Changeset 7297


Ignore:
Timestamp:
08/22/05 10:46:31 (19 years ago)
Author:
tbretz
Message:
*** empty log message ***
Location:
trunk/MagicSoft
Files:
2 added
15 edited

Legend:

Unmodified
Added
Removed

  • trunk/MagicSoft/Cosy/Changelog

    r7296 r7297  
    9898       centerx[%05.1f] centery[%05.1f] n[%04d]
    9999       bright[%03.1f] mjd[%12.6f]
    100 
    101 
    102 
    103  2004/09/05 - Robert Wagner (La Palma)
    104 
    105    * main/MStarguider.[cc,h]
    106      - Start commissioning of a star guider for MAGIC.
    107      - Display misspointing with an MGStarg object
    108      - Rename the two video channels to "Starfield Camera" and "TPoint Camera"
    109      - Swapped IDs of video channels, since a reset (errno=5) of video card
    110        changes to channel #0
    111      - Rearranged menu structure, added starguider relevant items: Starguider
    112        LED finder, Starguider FindStar (FindStar analysis of star on curtain
    113        for crosschecks and calibration), Starguider Analysis (write relevant
    114        data to ROOT trees), Starguider (Starguider analysis of starfield
    115        picture)
    116      - Rearranged GUI displays, added displays to show misspointing,
    117        misspointing from FindStar algorithm, sky brightness
    118      - Acquisition of center of the PMT camera from applying Caos algorithm
    119        to the three LEDs visible in the starfield camera
    120      - Acquisition of sky brightness (average CCD pixel content in Starfield)
    121        and comparison to last sky brightness
    122      - MStarguider::TrackingError(): Modified histogram binning to enhance
    123        excess
    124      - MStarguider::FindStar(): Now returns position of found star as ZdAz
    125      - MStarguider::FindStar(): Cut and ROI box can now handed over as i
    126        parameters
    127      - MStarguider::FindStar(): Scale factor to compensate for different FOV
    128        (TPoint camera vs. Starfield camera)
    129      - MStarguider::ProcessFrame(): Modified structure to accomodate Starguider
    130        algorithm and tools: 1) Find Center of PMT camera, find Star (if
    131        activated)
    132        to obtain misspointing found from PMT camera.
    133      - Set ROI for starfield in space not occupied by the PMT camera in the
    134        starfield camera FOV
    135      - Calculate star positions and draw stars only in that ROI
    136      - fStatus variable contains status of starguider (Error, Monitoring,
    137        Standby)
    138      - Draw representation of MAGIC's FOV on starfield
    139      - Send STARG-REPORTS unconditionally by using MDriveCom::SendStargReport
    140      - Add Ra/Dec in filename when writing pictures
    141      - Introduced #define EXPERT to allow for debug output
    142      - tracking_*.txt is only produced in case of EXPERT mode
    143 
    144    * tcpip/MTcpIpIO.[h,cc], tcpip/MCeCoCom.[h,cc]
    145      - added option force to MTcpIp::Send() which forces sending
    146        of message     
    147 
    148    * tcpip/MDriveCom.[h,cc]
    149      - added MDriveCom::MSendStargReport()
    150 
    151    * stars.txt
    152      - added Albiero (3.08), Iota Pegasi (3.49), Tarazed (2.72),
    153        Unukalhay (2.65)
    154      - corrected wrong position of Capella (0.08)
    155 
    156    * gui/MGStarg.cc, gui/MGStarg.h gui/GuiLinkDef.h gui/Makefile
    157      - added GUI element similar to MGAccuracy to display
    158        misspointing.
    159 
    160    * stargleds.txt
    161      - List of location of LEDs visible in starfield camera picture
    162 
    163    * main/MStargHistograms.[cc,h], main/Makefile, main/MainLinkDef.h
    164      - Filling trees with Starguider analysis relevant data
    165 
    166    * caos/Led.h
    167      - added Setters SetX(), SetY()
    168 
    169    * main/MCosy.h
    170      - added *GetDriveCom(), returns pointer to MDriveCom object
    171 
    172    * starg.cc
    173      - corrected typo
    174 
    175    * prepos_magic.txt
    176      - changed Park and Camera Access position coordinates
    177 
    178    * caos/Rings.[cc,h]
    179      - minimum number of required LEDs can be set via
    180        SetMinNumberLeds(), default is 5
    181 
    182    * main/MCaos.[cc,h]
    183      - possibility to set size of box and cut in MCaos::Run()
    184      - possibility to specify maximum and minimum acceptable ring
    185        radius
    186 
    187    * catalog/StarCatalog.[cc,h]
    188      - possibility to narrow field of view in CalcStars
    189      - possibility to offset origin of FOV in CalcStars
    190      - CalcStars and DrawStars flip the field in x direction
    191        defaultwise
    192      - CalcStars adds only stars visible in the chosen FOV to
    193        the star list
    194      
    195    * videodev/FilterLed.[cc,h]
    196      - Added possibility to return average brightness found in
    197        chosen FOV
    198 
    199    * videodev/Writer.[cc,h]
    200      - Ra/Dec in filename when writing pictures
    201  
    202 
    203 
    204  2004/08/23 - Thomas Bretz
    205 
    206    * videodev/FilterLed.cc:
    207      - tried to fix a possible crash in FindStar. Maybe the edges
