1, channel); cosy->SetStarguider(client); @@ -115,6 +113,4 @@ clog("- Stopping starg."); - cam->ExitLoop(); - delete cam; delete client; #endif @@ -122,11 +118,11 @@ cosy->Stop(); - time.Now(); - clog(time << ": MCosy stopped."); + now.Now(); + clog(now << ": MCosy stopped."); delete cosy; - time.Now(); - clog("Terminating cosy at " << time); + now.Now(); + clog("Terminating cosy at " << now); delete l; Index: trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- trunk/MagicSoft/Cosy/devdrv/macs.h (revision 4075) +++ trunk/MagicSoft/Cosy/devdrv/macs.h (revision 4076) @@ -118,4 +118,6 @@ void HandleError(); + Double_t GetPosTime() const { return fPosTime; } + ClassDef(Macs, 0) }; Index: trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 4075) +++ trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 4076) @@ -14,5 +14,5 @@ ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name, MLog &out) : NodeDrv(nodeid, name, out), fPos(0), fVel(0), fAcc(0), - fTurn(0), fLabel(NULL), fPosHasChanged(false) + fTurn(0), fLabel(NULL), fPosHasChanged(false), fReport(NULL) { } @@ -183,4 +183,11 @@ fTime.Set(*tv); fPosHasChanged = true; + + if (fReport) + { + fReport->Lock(); + *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO0 " << pos << " " << GetNodeName() << endl; + fReport->UnLock(); + } } @@ -201,4 +208,11 @@ flag=flag; + + if (fReport) + { + fReport->Lock(); + *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO1 " << pos << " " << (int)flag << " " << GetNodeName() << endl; + fReport->UnLock(); + } } @@ -235,4 +249,11 @@ fTime.Set(*tv); fPosHasChanged=true; + + if (fReport) + { + fReport->Lock(); + *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO2 " << pos << " " << fVel << " " << fAcc << " " << GetNodeName() << endl; + fReport->UnLock(); + } } Index: trunk/MagicSoft/Cosy/devdrv/shaftencoder.h =================================================================== --- trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (revision 4075) +++ trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (revision 4076) @@ -25,4 +25,5 @@ MTime fTime; + MLog *fReport; void HandlePDOType0(BYTE_t *data, timeval_t *tv); @@ -63,4 +64,6 @@ void ResetPosHasChanged() { fPosHasChanged = false; } + void SetReport(MLog *log) { fReport = log; } + ClassDef(ShaftEncoder, 0) }; Index: trunk/MagicSoft/Cosy/gui/MGAccuracy.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGAccuracy.cc (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGAccuracy.cc (revision 4076) @@ -15,7 +15,9 @@ #include #include +#include #include #include "coord.h" +#include "MTime.h" ClassImp(MGAccuracy); @@ -28,5 +30,5 @@ TText text; text.SetTextAlign(22); // centered, centered (s.TAttText) - text.DrawText(-80*2, 132.5*2, "Tracking Error [']"); + text.DrawText(-80*2, 132.5*2, "Ctrl Deviation [min]"); @@ -75,66 +77,4 @@ axe->SetBit(kCanDelete); axe->Draw(); - - // - // 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(-65, 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, "dAz[\xb0]"); - text.DrawText(0, 70, "dZd[\xb0]"); - - text.SetTextAlign(23); // centered, centered (s.TAttText) - text.DrawText(-60, -2, "-1'"); - text.DrawText( 60, -2, "1'"); - text.DrawText(-30, -2, "-30\""); - text.DrawText( 30, -2, "30\""); - - text.SetTextAlign(32); // centered, centered (s.TAttText) - text.DrawText(-2, -60, "-1'"); - text.DrawText(-2, 60, "1'"); - text.DrawText(-2, -30, "-30\""); - text.DrawText(-2, 30, "30\""); - */ } @@ -183,4 +123,17 @@ : MGEmbeddedCanvas("Accuracy", p, w, 300) { + // FIXME: Overload MapWindow in newer Root versions to remove + // the contents of the graph! + fGraph = new TGraph; + fGraph->SetPoint(0, 0, 0); + fGraph->SetLineColor(kBlue); + fGraph->SetMarkerColor(kBlue); + fGraph->SetMarkerStyle(kFullDotMedium); + fGraph->Draw("LP"); + fList->Add(fGraph); + //fGraph->SetNameTitle("AccVsT", "Accuracy vs Min of Time"); + //fGraph->Draw("APL"); + //fGraph->SetMarkerSize(2); + DrawCoordinateSystem(); @@ -192,4 +145,7 @@ SetNoContextMenu(); + + MTime t(-1); + fTime = t.GetAxisTime(); } @@ -199,38 +155,13 @@ } -void MGAccuracy::UpdateText(Float_t pzd, Float_t azd, Float_t aaz) -{ - const Float_t d2r = TMath::Pi()/180.; - - pzd *= d2r; - azd *= d2r; - aaz *= d2r; - - const double el = TMath::Pi()/2-pzd; - - const double dphi2 = aaz/2.; - const double cos2 = cos(dphi2)*cos(dphi2); - const double sin2 = sin(dphi2)*sin(dphi2); - const double d = cos(azd)*cos2 - cos(2*el)*sin2; - - // - // Original: - // cos(Zd1)*cos(Zd2)+sin(Zd1)*sin(Zd2)*cos(dAz) - // - // Correct: - // const double d = cos(azd)*cos2 - cos(el1+el2)*sin2; - // - // Estimated: - // const double d = cos(azd)*cos2 - cos(2*el)*sin2; - // - - double dist = acos(d); - - dist *= 3600./d2r; // [min] +// dist [deg] +void MGAccuracy::UpdateText(Float_t dist) +{ + dist *= 3600.; // [sec] int rs = (int)floor(fmod(dist, 60.)); - dist /= 60.; - int rm = (int)dist;//floor(fmod(dist, 60.)); + dist /= 60.; // [min] + int rm = (int)dist; char txt[100]; @@ -239,5 +170,5 @@ fTxt->SetText(fTxt->GetX(), fTxt->GetY(), txt); - fBar->SetX2(dist*60); + fBar->SetY2(dist*60); // [sec] if (dist*16384<1*360*60) fBar->SetLineColor(kGreen); @@ -247,8 +178,114 @@ else fBar->SetLineColor(kRed); + + SetModified(); +} + +// dist [deg] +void MGAccuracy::UpdateGraph(Float_t dist) +{ + MTime t(-1); + const Double_t dtime = t.GetAxisTime()-fTime; // range [-0.5h, 0h] + + dist *= 60; // min + + static int odist = -1; + if (odist==(int)(dist*10*60) && dtime<10) + return; + + odist = (int)(dist*10*60); + + fGraph->SetPoint(fGraph->GetN(), dtime, dist*60); + + const Double_t ntime = dtime; + for (int i=0; iGetN(); i++) + { + Double_t x, y; + fGraph->GetPoint(i, x, y); + fGraph->SetPoint(i, x-ntime, y); + //cout << i << ": " << x-ntime << " / " << y << endl; + } + while (fGraph->GetN()>0) + { + Double_t x, y; + fGraph->GetPoint(0, x, y); + + if (x==-ntime && y==0) + { + fGraph->RemovePoint(0); + continue; + } + + if (x>-4.75*60) + break; + + fGraph->RemovePoint(0); + } + + fTime = t.GetAxisTime(); + + SetModified(); + + //cout << "N1 == " << fGraph->GetN() << endl; + + //fGraph->GetHistogram()->SetXTitle("Time"); + //fGraph->GetHistogram()->SetYTitle("\\Delta [arcmin]"); + //fGraph->GetHistogram()->GetXaxis()->SetTimeFormat("%M %F1995-01-01 00:00:00"); + //fGraph->GetHistogram()->GetXaxis()->SetTimeDisplay(1); + //fGraph->GetHistogram()->GetXaxis()->SetLabelSize(0.033); +} + +void MGAccuracy::Update(Float_t pzd, Float_t azd, Float_t aaz) +{ + const Float_t d2r = TMath::Pi()/180.; + + pzd *= d2r; + azd *= d2r; + aaz *= d2r; + + const double el = TMath::Pi()/2-pzd; + + const double dphi2 = aaz/2.; + const double cos2 = cos(dphi2)*cos(dphi2); + const double sin2 = sin(dphi2)*sin(dphi2); + const double d = cos(azd)*cos2 - cos(2*el)*sin2; + + // + // Original: + // cos(Zd1)*cos(Zd2)+sin(Zd1)*sin(Zd2)*cos(dAz) + // + // Correct: + // const double d = cos(azd)*cos2 - cos(el1+el2)*sin2; + // + // Estimated: + // const double d = cos(azd)*cos2 - cos(2*el)*sin2; + // + + double dist = acos(d)*TMath::RadToDeg(); + + UpdateText(dist); + UpdateGraph(dist); } void MGAccuracy::UpdateCross(Float_t x, Float_t y) { + // + // calculate actual time for planet positions + // acc [deg] + // + // x["], y["] + // + static int X = ~0; + static int Y = ~0; + + int pixx = (int)(x/fPix); // [pix] + int pixy = (int)(y/fPix); // [pix] + + if (X==pixx && Y==pixy) + return; + + X = pixx; + Y = pixy; + fLin1->SetX1(x-5.); fLin1->SetX2(x+5.); @@ -262,31 +299,13 @@ fLin2->SetY1(y+5.); fLin2->SetY2(y-5.); + + SetModified(); } void MGAccuracy::Update(ZdAz &pos, ZdAz &acc) { - // - // calculate actual time for planet positions - // acc [deg] - // - static int X = ~0; - static int Y = ~0; - - float x = acc.Az()*3600.; // ["] - float y = acc.Zd()*3600.; // ["] - - int pixx = (int)(x/fPix); // [pix] - int pixy = (int)(y/fPix); // [pix] - - if (X==pixx && Y==pixy) - return; - - X = pixx; - Y = pixy; - - UpdateCross(x, y); - UpdateText(pos.Zd(), acc.Zd(), acc.Az()); - - SetModified(); + UpdateCross(acc.Az()*3600., acc.Zd()*3600.); + Update(pos.Zd(), acc.Zd(), acc.Az()); + UpdateCanvas(); } Index: trunk/MagicSoft/Cosy/gui/MGAccuracy.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGAccuracy.h (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGAccuracy.h (revision 4076) @@ -8,8 +8,9 @@ // Version: V1.0 (1-8-2000) -#ifndef MGEMBEDDEDCANVAS_H +#ifndef COSY_MGEmbeddedCanvas #include "MGEmbeddedCanvas.h" #endif +class TGraph; class TLine; class TText; @@ -26,4 +27,8 @@ TLine *fBar; + TGraph *fGraph; + + Double_t fTime; + void DrawCoordinateSystem(); @@ -32,6 +37,8 @@ void InitBar(); - void UpdateText(Float_t zd, Float_t x, Float_t y); void UpdateCross(Float_t x, Float_t y); + void UpdateText(Float_t acc); + void UpdateGraph(Float_t acc); + void Update(Float_t zd, Float_t x, Float_t y); public: Index: trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGEmbeddedCanvas.h (revision 4076) @@ -1,4 +1,4 @@ -#ifndef MGEMBEDDEDCANVAS_H -#define MGEMBEDDEDCANVAS_H +#ifndef COSY_MGEmbeddedCanvas +#define COSY_MGEmbeddedCanvas // Index: trunk/MagicSoft/Cosy/gui/MGImage.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGImage.cc (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGImage.cc (revision 4076) @@ -7,4 +7,15 @@ // x11/src/GX11Gui.cxx // + +////////////////////////////////////////////////////////////////////////////// +// +// MGImage +// +// If sync-mode is enabled the Redraw function is secured by a mutex (ignore +// error messages about it comming from root) This has the advantage that +// if you use a timer for screen update reading and writing the image is +// synchronized. In this way you don't get flickering half images. +// +////////////////////////////////////////////////////////////////////////////// #include "MGImage.h" @@ -17,14 +28,4 @@ using namespace std; -/* -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) @@ -40,10 +41,9 @@ fMuxPixmap = new TMutex; - Resize(w, h); + Resize(GetWidth(), GetHeight()); // // create empty pixmap // - fPixmap = gVirtualX->CreatePixmap(fId, fWidth, fHeight); fDefGC = gVirtualX->CreateGC(fId, 0); fImage = (XImage*)gVirtualX->CreateImage(fWidth, fHeight); @@ -54,9 +54,9 @@ MGImage::~MGImage() { - fMuxPixmap->Lock(); + if (fMuxPixmap->Lock()==13) + cout << "MGImage::~MGImage - mutex is already locked by this thread" << endl; cout << "Deleting MGImage..." << endl; - gVirtualX->DeletePixmap(fPixmap); gVirtualX->DeleteGC(fDefGC); gVirtualX->DeleteImage((Drawable_t)fImage); @@ -69,13 +69,23 @@ void MGImage::DoRedraw() { - fMuxPixmap->Lock(); - - if (TestBit(kNeedRedraw)) - { - gVirtualX->PutImage(fId, fDefGC, (Drawable_t)fImage, 0, 0, 0, 0, fWidth, fHeight); + if (TestBit(kSyncMode)) + while (fMuxPixmap->Lock()==13) + usleep(1); + + // gVirtualX->DrawLine(fId, fDefGC, 0, 0, fWidth+2, 0); + // gVirtualX->DrawLine(fId, fDefGC, 0, 0, 0, fHeight+2); + // gVirtualX->DrawLine(fId, fDefGC, fWidth+2, 0, fWidth+2, fHeight+2); + // gVirtualX->DrawLine(fId, fDefGC, 0, fHeight+2, fWidth+2, fHeight+2); + + // if (TestBit(kNeedRedraw)) + { + gVirtualX->PutImage(fId, fDefGC, (Drawable_t)fImage, 0, 0, 0, 0, + fWidth, fHeight); ResetBit(kNeedRedraw); } - fMuxPixmap->UnLock(); + if (TestBit(kSyncMode)) + if (fMuxPixmap->UnLock()==13) + cout << "MGImage::DoRedraw - tried to unlock mutex locked by other thread." << endl; } @@ -109,6 +119,15 @@ void MGImage::DrawImg(const byte *buffer) { - if (fMuxPixmap->TryLock()) - return; + if (TestBit(kSyncMode)) + while (fMuxPixmap->Lock()==13) + usleep(1); + else + { + const Int_t rc = fMuxPixmap->Lock(); + if (rc==13) + cout << "MGImage::DrawImg - mutex is already locked by this thread" << endl; + if (rc) + return; + } switch (gVirtualX->GetDepth()) @@ -129,5 +148,6 @@ SetBit(kNeedRedraw); - fMuxPixmap->UnLock(); + if (fMuxPixmap->UnLock()==13) + cout << "MGImage::DrawImage - tried to unlock mutex locked by other thread." << endl; } @@ -143,6 +163,6 @@ { // 00000011 00001100 00110000 - *d++ = (*s2&0x3) | (*s2&0xb)<<3 | (*s2&0x30)<<7; - s1++; + //*d++ = (*s2&0x3) | (*s2&0xb)<<3 | (*s2&0x30)<<7; + *d++ = (*s2&0x3)<<3 | (*s2&0xb)<<6 | (*s2&0x30)<<10; } else @@ -150,6 +170,7 @@ // 11111100 11111000 11111100 *d++ = (*s1&0xfc) | (*s1&0xf8)<<5 | (*s1&0xfc)<<11; - s2++; - } + } + s1++; + s2++; } } @@ -181,6 +202,15 @@ void MGImage::DrawColImg(const byte *gbuf, const byte *cbuf) { - if (fMuxPixmap->TryLock()) - return; + if (TestBit(kSyncMode)) + while (fMuxPixmap->Lock()==13) + usleep(1); + else + { + const Int_t rc = fMuxPixmap->Lock(); + if (rc==13) + cout << "MGImage::DrawColImg - mutex is already locked by this thread" << endl; + if (rc) + return; + } // FROM libAfterImage: @@ -190,5 +220,5 @@ //#define ALPHA_SOLID 0xFF // * Lowermost 8 bits - Blue channel - // * bits 8 to 15 - Green channel + // * bits 8 to 15 - Green channel // * bits 16 to 23 - Red channel // * bits 24 to 31 - Alpha channel @@ -211,4 +241,5 @@ SetBit(kNeedRedraw); - fMuxPixmap->UnLock(); -} + if (fMuxPixmap->UnLock()==13) + cout << "MGImage::DrawColImage - tried to unlock mutex locked by other thread." << endl; +} Index: trunk/MagicSoft/Cosy/gui/MGImage.