Index: trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.cc (revision 6930) +++ trunk/MagicSoft/Cosy/main/MCosy.cc (revision 7230) @@ -397,9 +397,25 @@ // point.SetVelocity(0.2); // fast: 0.6, slow: 0.2 //#else + +// original settings +// point.SetPointAccDec(0.2, 0.1); point.SetPointVelocity(0.1); + + //#endif +// point.SetPointAccDec(0.4, 0.4); +// point.SetPointVelocity(0.4); + + +// original return point.SetPosition(dst, track); + +// test +// return point.SetPosition(dst, kTRUE); + + + } @@ -422,6 +438,15 @@ // track.SetPointVelocity(0.2); // fast: 0.6, slow: 0.2 //#else + + + track.SetPointAccDec(0.2, 0.1); track.SetPointVelocity(0.1); + + // track.SetPointAccDec(0.4, 0.4); + // track.SetPointVelocity(0.4); + + + //#endif track.SetTrackAccDec(0.1, 0.1); @@ -438,6 +463,6 @@ // track.SetPointVelocity(0.2); // fast: 0.6, slow: 0.2 //#else - track.SetPointAccDec(0.2, 0.1); - track.SetPointVelocity(0.1); + track.SetPointAccDec(0.4, 0.4); + track.SetPointVelocity(0.3); //#endif track.SetTrackAccDec(0.1, 0.1); Index: trunk/MagicSoft/Cosy/main/MPointing.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MPointing.cc (revision 6930) +++ trunk/MagicSoft/Cosy/main/MPointing.cc (revision 7230) @@ -202,12 +202,26 @@ else { - const Double_t y = 15*fCosy->kGearTot.Y()*fCosy->kResSE.Y(); - if (rd.Az()>-y && rd.Az()fMac1, 0.05, 0.05); - } - else - SetAccDec(fCosy->fMac1, fAcc, fDec); + const Double_t y = 15*fCosy->kGearTot.Y()/fCosy->kResSE.Y(); + +// lout << "MPointing::SetPosition y: " << y << " rd.Az(): " << rd.Az() << endl; +// lout << "MPointing::SetPosition fCosy->kGearTot.Y(): " << fCosy->kGearTot.Y() << " fCosy->kResSE.Y(): " << fCosy->kResSE.Y() << endl; + + if (rd.Az()>-y && rd.Az()fMac1, 0.05, 0.05); + } + else + { + + //lout << "MPointing::SetPosition SetAccDec Mac1: " << fAcc << fDec << endl; + + SetAccDec(fCosy->fMac1, fAcc, fDec); + + } + + + // new 16.05.05 F.G. + // SetAccDec(fCosy->fMac1, fAcc, fDec); SetAccDec(fCosy->fMac2, fAcc, fDec); Index: trunk/MagicSoft/Cosy/main/MStarguider.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MStarguider.cc (revision 6930) +++ trunk/MagicSoft/Cosy/main/MStarguider.cc (revision 7230) @@ -70,4 +70,5 @@ IDM_kChannel1, IDM_kChannel2, + IDM_kChannel3, IDM_kContinous, IDM_kRate25ps, @@ -107,5 +108,7 @@ IDM_kStargCaosFilter, IDM_kStargLEDFilter, - IDM_kStargFindStar + IDM_kStargFindStar, + IDM_kTPointAna, + IDM_kRoqueLampAna }; @@ -143,5 +146,10 @@ fChannel->AddEntry("Starfield Camera", IDM_kChannel1); fChannel->AddEntry("TPoint Camera", IDM_kChannel2); - fChannel->CheckEntry(channel==0?IDM_kChannel1:IDM_kChannel2); + fChannel->AddEntry("Read from File", IDM_kChannel3); + if (channel<0) { + fChannel->CheckEntry(IDM_kChannel3); + } else { + fChannel->CheckEntry(channel==0?IDM_kChannel1:IDM_kChannel2); + } fChannel->Associate(this); fList->Add(fChannel); @@ -170,4 +178,12 @@ fList->Add(fDisplay); + + fOperations = new MGPopupMenu(p); + fOperations->AddEntry("TPoint Analysis", IDM_kTPointAna); + fOperations->AddEntry("Roque Lamp Analysis", IDM_kRoqueLampAna); + fOperations->Associate(this); + fList->Add(fOperations); + + fFileType = new MGPopupMenu(p); fFileType->AddEntry("PP&M", IDM_kPPM); @@ -281,7 +297,10 @@ fMenu = new MGMenuBar(this, 0, 0, kHorizontalFrame); - fMenu->AddPopup("&Display", fDisplay, NULL); - fMenu->AddPopup("&WritePics", fWritePictures, NULL); - fMenu->AddPopup("&Setup", fSetup, NULL); + fMenu->AddPopup("&Display", fDisplay, NULL); + fMenu->AddPopup("&WritePics", fWritePictures, NULL); + fMenu->AddPopup("&Setup", fSetup, NULL); + + fMenu->AddPopup("&Operations", fOperations, NULL); + fMenu->Resize(fMenu->GetDefaultSize()); fMenu->BindKeys(this); @@ -457,5 +476,11 @@ MStarguider::MStarguider(MObservatory::LocationName_t obs, Int_t channel) - : TGMainFrame(gClient->GetRoot(), 768, 840), fCosy(NULL), fOutTp(0), fDx((768-kZOOM)/2), fDy((512-kZOOM)/2), fStatus(MDriveCom::kStandby) + : TGMainFrame(gClient->GetRoot(), 768, 840), + fCosy(NULL), + fOutTp(0), + fOutRq(0), + fDx((768-kZOOM)/2), + fDy((512-kZOOM)/2), + fStatus(MDriveCom::kStandby) { @@ -517,4 +542,7 @@ if (fOutTp) delete fOutTp; + + if (fOutRq) + delete fOutRq; cout << "Camera Display destroyed." << endl; @@ -585,7 +613,20 @@ return kTRUE; + case IDM_kRoqueLampAna: + Toggle(fOperations, IDM_kRoqueLampAna); + // if (!fDisplay->IsEntryChecked(IDM_kCatalog)) + if (fOperations->IsEntryChecked(IDM_kRoqueLampAna)) { + fDisplay->CheckEntry(IDM_kStargCaosFilter); + } + else { + fDisplay->UnCheckEntry(IDM_kStargCaosFilter); + } + + return kTRUE; + + case IDM_kStargFindStar: - Toggle(fDisplay, IDM_kStargFindStar); - if (fDisplay->IsEntryChecked(IDM_kStargFindStar)) { + Toggle(fDisplay, IDM_kStargFindStar); + if (fDisplay->IsEntryChecked(IDM_kStargFindStar)) { fSZdAz->MapWindow(); } else { @@ -615,15 +656,18 @@ const Int_t ch0 = - fChannel->IsEntryChecked(IDM_kChannel1) ? 0 : 1; - const Int_t ch1 = 0; - - if (ch0!=ch1) - { - + fChannel->IsEntryChecked(IDM_kChannel1) ? 0 : 1; + const Int_t ch1 = 0; + + if (ch0!=ch1) + { delete fGetter; usleep(150000); // FIX: Device or resource busy. - fGetter = new Camera(*this, ch1); - ((Camera*)fGetter)->Loop(0); - } + if (fChannel->IsEntryChecked(IDM_kChannel3)) { + fGetter=new PngReader(*this); + } else { + fGetter = new Camera(*this, ch1); + ((Camera*)fGetter)->Loop(0); + } + } fChannel->CheckEntry(IDM_kChannel1); @@ -854,6 +898,11 @@ delete fGetter; usleep(150000); // FIX: Device or resource busy. - fGetter = new Camera(*this, ch1); - ((Camera*)fGetter)->Loop(0); + if (fChannel->IsEntryChecked(IDM_kChannel3)) + fGetter=new PngReader(*this); + else + { + fGetter = new Camera(*this, ch1); + ((Camera*)fGetter)->Loop(0); + } } return kTRUE; @@ -1109,5 +1158,5 @@ } -ZdAz MStarguider::FindStar(FilterLed &f, FilterLed &f2, Ring ¢er, MTime &t, Double_t cut, Double_t box, Double_t scalefactor = 1.0) +XY MStarguider::FindRoqueLamp(FilterLed &f, FilterLed &f2, Ring &CameraCenter, MTime &t, Double_t cut, Double_t box, XY SearchCenter) { // Set search Paremeters (FIXME: Get them from user input!) @@ -1117,5 +1166,43 @@ // Try to find Led in this area Leds leds; - f.FindStar(leds, (Int_t)center.GetX(), (Int_t)center.GetY()); + f.FindStarCircle(leds, (Int_t)SearchCenter.X(), (Int_t)SearchCenter.Y()); + + // Check whether star found + Led *star = (Led*)leds.At(0); + if (!star || leds.GetEntries()<1) + return XY(.0,.0); + +// cout << "Found Roque Lamp @ " << flush; + star->Print(); + f.MarkPoint(star->GetX(), star->GetY(), 500); + +// cout << "RoquePos: " << star->GetX() << "," << star->GetY() << endl; + + XY roquepos(star->GetX(), star->GetY()); + XY relroquepos(roquepos.X()-CameraCenter.GetX(), roquepos.Y()-CameraCenter.GetY()); + + // If no file open: open new Roque Lamp file + if (!fOutRq) + { + const TString name = MCosy::GetFileName("tpoint/starg_roquelamp_%s.txt"); + cout << "Starg_RoqueLamp File ********* " << name << " ********** " << endl; + fOutRq = new ofstream(name); + *fOutRq << "# Magic Roque Lamp file " << t << endl; + } + + + return relroquepos; +} + + +ZdAz MStarguider::FindStar(FilterLed &f, FilterLed &f2, Ring ¢er, MTime &t, Double_t