    208        exceeded the area of the image in memory
    209 
    210 
    211 
    212  2004/08/16 - Thomas Bretz
    213 
    214    * tpoint/gui.C:
    215      - implemented TGFSFileDialog for reading and writing bending.txt
    216      - plot deviations vs Magnitude
    217 
    218 
    219 
    220  2004/08/12 - Thomas Bretz
    221 
    222    * tpoint/gui.C:
    223      - implemented TGFSFileDialog for reading the star data
    224 
    225 
    226 
    227  2004/08/05 - Thomas Bretz
    228 
    229    * main/MStarguider.cc:
    230      - on request of the shift-crew I have changed the find-star cut
    231        from 3.0 to 3.5
    232 
    233 
    234 
    235  2004/06/28 - Thomas Bretz
    236 
    237    * caos/Ring.[h,cc]:
    238      - added magnitude fMag
    239      - added interpolation of magnitude
    240 
    241    * main/MStarguider.cc:
    242      - added output of magnitudes
    243 
    244    * tpoint/gui.C:
    245      - implemented comment lines
    246      - changed layout of output
    247 
    248 
    249 
    250  2004/06/01 - Thomas Bretz
    251  
    252    * Makefile.conf.linux:
    253      - removed obsolete -Wtraditional and -Wnested-externs
    254 
    255    * caos/Leds.h:
    256      - added empty Add(TObject*) function for correct overload
    257 
    258    * main/MBending.cc:
    259      - added MAGIC1 as a hysteresis
    260 
    261    * main/MCosy.cc:
    262      - added header to drive report
    263 
    264    * main/MCosy.h:
    265      - added getter-function to GetOutRep (used in FindStar)
    266 
    267    * main/MStarguider.cc:
    268      - added Output to report file
    269      - added output of Star-Offset in pixels
    270 
    271    * main/MTracking.cc:
    272      - removed some 'unused variable'
    273 
    274    * tcpip/MTcpIpIO.cc:
    275      - removed nonsense setting of eGui when writing to the report file
    276 
    277    * tpoint/gui.C:
    278      - enhanced display
    279 
    280 
    281 
    282  2004/05/15 - Thomas Bretz (La Palma)
    283 
    284    * Makefile:
    285      - added MGMenu links
    286 
    287    * bending_magic.txt:
    288      - last calculated pointing model (still has the hysteresis
    289        problem)
    290 
    291    * cosy.cc:
    292      - moved camera stuff to MStarguider
    293      - added channel selection
    294 
    295    * base/BaseLinkDef.h:
    296      - updated
    297 
    298    * base/MString.[h,cc]:
    299      - removed (now in Mars)
    300 
    301    * base/MThread.h, candrv/network.h, candrv/nodedrv.h,
    302      candrv/vmodican.h, devdrv/macs.h, videodev/Camera.h:
    303      - changed ifndef
    304 
    305    * base/Makefile:
    306      - updated
    307 
    308    * candrv/nodedrv.cc:
    309      - added cast to MTime
    310 
    311    * candrv/vmodican.cc:
    312      - changed priority from 10 to 1
    313 
    314    * caos/Led.cc, caos/Ring.cc:
    315      - changed Form to MString
    316 
    317    * caos/Makefile:
    318      - added include base
    319 
    320    * caos/Ring.[h,cc]:
    321      - added arguments to constructor
    322 
    323    * catalog/CatalogLinkDef.h, catalog/Makefile:
    324      - removed SaoFile
    325 
    326    * catalog/Slalib.cc:
    327      - removed some obsolete code
    328 
    329    * catalog/StarCatalog.cc:
    330      - added a size check for the bitmap
    331 
    332    * devdrv/macs.cc:
    333      - no guarding for the moment
    334 
    335    * devdrv/shaftencoder.[h,cc]:
    336      - added code to communicate with the Macs
    337 
    338    * gui/GuiLinkDef.h, gui/Makefile:
    339      - removed MGVelocity
    340 
    341    * gui/MGCosy.[h,cc]:
    342      - added weather data to display
    343      - added image of the camera to window
    344      - removed velocity from window
    345      - replaced Form by MString
    346 
    347    * main/MBending.cc:
    348      - changed handling in GetAnAw - Hopefully correct???
    349        the old handling gave problems
    350 
    351    * main/MCosy.[h,cc]:
    352      - added SetTrackingPosRE
    353      - display interpolated position when tracking
    354      - added SetMotor calls
    355 
    356    * main/MStarguider.[h,cc]:
    357      - added code to find star in the display
    358      - added corresponding menus
    359      - added code to support more than one ccd channel
    360 
    361    * main/MTracking.[h,cc]: 
    362      - complete change to the algorithm. The position which is
    363        send to CC need still some investigations. For more information
    364        look at the code. The main difference is that the motor
    365        encoders are taken better into account which fixes the SE
    366        handling on the elevation axis
    367 
    368    * main/MainLinkDef.h, main/Makefile:
    369      - added MPointing
    370      - added MTracking
    371      
    372    * tcpip/MCeCoCom.[h,cc]: 
    373      - added alarm counter
    374 
    375    * tcpip/MTcpIpIO.cc:
    376      - do not write to output file if stream is locked
    377 
    378    * tpoint/gui.C:
    379      - fixed display so that it perfectly shows north, east, ...