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGImage.h (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGImage.h (revision 4076) @@ -24,5 +24,5 @@ GContext_t fDefGC; - Pixmap_t fPixmap; + //Pixmap_t fPixmap; UInt_t fWidth; @@ -31,5 +31,9 @@ TMutex *fMuxPixmap; //! test - enum { kNeedRedraw = BIT(17) }; + enum + { + kNeedRedraw = BIT(17), + kSyncMode = BIT(18) + }; void DrawImg16(unsigned short *d, char *s, char *e); @@ -47,4 +51,7 @@ void DrawColImg(const byte *gbuf, const byte *cbuf); + void EnableSyncMode() { SetBit(kSyncMode); } + void DisableSyncMode() { ResetBit(kSyncMode); } + ClassDef(MGImage, 0) }; Index: trunk/MagicSoft/Cosy/gui/MGPngReader.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGPngReader.cc (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGPngReader.cc (revision 4076) @@ -347,5 +347,5 @@ const Double_t pixsize = 23.4; - fSao->SetPixSize(pixsize/3600); + fSao->SetPixSize(pixsize); TString txt; @@ -586,5 +586,5 @@ const Float_t pixsize = atof(fPixSize->GetText()); cout << "Pixel Size changed to " << pixsize << "\"/pix" << endl; - fSao->SetPixSize(pixsize/3600); + fSao->SetPixSize(pixsize); } return kTRUE; Index: trunk/MagicSoft/Cosy/gui/MGSkyPosition.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGSkyPosition.h (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGSkyPosition.h (revision 4076) @@ -9,5 +9,5 @@ -#ifndef MGEMBEDDEDCANVAS_H +#ifndef COSY_MGEmbeddedCanvas #include "MGEmbeddedCanvas.h" #endif Index: trunk/MagicSoft/Cosy/gui/MGTPoint.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGTPoint.cc (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGTPoint.cc (revision 4076) @@ -151,5 +151,5 @@ const Double_t pixsize = 23.4; - fSao->SetPixSize(pixsize/3600); + fSao->SetPixSize(pixsize); TString txt; @@ -225,5 +225,5 @@ const Float_t pixsize = atof(fPixSize->GetText()); cout << "Pixel Size changed to " << pixsize << "\"/pix" << endl; - fSao->SetPixSize(pixsize/3600); + fSao->SetPixSize(pixsize); } return kTRUE; Index: trunk/MagicSoft/Cosy/gui/MGVelocity.cc =================================================================== --- trunk/MagicSoft/Cosy/gui/MGVelocity.cc (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGVelocity.cc (revision 4076) @@ -181,6 +181,6 @@ // calculate actual time for planet positions // - float vx = zdaz.Az()*3600.; // ["/min] - float vy = zdaz.Zd()*3600.; // ["/min] + float vx = zdaz.Az(); // [U_mot/min] + float vy = zdaz.Zd(); // [U_mot/min] int pixx = (int)(vx*fScale/fPix); Index: trunk/MagicSoft/Cosy/gui/MGVelocity.h =================================================================== --- trunk/MagicSoft/Cosy/gui/MGVelocity.h (revision 4075) +++ trunk/MagicSoft/Cosy/gui/MGVelocity.h (revision 4076) @@ -8,5 +8,5 @@ // Version: V1.0 (1-8-2000) -#ifndef MGEMBEDDEDCANVAS_H +#ifndef COSY_MGEmbeddedCanvas #include "MGEmbeddedCanvas.h" #endif Index: trunk/MagicSoft/Cosy/leds.txt =================================================================== --- trunk/MagicSoft/Cosy/leds.txt (revision 4075) +++ trunk/MagicSoft/Cosy/leds.txt (revision 4076) @@ -1,6 +1,6 @@ -321 535 -1.2 -1.0 -573 460 -2.0 0.9 -633 204 0.0 -1.6 -446 25 0.0 0.0 -193 95 2.0 1.0 -118 347 0.0 9.1 +260 83 0 0 +147 321 0 0 +296 540 0 0 +525 61 0 0 +676 280 0 0 +561 519 0 0 Index: trunk/MagicSoft/Cosy/main/MCaos.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCaos.cc (revision 4075) +++ trunk/MagicSoft/Cosy/main/MCaos.cc (revision 4076) @@ -307,5 +307,5 @@ } -void MCaos::Run(byte *img, bool printl, bool printr, const ZdAz &pos, const MTime &t) +Ring MCaos::Run(byte *img, bool printl, bool printr, const ZdAz &pos, const MTime &t) { Leds &leds = *fLeds; @@ -344,13 +344,7 @@ Rings rings; - rings.CalcRings(leds, 266, 272); + rings.CalcRings(leds, 266, 268); const Ring ¢er = rings.GetCenter(); - - f.DrawCircle(center, 0x80); - f.DrawCircle(center, 5.0, 0x80); - f.DrawCircle(center, 115.0, 0x80); - f.DrawCircle(center, 190.0, 0x80); - // f.MarkPoint(center.GetX(), center.GetY(), 0xa0); // FIXME! @@ -380,4 +374,5 @@ } + return center; /* if (fCaosAnalyse->IsEntryEnabled(IDM_kStopAnalyse)) Index: trunk/MagicSoft/Cosy/main/MCaos.h =================================================================== --- trunk/MagicSoft/Cosy/main/MCaos.h (revision 4075) +++ trunk/MagicSoft/Cosy/main/MCaos.h (revision 4076) @@ -4,4 +4,7 @@ #ifndef CAOS_Leds #include "Leds.h" +#endif +#ifndef CAOS_Ring +#include "Ring.h" #endif @@ -68,5 +71,5 @@ void ResetHistograms(); - void Run(byte *img, bool printl, bool printr, const ZdAz &pos, const MTime &t); + Ring Run(byte *img, bool printl, bool printr, const ZdAz &pos, const MTime &t); }; Index: trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.cc (revision 4075) +++ trunk/MagicSoft/Cosy/main/MCosy.cc (revision 4076) @@ -1,3 +1,2 @@ -#include "MCosy.h" #include "MCosy.h" @@ -22,4 +21,6 @@ #include "MStarguider.h" #include "SlaStars.h" +#include "MPointing.h" +#include "MTracking.h" #include "slalib/slalib.h" // FIXME: REMOVE @@ -31,19 +32,4 @@ typedef struct tm tm_t; - -/* -#define GEAR_RATIO_ALT 2475.6 // [U_mot/U_tel(360deg)] -#define GEAR_RATIO_AZ 5891.7 // [U_mot/U_tel(360deg)] - -#define RES_RE 500 // [re/U_mot] -#define RES_SE 16384 // [se/U_tel(360deg)] -*/ -/* - #define GEAR_RATIO_ALT (75.55*16384/1500) // 75.25 VERY IMPORTANT! unit=U_mot/U_tel - #define GEAR_RATIO_AZ (179.8*16384/1500) // VERY IMPORTANT! unit=U_mot/U_tel -*/ - -//const XY kGearRatio (GEAR_RATIO_ALT*RES_RE/RES_SE, GEAR_RATIO_AZ*RES_RE/RES_SE); //[re/se] -//const XY kGearRatio2(GEAR_RATIO_ALT*RES_RE/360.0, GEAR_RATIO_AZ*RES_RE/360.0); //[re/deg] /* +===================================+ @@ -54,29 +40,4 @@ //#define EXPERT #undef EXPERT - -double MCosy::Rad2SE(double rad) const -{ - return 16384.0/k2Pi*rad; -} - -double MCosy::Rad2ZdRE(double rad) const -{ - return 16384.0/k2Pi*rad*kGearRatio.X(); -} - -double MCosy::Rad2AzRE(double rad) const -{ - return 16384.0/k2Pi*rad*kGearRatio.Y(); -} - -double MCosy::Deg2ZdRE(double rad) const -{ - return rad*kGearRatio2.X(); -} - -double MCosy::Deg2AzRE(double rad) const -{ - return rad*kGearRatio2.Y(); -} /* @@ -191,40 +152,4 @@ // -------------------------------------------------------------------------- // -// request the current positions from the rotary encoders. -// use GetRePos to get the psotions. If the request fails the function -// returns kFALSE, otherwise kTRUE -// -Bool_t MCosy::RequestRePos() -{ - // - // Send request - // - fMac2->RequestSDO(0x6004); - fMac1->RequestSDO(0x6004); - - // - // Wait until the objects are received. - // - fMac2->WaitForSdo(0x6004); - fMac1->WaitForSdo(0x6004); - - // - // If waiting was not interrupted everything is ok. return. - // - if (!(Break() || HasError() || HasZombie())) - return kTRUE; - - // - // If the waiting was interrupted due to a network error, - // print some logging message. - // - if (HasError()) - lout << "Error while requesting re pos from Macs (SDO #6004)" << endl; - - return kFALSE; -} - -// -------------------------------------------------------------------------- -// // reads the Rotary encoder positions from the last request of the Macs. // @@ -253,65 +178,4 @@ // -------------------------------------------------------------------------- // -// set the velocity and accelerations for position maneuvers. -// -// The acceleratin is set as given (in percent of maximum). -// The velocity is given in percent, depending on the ratio (<1 or >1) -// one of the axis becomes a slower velocity. This is used for maneuvers -// in which both axis are moved synchromously and should reach their -// target position at the same time. -// -void MCosy::SetPosVelocity(const Float_t ratio, Float_t vel) -{ - // - // Set velocities - // - const int vr = fMac1->GetVelRes(); - - vel *= vr; - - if (ratio <1) - { - fMac1->SetVelocity(vel); - fMac2->SetVelocity(vel*ratio); - } - else - { - fMac1->SetVelocity(vel/ratio); - fMac2->SetVelocity(vel); - } -} - -// -------------------------------------------------------------------------- -// -// Does a relative positioning. -// -// The steps to move are given in a ZdAz object relative to the current -// position. The coordinates are given in Roteryencoder steps. -// Axis 1 is moved only if axe1==kTRUE, Axis 2 is moved only -// if Axis 2==kTRUE. The function waits for the movement to be finished. -// -void MCosy::DoRelPos(const ZdAz &rd, const Bool_t axe1, const Bool_t axe2) -{ - if (HasZombie()) - return; - - SetStatus(MDriveCom::kMoving); - - 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 -} - -// -------------------------------------------------------------------------- -// // check for a break-signal (from the msgqueue) and errors. // @@ -341,6 +205,5 @@ return; - MTime t; - t.Now(); + MTime t(-1); lout << t << " - MCosy::WaitForEndMovement aborted..."; if (Break()) @@ -434,393 +297,4 @@ } -// -------------------------------------------------------------------------- -// -// Move the telescope to the given position. The position must be given in -// a ZdAz object in rad. -// -// The first positioning is done absolutely. If we didn't reach the -// correct psotion we try to correct for this by 10 relative position -// maneuvers. If this doesn't help positioning failed. -// -// As a reference the shaftencoder values are used. -// -int MCosy::SetPosition(const ZdAz &dst, Bool_t track) // [rad] -{ - const ZdAz d = dst*kRad2Deg; - - MTime t; - t.Now(); - lout << t << " - Target Position: " << d.Zd() << "deg, " << d.Az() << "deg (Zd/Az)" << endl; - - // - // Calculate new target position (shortest distance to go) - // - const ZdAz src = GetSePos(); // [se] - - // - // Make sure that the motors are in sync mode (necessary if the - // MACS has been rebooted from a Zombie state. - // - //InitSync(); - //if (fMac3->IsZombieNode()) - // return false; - - // - // Because we agreed on I don't search for the shortest move - // anymore - // - // const ZdAz dest = CorrectTarget(src, dst); - // - ZdAz bend = fBending(dst); // [rad] - - const ZdAz dest = bend*16384/2/TMath::Pi(); // [se] - - if (!CheckRange(bend)) - return kFALSE; - - bend *= kRad2Deg; - fZdAzSoll = dst; - - cout << "Source Zd: " << src.Zd() << "se Az:" << src.Az() << "se" << endl; - cout << "Destination Zd: " << Rad2SE(dst.Zd()) << "se Az:" << Rad2SE(dst.Az()) << "se" << endl; - cout << "Bend'd Dest Zd: " << dest.Zd() << "se Az:" << dest.Az() << "se" << endl; - cout << "Bend'd Dest Zd: " << bend.Zd() << "deg Az:" << bend.Az() << "deg" << endl; - - // - // Set velocities - // - const int vr = fMac1->GetVelRes(); - - int i; - for (i=0; i<(track?1:10) && !(Break() || HasError() || HasZombie()); i++) - { - - lout << "- Step #" << i << endl; - // - // Get Shaft Encoder Positions - // - const ZdAz p=GetSePos(); - - // - // calculate control deviation and rounded cd - // - ZdAz rd = dest-p; // [se] - - // =========================================== - 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(); - - // - // Check if there is a control deviation on the axis - // - const Bool_t cdzd = (int)cd.Zd() ? kTRUE : kFALSE; - const Bool_t cdaz = (int)cd.Az() ? kTRUE : kFALSE; - - // - // check if we reached the correct position already - // - if (!cdzd && !cdaz) - { - t.Now(); - lout << t << " - Positioning done in " << i << (i==1?" step.":" steps.") << endl; - SetStatus(MDriveCom::kStopped); - return TRUE; - } - - // - // change units from se to re - // - rd *= kGearRatio; // [re] - rd.Zd(f2-f1); - - // - // Initialize Velocities so that we reach both positions - // at the same time - // - if (i) - { - fMac1->SetAcceleration(0.1*vr); - fMac2->SetAcceleration(0.1*vr); - - fMac1->SetDeceleration(0.1*vr); - fMac2->SetDeceleration(0.1*vr); - - SetPosVelocity(1.0, 0.05); - } - else - { - 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); - } - 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); // fast: 0.6, slow: 0.2 -#else - fMac2->SetAcceleration(0.2*vr); - fMac2->SetDeceleration(0.1*vr); - SetPosVelocity(fabs(rd.Ratio()), 0.1); -#endif - } - - rd.Round(); - - // FIXME? Check for Error or Zombie? - - /* - cout << " + " << (int)cdzd << " " << (int)cdaz << endl; - cout << " + APOS: Zd=" << setw(6) << p.Zd() << "se Az=" << setw(6) << p.Az() << "se" << endl; - cout << " + dZd=" << setw(6) << cd.Zd() << "se dAz=" << setw(6) << cd.Az() << "se" << endl; - cout << " + dZd=" << setw(6) << rd.Zd() << "re dAz=" << setw(6) << rd.Az() << "re" << endl; - cout << " + Ratio: Zd=" << setw(6) << kGearRatio.X() << "se Az=" << setw(6) << kGearRatio.Y() << "se" << endl; - */ - - // - // repositioning (relative) - // - - lout << "- Do Relative Positioning..." << endl; - DoRelPos(rd, cdzd, cdaz); - lout << "- Relative Positioning Done" << endl; - } - if (i==1 && track && !