cut, Double_t box, Double_t scalefactor = 1.0) +{ + // Set search Paremeters (FIXME: Get them from user input!) + f.SetCut(cut); // 3.5 + f.SetBox(box); // 70 + + // Try to find Led in this area + Leds leds; + f.FindStarCircle(leds, (Int_t)center.GetX(), (Int_t)center.GetY()); // Check whether star found @@ -1329,4 +1416,7 @@ pos = fCosy->GetPointingPos(); center = fCaos->Run(img, printl, printr, pos, t, 50, 3.0); + + cout << "Caos Filter Camera center position: " << center.GetX() << " " << center.GetY() << endl; + } @@ -1390,4 +1480,63 @@ } +// Find Roque Lamp + + if (fOperations->IsEntryChecked(IDM_kRoqueLampAna)) { + + XY roquelamp(0,0); + + Double_t imageclean = 1.5; + Double_t boxradius = 60; + Double_t scalefactor = 1; + XY searchcenter(768/2-1,576/2+25); + + roquelamp = FindRoqueLamp(f, f2, sgcenter, t, imageclean, boxradius, searchcenter); + + if (fOutRq) { + ZdAz pos = fCosy->GetPointingPos(); + + *fOutRq << "RoqueLampDirect: " << MTime(-1) << " " + << pos.Zd() << " " << pos.Az() << " " + << roquelamp.X() << " " << roquelamp.Y() << endl; + } + + cout << "Starguider Camera Center: " << sgcenter.GetX() << "," << sgcenter.GetY() << endl; + cout << ">=>=>=> Roque Lamp found at: >=>=>=> (" << roquelamp.X() << "," + << roquelamp.Y() << ") <=<=<=<" << endl; + + } + +// Find Spot on Camera Center in Starguider camera + + if (fOperations->IsEntryChecked(IDM_kRoqueLampAna)) { + + XY cameraspot(0,0); + + Double_t imageclean = 5; + Double_t boxradius = 60; + Double_t scalefactor = 1; + // XY searchcenter(sgcenter.GetX(),sgcenter.GetY()); + XY searchcenter(60.,290.); + + cameraspot = FindRoqueLamp(f, f2, sgcenter, t, imageclean, boxradius, searchcenter); + + if (fOutRq) { + ZdAz pos = fCosy->GetPointingPos(); + + *fOutRq << "RoqueLampReflected: " << MTime(-1) << " " + << pos.Zd() << " " << pos.Az() << " " + << cameraspot.X() << " " << cameraspot.Y() << endl; + } + + cout << ">>>>> Spot on Magic camera found at: >>>>> (" << cameraspot.X() << "," + << cameraspot.Y() << ") <<<<<" << endl; + + f2.DrawCircle(sgcenter, 5.0, 0x0fa); + f2.DrawCircle(sgcenter, 115.0, 0x0fa); + + } + + + // we calculate the offset given by the three ETH Leds visible to // the guide camera @@ -1451,4 +1600,5 @@ Leds spots; f.SetBox(230); +// f.SetCut(1.5); double bright; f.ExecuteAndMark(spots, 530, 292, bright); @@ -1528,5 +1678,6 @@ if (fDisplay->IsEntryChecked(IDM_kCaosFilter) || fDisplay->IsEntryChecked(IDM_kCatalog) || - fDisplay->IsEntryChecked(IDM_kFindStar)) + fDisplay->IsEntryChecked(IDM_kFindStar) || + fOperations->IsEntryChecked(IDM_kRoqueLampAna)) fImage->DrawColImg(img, cimg); else Index: trunk/MagicSoft/Cosy/main/MStarguider.h =================================================================== --- trunk/MagicSoft/Cosy/main/MStarguider.h (revision 6930) +++ trunk/MagicSoft/Cosy/main/MStarguider.h (revision 7230) @@ -67,4 +67,6 @@ MGPopupMenu *fChannel; + MGPopupMenu *fOperations; + MGPopupMenu *fCaosWrite; MGPopupMenu *fCaosPrint; @@ -104,4 +106,5 @@ ofstream *fOutTp; + ofstream *fOutRq; Int_t fDx; @@ -121,4 +124,8 @@ ZdAz TrackingError(TArrayF &alt, TArrayF &az, TArrayF &mag) const; bool Interpolate(const unsigned long n, byte *img) const; + + XY FindRoqueLamp(FilterLed &f, FilterLed &f2, Ring &CameraCenter, MTime &t, + Double_t cut, Double_t box, XY SearchCenter); + ZdAz FindStar(FilterLed &f, FilterLed &f2, Ring ¢er, MTime &t, Double_t cut, Double_t box, Double_t scalefactor); Index: trunk/MagicSoft/Cosy/main/MTracking.