    380      - added error for residual
    381      - simplified residual algorithm
    382      - read new files
    383      - changed displaying deviations a bit
    384      - display result in the display (preliminary)
    385      - set gIgnoreLevel to suppress strange color warnings
    386 
    387    * videodev/FilterLed.cc:
    388      - use MGMap for drawing...
    389 
    390 
    391 
    392  2004/05/15 - Thomas Bretz (La Palma)
    393 
    394    * .cosyrc_magic:
    395      - updated with some comments
    396 
    397    * Makefile:
    398      - added many more links necessary for current make
    399        (should be replaced by libmars.so in the future)
    400 
    401    * Makefile.conf.general:
    402      - added GX11 and HistPainter
    403 
    404    * cosy.cc, starg.cc:
    405      - Moved initialization of Camera to MStarguider
    406      - added command line option to choose ccd channel
    407 
    408    * leds.txt:
    409      - replaced with new LED positions (OFFSETS MISSING)
    410 
    411    * stars.txt:
    412      - added many more stars
    413 
    414    * base/coord.h:
    415      - added operator/=(XY&)
    416 
    417    * base/msgqueue.cc, candrv/sdolist.cc:
    418      - added more output in case mutex is already locked by the same thread
    419 
    420    * candrv/vmodican.cc:
    421      - some changes to output
    422 
    423    * catalog/SlaStars.cc:
    424      - changed some comments
    425 
    426    * catalog/StarCatalog.[h,cc]:
    427      - replaced old algorithms by MAstroCatalog and new simplifications
    428        to calculate star-positions accuratly by combining slalib with
    429        MAstroCatalog
    430 
    431    * devdrv/macs.h:
    432      - added GetPosTime
    433 
    434    * devdrv/shaftencoder.[h,cc]:
    435      - added output to report file
    436 
    437    * gui/MGAccuracy.[h,cc]:
    438      - added time development curve (blue)
    439 
    440    * gui/MGEmbeddedCanvas.h, gui/MGSkyPosition.h,
    441      gui/MGVelocity.h:
    442      - changed ifndef define
    443 
    444    * gui/MGImage.[h,cc]:
    445      - enhancements in speed
    446      - enhancements in mutex locking mechanism
    447 
    448    * gui/MGPngReader.cc, gui/MGTPoint.cc:
    449      - changed meaning of PixSize
    450 
    451    * gui/MGVelocity.cc:
    452      - fixed units
    453 
    454    * main/MCaos.[h,cc]:
    455      - changed ring radius from 266/272 to 266,268
    456      - moved drawing circles to MStarguider
    457 
    458    * main/MCosy.[h,cc]:
    459      - moved big parts of the code to MPointing and MTracking
    460      - removed old conversion constants (Se to RE, etc) and
    461        replaced by more meaningful ones
    462      - prepare displaying starguider image
    463      - added GetFileName to globally prepare correct file names
    464 
    465    * main/MPointing.cc:
    466      - fixed missing SetDecelaration
    467      - changed to new unit conversion constants
    468      - Use SendStatus instead of Send
    469 
    470    * main/MStarguider.cc:
    471      - added update and support of cosy-image display
    472      - added channel swicthing for the frame grabber
    473      - added algorithm to find star position FindStar
    474      - commented out starguider algorithms
    475      - draw support lines and grid stuff
    476 
    477    * main/MTracking.[h,cc]:
    478      - changed to new unit conversion constants
    479      - added output of RE stuff to report file
    480      - some simplification to tracking thread
    481 
    482    * base/MString.[h,cc]:
    483      - added as a thread safe replacement for Form()
    484 
    485    * tcpip/MCeCoCom.[h,cc]:
    486      - changed support for Weather information
    487 
    488    * tcpip/MDriveCom.[h,cc]:
    489      - changed output
    490      - added SendStatus
    491 
    492    * tcpip/MTcpIpIO.cc:
    493      - changed output
    494      - output reports to report file
    495 
    496    * tpoint/gui.C:
    497      - read new starg_* files
    498 
    499    * videodev/Camera.[h,cc]:
    500      - some enhancements to ioctl call
    501      - some changes to output
    502      - changes a bit the bahaviour of mutices
    503      - replaced fRunning by mutex
    504      - changes to ExitLoop and IsRunning
    505      - added support for several frame grabber channels
    506 
    507    * videodev/FilterLed.[h,cc]
    508      - added new algorithms to find star
    509      - small updates to star finding support
    510 
    511    * videodev/PixGetter.h:
    512      - added a virtual empty destructor (IMPORTANT)
    513 
    514 
    515 
    516  2003/12/29 - Thomas Bretz
    517 
    518    * base/MObservatory.cc:
    519      - By fixing a bug evaluating the '-'-sign in latitude
    520        the bending correction changed
    521  
    522    * bending_magic.txt:
    523      - new calculation with sign-fix. AnAw became unimportant
    524 
    525 
    526 
    527  2003/12/07 - Thomas Bretz
    528 
    529    * tcpip/MDriveCom.cc:
    530      - log CC-COMMANDS to log-file
    531 
    532    * main/MStarguider.cc:
    533      - fixed handling of DISPLAY variable
    534 
    535    * main/MCosy.cc:
    536      - undef EXPERT
    537      - removed comments before CheckNetwork
    538 