(Break() || HasError() || HasZombie())) - { - t.Now(); - lout << t << " - Positioning done." << endl; - SetStatus(MDriveCom::kStopped); - return TRUE; - } - - if (i<10) - StopMovement(); - else - SetStatus(MDriveCom::kStopped); - - t.Now(); - lout << t << " - Warning: Requested position not reached (i=" << dec << i << ")" << endl; - return FALSE; -} - -// -------------------------------------------------------------------------- -// -// Sets the tracking velocity -// -// The velocities are given in a ZdAz object in re/min. Return kTRUE -// in case of success, kFALSE in case of failure. -// -Bool_t MCosy::SetVelocity(const ZdAz &v) -{ - // - // Send the new velocities for both axes. - // - fMac2->SendSDO(0x3006, 1, (LWORD_t)v.Zd()); // SetRpmVelocity [re/min] - fMac1->SendSDO(0x3006, 1, (LWORD_t)v.Az()); // SetRpmVelocity [re/min] - - // - // Wait for the objects to be acknoledged. - // - fMac2->WaitForSdo(0x3006, 1); - fMac1->WaitForSdo(0x3006, 1); - - // - // If the waiting for the objects wasn't interrupted return kTRUE - // - if (!(Break() || HasError() || HasZombie())) - return kTRUE; - - // - // print a message if the interruption was due to a Can-node Error - // - if (HasError()) - lout << "Error while setting velocity (SDO #3006)" << endl; - - return kFALSE; -} - -// -------------------------------------------------------------------------- -// -// Initializes Tracking mode -// -// Initializes the accelerations of both axes with 90% of the maximum -// acceleration. Set the status for moving and tracking and starts thr -// revolution mode. -// -bool MCosy::InitTracking() -{ - // FIXME? Handling of Zombie OK? - if (fMac1->IsZombieNode() || fMac2->IsZombieNode()) - return false; - - // - // Start revolution mode - // - fMac2->SetAcceleration(0.1*fMac2->GetVelRes()); - fMac2->SetDeceleration(0.1*fMac2->GetVelRes()); - if (fMac2->IsZombieNode()) - return false; - - fMac1->SetAcceleration(0.1*fMac1->GetVelRes()); - fMac1->SetDeceleration(0.1*fMac1->GetVelRes()); - if (fMac1->IsZombieNode()) - return false; - - SetStatus(MDriveCom::kMoving | MDriveCom::kTracking); - - fMac2->SetRpmMode(TRUE); - if (fMac2->IsZombieNode()) - return false; - - fMac1->SetRpmMode(TRUE); - if (fMac1->IsZombieNode()) - return false; - - return true; -} - -// -------------------------------------------------------------------------- -// -// Limits the speed. -// -// This function should work as a limiter. If a tracking error is too large -// to be corrected fast enough we would get enormous velocities. These -// velocities are limited to the maximum velocity. -// -Bool_t MCosy::LimitSpeed(ZdAz *vt, const ZdAz &vcalc) const -{ - Bool_t rc = kFALSE; - - // - // How to limit the speed. If the wind comes and blowes - // we cannot forbid changing of the sign. But on the other hand - // we don't want fast changes! - // - ULong_t vrzd = fMac1->GetVelRes(); - ULong_t vraz = fMac2->GetVelRes(); - -#define sgn(x) (x<0?-1:1) - - // - // 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())) - vt->Az(0); -// else - { - if (fabs(vt->Az()) < fabs(vcalc.Az()) *0.5) - vt->Az(0.5*vcalc.Az()); - - if (fabs(vt->Az()) > fabs(vcalc.Az()) *1.5) - vt->Az(1.5*vcalc.Az()); - } - - if (sgn(vt->Zd()) != sgn(vcalc.Zd())) - vt->Zd(0); -// else - { - if (fabs(vt->Zd()) > fabs(vcalc.Az()) *1.5) - vt->Zd(1.5*vcalc.Zd()); - - if (fabs(vt->Zd()) < fabs(vcalc.Az()) *0.5) - vt->Zd(0.5*vcalc.Zd()); - } - */ - /* - if (sgn(vt->Az()) != sgn(vcalc.Az()) - && fabs(vt->Az()) < limit*fabs(vcalc.Az()) - ) - { - lout << "Warning: Negative Azimuth speed limit (" << limit*100 << "%) exceeded... set to 0." << endl; - vt->Az(0); - } - else*/ - if (fabs(vt->Az()) > maxtrack*vraz) - { - lout << "Warning: Azimuth speed limit (" << maxtrack*100 << "%) exceeded (" << fabs(vt->Az()) << " > " << maxtrack*vraz << ")... limited." << endl; - vt->Az(maxtrack*vraz*sgn(vcalc.Az())); - rc=kTRUE; - } -/* - if (sgn(vt->Zd()) != sgn(vcalc.Zd()) - && fabs(vt->Zd()) < limit*fabs(vcalc.Zd()) - ) - { - lout << "Warning: Negative Altitude speed limit (" << limit*100 << "%) exceeded... set to 0." << endl; - vt->Zd(0); - } - else - */ if (fabs(vt->Zd()) > maxtrack*vrzd) - { - lout << "Warning: Altitude speed limit (" << maxtrack*100 << "%) exceeded (" << fabs(vt->Zd()) <<" > " << maxtrack*vrzd << ")... limited." << endl; - vt->Zd(maxtrack*vrzd*sgn(vcalc.Zd())); - rc=kTRUE; - } - return rc; -} -/* -Bool_t MCosy::AlignTrackingPos(ZdAz pointing, ZdAz &za) const -{ - // pointing [deg] - if (pointing.Zd()<0) - { - pointing.Zd(-pointing.Zd()); - pointing.Az(pointing.Az()+180); - } - - const ZdAz se = GetSePos()*2*TMath::Pi()/16384; // [rad] - const ZdAz unbendedse = fBending.CorrectBack(se)*kRad2Deg; // ist pointing - - do - { - const Double_t d = unbendedse.Az() - pointing.Az(); - if (d>-180 && d<=180) - break; - - pointing.Az(pointing.Az()+TMath::Sign(360., d)); - } while (1); - - const Bool_t rc = CheckRange(pointing); - za = pointing/kRad2Deg; // [rad] - - if (!rc) - lout << "Error: Aligned position out of Range." << endl; - - return rc; -} -*/ - ZdAz MCosy::AlignTrackingPos(ZdAz pointing) const { @@ -837,5 +311,5 @@ } - const ZdAz se = GetSePos()*2*TMath::Pi()/16384; // [rad] + const ZdAz se = GetSePos()*TMath::TwoPi()/kResSE; // [rad] const ZdAz unbendedse = fBending.CorrectBack(se)*kRad2Deg; // ist pointing @@ -897,6 +371,5 @@ dest -= point; - dest *= 16384/TMath::Pi()/2; // [se] - dest *= -kGearRatio; // [re] + dest *= -kGearTot/TMath::TwoPi(); // [re] cout << "Using Starguider... dZd=" << dest.Zd() << " dAz=" << dest.Az() << endl; @@ -905,238 +378,44 @@ } +// -------------------------------------------------------------------------- +// +// Move the telescope to the given position. The position must be given in +// a ZdAz object in rad. +// +// The first positioning is done absolutely. If we didn't reach the +// correct psotion we try to correct for this by 10 relative position +// maneuvers. If this doesn't help positioning failed. +// +// As a reference the shaftencoder values are used. +// +int MCosy::SetPosition(const ZdAz &dst, Bool_t track) // [rad] +{ + MPointing point(this, lout); + +//#ifdef EXPERT +// point.SetAccDec(0.4, 0.4); +// point.SetVelocity(0.2); // fast: 0.6, slow: 0.2 +//#else + point.SetPointAccDec(0.2, 0.1); + point.SetPointVelocity(0.1); +//#endif + + return point.SetPosition(dst, track); +} + void MCosy::TrackPosition(const RaDec &dst) // ra, dec [rad] { - SlaStars sla(fObservatory); - - // - // Position to actual position - // - sla.Now(); - ZdAz dest = sla.CalcZdAz(dst); - - lout << sla.GetTime() << ": Track Position " << dst.Ra()*kRad2Deg/15 << "h, " << dst.Dec()*kRad2Deg <<"deg" << endl; - - // FIXME: Determin tracking start point by star culmination - if (dest.Az()<-TMath::Pi()/2) - { - lout << "Adding 360deg to Azimuth " << dest.Az()*kRad2Deg << endl; - dest.Az(dest.Az() + TMath::Pi()*2); - } - - if (dest.Az()>3*TMath::Pi()/2) - { - lout << "Substracting 360deg to Azimuth " << dest.Az()*kRad2Deg << endl; - dest.Az(dest.Az() -TMath::Pi()*2); - } - - if (!SetPosition(dest, kTRUE)) - //if (!SetPosition(dest, kFALSE)) - { - lout << "Error: Cannot start tracking, positioning failed." << endl; - return; - } - - // - // calculate offset from present se position - // - const ZdAz sepos = GetSePos()*kGearRatio; - - if (!RequestRePos()) - return; - - // - // Estimate Offset before starting to track - // - fOffset = sepos-GetRePos(); - - /* - cout << "Sepos: " << sepos.Zd() << "re, " << sepos.Az() << "re" << endl; - cout << "Repos: " << repos.Zd() << "re, " << repos.Az() << "re" << endl; - cout << "Offset: " << fOffset.Zd() << "re, " << fOffset.Az() << "re" << endl; - */ - - // - // Init accelerations and Rpm Mode - // - if (!InitTracking()) - { - StopMovement(); - return; - } - - XY xy(Rad2Deg(dst.Ra())*24/360, Rad2Deg(dst.Dec())); - - sla.Now(); -// lout << sla.GetTime() << " - Start tracking:"; -// lout << " Ra: " << xy.X() << "h " << "Dec: " << xy.Y() << "\xb0" << endl; - -/*#ifdef EXPERT - ofstream fout("coordinates.txt"); - fout << xy; - fout.close(); -#endif -*/ // - // Initialize Tracker (slalib or starguider) - // - fRaDec = dst; - fBackground = kBgdTracking; - - ZdAz pos = sla.CalcZdAz(fRaDec); - - lout << sla.GetTime() << " - Start Tracking: Ra=" <GetTime()-sla)*/); - - // - // calculate real velocity of future [re/min] - // believing the Macs manual '/4' shouldn't be necessary, but it is. - // - ZdAz vt = v/4; - if (LimitSpeed(&vt, vcalc)) - { - lout << "Vcalc: " << vcalc.Zd() << " " << vcalc.Az() << "re/min" <.9*fMac1->GetVelRes() || vt.Az()>.9*fMac2->GetVelRes()) - { - lout << "Error: Tracking speed faster than 90% of possible maximum velocity." << endl; - break; - } - - // - // Set theoretical velocity (as early after calculation as possible) - // Maybe we should attenuate the changes - // - if (!SetVelocity(vt)) - break; - - // - // Now do 'unnecessary' things - // - fVelocity = vt/kGearRatio2*4; - -//--- const double mjd = fMac2->GetMjd(); -//--- fout << setprecision(15) << setw(17) << mjd*60.*60.*24. << " "; -//--- fout << setw(4) << vt.Zd() << " "; -//--- fout << setw(4) << vt.Az() << endl; - // - // FIXME? Calculate an accuracy for the tracking system? - // How good do we reach the calculated position in 'real' - // re valus? - // - - - // - // Update speed as often as possible. - // make sure, that dt is around 10 times larger than the - // update time - // - // - // The loop should not be executed faster than the ramp of - // a change in the velocity can be followed. - // (This is important on fast machines >500MHz) - // - /* - MTimeout t(1000); - while (!t.HasTimedOut()) - usleep(1); - */ - usleep(1000000); // 1s - cout << "." << flush; - //usleep(50000); // 0.05s - } - - sla.Now(); - - fBackground = kBgdNone; - StopMovement(); - - lout << sla.GetTime() << " - Tracking stopped." << endl; + MTracking track(this, lout); + track.SetOut(fOutRep); +//#ifdef EXPERT +// track.SetPointAccDec(0.4, 0.4); +// track.SetPointVelocity(0.2); // fast: 0.6, slow: 0.2 +//#else + track.SetPointAccDec(0.2, 0.1); + track.SetPointVelocity(0.1); +//#endif + track.SetTrackAccDec(0.1, 0.1); + + track.TrackPosition(dst); } @@ -1201,45 +480,4 @@ } -void MCosy::StopTracking() -{ - // - // Set status to Stopping - // - SetStatus(MDriveCom::kStopping); - - // - // set deceleration to 50% - // - cout << "Stopping tracking (dec=20%)..." << endl; - fMac1->SetDeceleration(0.2*fMac1->GetVelRes()); - fMac2->SetDeceleration(0.2*fMac2->GetVelRes()); - - fMac2->SendSDO(0x3006, 1, (LWORD_t)0); // SetRpmVelocity [re/min] - fMac1->SendSDO(0x3006, 1, (LWORD_t)0); // SetRpmVelocity [re/min] - fMac2->WaitForSdo(0x3006, 1); - fMac1->WaitForSdo(0x3006, 1); - - cout << "Waiting for end of movement..." << endl; - WaitForEndMovement(); - - // - // Wait for the objects to be OKed. - // - fMac1->SetRpmMode(FALSE); - fMac2->SetRpmMode(FALSE); - - // - // Wait for the movement to really be finished. - // - //cout << "Waiting for end of movement..." << endl; - //WaitForEndMovement(); - - // - // Check whether everything works fine. - // - CheckForError(); - cout << "Movement stopped." << endl; -} - bool MCosy::CheckNetwork() { @@ -1281,5 +519,5 @@ case WM_STOP: - cout << "MCosy::Proc: Stop." << endl; + //cout << "MCosy::Proc: Stop." << endl; if (!CheckNetwork()) return (void*)0xebb0; @@ -1331,5 +569,5 @@ case WM_TPOINT: { - cout << "WM_TPoint: start." << endl; + //cout << "WM_TPoint: start." << endl; SlaStars sla(fObservatory); sla.Now(); @@ -1340,28 +578,45 @@ AltAz za=sla.CalcAltAz(rd*kDeg2Rad)*kRad2Deg; + if (!fOutTp) + { + // + // open tpoint file + // + const TString name = GetFileName("tpoint/tpoint_%s.txt"); + cout << "TPoint-Cosy File ********* " << name << " ********** " << endl; + + fOutTp = new ofstream(name); + *fOutTp << "Magic Model TPOINT data file" << endl; + *fOutTp << ": ALTAZ" << endl; + *fOutTp << "49 48 0 "; + *fOutTp << sla.GetTime().Year() << " " << sla.GetTime().Month() << " " << sla.GetTime().Day() << " "; + *fOutTp << /*"20 1013.25 300 0.5 0.55 0.0065" <<*/ endl; + // temp(°C) pressure(mB) height(m) humidity(1) wavelength(microm) troplapserate(K/m) + } + cout << " Alt/Az: " << za.Alt() << "° " << za.Az() << "°" << endl; - *tpout << setprecision(7) << za.Az() << " " << za.Alt() << " "; - - ZdAz sepos = GetSePos()*TMath::Pi()*2/16384;; + *fOutTp << setprecision(7) << za.Az() << " " << za.Alt() << " "; + + ZdAz sepos = GetSePos()*TMath::TwoPi()/kResSE; za.Set(TMath::Pi()/2-sepos.Zd(), sepos.Az()); za *= kRad2Deg; cout << " SE-Pos: " << za.Alt() << "° " << za.Az() << "°" << endl; - *tpout << fmod(za.Az()+360, 360) << " " << za.Alt() << " "; + *fOutTp << fmod(za.Az()+360, 360) << " " << za.Alt() << " "; if (fStarguider) { XY tp = fStarguider->GetCoordinates(); - *tpout << 90-tp.X() << " " << tp.Y() << " "; + *fOutTp << 90-tp.X() << " " << tp.Y() << " "; } - *tpout << rd.Ra()/15 << " " << rd.Dec() << " " << setprecision(11) << sla.GetMjd() << endl; - - cout << "WM_TPoint: done. (return 0xaffe)" << endl; + *fOutTp << rd.Ra()/15 << " " << rd.Dec() << " " << setprecision(11) << sla.GetMjd() << endl; + + //cout << "WM_TPoint: done. (return 0xaffe)" << endl; } return (void*)0xca1b; case WM_TRACKPOS: - cout << "WM_TrackPosition: start." << endl; + //cout << "WM_TrackPosition: start." << endl; { if (!CheckNetwork()) @@ -1376,13 +631,11 @@ RaDec rd = sla.CalcRaDec(dest); - cout << dest.Zd()*180/3.1415 << " " << dest.Az()*180/3.1415 << endl; - cout << rd.Ra()*12/3.1415 << " " << rd.Dec()*180/3.1415 << endl; TrackPosition(rd); } - cout << "WM_TrackPosition: done. (return 0xabcd)" << endl; + //cout << "WM_TrackPosition: done. (return 0xabcd)" << endl; return (void*)0xabcd; case WM_POSITION: - cout << "WM_Position: start." << endl; + //cout << "WM_Position: start." << endl; { if (!CheckNetwork()) @@ -1392,9 +645,9 @@ SetPosition(dest*kDeg2Rad); } - cout << "WM_Position: done. (return 0x7777)" << endl; + //cout << "WM_Position: done. (return 0x7777)" << endl; return (void*)0x7777; case WM_POSITION1: - cout << "WM_Position1: start." << endl; + //cout << "WM_Position1: start." << endl; { if (!CheckNetwork()) @@ -1404,27 +657,27 @@ SetPosition(dest*kDeg2Rad, kTRUE); } - cout << "WM_Position: done. (return 0x7777)" << endl; + //cout << "WM_Position: done. (return 0x7777)" << endl; return (void*)0x7777; case WM_TESTSE: - cout << "WM_TestSe: start." << endl; + //cout << "WM_TestSe: start." << endl; fBackground = mp ? kBgdSeTest : kBgdNone; - cout << "WM_TestSe: done. (return 0x1e51)" << endl; + //cout << "WM_TestSe: done. (return 0x1e51)" << endl; return (void*)0x1e51; case WM_GEAR: - cout << "WM_Gear: start." << endl; + //cout << "WM_Gear: start." << endl; fBackground = mp ? kBgdGear : kBgdNone; - cout << "WM_Gear: done. (return 0xfeaf)" << endl; + //cout << "WM_Gear: done. (return 0xfeaf)" << endl; return (void*)0xfeaf; case WM_DISPLAY: - cout << "WM_Display: start." << endl; + //cout << "WM_Display: start." << endl; fTriggerDisplay = kTRUE; - cout << "WM_Disply: done. (return 0xd1e1)" << endl; + //cout << "WM_Disply: done. (return 0xd1e1)" << endl; return (void*)0xd1e1; case WM_TRACK: - cout << "WM_Track: START" << endl; + //cout << "WM_Track: START" << endl; { RaDec dest = ((RaDec*)mp)[0]; @@ -1435,27 +688,27 @@ TrackPosition(dest*kDeg2Rad); } - cout << "WM_Track: done. (return 0x8888)" << endl; + //cout << "WM_Track: done. (return 0x8888)" << endl; return (void*)0x8888; case WM_NEWTRACK: - cout << "WM_NewTrack: START" << endl; + //cout << "WM_NewTrack: START" << endl; fRaDec = *((RaDec*)mp); - cout << "WM_NewTrack: done. (return 0x9999)" << endl; + //cout << "WM_NewTrack: done. (return 0x9999)" << endl; return (void*)0x9999; case WM_LOADBENDING: - cout << "WM_LoadBending: START" << endl; + //cout << "WM_LoadBending: START" << endl; fBending.Load("bending.txt"); - cout << "WM_LoadBending: done. (return 0xbe0d)" << endl; + //cout << "WM_LoadBending: done. (return 0xbe0d)" << endl; return (void*)0xbe0d; case WM_RESETBENDING: - cout << "WM_ResetBending: START" << endl; + //cout << "WM_ResetBending: START" << endl; fBending.Reset(); - cout << "WM_ResetBending: done. (return 0xbe0e)" << endl; + //cout << "WM_ResetBending: done. (return 0xbe0e)" << endl; return (void*)0xbe0e; case WM_HOME: - cout << "WM_Home: START" << endl; + //cout << "WM_Home: START" << endl; if (!CheckNetwork()) return (void*)0xebb0; @@ -1485,5 +738,5 @@ */ } - cout << "WM_Home: done. (return 0x403e)" << endl; + //cout << "WM_Home: done. (return 0x403e)" << endl; return (void*)0x403e; @@ -1510,5 +763,5 @@ a1 *= kRad2Deg; - const ZdAz a2 = a1*16384/360; + const ZdAz a2 = a1*kResSE/360; cout << "Zd/Az bended: " << a1.Zd() << "° " << a1.Az() << "°" << endl; @@ -1519,5 +772,5 @@ case WM_ENDSWITCH: { - ZdAz pos = GetSePos()*TMath::Pi()*2/16384; + ZdAz pos = GetSePos()*TMath::TwoPi()/kResSE; pos = fBending.SubtractOffsets(pos)*kRad2Deg; @@ -1575,45 +828,49 @@ cout << "Reading gear ratios..." << flush; - const Double_t gaz = env.GetValue("Az_GearRatio[U_mot/U_tel]", 1000.0); - const Double_t gzd = env.GetValue("Zd_GearRatio[U_mot/U_tel]", 1000.0); - - Double_t resreaz = 0; + kGear.Y(env.GetValue("Az_GearRatio[U_mot/U_tel]", 1000.0)); + kGear.X(env.GetValue("Zd_GearRatio[U_mot/U_tel]", 1000.0)); + + kResRE.Y(0); if (fMac1 && !fMac1->IsZombieNode()) - resreaz = fMac1->GetRes(); + kResRE.Y(fMac1->GetRes()); else if (fMac3 && !fMac3->IsZombieNode()) - resreaz = fMac3->GetRes(); + kResRE.Y(fMac3->GetRes()); else - resreaz = env.GetValue("Az_ResRE[re/U_mot]", 1500); - - Double_t resrezd = 0; + kResRE.Y(env.GetValue("Az_ResRE[re/U_mot]", 1500)); + + kResRE.X(0); if (fMac2 && !fMac2->IsZombieNode()) - resrezd = fMac2->GetRes(); + kResRE.X(fMac2->GetRes()); else - resrezd = env.GetValue("Zd_ResRE[re/U_mot]", 1500); - - Double_t ressezd = 0; + kResRE.X(env.GetValue("Zd_ResRE[re/U_mot]", 1500)); + + kResSE.X(0); if (fZd1 && !fZd1->IsZombieNode()) - ressezd = fZd1->GetPhysRes(); + kResSE.X(fZd1->GetPhysRes()); else if (fZd2 && !fZd2->IsZombieNode()) - ressezd = fZd2->GetPhysRes(); + kResSE.X(fZd2->GetPhysRes()); else - ressezd = env.GetValue("Zd_ResSE[se/U_mot]", 16384); - - Double_t resseaz = 0; + kResSE.X(env.GetValue("Zd_ResSE[se/U_mot]", 16384)); + + kResSE.Y(0); if (fAz && !fAz->IsZombieNode()) - resseaz = fAz->GetPhysRes(); + kResSE.Y(fAz->GetPhysRes()); else - resseaz = env.GetValue("Az_ResSE[se/U_mot]", 16384); - - kGearRatio.Set (gzd*resrezd*4/ressezd, gaz*resreaz*4/resseaz); //[re/se] - kGearRatio2.Set(gzd*resrezd*4/360.0, gaz*resreaz*4/360.0); //[re/deg] + kResSE.Y(env.GetValue("Az_ResSE[se/U_mot]", 16384)); + + // believing the Macs manual '*4' shouldn't be necessary, but it is. + // Because the a RE is 4 quad counts. + // Calculating speeds we have to convert back to qc + kResRE *= 4; + kGearTot = kResRE*kGear; + cout << "done." << endl; cout << " * Setting Gear Ratios:" << endl; cout << " --------------------" << endl; - cout << " * X: " << gzd << "*" << resrezd << "/" << ressezd << "=4*" << kGearRatio.X() << endl; - cout << " * Y: " << gaz << "*" << resreaz << "/" << resseaz << "=4*" << kGearRatio.Y() << endl; + cout << " * X: " << kGear.X() << "*" << kResRE.X()/4 << "/" << kResSE.X() << "=4*" << kGearTot.X() << "/" << kResSE.X() << endl; + cout << " * Y: " << kGear.Y() << "*" << kResRE.Y()/4 << "/" << kResSE.Y() << "=4*" << kGearTot.Y() << "/" << kResSE.Y() << endl; } @@ -1632,133 +889,4 @@ fMac3->SetDeceleration(0.2*res); fMac3->StartPosSync(); -} - -void MCosy::TalkThreadTracking() -{ - if (fZd1->IsZombieNode() && fZd2->IsZombieNode()) - return; - - if (fAz->IsZombieNode()) - return; - - if (!fMac1 || !fMac2) - return; - - lout << "- Tracking Thread started..." << endl; - - SlaStars sla(fObservatory); - sla.Now(); - - ZdAz old; - ZdAz ist = GetSePos(); // [se] - - ZdAz time; - - ZdAz sollzd = sla.CalcZdAz(fRaDec); // [rad] - ZdAz sollaz = sollzd; // [rad] - - // - // only update fTrackingError while tracking - // - bool phca1=false; - bool phca2=false; - bool phcaz=false; - - while (fBackground==kBgdTracking) - { - // - // Make changes (eg wind) smoother - attenuation of control function - // - const float weight = 1.; //0.3; - - // - // This is the time constant which defines how fast - // you correct for external influences (like wind) - // - fZd1->ResetPosHasChanged(); - fZd2->ResetPosHasChanged(); - fAz->ResetPosHasChanged(); - do - { - phca1 = fZd1->PosHasChanged(); - phca2 = fZd2->PosHasChanged(); - phcaz = fAz->PosHasChanged(); - usleep(1); - } while (!phca1 && !phca2 && !phcaz && fBackground==kBgdTracking); - - //---usleep(100000); // 0.1s - - // - // get position, where we are - // - old = ist; - ist = GetSePos(); // [se] - - // - // if the position didn't change continue - // - /*--- - if ((int)ist.Zd() == (int)old.Zd() && - (int)ist.Az() == (int)old.Az()) - continue; - */ - ZdAz istre = GetRePosPdo(); - - // - // Get time from last shaftencoder position change (position: ist) - // FIXME: I cannot take the avarage - // - // FIXME - //time.Zd(fZd1->GetMjd()); - /* OLD* */ - if (fZd1->GetMjd()>fZd2->GetMjd()) - time.Zd(fZd1->GetMjd()); - else - time.Zd(fZd2->GetMjd()); - - //time.Zd((fZd1->GetMjd()+fZd2->GetMjd())/2.0); - time.Az(fAz->GetMjd()); - - // - // if Shaftencoder changed position - // calculate were we should be - // - if (phca1 || phca2 /*(int)ist.Zd() != (int)old.Zd()*/) - { - sollzd = sla.CalcZdAz(fRaDec, time.Zd()); // [rad] - /* - ZdAz dummy = fBending(sla.CalcZdAz(fRaDec)); - sollzd = CorrectTarget(ist, dummy); // [se] - */ - fOffset.Zd(fOffset.Zd()*(1.-weight)+(ist.Zd()*kGearRatio.X()-istre.Zd())*weight); - } - - if (phcaz /*(int)ist.Az() != (int)old.Az()*/) - { - sollaz = sla.CalcZdAz(fRaDec, time.Az()); // [rad] - /* - ZdAz dummy = fBending(sla.CalcZdAz(fRaDec)); - sollaz = CorrectTarget(ist, dummy); // [se] - */ - fOffset.Az(fOffset.Az()*(1.-weight)+(ist.Az()*kGearRatio.Y()-istre.Az())*weight); - } - - ZdAz soll(sollzd.Zd(), sollaz.Az()); // [rad] - - fZdAzSoll = AlignTrackingPos(soll); - - ist *= TMath::Pi()*2/16384; - soll = fBending(fZdAzSoll); - fTrackingError.Set(ist.Zd()-soll.Zd(), ist.Az()-soll.Az()); - - //--- fout << setprecision(15) << setw(17) << time.Zd()*60.*60.*24. << " "; - //--- fout << setprecision(5) << setw(7) << fTrackingError.Zd() << " "; - //--- fout << setprecision(15) << setw(17) << time.Az()*60.*60.*24. << " "; - //--- fout << setprecision(5) << setw(7) << fTrackingError.Az() << endl; - } - - lout << "- Tracking Thread done." << endl; - - //--- fout << endl << endl; } @@ -1813,5 +941,5 @@ } - Double_t apos = (pos[0]-pos[1])/2 * TMath::Pi()*2 / 16384; + Double_t apos = (pos[0]-pos[1])/2 * TMath::TwoPi() / kResSE.X(); ZdAz bend = fBending.CorrectBack(ZdAz(apos, pos[2]))*kRad2Deg; @@ -1865,5 +993,5 @@ ZdAz dre = re-re0; - if (fabs(dse.Zd())*144>16384) // Each 2.5deg (144) + if (fabs(dse.Zd())*144>kResSE.X()) // Each 2.5deg (144) { se0.Zd(se.Zd()); @@ -1872,9 +1000,9 @@ se -= dse/2; - ZdAz bend = fBending.CorrectBack(se*2*TMath::Pi()/16384)*kRad2Deg; + ZdAz bend = fBending.CorrectBack(se*TMath::TwoPi()/kResSE)*kRad2Deg; ((TH3*)fHist)->Fill(bend.Zd(), bend.Az(), dre.Zd()/dse.Zd()); } - if (fabs(dse.Az())*144>16384) // Each 2.5deg (144) + if (fabs(dse.Az())*144>kResSE.Y()) // Each 2.5deg (144) { se0.Az(se.Az()); @@ -1883,5 +1011,5 @@ se -= dse/2; - ZdAz bend = fBending.CorrectBack(se*2*TMath::Pi()/16384)*kRad2Deg; + ZdAz bend = fBending.CorrectBack(se*TMath::TwoPi()/kResSE)*kRad2Deg; ((TH3*)fHist)->Fill(bend.Az(), bend.Az(), dre.Az()/dse.Az()); } @@ -1927,9 +1055,9 @@ case kBgdNone: continue; - +/*#ifndef NEWALGO case kBgdTracking: TalkThreadTracking(); continue; - +#endif*/ case kBgdSeTest: TalkThreadSeTest(); @@ -1952,17 +1080,20 @@ // GetPointingPos [deg] - const ZdAz seist = GetSePos()*2*TMath::Pi()/16384; // [se] - - //cout << seist.Zd()*kRad2Deg << " " << seist.Az()*kRad2Deg << endl; - - ZdAz back = fBending.CorrectBack(seist)*180/TMath::Pi(); - - //cout << back.Zd() << " " << back.Az() << endl; - - return back; + const ZdAz seist = GetSePos()*TMath::TwoPi()/kResSE; // [rad] + return fBending.CorrectBack(seist)*TMath::RadToDeg(); } Bool_t MCosy::HandleTimer(TTimer *t) { + const Int_t rc = fMutexGui.TryLock(); + if (rc==13) + cout << "MCosy::HandleTimer - mutex is already locked by this thread" << endl; + + if (rc) + { + lout << "* GUI update skipped due to locked mutex." << endl; + return kTRUE; + } + // // Update Gui, foremer MTGui. @@ -1975,6 +1106,4 @@ fAz->DisplayVal(); - ZdAz bendist = GetPointingPos(); - Byte_t avail = 0; @@ -1989,9 +1118,13 @@ SetStatus(MDriveCom::kError); - lout.UpdateGui(); - + ZdAz bendist = GetPointingPos(); + fCom->SendReport(fStatus, fRaDec, fZdAzSoll, bendist, fTrackingError); + + fWin->UpdateWeather(*fCom); fWin->Update(bendist, fTrackingError, fVelocity, /*fOffset,*/ fRaDec, fZdAzSoll, fStatus, avail); + lout.UpdateGui(); + const Bool_t trigger = fTriggerDisplay; fTriggerDisplay = kFALSE; @@ -2003,11 +1136,7 @@ DisplayHistGear(!trigger); - // FIXME: Not thread safe! - static int i=0; - if (i++==7) - { - fCom->SendReport(fStatus, fRaDec, fZdAzSoll, bendist, fTrackingError); - i=0; - } + if (fMutexGui.UnLock()==13) + cout << "MCosy::HandleTimer - tried to unlock mutex locked by other thread." << endl; + return kTRUE; } @@ -2195,4 +1324,8 @@ fAz =new ShaftEncoder(id6, "SE/Az", lout); + fZd1->SetReport(fOutRep); + fZd2->SetReport(fOutRep); + fAz->SetReport(fOutRep); + lout << "- Connecting devices to network." << endl; @@ -2265,6 +1398,23 @@ } */ + +TString MCosy::GetFileName(const char *fmt) +{ + // FIXME: Timeout missing + while (1) + { + MTime time(-1); + const