Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 7229) +++ trunk/MagicSoft/Cosy/Changelog (revision 7230) @@ -1,3 +1,28 @@ -*-*- END -*-*- + + 2005/07/28 - Florian Goebel + + * videodev/FilterLed.[cc,h] + - add GetMeanPositionCircle and FindStarCircle + + * devdrv/shaftencoder.[cc,h] + - add: fDirHasChanged, fDirChangedPos, fDirChangedOffset, + fDirection, fHysteresisPos, fHysteresisNeg + + * main/MCosy.cc + - set faster acceleration and Velocity parameters in TrackPositionGRB + + * main/MPointing.cc + - correct bug which always set speed to LO-SPEED + + * main/MStarguider.[cc,h] + - add new Popup "Operation" (functionality is not ready yet) + - add new procedure: FindRoqueLamp + - in MStarguider::FindStar now use Leds::FindStarCircle + (instead of Leds::FindStar) + + * main/MTracking.cc + - calculate DirHasChanged etc. + 2005/04/11 - Thomas Bretz Index: trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc =================================================================== --- trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 7229) +++ trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 7230) @@ -16,6 +16,9 @@ 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), fReport(NULL),/*fTwin(0), - fIsUpdated(kFALSE),*/ fMotor(0), fOffset(0) + fTurn(0), fLabel(NULL), fPosHasChanged(false), fDirHasChanged(false), + fReport(NULL), + /*fTwin(0), fIsUpdated(kFALSE),*/ + fMotor(0), fOffset(0), fDirChangedPos(0), + fDirection(kUndefined), fHysteresisPos(0), fHysteresisNeg(0) { } @@ -93,5 +96,9 @@ fPos = val; fTurn = 0; + fDirChangedPos = val; fOffset = fMotor ? fMotor->GetPdoPos() : 0; + fPosHasChanged = true; + fDirHasChanged = true; + fDirection = kUndefined; //fIsUpdated=kTRUE; //fOffset = 0; @@ -198,6 +205,15 @@ // return; + // Warning: A multiturn shaftencoder is assumed! + if ((pos>fDirChangedPos && posfPos)) + { + fDirChangedPos = pos; + fDirHasChanged = true; + } + else + fOffset = fMotor ? fMotor->GetPdoPos() : 0; + fPos = pos; - fOffset = fMotor ? fMotor->GetPdoPos() : 0; fTime.Set(*tv); fPosHasChanged = true; @@ -225,7 +241,16 @@ // return; + // Warning: A multiturn shaftencoder is assumed! + if ((pos>fDirChangedPos && posfPos)) + { + fDirChangedPos = pos; + fDirHasChanged = true; + } + else + fOffset = fMotor ? fMotor->GetPdoPos() : 0; + //CheckTwin(fPos-pos); fPos=pos; - fOffset = fMotor ? fMotor->GetPdoPos() : 0; fTime.Set(*tv); fPosHasChanged=true; @@ -267,4 +292,6 @@ turn--; + LWORDS_t multipos = pos+turn*fTicks; // SE position of multiturn shaftencoder + //if (fPos==pos && fTurn==fTurn) // return; @@ -272,8 +299,27 @@ //CheckTwin(fPos-pos); + fOffset = fMotor ? fMotor->GetPdoPos() : 0; + + // Warning: A multiturn shaftencoder is assumed! + if ((multipos>fDirChangedPos && multiposfPos)) + { + fDirChangedPos = GetPos(); + fDirHasChanged = true; + fDirChangedOffset = fOffset; + } + else + { + fDirHasChanged = false; + } + + if (multipos>GetPos()) fDirection = kForward; + else if (multiposGetPdoPos() : 0; fTime.Set(*tv); fPosHasChanged=true; @@ -281,9 +327,9 @@ //fOffset = 0; - if (fReport) { fReport->Lock("ShaftEncoder::HandlePDOType2"); *fReport << "SE-REPORT " << (int)GetId() << " " << fTime << " PDO2 " << pos << " " << fVel << " " << fAcc << " " << GetNodeName() << endl; + *fReport << "DIR-REPORT " << (int)GetId() << " " << (Int_t)fDirHasChanged << " " << (Int_t)fDirChangedPos << endl; fReport->UnLock("ShaftEncoder::HandlePDOType2"); } @@ -415,6 +461,11 @@ fPos = pre%16384; fTurn = pre/16384; - + fDirChangedPos = fPos; fOffset = fMotor ? fMotor->GetPdoPos() : 0; + + fPosHasChanged = true; + fDirHasChanged = true; + + fDirection = kUndefined; } Index: trunk/MagicSoft/Cosy/devdrv/shaftencoder.h =================================================================== --- trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (revision 7229) +++ trunk/MagicSoft/Cosy/devdrv/shaftencoder.h (revision 7230) @@ -13,4 +13,6 @@ class TGLabel; +enum Direction_t { kUndefined, kForward, kBackward }; + class ShaftEncoder : public NodeDrv { @@ -23,14 +25,23 @@ WORD_t fTurns; // Number of possible turns + Direction_t fDirection; + + Float_t fHysteresisPos; + Float_t fHysteresisNeg; + TGLabel *fLabel; // LWORDS_t fUpdPos; // ticks bool fPosHasChanged; //! + bool fDirHasChanged; //! MTime fTime; MLog *fReport; - Macs *fMotor; - Int_t fOffset; + Macs *fMotor; // Corresponding Motor/MACS + Int_t fOffset; // offset between SE and Motor + Int_t fDirChangedPos; // Last position at which the SE changed its moving direction + Int_t fDirChangedOffset; // Offset between SE and Motor when SE changed its moving direction last + void HandlePDOType0(BYTE_t *data, timeval_t *tv); @@ -62,7 +73,11 @@ void HandlePDO2(BYTE_t *data, timeval_t *tv) { HandlePDOType2(data, tv); } - LWORDS_t GetPos() const { return IsZombieNode() ? 0 : fPos+fTurn*fTicks; } // FIXME? 0? + LWORDS_t GetPos() const { return IsZombieNode() ? 0 : fPos+fTurn*fTicks; } // FIXME? 0? + Int_t GetDirection() const { return IsZombieNode() ? 0 : fPos-fDirChangedPos; } // FIXME? 0? + Int_t GetDirChangedPos() const { return IsZombieNode() ? 0 : fDirChangedPos; } // FIXME? 0? LWORD_t GetPhysRes() const { return fTicks; } Int_t GetOffset() const { return fOffset; } + Int_t GetDirChangedOffset() const { return fDirChangedOffset; } + void SetOffset(Int_t off) { fOffset = off; } @@ -74,7 +89,23 @@ bool PosHasChanged() const { return fPosHasChanged; } + bool DirHasChanged() const { return fDirHasChanged; } void ResetPosHasChanged() { fPosHasChanged = false; } + void ResetDirHasChanged() { fDirHasChanged = false; } void SetReport(MLog *log) { fReport = log; } + + void SetHysteresisNeg(Float_t f) { fHysteresisNeg = f; } + void SetHysteresisPos(Float_t f) { fHysteresisPos = f; } + + Float_t GetPosCorrected() const { + switch (fDirection) { + case kUndefined: + return GetPos(); + case kForward: + return GetPos()-fHysteresisPos; + case kBackward: + return GetPos()+fHysteresisNeg; + } + } ClassDef(ShaftEncoder, 0) Index: trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.cc (revision 7229) +++ 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 7229) +++ 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 7229) +++ 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 7229) +++ 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 7229) +++ 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] Index: trunk/MagicSoft/Cosy/videodev/FilterLed.cc =================================================================== --- trunk/MagicSoft/Cosy/videodev/FilterLed.cc (revision 7229) +++ trunk/MagicSoft/Cosy/videodev/FilterLed.cc (revision 7230) @@ -120,4 +120,67 @@ return GetMeanPosition(x, y, box, mx, my, sum); } + +int FilterLed::GetMeanPositionCircle(const int x, const int y, + const int box, float &mx, + float &my, unsigned int &sum) const +{ + unsigned int sumx=0; + unsigned int sumy=0; + + //------------------------------- + // Improved algorithm: + // 1. Look for the largest four-pixel signal inside box + + int thissum=0, maxsum=0; + int maxx=0, maxy=0; + for (int dx=x-box; dxmaxsum) + { + maxx=dx; + maxy=dy; + maxsum=thissum; + } + } + + // 2. Calculate mean position inside a circle around + // the highst four-pixel signal with radius of 5 pixels. + + sum=0; + for (int dx=x-box; dxfW) x1=fW; + if (y1>fH) y1=fH; + + // + // Define outer box (excluding inner box) having almost + // the same number 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; x=x0 && x=y0 && 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]