    539    * gui/MGImage.cc:
    540      - fixed some image copy algorithm
    541      - removed nonsense ==13 check for TryLock
    542 
    543    * devdrv/macs.cc:
    544      - shift crew reported problems: changed timeout from 250ms to 400ms
    545 
    546    * stars.txt:
    547      - added Capella
    548      - added Dark Patch 3/4
    549      - added Zeta Tauri
    550 
    551    * Makefile:
    552      - added 'install'
    553 
    554    * bending_magic.txt:
    555      - small chenges to correct AN, AW correction (new fit)
    556      
    557    * cosy.cc, candrv/nodedrv.cc, devdrv/macs.[h,cc],
    558      devdrv/shaftencoder.[h,cc], gui/MGCosy.cc,
    559      gui/MGPngReader.cc, gui/MGTPoint.cc, main/MBending.cc,
    560      main/MCaos.cc, main/MCosy.cc, main/MStarguider.[h,cc],
    561      tcpip/MCeCoCom.[h,cc], tcpip/MDriveCom.cc,
    562      videodev/Writer.cc:
    563      - replaced Timer by MTime
    564      
    565    * base/BaseLinkDef.h:
    566      - added MTime
    567      - added MAstro
    568      
    569    * base/Makefile:
    570      - added MTime
    571      - added MAstro
    572      
    573    * catalog/SlaStars.[h,cc], catalog/Slalib.[h,cc]:
    574      - made independant of derivement from Timer
    575      - added old Timer as new MTime fTime data member
    576 
    577    * catalog/Slalib.h:
    578      - removed conversion functions - use MAstro instead
    579 
    580    * gui/MGCosy.cc, gui/MGSkyPosition.cc, tcpip/MDriveCom.cc:
    581      - replaced static Slalib:: methody by MAstro
    582      
    583    * main/MBending.[h,cc]:
    584      - added corrected An/Aw algorithm
    585      - removed 360deg ambiguity
    586 
    587    * Makefile.conf.general:
    588      - added defintion __LINUX__ for Mars classes (used in MTime.cc)
    589 
    590 
    591 
    592  2003/11/25 - Thomas Bretz (La Palma)
    593 
    594    * slog:
    595     - added this small script to analyze log-files
    596    
    597    * bending_magic.txt:
    598      - changed to new values comming from new fit
    599        with the new algorithm
    600        
    601    * cosy.cc:
    602      - removed old style InitGUI stuff
    603      - removed TROOT instance
    604      - changed to support gcc 3.3
    605      - added come log-output
    606      - undeclared HAVE_CAMERA
    607 
    608    * stars.txt:
    609      - added some magnitudes
    610      - removed Mars
    611      
    612    * main/MBending.cc:
    613      - exchanged order: moved NPAE and CA behind AN and AW
    614      - replaced the approximation for AN/AW by the correct algorithm.
    615        For Magic (1.5deg) the small angle approximation is wrong
    616      - added some DEBUG option
    617      
    618    * tpoint/gui.C:
    619      - small changes
    620 
    621 
    622 
    623  2003/11/17 - Thomas Bretz (La Palma)
    624  
    625    * Makefile.conf.general:
    626      - added libThread.a
    627      
    628    * prepos_magic.txt:
    629      - exchanged order
    630      - fixed positions
    631      
    632    * stars.txt:
    633      - added many sources taken from the CC input file
    634      
    635    * base/MTimeout.[h,cc]:
    636      - changed to use check system time (using timers
    637        always resulted in trouble)
    638        
    639    * base/msgqueue.[h,cc]:
    640      - replaced Posix mutex by TMutex
    641      
    642    * base/timer.cc:
    643      - display hour with two digits
    644      
    645    * candrv/canopen.[h,cc]:
    646      - replaced Posix semaphores bt TCondition
    647      
    648    * candrv/network.cc:
    649      - minor change to output
    650      
    651    * candrv/nodedrv.[h,cc]:
    652      - removed old timer stuff, replaced by a watch-dog thread
    653      - added MGuard
    654      - removed HandleTimer
    655      - added argument to SetZombie
    656      - nodedrv don't derive from TObject anymore
    657      
    658    * candrv/sdolist.[h,cc]:
    659      - replaced Posix sempahores by TMutex
    660      
    661    * candrv/vmodican.cc:
    662      - minor change to Send()
    663      
    664    * devdrv/macs.cc:
    665      - added to HandleSDO: 0x100c, 0x100d
    666      - added to HandleSDOOk: 0x1000, 0x100c, 0x100d, 0x1800, 0x6000,
    667        0x6002, 0x6003
    668      - Enabled Guarding for Macs
    669      
    670    * devdrv/shaftencoder.cc:
    671      - added HandleSDOOk: 0x1802, 0x6001, 0x6002, 0x6003
    672 
    673    * gui/MGAccuracy.[h,cc]:
    674      - added fBar
    675 
    676    * gui/MGCosy.cc:
    677      - added button for Endswitch alignment printout
    678      - merged Move and Resize to MoveResize
    679      - fixed UpdateZdAz (uses Slalib now)
    680      
    681    * gui/MGImage.[h,cc]:
    682      - replaced Posix sempahores by TMutex
    683      - added DrawColImg16
    684 
    685    * main/MCosy.[h,cc]:
    686      - some changes to output
    687      - some changes to state transmission
    688      - fixed (hopefully) treating of endswitch positions
    689      - fixed positioning mode for tracking
    690      - do not display weird values in case of Zombie
    691        Shaftencoders anymore
    692      
    693    * main/MStarguider.cc:
    694      - if display is not set locally use 125 avaraged pictures
    695        by default.