TString name = Form(fmt, (const char*)time.GetFileName()); + if (gSystem->AccessPathName(name, kFileExists)) + return name; + break; + + usleep(1000); + } + return ""; +} + MCosy::MCosy(/*int mode,*/ const char *dev, const int baud, MLog &out) -: Network(dev, baud, out), fObservatory(MObservatory::kMagic1), fStarguider(NULL), fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), fMac3(0), fBackground(kBgdNone), fStatus(MDriveCom::kStopped) +: Network(dev, baud, out), fObservatory(MObservatory::kMagic1), fStarguider(NULL), fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), fMac3(0), fBackground(kBgdNone), fStatus(MDriveCom::kStopped), fOutTp(0), fOutRep(0) { TEnv env(".cosyrc"); @@ -2275,4 +1425,9 @@ const Int_t id5 = env.GetValue("Zd_Id-SE2", 5); //5 const Int_t id6 = env.GetValue("Az_Id-SE", 6); //6 + + TString name = GetFileName("rep/cosy_%s.rep"); + cout << "Open Repfile: " << name << endl; + fOutRep = new MLog(name, kTRUE); + /* lout << "- Program in "; @@ -2300,28 +1455,5 @@ fAz->SetDisplay(fWin->GetLabel1()); - // - // open tpoint file - // - MTime time; - TString name; - while (1) - { - time.Now(); - name = Form("tpoint/tpoint_%s.txt", (const char*)time.GetFileName()); - if (gSystem->AccessPathName(name, kFileExists)) - break; - } - - cout << "TPoint File ********* " << name << " ********** " << endl; - - tpout = new ofstream(name); - *tpout << "Magic Model TPOINT data file" << endl; - *tpout << ": ALTAZ" << endl; - *tpout << "49 48 0 "; - *tpout << time.Year() << " " << time.Month() << " " << time.Day() << " "; - *tpout << /*"20 1013.25 300 0.5 0.55 0.0065" <<*/ endl; - // temp(°C) pressure(mB) height(m) humidity(1) wavelength(microm) troplapserate(K/m) - - fCom = new MDriveCom(this, out); + fCom = new MDriveCom(this, *fOutRep); fCom->Start(); } @@ -2349,7 +1481,10 @@ MCosy::~MCosy() { - *tpout << "END" << endl; - //streampos size = tpout.tellp(); - delete tpout; + if (fOutTp) + { + *fOutTp << "END" << endl; + delete fOutTp; + } + delete fOutRep; cout << "Deleting GUI timer." << endl; @@ -2359,4 +1494,8 @@ cout << "Deleting Nodes." << endl; + + fZd1->SetReport(0); + fZd2->SetReport(0); + fAz->SetReport(0); delete fAz; Index: trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.h (revision 4075) +++ trunk/MagicSoft/Cosy/main/MCosy.h (revision 4076) @@ -8,6 +8,9 @@ #include "MBending.h" -#ifndef MARS_Mobservatory +#ifndef MARS_MObservatory #include "MObservatory.h" +#endif +#ifndef ROOT_TMutex +#include #endif @@ -62,4 +65,6 @@ { friend class MTTalk; + friend class MPointing; + friend class MTracking; private: @@ -83,8 +88,10 @@ // with a generic interface to both... + TMutex fMutexGui; + enum BackgroundAction_t { kBgdNone, - kBgdTracking, + //kBgdTracking, kBgdSeTest, kBgdSeTestDispl, @@ -96,5 +103,4 @@ ZdAz fTrackingError; // [rad] Tracking Offset between SE and calc-pos - ZdAz fOffset; // Offset between se and re coordinate system [re] ZdAz fZdAzSoll; // [rad] Soll position when moving RaDec fRaDec; // Position to track @@ -107,6 +113,8 @@ Bool_t fTriggerDisplay; - XY kGearRatio; // describing the gear of the system [re/se] - XY kGearRatio2; // describing the gear of the system [re/deg] + XY kResSE; // describing the resolution of the system [se/U_tel] + XY kResRE; // describing the resolution of the system [re/U_mot] + XY kGear; // describing the resolution of the system [U_mot/U_tel] + XY kGearTot; // describing the resolution of the system [re/U_tel] MBending fBending; @@ -114,17 +122,11 @@ UInt_t fStatus; - ofstream *tpout; - - //Bool_t AlignTrackingPos(ZdAz pointing, ZdAz &za) const; + ofstream *fOutTp; + MLog *fOutRep; + ZdAz AlignTrackingPos(ZdAz pointing) const; Bool_t CheckRange(const ZdAz &d) const; Double_t Starguider(Double_t mjd, ZdAz &dest) const; - double Rad2SE(double rad) const; - double Rad2ZdRE(double rad) const; - double Rad2AzRE(double rad) const; - double Deg2ZdRE(double rad) const; - double Deg2AzRE(double rad) const; - void SetStatus(UInt_t stat) { fStatus = stat; } UInt_t GetStatus() const { return fStatus; } @@ -133,18 +135,10 @@ ZdAz GetRePosPdo(); ZdAz GetSePos() const; // [se] - - Bool_t RequestRePos(); - Bool_t SetVelocity(const ZdAz &v); - - void SetPosVelocity(const Float_t ratio, Float_t vel); - - void DoRelPos(const ZdAz &rd, const Bool_t axe1, const Bool_t axe2); + // FIXME: Must depend on the Shaftencoder mounted + ZdAz GetSePosRad() const { return GetSePos()*TMath::TwoPi()/16384; } // [rad] void InitSync(); - bool InitTracking(); - Bool_t LimitSpeed(ZdAz *vt, const ZdAz &vcalc) const; void TalkThread(); - void TalkThreadTracking(); void TalkThreadSeTest(); void TalkThreadGear(); @@ -154,8 +148,7 @@ int SetPosition(const ZdAz &dst, Bool_t track=kFALSE); + void TrackPosition(const RaDec &dst); // ra, dec [rad] void TerminateApp(); - - void TrackPosition(const RaDec &dst); // ra, dec [rad] int StopWaitingForSDO() const; @@ -163,5 +156,4 @@ void StopMovement(); - void StopTracking(); void WaitForEndMovement(); @@ -188,5 +180,17 @@ ZdAz GetPointingPos(void) const; void SetStarguider(MStarguider *s) { fStarguider = s; } - + + static TString GetFileName(const char *name); + + MGCosy *GetWin() { return fWin; } + + AltAz GetAltAzDeg() const + { + ZdAz sepos = GetSePos()*TMath::TwoPi()/kResSE; + AltAz za1(TMath::Pi()/2-sepos.Zd(), sepos.Az()); + za1 *= kRad2Deg; + return za1; + } + // static ZdAz CorrectTarget(const ZdAz &src, const ZdAz &dst); // static ZdAz RaDec2ZdAz(const double mjd, const RaDec &pos, const RaDec &pm=RaDec(0,0)); Index: trunk/MagicSoft/Cosy/main/MPointing.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MPointing.cc (revision 4075) +++ trunk/MagicSoft/Cosy/main/MPointing.cc (revision 4076) @@ -74,5 +74,5 @@ const int vr = mac->GetVelRes(); mac->SetAcceleration(acc*vr); - mac->SetAcceleration(dec*vr); + mac->SetDeceleration(dec*vr); return !mac->IsZombieNode(); } @@ -96,5 +96,4 @@ int MPointing::SetPosition(const ZdAz &dst, Bool_t track) // [rad] { - /* const ZdAz d = dst*kRad2Deg; @@ -105,5 +104,5 @@ // Calculate new target position (shortest distance to go) // - const ZdAz src = fCosy->GetSePos(); // [se] + //const ZdAz src = fCosy->GetSePos(); // [se] // @@ -123,5 +122,5 @@ ZdAz bend = fCosy->fBending(dst); // [rad] - const ZdAz dest = bend*16384/2/TMath::Pi(); // [se] + const ZdAz dest = bend*fCosy->kResSE/TMath::TwoPi(); // [se] if (!fCosy->CheckRange(bend)) @@ -131,46 +130,35 @@ fCosy->fZdAzSoll = dst; - cout << "Source Zd: " << src.Zd() << "se Az:" << src.Az() << "se" << endl; - cout << "Destination Zd: " << dst.Zd()*8192/TMath::Pi() << "se Az:" << dst.Az()*8192/TMath::Pi() << "se" << endl; - cout << "Bend'd Dest Zd: " << dest.Zd() << "se Az:" << dest.Az() << "se" << endl; - cout << "Bend'd Dest Zd: " << bend.Zd() << "deg Az:" << bend.Az() << "deg" << endl; + //cout << "Source Zd: " << src.Zd() << "se Az:" << src.Az() << "se" << endl; + //cout << "Destination Zd: " << Rad2SE(dst.Zd()) << "se Az:" << Rad2SE(dst.Az()) << "se" << endl; + //cout << "Bend'd Dest Zd: " << dest.Zd() << "se Az:" << dest.Az() << "se" << endl; + //cout << "Bend'd Dest Zd: " << bend.Zd() << "deg Az:" << bend.Az() << "deg" << endl; + + // + // Set velocities + // + //const int vr = fCosy->fMac1->GetVelRes(); + + const Float_t rad2se = fCosy->kResSE.X()/TMath::TwoPi(); int i; - for (i=0; i<(track?1:10) && !Break(); i++) + for (i=0; i<(track?1:10) && !Break()/*(fCosy->Break() || fCosy->HasError() || fCosy->HasZombie())*/; i++) { lout << "- Step #" << i << endl; - // + // Get Shaft Encoder Positions - // const ZdAz p=fCosy->GetSePos(); - // // calculate control deviation and rounded cd - // ZdAz rd = dest-p; // [se] - - // =========================================== - 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(); - // // Check if there is a control deviation on the axis - // const Bool_t cdzd = (int)cd.Zd() ? kTRUE : kFALSE; const Bool_t cdaz = (int)cd.Az() ? kTRUE : kFALSE; - // // check if we reached the correct position already - // if (!cdzd && !cdaz) { @@ -178,207 +166,25 @@ lout << t << " - Positioning done in " << i << (i==1?" step.":" steps.") << endl; fCosy->SetStatus(MDriveCom::kStopped); - fCosy->fCom->Send("POSITION DONE"); + fCosy->fCom->SendStatus("Target position reached."); return TRUE; } - // + // ============================================== + // Estimate the noncircularity of the zd axis + const ZdAz ist = dst-rd*TMath::TwoPi()/fCosy->kResSE; + + 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())*rad2se; + const double f2 = (-26.0101*sin(p2)+443.761*dst.Zd())*rad2se; + // ==++========================================= + // change units from se to re - // - rd *= fCosy->kGearRatio; // [re] + rd *= fCosy->kGearTot/fCosy->kResSE; // [re] rd.Zd(f2-f1); - // // Initialize Velocities so that we reach both positions // at the same time - // - if (i) - { - lout << "--- LO-SPEED ---" << endl; - SetAccDec(fCosy->fMac1, 0.1, 0.1); - SetAccDec(fCosy->fMac2, 0.1, 0.1); - - SetPosVelocity(1.0, 0.05); - } - else - { - const Double_t y = 15*fCosy->kGearRatio.Y(); - if (rd.Az()>-y && rd.Az()fMac1, 0.05, 0.05); - } - else - SetAccDec(fCosy->fMac1, fAcc, fDec); - - SetAccDec(fCosy->fMac2, fAcc, fDec); - - SetPosVelocity(fabs(rd.Ratio()), fVel); - } - - rd.Round(); - - // FIXME? Check for Error or Zombie? - - // cout << " + " << (int)cdzd << " " << (int)cdaz << endl; - // cout << " + APOS: Zd=" << setw(6) << p.Zd() << "se Az=" << setw(6) << p.Az() << "se" << endl; - // cout << " + dZd=" << setw(6) << cd.Zd() << "se dAz=" << setw(6) << cd.Az() << "se" << endl; - // cout << " + dZd=" << setw(6) << rd.Zd() << "re dAz=" << setw(6) << rd.Az() << "re" << endl; - // cout << " + Ratio: Zd=" << setw(6) << kGearRatio.X() << "se Az=" << setw(6) << kGearRatio.Y() << "se" << endl; - - // - // repositioning (relative) - // - - lout << "- Do Relative Positioning..." << endl; - DoRelPos(rd, cdzd, cdaz); - lout << "- Relative Positioning Done" << endl; - } - - - return FALSE;*/ - - const ZdAz d = dst*kRad2Deg; - - MTime t(-1); - lout << t << " - Target Position: " << d.Zd() << "deg, " << d.Az() << "deg (Zd/Az)" << endl; - - // - // Calculate new target position (shortest distance to go) - // - //const ZdAz src = fCosy->GetSePos(); // [se] - - // - // Make sure that the motors are in sync mode (necessary if the - // MACS has been rebooted from a Zombie state. - // - //InitSync(); - //if (fMac3->IsZombieNode()) - // return false; - - // - // Because we agreed on I don't search for the shortest move - // anymore - // - // const ZdAz dest = CorrectTarget(src, dst); - // - ZdAz bend = fCosy->fBending(dst); // [rad] - - const ZdAz dest = bend*16384/2/TMath::Pi(); // [se] - - if (!fCosy->CheckRange(bend)) - return kFALSE; - - bend *= kRad2Deg; - fCosy->fZdAzSoll = dst; - - //cout << "Source Zd: " << src.Zd() << "se Az:" << src.Az() << "se" << endl; - //cout << "Destination Zd: " << Rad2SE(dst.Zd()) << "se Az:" << Rad2SE(dst.Az()) << "se" << endl; - //cout << "Bend'd Dest Zd: " << dest.Zd() << "se Az:" << dest.Az() << "se" << endl; - //cout << "Bend'd Dest Zd: " << bend.Zd() << "deg Az:" << bend.Az() << "deg" << endl; - - // - // Set velocities - // - //const int vr = fCosy->fMac1->GetVelRes(); - - int i; - for (i=0; i<(track?1:10) && !Break()/*(fCosy->Break() || fCosy->HasError() || fCosy->HasZombie())*/; i++) - { - - lout << "- Step #" << i << endl; - // - // Get Shaft Encoder Positions - // - const ZdAz p=fCosy->GetSePos(); - - // - // calculate control deviation and rounded cd - // - ZdAz rd = dest-p; // [se] - - // =========================================== - 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(); - - // - // Check if there is a control deviation on the axis - // - const Bool_t cdzd = (int)cd.Zd() ? kTRUE : kFALSE; - const Bool_t cdaz = (int)cd.Az() ? kTRUE : kFALSE; - - // - // check if we reached the correct position already - // - if (!cdzd && !cdaz) - { - t.Now(); - lout << t << " - Positioning done in " << i << (i==1?" step.":" steps.") << endl; - fCosy->SetStatus(MDriveCom::kStopped); - fCosy->fCom->Send("POSITION DONE"); - return TRUE; - } - - // - // change units from se to re - // - rd *= fCosy->kGearRatio; // [re] - rd.Zd(f2-f1); - - // - // Initialize Velocities so that we reach both positions - // at the same time - // -/* if (i) - { - fCosy->fMac1->SetAcceleration(0.1*vr); - fCosy->fMac2->SetAcceleration(0.1*vr); - - fCosy->fMac1->SetDeceleration(0.1*vr); - fCosy->fMac2->SetDeceleration(0.1*vr); - - fCosy->SetPosVelocity(1.0, 0.05); - } - else - { - if (rd.Az()>-15*fCosy->kGearRatio.Y() && rd.Az()<15*fCosy->kGearRatio.Y()) - { -#ifdef EXPERT - cout << " -------------- LO ---------------- " << endl; -#endif - fCosy->fMac1->SetAcceleration(0.05*vr); - fCosy->fMac1->SetDeceleration(0.05*vr); - } - else - { -#ifdef EXPERT - cout << " -------------- HI ---------------- " << endl; - fCosy->fMac1->SetAcceleration(0.4*vr);// 0.4 - fCosy->fMac1->SetDeceleration(0.4*vr);// 0.4 -#else - fCosy->fMac1->SetAcceleration(0.2*vr); - fCosy->fMac1->SetDeceleration(0.1*vr); -#endif - } - -#ifdef EXPERT - fCosy->fMac2->SetAcceleration(0.4*vr);// 0.4 - fCosy->fMac2->SetDeceleration(0.4*vr);// 0.4 - fCosy->SetPosVelocity(fabs(rd.Ratio()), 0.2); // fast: 0.6, slow: 0.2 -#else - fCosy->fMac2->SetAcceleration(0.2*vr); - fCosy->fMac2->SetDeceleration(0.1*vr); - fCosy->SetPosVelocity(fabs(rd.Ratio()), 0.1); -#endif - } - */ if (i) { @@ -391,5 +197,5 @@ else { - const Double_t y = 15*fCosy->kGearRatio.Y(); + const Double_t y = 15*fCosy->kGearTot.Y()*fCosy->kResSE.Y(); if (rd.Az()>-y && rd.Az()SetStatus(MDriveCom::kStopped); - fCosy->fCom->Send("POSITION DONE"); + fCosy->fCom->SendStatus("Tracking preposition reached."); return TRUE; } @@ -441,5 +243,5 @@ lout << t << " - Warning: Requested position not reached (i=" << dec << i << ")" << endl; - fCosy->fCom->Send("POSITION FAILED"); + fCosy->fCom->SendStatus("Target position missed!"); return FALSE; Index: trunk/MagicSoft/Cosy/main/MTracking.