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MTracking.cc (revision 6930) +++ trunk/MagicSoft/Cosy/main/MTracking.cc (revision 7230) @@ -244,10 +244,58 @@ ZdAz MTracking::GetPointingPosRE(Bool_t pdo) const { - // Conversion factor from se to re - const XY re = fCosy->kGearTot/fCosy->kResSE; //[re/se] - - Int_t pzd1 = fCosy->fZd1->GetPos(); - Int_t pzd2 = fCosy->fZd2->GetPos(); - Int_t paz = fCosy->fAz->GetPos(); + // Conversion factor from se to re + const XY re = fCosy->kGearTot/fCosy->kResSE; //[re/se] + + const bool bool1 = fCosy->fZd1->DirHasChanged(); + const bool bool2 = fCosy->fZd2->DirHasChanged(); + + if (bool1 && bool2) { + fCosy->fZd1->ResetDirHasChanged(); + fCosy->fZd2->ResetDirHasChanged(); + } + + Int_t pzd1 = !bool1 ? fCosy->fZd1->GetPos() : fCosy->fZd1->GetDirChangedPos(); + Int_t pzd2 = !bool2 ? fCosy->fZd2->GetPos() : fCosy->fZd2->GetDirChangedPos(); + Int_t paz = fCosy->fAz->GetPos(); + + // Get current shaftencoder position of the telescope + Double_t seposzd1 = ((pzd1+8192)%16384)*re.X(); + Double_t seposzd2 = ((pzd2+8192)%16384)*re.X(); + Double_t seposaz = paz *re.Y(); + + // distance between (To+dt) and To [re] + // position time difference < 5usec + // fRePos does the synchronization between the + // Shaft- and the rotary encoders + const ZdAz repos = pdo ? fCosy->GetRePosPdo() : fCosy->GetRePos(); + + const Int_t offset1 = !bool1 ? fCosy->fZd1->GetOffset() : fCosy->fZd1->GetDirChangedOffset(); + const Int_t offset2 = !bool2 ? fCosy->fZd2->GetOffset() : fCosy->fZd2->GetDirChangedOffset(); + + // Calculate the part of one SE which the motors moved + // since the last SE has changed its value + const Double_t offzd1 = repos.Zd() - offset1; + const Double_t offzd2 = repos.Zd() - offset2; + const Double_t offaz = repos.Az() - fCosy->fAz->GetOffset(); + + // Correct for the direction in which the motor is moving + // (in which the shaftencoders should change its values) + if (offaz<0) + seposaz += re.Y(); + if (offzd1<0) + seposzd1 += re.X(); + if (offzd2<0) + seposzd2 += re.X(); + + // and interpolate the shaftencoder steps using the motor + // encoder positon (Be carefull the minus-sign is important) + seposzd1 += offzd1; + seposzd2 -= offzd2; + seposaz += offaz; + + + + return ZdAz((seposzd1-seposzd2)/2, seposaz); +} /* if (fCosy->fZd1->DirHasChanged() != fCosy->fZd2->DirHasChanged()) @@ -262,38 +310,4 @@ } */ - // Get current shaftencoder position of the telescope - Double_t seposzd1 = ((pzd1+8192)%16384)*re.X(); - Double_t seposzd2 = ((pzd2+8192)%16384)*re.X(); - Double_t seposaz = paz *re.Y(); - - // distance between (To+dt) and To [re] - // position time difference < 5usec - // fRePos does the synchronization between the - // Shaft- and the rotary encoders - const ZdAz repos = pdo ? fCosy->GetRePosPdo() : fCosy->GetRePos(); - - // Calculate the part of one SE which the motors moved - // since the last SE has changed its value - const Double_t offzd1 = repos.Zd() - fCosy->fZd1->GetOffset(); - const Double_t offzd2 = repos.Zd() - fCosy->fZd2->GetOffset(); - const Double_t offaz = repos.Az() - fCosy->fAz->GetOffset(); - - // Correct for the direction in which the motor is moving - // (in which the shaftencoders should change its values) - if (offaz<0) - seposaz += re.Y(); - if (offzd1<0) - seposzd1 += re.X(); - if (offzd2<0) - seposzd2 += re.X(); - - // and interpolate the shaftencoder steps using the motor - // encoder positon (Be carefull the minus-sign is important) - seposzd1 += offzd1; - seposzd2 -= offzd2; - seposaz += offaz; - - return ZdAz((seposzd1-seposzd2)/2, seposaz); -} void MTracking::TrackPosition(const RaDec &dst) // ra, dec [rad]