    696        
    697    * tcpip/MCeCoCom.[h,cc]:
    698      - some small fixes
    699      - some changes to output
    700      - read 30 instead of 29 dummy tokens
    701      - added solar radiation and wind speed
    702      - moved corresponding code to InterpreteReport
    703      
    704    * tcpip/MDriveCom.[h,cc]:
    705      - added ReadAngle for interpretation of Angle in CC commands
    706      - added ReadPosition
    707      - added Command*
    708      - implemented CC commands
    709      
    710    * tcpip/MTcpIpIO.cc:
    711      - Stop thread before deleting data members
    712      - replace -1 for fRxSocket by 0
    713      
    714    * videodev/Camera.[h,cc]:
    715      - replaced Posix sempahores by TMutex and TCondition
    716 
    717 
    718  2003/11/14 - Thomas Bretz (La Palma)
    719 
    720    * gui/MGCosy.cc:
    721      - replaced a wrong 'h' (dec) by 'd'
    722      
    723    * gui/MGImage.[h,cc]:
    724      - replaced 32 by 24
    725      
    726    * tcpip/MCeCoCom.[h,cc]:
    727      - added fHumidity and fTemperature
    728      
    729    * tcpip/MTcpIpIO.cc:
    730      - added DEBUG directive
    731 
    732 
    733 
    734  2003/10/20 - Thomas Bretz
    735  
    736    * base/File.cc:
    737      - only close file if f!=NULL
    738      
    739    * base/MThread.cc:
    740      - added debug output (depending on DEBUG macro)
    741      
    742    * candrv/vmodican.cc:
    743      - do not call exit in case the module couldn't be opened
    744      - changes some comments
    745      
    746    * catalog/StarCatalog.cc:
    747      - do not exit in case the catalog was not found
    748      - initialize fSao and fSrt with NULL
    749      - only delete fSao and fSrt if != NULL
    750      - only calculate stars if catalog was loaded successfully
    751      
    752    * main/MBending.[h,cc]:
    753      - added file header
    754      - added class decription
    755      - added FLOP, TF and TX
    756      - changed such that adding new stuff is easier
    757      - changed order in correction
    758      - replaced all switch statement by simple loops
    759      
    760    * tpoint/gui.C:
    761      - full support for fitting a pointing correction
    762 
    763 
    764 
    765  2003/10/15 - Thomas Bretz (La Palma)
    766  
    767    * Makefile:
    768      - added tcpip directory
    769      
    770    * cosy.cc:
    771      - undefine EXPERT
    772      - implemented HAVE_CAMERA
    773      
    774    * base/log.h:
    775      - changed LOG_H to COSY_Log
    776      
    777    * base/timer.h:
    778      - changed order of members
    779      - added a new Set-function used for the CC communication
    780      - added new Getter functions
    781 
    782    * gui/MGCosy.cc:
    783      - undef EXPERT
    784      - added HAS_DEMO (undefined)
    785      - added demo for inauguration
    786      - changed bits for status to MDriveCom::
    787      
    788    * gui/MGImage.[h,cc]:
    789      - fixed the color depth problem (still doesn't work with
    790        other color depth than 32 bit, but doesn't crash anymore)
    791        
    792    * gui/Makefile:
    793      - added tcpip
    794      
    795    * main/MCosy.[h,cc]:
    796      - changed bits to MDriveCom::
    797      - added a 'single-positioning' while tracking for inauguration
    798        (WM_POSITION1)
    799      - added fCom and sending reports
    800      
    801    * main/Makefile:
    802      - added tcpip
    803      
    804    * tcpip/MDriveCom.[h,cc]:
    805      - fixed output to current status
    806      - added status bits
    807      
    808    * tcpip/MTcpIpIO.[h,cc]:
    809      - added some dbg output in the destructor
    810      - added Clear
    811      - set members to NULL if deleted
    812      - added Log as a base class
    813      
    814    * tcpip/Makefile:
    815      - added catalog
    816 
    817 
    818 
    819  2003/10/03 - Thomas Bretz (La Palma)
    820  
    821    * tcpip/*
    822      - added communication classes
    823 
    824 
    825 
    826  2003/09/03 - Thomas Bretz
    827  
    828    * aposs/Magic.m:
    829      - updated to V0.69
    830 
    831 
    832 
    833  2003/07/16 - Thomas Bretz (La Palma)
    834 
    835    * bending_magic.txt:
    836      - new bending correction. Calculated from new stars and
    837        recalculated old ones (old positions where wrong due
    838        to a bug in the observatory coordinates)
    839        
    840    * catalog/Slalib.[h,cc]:
    841      - fixed a bug in the Hms2Deg and Dms2Deg (negative hours, degs
    842        where treated incorrect!)