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MTracking.cc (revision 4075) +++ trunk/MagicSoft/Cosy/main/MTracking.cc (revision 4076) @@ -13,4 +13,40 @@ //#define EXPERT #undef EXPERT + +// -------------------------------------------------------------------------- +// +// request the current positions from the rotary encoders. +// use GetRePos to get the psotions. If the request fails the function +// returns kFALSE, otherwise kTRUE +// +bool MTracking::RequestRePos() +{ + // + // Send request + // + fCosy->fMac2->RequestSDO(0x6004); + fCosy->fMac1->RequestSDO(0x6004); + + // + // Wait until the objects are received. + // + fCosy->fMac2->WaitForSdo(0x6004); + fCosy->fMac1->WaitForSdo(0x6004); + + // + // If waiting was not interrupted everything is ok. return. + // + if (!Break()) + return true; + + // + // If the waiting was interrupted due to a network error, + // print some logging message. + // + if (fCosy->HasError()) + lout << "Error while requesting re pos from Macs (SDO #6004)" << endl; + + return false; +} // -------------------------------------------------------------------------- @@ -49,5 +85,46 @@ return true; } - +/* +void MTracking::StopTracking() +{ + // + // Set status to Stopping + // + fCosy->SetStatus(MDriveCom::kStopping); + + // + // set deceleration to 50% + // + cout << "Stopping tracking (dec=20%)..." << endl; + fCosy->fMac1->SetDeceleration(0.2*fMac1->GetVelRes()); + fCosy->fMac2->SetDeceleration(0.2*fMac2->GetVelRes()); + + fCosy->fMac2->SendSDO(0x3006, 1, (LWORD_t)0); // SetRpmVelocity [re/min] + fCosy->fMac1->SendSDO(0x3006, 1, (LWORD_t)0); // SetRpmVelocity [re/min] + fCosy->fMac2->WaitForSdo(0x3006, 1); + fCosy->fMac1->WaitForSdo(0x3006, 1); + + cout << "Waiting for end of movement..." << endl; + fCosy->WaitForEndMovement(); + + // + // Wait for the objects to be OKed. + // + fCosy->fMac1->SetRpmMode(FALSE); + fCosy->fMac2->SetRpmMode(FALSE); + + // + // Wait for the movement to really be finished. + // + //cout << "Waiting for end of movement..." << endl; + //WaitForEndMovement(); + + // + // Check whether everything works fine. + // + fCosy->CheckForError(); + cout << "Movement stopped." << endl; +} +*/ // -------------------------------------------------------------------------- // @@ -58,6 +135,18 @@ // velocities are limited to the maximum velocity. // -Bool_t MTracking::LimitSpeed(ZdAz *vt, const ZdAz &vcalc) const -{ +Bool_t MTracking::LimitSpeed(ZdAz *vt, const SlaStars &sla) const +{ + // vt[re/min] + + // Calculate approximate velocity of both axis + ZdAz vcalc = sla.GetApproxVel(fCosy->fRaDec); // [rad/rad] + + //vcalc *= 1./(24*60); // [U_tel/min] + //vcalc *= fCosy->kGearTot; // [U_mot/min] + //vcalc *= fCosy->kResRE; // [re/min] + + vcalc *= fCosy->kGearTot*fCosy->kResRE/(24*60); // [re/min] + + // Set return code Bool_t rc = kFALSE; @@ -83,14 +172,16 @@ const Float_t maxtrack = 0.1; - if (fabs(vt->Az()) > maxtrack*vraz) - { + if (fabs(vt->Az()) > maxtrack*vraz*4) + { + vt->Az(maxtrack*vraz*4*sgn(vcalc.Az())); lout << "Warning: Azimuth speed limit (" << maxtrack*100 << "%) exceeded (" << fabs(vt->Az()) << " > " << maxtrack*vraz << ")... limited." << endl; - vt->Az(maxtrack*vraz*sgn(vcalc.Az())); + lout << "Vcalc: " << vcalc.Zd() << " " << vcalc.Az() << "re/min" <Zd()) > maxtrack*vrzd) - { + if (fabs(vt->Zd()) > maxtrack*vrzd*4) + { + vt->Zd(maxtrack*vrzd*4*sgn(vcalc.Zd())); lout << "Warning: Altitude speed limit (" << maxtrack*100 << "%) exceeded (" << fabs(vt->Zd()) <<" > " << maxtrack*vrzd << ")... limited." << endl; - vt->Zd(maxtrack*vrzd*sgn(vcalc.Zd())); + lout << "Vcalc: " << vcalc.Zd() << " " << vcalc.Az() << "re/min" <sla.GetPhi() && dest.Az()<0) - { - // align az between (roughly) 60 and 320 - lout << "Adding 360deg to Azimuth " << dest.Az()*kRad2Deg << endl; - dest.Az(dest.Az() + TMath::Pi()*2); - } -/* - // FIXME: Determin tracking start point by star culmination - if (dest.Az()<-TMath::Pi()/2) - { - lout << "Adding 360deg to Azimuth " << dest.Az()*kRad2Deg << endl; - dest.Az(dest.Az() + TMath::Pi()*2); - } - - if (dest.Az()>3*TMath::Pi()/2) - { - lout << "Substracting 360deg to Azimuth " << dest.Az()*kRad2Deg << endl; - dest.Az(dest.Az() -TMath::Pi()*2); - } - */ + // If the star is culminating behind the zenith (South) we want to + // align the azimuth angle between -180 and 180deg. If the star is + // culminating before the zenith (north) we want the star to be + // aligned between -180 and 180deg (which is the default of CalcZdAz) + if (sla.GetPhi()>dst.Dec() && dest.Az()<0) + { + // align az from -180/180 to 0/360 + lout << "Star culminating behind zenith: Adding 360deg to Azimuth " << dest.Az()*kRad2Deg << endl; + dest.Az(dest.Az() + TMath::TwoPi()); + } + + // Position the telescope to the current local position of the + // star. Do not reposition but start the tracking after the + // first positioning step if (!SetPosition(dest, kTRUE)) - //if (!SetPosition(dest, kFALSE)) { lout << "Error: Cannot start tracking, positioning failed." << endl; @@ -177,7 +260,6 @@ // calculate offset from present se position // - const ZdAz sepos = fCosy->GetSePos()*fCosy->kGearRatio; - - if (!fCosy->RequestRePos()) + const ZdAz sepos = fCosy->GetSePos()*fCosy->kGearTot/fCosy->kResSE; //[re] + if (!RequestRePos()) return; @@ -185,5 +267,5 @@ // Estimate Offset before starting to track // - fCosy->fOffset = sepos-fCosy->GetRePos(); + fOffset = sepos-fCosy->GetRePos(); /* @@ -202,18 +284,5 @@ } - XY xy(Rad2Deg(dst.Ra())*24/360, Rad2Deg(dst.Dec())); - - sla.Now(); -// lout << sla.GetTime() << " - Start tracking:"; -// lout << " Ra: " << xy.X() << "h " << "Dec: " << xy.Y() << "\xb0" << endl; - -/*#ifdef EXPERT - ofstream fout("coordinates.txt"); - fout << xy; - fout.close(); -#endif -*/ // // Initialize Tracker (slalib or starguider) - // fCosy->fRaDec = dst; @@ -221,14 +290,12 @@ Start(); + // Get current nominal local position + sla.Now(); ZdAz pos = sla.CalcZdAz(fCosy->fRaDec); + // Some output + XY xy(Rad2Deg(dst.Ra())*24/360, Rad2Deg(dst.Dec())); lout << sla.GetTime() << " - Start Tracking: Ra=" <fRaDec); // soll pointing [rad] - - //lout << sla.GetTime() << pointing.Zd()*kRad2Deg << " " << pointing.Az()*kRad2Deg << endl; - /* - ZdAz dest; - if (!AlignTrackingPos(pointing, dest)) - break; - */ - ZdAz dest = fCosy->AlignTrackingPos(pointing); - - // lout << "DEST: " << dest.Zd()*kRad2Deg << " " <fRaDec) * fCosy->kGearRatio2*4./60.; - //lout << "Vcalc: " << dest.Zd() << " " << dest.Az() << endl; - vcalc *= fCosy->kGearRatio2*4./60.; // [re/min] + // Request nominal position for this time in the future (To+dt) + // + const ZdAz pointing = sla.CalcZdAz(fCosy->fRaDec); // [rad] + ZdAz dest = fCosy->AlignTrackingPos(pointing); // fix ambiguity + + //ZdAz vcalc = sla.GetApproxVel(fCosy->fRaDec); + //vcalc *= fCosy->kGearRatio2*4./60.; // [re/min] float dtime = -1; @@ -267,25 +324,22 @@ // dtime = Starguider(sla.GetMjd(), dest); + ZdAz repos; if (dtime<0) { - dest = fCosy->fBending(dest); // [rad] - - //lout << "DEST-BEND: " << dest.Zd()*kRad2Deg << " " <fBending(dest); // [rad] if (!fCosy->CheckRange(dest)) break; - dest *= 16384/TMath::Pi()/2; // [se] - dest *= fCosy->kGearRatio; // [re] - - *fCosy->fOutRep << "> ReqRePos1 " << endl; + dest *= fCosy->kGearTot/TMath::TwoPi(); // [re] + + //*fCosy->fOutRep << "> ReqRePos1 " << endl; // // Request absolute position of rotary encoder from Macs // - if (!fCosy->RequestRePos()) + if (!RequestRePos()) break; - *fCosy->fOutRep << "> ReqRePos2 " << endl; + //*fCosy->fOutRep << "> ReqRePos2 " << fOffset.Zd() << " " << fOffset.Az() << endl; // @@ -294,13 +348,8 @@ // fOffset does the synchronization between the // Shaft- and the rotary encoders - dest -= fCosy->GetRePos() + fCosy->fOffset; + repos = fCosy->GetRePos(); + dest -= repos + fOffset; //[re] dtime = dt; - - ZdAz repos = fCosy->GetRePos(); - // lout << "Repos: " << repos.Zd()/kGearRatio.X() << " " << repos.Az()*kGearRatio.Y() << endl; - // repos /= kGearRatio; - repos /= 16384/TMath::Pi()/2; - repos *= kRad2Deg; } @@ -309,5 +358,22 @@ // correct for the duration of RaDec2AltAz // - const ZdAz v = dest*60.0/(dtime/*-(fMac2->GetTime()-sla)*/); + /* --- OLD --- */ + ZdAz v = dest*60.0/dtime; //[re/min] + /* --- NEW --- seems to work worse! */ + //const Double_t dtaz = sla.GetTime() - fCosy->fMac1->GetPosTime(); + //const Double_t dtzd = sla.GetTime() - fCosy->fMac2->GetPosTime(); + // + //ZdAz v = dest*60.0; + //v.Zd(v.Zd()/dtzd); + //v.Az(v.Az()/dtaz); + /* --- END --- */ + + //*fCosy->fOutRep << "> Dt: " << dtaz << " " << dtzd << endl; + + if (LimitSpeed(&v, sla)) + { + lout << "vt: " << v.Zd() << " " << v.Az() << "re/min" << endl; + lout << "Dest: " << dest.Zd() << " " << dest.Az() << endl; + } // @@ -315,12 +381,8 @@ // believing the Macs manual '/4' shouldn't be necessary, but it is. // - ZdAz vt = v/4; - if (LimitSpeed(&vt, vcalc)) - { - lout << "Vcalc: " << vcalc.Zd() << " " << vcalc.Az() << "re/min" <fOutRep << "> SetVelocity1 " << endl; + //*fCosy->fOutRep << "> SetVelocity1: " << vt.Zd() << " " << vt.Az() << endl; if (!SetVelocity(vt)) break; - *fCosy->fOutRep << "> SetVelocity2 " << endl; - - // - // Now do 'unnecessary' things - // - fCosy->fVelocity = vt/fCosy->kGearRatio2*4; - -//--- const double mjd = fMac2->GetMjd(); -//--- fout << setprecision(15) << setw(17) << mjd*60.*60.*24. << " "; -//--- fout << setw(4) << vt.Zd() << " "; -//--- fout << setw(4) << vt.Az() << endl; - // - // FIXME? Calculate an accuracy for the tracking system? - // How good do we reach the calculated position in 'real' - // re valus? - // - + //*fCosy->fOutRep << "> SetVelocity2 " << endl; + + // + // Now do 'unnecessary' things (timing) + // + fCosy->fVelocity = vt*4/fCosy->kGear; // [U_mot/min] + // *OLD* fVelocity = vt/kGearRatio2*4; + + if (fOut) + { + fOut->Lock(); + *fOut << "RE-REPORT " << MTime(-1) << " " << repos.Zd() << " " << repos.Az() <<" " << vt.Zd() << " " << vt.Az() << endl; + fOut->UnLock(); + } // @@ -363,17 +422,10 @@ // update time // - // // The loop should not be executed faster than the ramp of // a change in the velocity can be followed. // (This is important on fast machines >500MHz) // - /* - MTimeout t(1000); - while (!t.HasTimedOut()) - usleep(1); - */ usleep(1000000); // 1s - cout << "." << flush; - //usleep(50000); // 0.05s +// *****FIXME**** cout << "." << flush; } @@ -385,5 +437,7 @@ fCosy->StopMovement(); - lout << sla.GetTime() << " - Tracking stopped." << endl; + lout << sla.GetTime() << " - Tracking stopped @ Zd="; + lout << fCosy->fZdAzSoll.Zd()*TMath::RadToDeg() <<"deg Az="; + lout << fCosy->fZdAzSoll.Az()*TMath::RadToDeg() <<"deg" << endl; } @@ -401,14 +455,12 @@ lout << "- Tracking Thread started..." << endl; + const XY re2se = fCosy->kGearTot/fCosy->kResSE; //[re/se] + SlaStars sla(fCosy->fObservatory); sla.Now(); - ZdAz old; - ZdAz ist = fCosy->GetSePos(); // [se] - ZdAz time; - ZdAz sollzd = sla.CalcZdAz(fCosy->fRaDec); // [rad] - ZdAz sollaz = sollzd; // [rad] + ZdAz soll = sla.CalcZdAz(fCosy->fRaDec); // [rad] // @@ -421,18 +473,15 @@ while (!HasStopFlag()) { - // // Make changes (eg wind) smoother - attenuation of control function - // - const float weight = 1.; //0.3; - - // // This is the time constant which defines how fast // you correct for external influences (like wind) - // - *fCosy->fOutRep << "> ResetPosHasChanged" << endl; + const float weight = 1.; //0.3; + + // Check for changes of the shaftencoder values + //*fCosy->fOutRep << "> ResetPosHasChanged" << endl; fCosy->fZd1->ResetPosHasChanged(); fCosy->fZd2->ResetPosHasChanged(); fCosy->fAz->ResetPosHasChanged(); - *fCosy->fOutRep << "> Check for PosHasChanged" << endl; + //*fCosy->fOutRep << "> Check for PosHasChanged" << endl; do { @@ -443,31 +492,16 @@ } while (!phca1 && !phca2 && !phcaz && !HasStopFlag()); - //---usleep(100000); // 0.1s - - *fCosy->fOutRep << "> Do Calculation" << endl; - - // - // get position, where we are - // - old = ist; - ist = fCosy->GetSePos(); // [se] - - // - // if the position didn't change continue - // - /*--- - if ((int)ist.Zd() == (int)old.Zd() && - (int)ist.Az() == (int)old.Az()) - continue; - */ + //*fCosy->fOutRep << "> Do Calculation" << endl; + + // Get current position of motors (use last automatically sent + // position (PDO) - requesting the position results in problems + // with thread safty) ZdAz istre = fCosy->GetRePosPdo(); - // + // get current position of shaftencoders + ZdAz istse = fCosy->GetSePos(); // [se] + // Get time from last shaftencoder position change (position: ist) - // FIXME: I cannot take the avarage - // - // FIXME - //time.Zd(fZd1->GetMjd()); - /* OLD* */ + // FIXME: Is this correct? if (fCosy->fZd1->GetMjd()>fCosy->fZd2->GetMjd()) time.Zd(fCosy->fZd1->GetMjd()); @@ -475,43 +509,34 @@ time.Zd(fCosy->fZd2->GetMjd()); - //time.Zd((fZd1->GetMjd()+fZd2->GetMjd())/2.0); time.Az(fCosy->fAz->GetMjd()); - // - // if Shaftencoder changed position - // calculate were we should be - // - if (phca1 || phca2 /*(int)ist.Zd() != (int)old.Zd()*/) - { - sollzd = sla.CalcZdAz(fCosy->fRaDec, time.Zd()); // [rad] - /* - ZdAz dummy = fBending(sla.CalcZdAz(fRaDec)); - sollzd = CorrectTarget(ist, dummy); // [se] - */ - fCosy->fOffset.Zd(fCosy->fOffset.Zd()*(1.