    843      - added many new conversion functions
    844      
    845    * devdrv/macs.[h,cc]:
    846      - commented SetHome
    847      
    848    * gui/MGCosy.[h,cc]:
    849      - implemented button to write prepos
    850      - implemented star list
    851      
    852    * gui/MGSkyPosition.cc:
    853      - changed calculation of h,m,s etc to new Slalib functions
    854      
    855    * main/MCaos.cc:
    856      - changed detection limit from 4.0 to 3.0
    857 
    858 
    859      
    860  2003/07/15 - Thomas Bretz (La Palma)
    861 
    862    * leds.txt:
    863      - new configuration file
    864      
    865    * main/MCaos.[h,cc]:
    866      - added
    867 
    868    * main/MStarguider.[h,cc]:
    869      - added
    870      
    871    * videodev/PixGetter.[h,cc]:
    872      - added
    873      
    874    * videodev/FilterLed.[h,cc]:
    875      - added
    876      - highly optimized for speed!
    877      
    878    * Makefile.conf.linux:
    879      - added -O5 optimization option
    880      
    881    * bending_magic.txt:
    882      - changed to newly determined bending correction
    883      
    884    * cosy.cc:
    885      - included starguider
    886      - do not overwrite log file
    887      - added EXPERT mode
    888      
    889    * starg.cc:
    890      - changed from MGStarguider to MStarguider
    891      - simplified by use of PixGetter
    892 
    893    * aposs/Manual.m:
    894      - removed a wrong character
    895      
    896    * base/coord.h:
    897      - changed operator<<
    898      
    899    * base/timer.[h,cc]:
    900      - const argument for copy constructor
    901      - added operator<<
    902 
    903    * candrv/network.[h,cc], candrv/nodedrv.[h,cc]:
    904      - added data argument to HandleSDOOK
    905      
    906    * candrv/vmodican.cc:
    907      - return from constructor if Module not found
    908      
    909    * caos/Led.[h,cc]:
    910      - included TROOT
    911      - formated Print-output
    912      - Initialize fDx, fDy and fDphi
    913      - added AddOffset
    914      
    915    * caos/Leds.[h,cc]:
    916      - added Add
    917      
    918    * caos/Ring.[h,cc]:
    919      - added constructor
    920      - use hypot
    921      - devide by n instead of n-1
    922      - formated Print-output
    923 
    924    * caos/Rings.[h,cc]:
    925      - Do not calculated Center for less than 5 rings
    926      - included Radius filter
    927      
    928    * catalog/StarCatalog.cc:
    929      - Do not output Alt/Az, fAzCnt, fAltMin, etc.
    930      
    931    * devdrv/macs.[h,cc]:
    932      - added data argument to HandleSDOOK
    933      - implemented StartNode() and check for initialization
    934      - changed minimum MACS software version to 0.69
    935      - moved SetNoWait to the MACS software
    936      - removed StopMotor
    937      
    938    * devdrv/shaftencoder.[h,cc]:
    939      - initialize all values to 0
    940 
    941    * gui/GuiLinkDef.h:
    942      - removed MGStarguider
    943      
    944    * gui/MGAccuracy.cc:
    945      - small change
    946      
    947    * gui/MGCosy.[h,cc]:
    948      - added moving in Zd/Az by buttons while tracking (Experts only)
    949      - some changes to the menu bar
    950      - removed displaying offsets
    951      - changed EXPERT mode
    952 
    953    * gui/MGEmbeddedCanvas.[h,cc]:
    954      - changed range argument in constructor to double (problems
    955        with the optimization - strange!)
    956 
    957    * gui/MGImage.[h,cc]:
    958      - switched from my own code completely to tVirtualX code
    959        + requires root 3.05./05!
    960      - highly optimized for speed!
    961      - at the moment only 32 bit screen depth is supported!
    962      
    963    * gui/MGSkyPosition.[h,cc]:
    964      - fixed position of vega
    965      - added new bright star
    966      - cut displaying position into two. \n not supported by
    967        root 3.05/05
    968      
    969    * gui/MGVelocity.[h,cc]:
    970      - removed displaying numbers
    971      
    972    * gui/Makefile:
    973      - removed MGStarguider
    974      
    975    * main/MCosy.[h,cc]:
    976      - added output of time when tracking is started or stopped
    977      - added output of time when slewing is started or stopped
    978      - removed sign changing limits in LimitSpeed
    979      - changed EXPERT mode
    980      - added MStarguider support
    981      - fixed Calc-Alt/Az
    982      - added GetPointingPos     
    983      - removed fOffset from Update
    984      
    985    * main/MainLinkDef.h, main/Makefile:
    986      - added MStarguider
    987 
    988    * main/MStarguider.[h,cc]:
    989      - added
    990      
    991    * tpoint/tpointfit.C:
    992      - fixed reading of data
    993      - removed absolute path
    994 
    995    * videodev/Camera.[h,cc]:
    996      - small simplification
    997      - derived from new PixGetter
    998      
    999    * videodev/CaosFilter.[h,cc], videodev/Filter.[h,cc]:
    1000      - optimized, but not used anymore, will be removed soon
    1001      
    1002    * videodev/Makefile, videodev/VideodevLinkDef.h:
    1003      - added PixGetter to Makefile
    1004      - removed Filter
    1005      - removed Filter2
    1006      - removed CaosFilter
    1007      - added FilterLed
    1008      
    1009    * videodev/PngReader.h:
    1010      - derived from PixGetter
    1011 
    1012 
    1013      
    1014  2003/05/05 - Thomas Bretz
    1015 
    1016    * gui/MGCosy.[h,cc]:
    1017      - exchanged TGListBox for logging by TGTextView
    1018 
    1019 
    1020 
    1021  2003/04/28 - Thomas Bretz
    1022 
    1023    * .cosyrc_magic:
    1024      - removed Time2ReachHome
    1025      - changed Gear Ratio
    1026    
    1027    * bending_magic.txt:
    1028      - added bening model calculated in March
    1029      
    1030    * cosy.cc:
    1031      - added disable output to screen
    1032 
    1033    * prepos_magic.txt:
    1034      - made positions fit the present bending model
    1035    
    1036    * candrv/nodedrv.[h,cc]:
    1037      - added posibility to implement fake guarding (eg. check a
    1038        PDO frequence)
    1039 
    1040    * devdrv/macs.cc:
    1041      - added HandleNodeguard to handling of PDO
    1042    
    1043    * main/MCosy.[h,cc]:
    1044      - GetSePos declared const
    1045      - AlignTrackingPos declared const
    1046      - define EXPERT
    1047      - implemented EXPERT mode
    1048      - implemented Gear while positioning for Elevation axes
    1049      - fixed some bugs in LimitSpeed - to be chacked again!
    1050      - implemented preliminary version of starguider
    1051      - some small changes to the tracking
    1052      - changed default end positions
    1053      - fixed display of fZdAzSoll and fTrackingError
    1054    
    1055    * videodev/Filter.cc:
    1056      fixed dealing with values above max and below min when stretching
    1057 
    1058 
    1059 
    1060  2003/04/13 - Thomas Bretz
    1061 
    1062    * base/timer.cc:
    1063      - added cast to _suseconds_t
    1064    
    1065    * candrv/nodedrv.cc:
    1066      - set starting timeout
    1067    
    1068    * devdrv/macs.cc:
    1069      - after requsting error[0] check Zombie-status
    1070      - Software version 0.66 --> 0.68
    1071      - added all known MACS error messages
    1072 
    1073    * gui/MGStarguider.cc, videodev/Filter.[h,cc]:
    1074      - added stretching of the picture
    1075 
    1076 
    1077 
    1078  2003/04/12 - Thomas Bretz
    1079 
    1080    * prepos_magic.txt:
    1081      - added
    1082      
    1083    * bend.cc:
    1084      - added
    1085 
    1086    * Makefile:
    1087      - bend added
    1088      
    1089    * bending_magic.txt:
    1090      - new bending
    1091 
    1092    * cosy.cc:
    1093      - fixed typo
    1094      - disable console output
    1095      
    1096    * testse.cc:
    1097      - accept commandline options
    1098      
    1099    * base/MThread.cc, base/msgqueue.cc:
    1100      - added DEBUG-stuff
    1101    
    1102    * candrv/network.cc:
    1103      - fixed wrong handling of SDO messages with less than 4 bytes
    1104      
    1105    * candrv/nodedrv.cc:
    1106      - do not switch timer off if it isn't switched on
    1107    
    1108    * candrv/vmodican.cc:
    1109      - added EXPERT mode
    1110    
    1111    * catalog/SlaStars.h:
    1112      - added CalcAltAz/ZdAz with mjd
    1113    
    1114    * catalog/StarCatalog.[h,cc]:
    1115      - included rotation angle
    1116    
    1117    * devdrv/macs.cc:
    1118      - added request for present error code
    1119      - added #71 error message
    1120      
    1121    * devdrv/shaftencoder.[h,cc]:
    1122      - fixes to support multiturn encoders correctly
    1123      - removed velocity and acceleration from gui
    1124 
    1125    * gui/MGAccuracy.cc:
    1126      - mega mini change
    1127    
    1128    * gui/MGCosy.[h,cc]:
    1129      - added EXPERT mode
    1130      - added TrackPos
    1131      - removed shaftencoder label for velocity and acceleration
    1132      - commented out MAC3
    1133      - fixed reading of predefined positions
    1134      - commented out everything related to the demo mode
    1135      - changed some displayed text
    1136 
    1137    * gui/MGStarguider.[h,cc]:
    1138      - added support for rotation angle
    1139      
    1140    * main/MBending.h:
    1141      - added constructor with filename
    1142 
    1143    * main/MCosy.[h,cc]:
    1144      - for gear display both axis
    1145      - some more output in WaitForEndMovement
    1146      - added CheckRange
    1147      - added AlignTrackingPos
    1148      - changed timing in tracking procedure from 3s/50ms to 5s/1s
    1149      - added TrackPos
    1150      - replaced some code by AlignTrackingPos
    1151      - commented out CALIB and PRESET
    1152 
    1153    * slalib/oapqk.c:
    1154      - fixed a bug checking validity of arguments for atan2
    1155 
    1156    * videodev/Writer.cc:
    1157      - fixed names
    1158 
    1159 
    1160 
    1161  2003/03/31 - Daniela Dorner:
    1162  
    1163    * caos/Ring.cc:
    1164     - fixed a small bug
    1165    
    1166    
    1167 
    1168  2003/03/12 - Daniela Dorner, Thomas Bretz:
    1169 
    1170    * MStarguider.[h,cc], Starguider.[h,cc]:
    1171      - removed
    1172 
    1173    * gui/MGPngReader.[h,cc]:
    1174      - moved code to MGStarguider.[h,cc]
    1175      - removed
    1176 
    1177    * gui/Makefile, gui/GuiLinkDef.h:
    1178      - updated
    1179 
    1180    * gui/MGPngReader.cc, gui/MGStarguider.cc, videodev/Writer.[h,cc]:
    1181      - changed output file names to contain mjd
    1182      - fixed a cast warning
    1183 
    1184    * main/MCosy.[h,cc]:
    1185      - Do not change acceleration and deceleration for positioning
    1186        (SetPosVelocity)