-weight)+(ist.Zd()*fCosy->kGearRatio.X()-istre.Zd())*weight); + // calculate offset for both axis (only one is needed) + const ZdAz offset = (istse*re2se - istre)*weight + fOffset*(weight-1); + + // if Shaftencoder changed position, calculate nominal position + if (phca1 || phca2) + { + const ZdAz dummy = sla.CalcZdAz(fCosy->fRaDec, time.Zd()); + soll.Zd(dummy.Zd()); // [rad] + fOffset.Zd(offset.Zd()); } - - if (phcaz /*(int)ist.Az() != (int)old.Az()*/) - { - sollaz = sla.CalcZdAz(fCosy->fRaDec, time.Az()); // [rad] - /* - ZdAz dummy = fBending(sla.CalcZdAz(fRaDec)); - sollaz = CorrectTarget(ist, dummy); // [se] - */ - fCosy->fOffset.Az(fCosy->fOffset.Az()*(1.-weight)+(ist.Az()*fCosy->kGearRatio.Y()-istre.Az())*weight); + if (phcaz) + { + const ZdAz dummy = sla.CalcZdAz(fCosy->fRaDec, time.Az()); + soll.Az(dummy.Az()); // [rad] + fOffset.Az(offset.Az()); } - ZdAz soll(sollzd.Zd(), sollaz.Az()); // [rad] - + // After calculation of fOffset is done we need 'ist' in rad + istse /= fCosy->kResSE/TMath::TwoPi(); // [rad] + + // Calculate the aligned tracking posotion from 'soll'-position fCosy->fZdAzSoll = fCosy->AlignTrackingPos(soll); - ist *= TMath::Pi()*2/16384; - soll = fCosy->fBending(fCosy->fZdAzSoll); - fCosy->fTrackingError.Set(ist.Zd()-soll.Zd(), ist.Az()-soll.Az()); - - //--- fout << setprecision(15) << setw(17) << time.Zd()*60.*60.*24. << " "; - //--- fout << setprecision(5) << setw(7) << fTrackingError.Zd() << " "; - //--- fout << setprecision(15) << setw(17) << time.Az()*60.*60.*24. << " "; - //--- fout << setprecision(5) << setw(7) << fTrackingError.Az() << endl; + /* --- OLD --- */ + //fCosy->fTrackingError = istse-fCosy->fBending(fCosy->fZdAzSoll); + /* --- NEW --- */ + fCosy->fTrackingError = fCosy->fBending.CorrectBack(istse)-fCosy->fZdAzSoll; + /* --- END --- */ } Index: trunk/MagicSoft/Cosy/main/MTracking.h =================================================================== --- trunk/MagicSoft/Cosy/main/MTracking.h (revision 4075) +++ trunk/MagicSoft/Cosy/main/MTracking.h (revision 4076) @@ -1,4 +1,6 @@ #ifndef COSY_MTracking #define COSY_MTracking + +#include "coord.h" #ifndef COSY_MPointing @@ -10,4 +12,6 @@ #endif +class SlaStars; + class MTracking : public MPointing, public MThread { @@ -16,16 +20,23 @@ Float_t fTrackDec; + ZdAz fOffset; // Offset between se and re coordinate system [re] + + MLog *fOut; + + bool RequestRePos(); bool SetVelocity(const ZdAz &v); + bool LimitSpeed(ZdAz *vt, const SlaStars &sla) const; bool InitTracking(); - bool LimitSpeed(ZdAz *vt, const ZdAz &vcalc) const; + //void StopTracking(); void *Thread(); public: - MTracking(MCosy *cosy, const Log &log) : MPointing(cosy, log), MThread(kFALSE), fTrackAcc(0.1), fTrackDec(0.1) { } + MTracking(MCosy *cosy, const Log &log) : MPointing(cosy, log), MThread(kFALSE), fTrackAcc(0.1), fTrackDec(0.1), fOut(0) { } void TrackPosition(const RaDec &dst); // ra, dec [rad] void SetTrackAccDec(Float_t acc, Float_t dec) { fTrackAcc=0.1; fTrackDec=0.1; } + void SetOut(MLog *fout) { fOut = fout; } //void TalkThreadTracking(); Index: trunk/MagicSoft/Cosy/starg.cc =================================================================== --- trunk/MagicSoft/Cosy/starg.cc (revision 4075) +++ trunk/MagicSoft/Cosy/starg.cc (revision 4076) @@ -1,9 +1,7 @@ +#include + #include #include -#include - -#include "Camera.h" -#include "PngReader.h" #include "MStarguider.h" @@ -18,38 +16,21 @@ TApplication *app=new TApplication("Starguider", &argc, argv); - Bool_t dummy = kFALSE; - + Int_t channel = 0; for (int i=0; i Starting in dummy-mode. <--" << endl; - get=new PngReader(*client); - } - else - { - cout << " --> Starting in real-mode. <--" << endl; - get = new Camera(*client); - ((Camera*)get)->Loop(0); - } - + PixClient *client=new MStarguider(MObservatory::kMagic1, channel); app->Run(kTRUE); - get->ExitLoop(); - - delete get; delete client; - cout << "Application end...." << endl; - - cout << "Exit." << endl; - + cout << "Application end... Exit." << endl; return 0; } Index: trunk/MagicSoft/Cosy/stars.txt =================================================================== --- trunk/MagicSoft/Cosy/stars.txt (revision 4075) +++ trunk/MagicSoft/Cosy/stars.txt (revision 4076) @@ -4,4 +4,13 @@ 12 56 11 -05 47 22 3C279 (17.75) 12 54 02 55 57 35 Alioth (1.77) +00 08 23 29 05 26 Alpha Andromedae (2.1) +02 07 10 23 27 45 Alpha Aries (2.00) +00 40 31 56 32 14 Alpha Cassiopeiae (2.2) +21 18 35 62 35 08 Alpha Cephei (2.44) +15 34 56 26 42 53 Alpha CoronaBorealis (2.23) +09 27 35 -08 39 31 Alpha Hydrae (2.0) +17 34 56 12 33 36 Alpha Ophiuchi (2.08) +03 24 19 49 51 40 Alpha Persei (1.79) +11 03 44 61 45 03 Alpha UrsaMajoris (1.79) 00 08 24 29 05 26 Alpheratz (2.06) 19 50 47 08 52 06 Altair (0.77) @@ -9,4 +18,18 @@ 14 15 40 19 10 57 Arcturus (-0.04) 13 47 33 49 18 48 Benetnasch (1.86) +01 09 44 35 37 14 Beta Andromedae (2.1) +01 54 38 20 48 29 Beta Aries (2.6) +19 55 19 06 24 24 Beta Aquilae (3.7) +05 59 32 44 56 51 Beta Aurigae (1.9) +15 01 57 40 23 26 Beta Bootis (3.5) +00 09 11 59 08 59 Beta Cassiopeiae (2.3) +19 30 43 27 57 35 Beta1 Cygni (3.1) +16 30 13 21 29 23 Beta Herculi (2.77) +11 49 04 14 34 19 Beta Leonis (2.14) +15 17 00 -09 22 59 Beta Librae (2.61) +17 43 28 04 34 02 Beta Ophiuchi (2.77) +05 26 18 28 36 27 Beta Tauri (1.6) +14 50 42 74 09 20 Beta UrsaMinoris (2.1) +05 55 10 07 24 25 Betelgeuse (0.5) 22 02 43 42 16 40 BL-Lac (14.5) 05 15 41 45 59 53 Capella (0.08) @@ -19,7 +42,34 @@ 01 48 19 31 03 18 Dark Patch 4 20 41 26 45 16 49 Deneb (1.25) +19 25 30 03 06 53 Delta Aquilae (3.4) +01 25 49 60 14 07 Delta Cassiopeiae (2.7) +19 44 59 45 07 51 Delta Cygni (2.87) 11 03 44 61 45 03 Dubhe (1.79) +19 05 25 13 51 48 Epsilon Aquilae (2.99) +14 44 59 27 04 27 Epsilon Bootis (2.7) +20 46 13 33 58 13 Epsilon Cygni (2.46) +12 54 02 55 57 35 Epsilon UrsaMajoris (1.77) +13 02 11 10 57 33 Epsilon Virginis (2.8) +19 52 28 01 00 20 Eta Aquilae (3.9) +13 54 41 18 23 52 Eta Bootis (2.7) +19 56 19 35 05 00 Eta Cygni (3.89) +13 47 32 49 18 48 Eta UrsaMajoris (1.86) +22 57 39 -29 37 20 Formalhaut (1.16) +02 03 54 42 19 47 Gamma1 Andromedae (2.3) +19 46 15 10 36 48 Gamma Aquilae (2.7) +14 32 05 38 18 30 Gamma Bootis (3.0) +00 56 43 60 43 00 Gamma Cassiopeiae (2.5) +20 22 14 40 15 24 Gamma Cygni (2.20) +17 56 36 51 29 20 Gamma Draconis (2.2) +06 37 43 16 23 57 Gamma Gemini (1.9) +00 13 14 15 11 01 Gamma Pegasi (2.8) +03 04 48 53 30 23 Gamma Persei (2.9) +11 53 50 53 41 41 Gamma UrsaMajoris (2.4) +15 20 44 71 50 02 Gamma UrsaMinoris (3.0) 06 33 54 17 46 48 Geminga +19 30 42 51 43 47 Iota2 Cygni (3.8) +19 17 06 53 22 07 Kappa Cygni (3.9) 18 24 10 -34 23 05 Kaus Australis (1.85) +19 06 15 -04 52 57 Lambda Aquilae (3.4) 05 34 32 22 00 52 M1 (8.4) 13 23 56 54 55 31 Mizar A (2.23) @@ -27,12 +77,19 @@ 16 53 52 39 45 37 Markarian-501 02 31 49 89 15 51 Polaris (2.02) +07 45 19 28 01 34 Pollux (1.1) +07 39 18 05 13 30 Procyon (0.4) 17 34 56 12 33 36 Ras Alhague (2.08) 17 56 37 51 29 20 Rastaban (2.23) +10 08 22 11 58 02 Regulus (1.35) 17 45 12 -28 48 18 Sagittarius-A 18 55 16 -26 17 48 Sagittarius Sigma-34 (2.02) 00 40 31 56 32 14 Schedar (2.23) +06 45 09 -16 42 58 Sirius (-1.5) 15 02 22 -41 53 48 SN-1006 13 25 13 -11 09 41 Spica (0.98) +20 11 18 -00 49 17 Theta Aquilae (3.2) 17 37 19 -42 59 52 Theta Scorpionis (1.87) 18 36 56 38 47 01 Vega (0.03) +19 05 25 13 51 48 Zeta Aquilae (3.0) +16 41 17 31 36 11 Zeta Herculi (2.81) 05 37 39 21 08 33 Zeta Tauri (3.0) Index: trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc (revision 4075) +++ trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc (revision 4076) @@ -2,4 +2,6 @@ #include + +#include "MString.h" using namespace std; @@ -53,15 +55,12 @@ } - cout << "Zd/Az: " << zd << "/" << az << " "; - cout << "Ra/Dec: " << ra << "/" << dec << " "; - cout << "Temp: " << temp << "'C "; - cout << "Hum: " << hum << "% "; - cout << "SolRad: " << solar << "W/m² "; - cout << "Wind: " << wind << "km/h" << endl; - fHumidity = hum; fTemperature = temp; fSolarRadiation = solar; fWindSpeed = wind; + + cout << "Zd/Az: " << zd << "/" << az << " "; + cout << "Ra/Dec: " << ra/15 << "h/" << dec << " "; + cout << "SolRad: " << solar << "W/m²" << endl; fComStat = kCmdReceived; @@ -86,5 +85,5 @@ } -bool MCeCoCom::Send(const char *str) +bool MCeCoCom::Send(const char *cmd, const char *str) { MTime t; @@ -100,9 +99,9 @@ fT.GetTime(h2, m2, s2, ms2); - const char *msg = - Form("%s " + MString msg; + msg.Print("%s " "%02d %04d %02d %02d %02d %02d %02d %03d " "%02d %04d %02d %02d %02d %02d %02d %03d " - "%s\n", (const char*)fCommand, + "%s\n", cmd, fStatus, y1, mon1, d1, h1, m1, s1, ms1, fComStat, y2, mon2, d2, h2, m2, s2, ms2, @@ -113,2 +112,30 @@ return rc; } + +TString MCeCoCom::GetWeather() const +{ + if (fSolarRadiation<0 || (double)MTime(-1)-(double)fT>11) + return ""; + + MString str; + return str.Print("Temp: %.1f'C Hum: %.1f%% Wind: %.1fkm/h", + fTemperature, fHumidity, fWindSpeed); +} + +Int_t MCeCoCom::GetWeatherStatus() const +{ + if (fSolarRadiation<0 || (double)MTime(-1)-(double)fT>11) + return 0; + + Int_t rc = 0; + if (fHumidity>80) + rc++; + if (fWindSpeed>20) + rc++; + if (fWindSpeed>30) + rc++; + if (fWindSpeed>50) + rc++; + + return rc; +} Index: trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 4075) +++ trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 4076) @@ -24,5 +24,5 @@ }; - TString fCommand; // report string of the current system + //TString fCommand; // report string of the current system MTime fT; // time of last report received char fStatus; // current status of this system @@ -43,13 +43,17 @@ public: MCeCoCom::MCeCoCom(const char *cmd, MLog &out=gLog) - : MTcpIpIO(out), fCommand(cmd), fStatus(0), fComStat(kNoCmdReceived) + : MTcpIpIO(out), /*fCommand(cmd),*/ fStatus(0), fComStat(kNoCmdReceived), fSolarRadiation(-1) { } - bool Send(const char *str); + bool Send(const char *cmd, const char *str); void SetStatus(Byte_t s) { fStatus=s; } Float_t GetHumidity() const { return fHumidity; } Float_t GetTemperature() const { return fTemperature; } + Float_t GetWindSpeed() const { return fWindSpeed; } + + TString GetWeather() const; + Int_t GetWeatherStatus() const; }; Index: trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 4075) +++ trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 4076) @@ -6,4 +6,5 @@ #include "MAstro.h" #include "MCosy.h" +#include "MString.h" using namespace std; @@ -53,6 +54,5 @@ } - lout << "CC-COMMAND: Track " << ra << "h " << dec << "deg '" << str -<< "'" << endl; + cout << "CC-COMMAND " << MTime(-1) << " RADEC " << ra << "h " << dec << "d '" << str << "'" << endl; ra *= 15; // h -> deg @@ -60,7 +60,7 @@ RaDec rd[2] = { RaDec(ra, dec), RaDec(ra, dec) }; - cout << "MDriveCom - TRACK... start." << endl; + //cout << "MDriveCom - TRACK... start." << endl; fQueue->PostMsg(WM_TRACK, &rd, sizeof(rd)); - cout << "MDriveCom - TRACK... done." << endl; + //cout << "MDriveCom - TRACK... done." << endl; return true; } @@ -81,11 +81,11 @@ } - lout << "CC-COMMAND: Move " << zd << "deg " << az << "deg" << endl; + cout << "CC-COMMAND " << MTime(-1) << " ZDAZ " << zd << "deg " << az << "deg" << endl; ZdAz za(zd, az); - cout << "MDriveCom - POSITION... start." << endl; + //cout << "MDriveCom - POSITION... start." << endl; fQueue->PostMsg(WM_POSITION, &za, sizeof(za)); - cout << "MDriveCom - POSITION... done." << endl; + //cout << "MDriveCom - POSITION... done." << endl; return true; } @@ -95,7 +95,8 @@ if (cmd==(TString)"WAIT" && str.IsNull()) { - cout << "MDriveCom - WAIT... start." << endl; + //cout << "MDriveCom - WAIT... start." << endl; + cout << "CC-COMMAND " << MTime(-1) << " WAIT" << endl; fQueue->PostMsg(WM_WAIT); - cout << "MDriveCom - WAIT... done." << endl; + //cout << "MDriveCom - WAIT... done." << endl; return true; } @@ -103,8 +104,8 @@ if (cmd==(TString)"STOP!" && str.IsNull()) { - cout << "MDriveCom - STOP!... start." << endl; - lout << "CC-COMMAND: STOP!" << endl; + //cout << "MDriveCom - STOP!... start." << endl; + cout << "CC-COMMAND " << MTime(-1) << " STOP!" << endl; fQueue->PostMsg(WM_STOP); - cout << "MDriveCom - STOP!... done." << endl; + //cout << "MDriveCom - STOP!... done." << endl; return true; } @@ -124,9 +125,9 @@ if (cmd.IsNull() && str.IsNull()) { - cout << "Empty command (single '\\n') received." << endl; + cout << "CC-COMMAND " << MTime(-1) << " Empty command (single '\\n') received." << endl; return false; } - cout << "Unknown Command: '" << cmd << "':'" << str << "'" << endl; + cout << "CC-COMMAND " << MTime(-1) << " Syntax error: '" << cmd << "':'" << str << "'" << endl; return false; } @@ -139,5 +140,6 @@ MAstro::Deg2Dms(deg, sgn, d, m, s); - str += Form("%c %03d %02d %03d ", sgn, d, m, s); + MString txt; + str += txt.Print("%c %03d %02d %03d ", sgn, d, m, s); } @@ -148,4 +150,5 @@ // is [deg] // er [rad] + const MTime t(-1); rd *= kRad2Deg; @@ -165,6 +168,5 @@ SetStatus(4); - MTime t; - t.Now(); + MString txt; TString str; @@ -172,12 +174,17 @@ Print(str, rd.Dec()); // Dec Print(str, 0); // HA - str += Form("%12.6f ", t.GetMjd()); // mjd + str += txt.Print("%12.6f ", t.GetMjd()); // mjd Print(str, so.Zd()); Print(str, so.Az()); Print(str, is.Zd()); Print(str, is.Az()); - str += Form("%08.3f ", er.Zd()); - str += Form("%08.3f", er.Az()); + str += txt.Print("%08.3f ", er.Zd()); + str += txt.Print("%08.3f", er.Az()); - return Send(str); + return Send("DRIVE-REPORT", str); } + +bool MDriveCom::SendStatus(const char *stat) +{ + return Send("DRIVE-STATUS", stat); +} Index: trunk/MagicSoft/Cosy/tcpip/MDriveCom.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 4075) +++ trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 4076) @@ -37,4 +37,5 @@ bool SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er); + bool SendStatus(const char *stat); }; Index: trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 4075) +++ trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 4076) @@ -33,5 +33,6 @@ */ -MTcpIpIO::MTcpIpIO(MLog &out) : MThread(false), Log(out), fRxSocket(NULL), fServSock(NULL) +MTcpIpIO::MTcpIpIO(MLog &out) + : MThread(false), Log(out), fRxSocket(NULL), fServSock(NULL), fSendInterval(1000) { fTxSocket = new TSocket("ceco", 7304); @@ -49,18 +50,18 @@ // Now delete all TCP/IP objects // - cout << "Delete TxSocket " << fTxSocket << "..." << flush; + //cout << "Delete TxSocket " << fTxSocket << "..." << flush; delete fTxSocket; - cout << "Done." << endl; + //cout << "Done." << endl; if (fServSock) { - cout << "Delete ServSock " << fServSock << "..." << flush; + //cout << "Delete ServSock " << fServSock << "..." << flush; delete fServSock; - cout << "Done." << endl; + //cout << "Done." << endl; } if (fRxSocket) { - cout << "Delete RxSocket " << fRxSocket << "..." << flush; + //cout << "Delete RxSocket " << fRxSocket << "..." << flush; delete fRxSocket; - cout << "Done." << endl; + //cout << "Done." << endl; } } @@ -68,4 +69,19 @@ bool MTcpIpIO::Send(const char *msg) { + const MTime t(-1); + + if ((double)t-(double)fTime<0.001*fSendInterval) + return true; + + const Int_t rc = lout.IsOutputDeviceEnabled(MLog::eGui); + lout.DisableOutputDevice(MLog::eGui); + lout.Lock(); + lout << msg << flush; + lout.UnLock(); + if (rc) + lout.EnableOutputDevice(MLog::eGui); + + fTime = t; + if (!fTxSocket->IsValid()) return false; @@ -112,5 +128,5 @@ switch (fServSock->GetErrorCode()) { - case 0: cout << "No error." << endl; break; + case 0: cout << "No error." << endl; break; case -1: cout << "low level socket() call failed." << endl; break; case -2: cout << "low level bind() call failed." << endl; break; Index: trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 4075) +++ trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 4076) @@ -7,4 +7,7 @@ #ifndef COSY_Log #include "log.h" +#endif +#ifndef MARS_MTime +#include "MTime.h" #endif @@ -19,4 +22,7 @@ TSocket *fRxSocket; TServerSocket *fServSock; + + MTime fTime; + Int_t fSendInterval; // [ms] void Clear(); Index: trunk/MagicSoft/Cosy/videodev/Camera.cc =================================================================== --- trunk/MagicSoft/Cosy/videodev/Camera.cc (revision 4075) +++ trunk/MagicSoft/Cosy/videodev/Camera.cc (revision 4076) @@ -17,20 +17,32 @@ inline int Camera::Ioctl(int req, void *opt, const char *str) { - int rc = ioctl(fd, req, opt); - - if (rc==-1) - { - cout << "Error! Ioctl " << req << ": "; + while (1) + { + const int rc = ioctl(fd, req, opt); + if (rc>=0) + return rc; + + // errno== 4: Interrupted system call + // errno==16: Device or resource busy + if (errno==4 || errno==16) + { + cout << "Camera: ioctl returned rc=" << rc << " '"; + cout << (str?str:strerror(errno)) << "' (errno = " << errno << ")" << endl; + usleep(10); + continue; + } + + cout << "Error! Ioctl " << hex << req << ": errno=" << dec << errno << " - "; cout << (str?str:strerror(errno)) << " (rc=" << rc << ")" << endl; - } - - return rc; + return rc; + } + return -1; } void Camera::Error(const char *str, int fatal) { - cout << endl - << (fatal?"Fatal ":"") << "Error! " << str << ": " << strerror(errno) - << endl; + cout << endl; + cout << (fatal?"Fatal ":"") << "Error! " << str << ": " << strerror(errno); + cout << endl; if (fatal) @@ -39,15 +51,16 @@ void Camera::SigInit() { - return; - struct sigaction act, old; - - memset(&act, 0, sizeof(act)); - - act.sa_handler = SigAlarm; - - sigemptyset(&act. sa_mask); - sigaction(SIGALRM, &act, &old); - - // signal(SIGINT, ctrlc); + /* + struct sigaction act, old; + + memset(&act, 0, sizeof(act)); + + act.sa_handler = SigAlarm; + + sigemptyset(&act. sa_mask); + sigaction(SIGALRM, &act, &old); + + // signal(SIGINT, ctrlc); + */ } @@ -74,9 +87,13 @@ int Camera::StartGrab(unsigned int frame) { + // We could also get RGB555, RGB565 and RGB32. But we want + // RGB24 because we have a 8bit DAC which gives us 8bit per + // color ==> RGB24 which is in the following the most simple + // to process. static struct video_mmap gb = { - 0, // frame - rows, cols, // height, width - VIDEO_PALETTE_RGB24 // palette + 0, // frame + rows, cols, // height, width + VIDEO_PALETTE_RGB24 // palette }; @@ -95,15 +112,7 @@ } -Camera::Camera(PixClient &client) : fd(-1), iBufferSize(0), fClient(client), fMutex(), fCond(&fMutex) -{ - cout << "Starting thread..." << flush; - //pthread_cond_init(&fCond, NULL); - //pthread_mutex_init(&fMux, NULL); - //pthread_mutex_lock(&fMux); - fMutex.Lock(); - pthread_create(&fThread, NULL, MapThread, this); - cout << "done." << endl; - - cout << "/dev/video: opening..." << flush; +Camera::Camera(PixClient &client, Int_t nch) : fd(-1), iBufferSize(0), fClient(client), fCond(), fMutex(fCond.GetMutex()) +{ + cout << "Camera: " << this << " /dev/video: opening..." << flush; // @@ -126,6 +135,7 @@ // get input channel 0 information // + struct video_channel ch; - ch.channel = 0; + ch.channel = nch; Ioctl(VIDIOCGCHAN, &ch); @@ -160,29 +170,35 @@ cout << "Buffer Size: " << (void*)iBufferSize << endl; cout << "grab: use: 768x576 24 bit TrueColor (LE: bgr) = " << (void*)(768*576*3) << "b" << endl; + +// if (fMutex->UnLock()==13) +// cout << "Camera::Camera - tried to unlock mutex locked by other thread." << endl; + + cout << "Starting thread..." << flush; + //pthread_cond_init(&fCond, NULL); + //pthread_mutex_init(&fMux, NULL); + //pthread_mutex_lock(&fMux); +// if (fMutex->Lock()==13) +// cout << "Camera::Camera - mutex is already locked by this thread" << endl; + pthread_create(&fThread, NULL, MapThread, this); + cout << "done." << endl; + } Camera::~Camera() { - cout << "Stopping thread..." << flush; pthread_cancel(fThread); - //pthread_mutex_destroy(&fMux); - //pthread_cond_destroy(&fCond); + + cout << "/dev/video: closing... " << flush; + if (fd != -1) + { + close(fd); + fd = -1; + } cout << "done." << endl; - - cout << "/dev/video: closing... " << flush; // unmap device memory if ((int)pMapBuffer != -1) munmap(pMapBuffer, iBufferSize); - - if (fd != -1) - { - close(fd); - fd = -1; - } - - cout << " Done." << endl; -} - +} void *Camera::MapThread(void *arg) @@ -198,4 +214,29 @@ } +void Camera::ExitLoop() +{ + // cout << "ExitLoop..." << endl; + fStop = 1; + while (IsRunning()) + usleep(1); + // cout << "Loop exited." << endl; +} + +// +// flag if the execution is running or not +// +int Camera::IsRunning() const +{ + const Int_t rc = fMutex->TryLock(); + if (rc==0) + return false; + + if (rc==13) + return false; + + fMutex->UnLock(); + return true; +} + void Camera::LoopStep(const unsigned long n) { @@ -217,8 +258,12 @@ { #define IsOdd(i) (2*(i/2)!=i) + cout << "Camera::Thread started..." << endl; while (1) { - //pthread_cond_wait(&fCond, &fMux); + //cout << "Wait..." << flush; fCond.Wait(); + //cout << "done." << endl; + if (fd==-1) + break; MStopwatch t; @@ -259,7 +304,9 @@ t.Stop(); t.Print(i); - - fRunning = 0; - } + } + + fMutex->UnLock(); + + cout << "Camera::Thread.. stopped." << endl; } @@ -272,20 +319,9 @@ } - // - // Stop running loop - // - fStop = 1; - - // - // Wait until loop is stopped (pthread_cond_wait is executing) - // set new number of frames to process - // - fMutex.Lock(); - //pthread_mutex_lock(&fMux); - fNum = nof; - fStop = 0; - fRunning = 1; - fMutex.UnLock(); - //pthread_mutex_unlock(&fMux); + cout << "Loop..." << endl; + ExitLoop(); + + fNum = nof; + fStop = 0; // @@ -293,5 +329,4 @@ // fCond.Broadcast(); - //pthread_cond_signal(&fCond); } Index: trunk/MagicSoft/Cosy/videodev/Camera.h =================================================================== --- trunk/MagicSoft/Cosy/videodev/Camera.h (revision 4075) +++ trunk/MagicSoft/Cosy/videodev/Camera.h (revision 4076) @@ -45,5 +45,5 @@ int fStop; - int fRunning; +// int fRunning; char fImg[cols*rows]; @@ -53,6 +53,6 @@ pthread_t fThread; - TMutex fMutex; TCondition fCond; + TMutex *fMutex; //pthread_mutex_t fMux; //pthread_cond_t fCond; @@ -81,5 +81,5 @@ public: - Camera(PixClient &client); + Camera(PixClient &client, Int_t ch=0); virtual ~Camera(); @@ -88,15 +88,6 @@ // void Loop(const unsigned long nof=0); - void ExitLoop() - { - fStop = 1; - while (IsRunning()) - usleep(1); - } - - // - // flag if the execution is running or not - // - int IsRunning() const { return fRunning; } + void ExitLoop(); + int IsRunning() const; // Index: trunk/MagicSoft/Cosy/videodev/FilterLed.cc =================================================================== --- trunk/MagicSoft/Cosy/videodev/FilterLed.cc (revision 4075) +++ trunk/MagicSoft/Cosy/videodev/FilterLed.cc (revision 4076) @@ -15,5 +15,5 @@ return; - for (int dx=-(int)(rpix*0.7); dx<(int)(rpix*0.7); dx++) + for (int dx=-(int)(rpix*0.7); dx<(int)(rpix*0.7); dx+=2) { const int dy = (int)sqrt(rpix*rpix-dx*dx); @@ -64,5 +64,4 @@ DrawBox(x+5, y, x+8, y, m); DrawBox(x, y-8, x, y-5, m); - return; } @@ -76,5 +75,5 @@ // - // calculate mean value + // calculate mean value (speed optimized) // while (s254 ? 254 : (byte)(sum+fCut*sdev); @@ -348,5 +349,6 @@ Float_t mx, my; - GetMeanPosition(pos[i]%fW, pos[i]/fW, 5, mx, my); + unsigned int sum; + GetMeanPosition(pos[i]%fW, pos[i]/fW, 5, mx, my, sum); leds.Add(mx, my, 0, 0, mag[i]); @@ -354,4 +356,119 @@ RemoveTwinsInterpol(leds, first, 5); +} + +void FilterLed::FindStar(Leds &leds, int xc, int yc) const +{ + // fBox: radius of the inner (signal) box + // Radius of the outer box is fBox*sqrt(2) + + // + // Define inner box in which to search the signal + // + int x0 = xc-fBox; + int x1 = xc+fBox; + int y0 = yc-fBox; + int y1 = yc+fBox; + + if (x0<0) x0=0; + if (y0<0) y0=0; + if (x1>fW) x1=fW; + if (y1>fH) y1=fH; + + // + // Define outer box (excluding inner box) having almost + // the same nuymber of pixels in which the background + // is calculated + // + const double sqrt2 = sqrt(2.); + + int xa = xc-(int)rint(fBox*sqrt2); + int xb = xc+(int)rint(fBox*sqrt2); + int ya = yc-(int)rint(fBox*sqrt2); + int yb = yc+(int)rint(fBox*sqrt2); + + if (xa<0) xa=0; + if (ya<0) ya=0; + if (xb>fW) xb=fW; + if (yb>fH) yb=fH; + + // + // Calculate average and sdev for a square + // excluding the inner part were we expect + // the signal to be. + // + double sum = 0; + double sq = 0; + + int n=0; + for (int x=xa; xx0 && xy0 && y254 ? 254 : (byte)(sum+fCut*sdev); + + // + // clean image from noise + // (FIXME: A lookup table could accelerate things... + // + n=0; + for (int x=x0; x=fW*fH && fImg[pos]