    1187      - some output if WintForEnDMovement aborted
    1188      - some output to correct for the elevation gear asymmetry
    1189      - changed handling of acceleration and velocity
    1190      - changed velocities
    1191      - call StopMovement only if positioning failed
    1192      - changed acceleration/deceleration from 0.9 to 0.2 in
    1193        InitTracking
    1194      - added some workarounds to be able to reach 290deg
    1195      - changed control time in tracking from 1 to 3 sec
    1196      - added a flag to SetPosition indicating tracking mode
    1197        (not yet used)
    1198      - added some workarounds to be able to track 290deg
    1199      - changed deceleration from 0.5 to 0.3 in StopMovement
    1200      - added StopTracking (not yet used)
    1201      - changed tpoint output (+mjd, +ra/dec)
    1202 
    1203 
    1204 
    1205  2003/03/11 - Daniela Dorner, Thomas Bretz:
    1206 
    1207    * .cosyrc_magic, .cosyrc_model:
    1208      - added
    1209    
    1210    * caos/Leds.h, caos/Rings.h:
    1211      - changed from operator[] to At()
    1212    
    1213    * caos/Ring.cc:
    1214      - changed Floats to Doubles
    1215    
    1216    * caos/Rings.cc:
    1217      - replaced Expand by Clear
    1218 
    1219    * base/MStar.h:
    1220      - added Compare
    1221      
    1222    * base/MStarList.cc:
    1223      - some small bugfixes
    1224    
    1225    * base/MStarList.h:
    1226      - added Sort
    1227      - added Expand
    1228      
    1229    * base/timer.[h,cc]:
    1230      - Added GetTimeval
    1231 
    1232    * gui/MGAccuracy.cc:
    1233      - Exchanged zd/az in calculation of Residual!!!
    1234    
    1235    * gui/MGPngReader.[h,cc]:
    1236      - set default lim mag to 7.0
    1237      - added new ouput for the pointing position fPZdAz
    1238      - added/fixed TrackingError/CalcTrackingError
    1239      - changed Filter2 to CaosFilter
    1240      - reordered starguider stuff in Execute
    1241      - changed color of circles
    1242      
    1243    * main/MBending.[h,cc]:
    1244      - removed MAGIC1 and MAGIC2
    1245      - removed '-' from writing
    1246      - fixed some bugs in the enumerations of the coefficients
    1247      - added some formating option for output
    1248 
    1249    * tpoint/tpointfit.C:
    1250      - removed usage of MyAdjust
    1251      - fixed the Calculation of the residuals
    1252      - fixed reading
    1253      - added some correction in case of an overflow (360deg/0deg)
    1254      - fixed drawing
    1255      - added second Migrad turn...
    1256      - changed the screen and graphical output
    1257      
    1258    * videodev/CaosFilter.[h,cc]:
    1259      - changed RemoveTwins to accept a radius
    1260 
    1261 
    1262 
    1263  2003/03/02 - Daniela Dorner, Thomas Bretz (LaPalma):
    1264 
    1265    * tpoint/tpointfit.C:
    1266      - added
    1267    
    1268    * main/MBending.[h,cc]:
    1269      - adapted to Magic bending model
    1270 
    1271    * candrv/nodedrv.cc:
    1272      - some changes to the output
    1273  
    1274    * candrv/vmodican.cc:
    1275      - minor changes
    1276  
    1277    * devdrv/macs.[h,cc]:
    1278      - implemented
    1279      - removed guarding
    1280      - removed motor off
    1281    
    1282    * devdrv/shaftencoder.cc:
    1283      - removed Gaurding
    1284      
    1285    * gui/MGEmbeddedCanvas.[h,cc]:
    1286      - added overloads for Resize
    1287    
    1288    * gui/MGSkyPosition.[h,cc]:
    1289      - added SetDotRange
    1290 
    1291    * gui/MGStarguider.cc:
    1292      - write interpolated pictures
    1293      
    1294    * videodev/PngReader.cc:
    1295      - removed unused variable
    1296      
    1297    * videodev/Writer.cc:
    1298      - added warning if file couldn't be opened
    1299 
    1300    * videodev/CaosFilter.[h,cc], videodev/PngReader.[h,cc]:
    1301      - added
    1302 
    1303    * catalog/StarCatalog.[h,cc]:
    1304      - added GetPixSize
    1305 
    1306    * main/MCosy.cc:
    1307      - some minor change sto the output
    1308 
    1309   * Makefile:
    1310      - removed dummy
    1311      - exchnged caos, candrv
    1312      - removed MCint.o
    1313      - added cosy.so
    1314  
    1315    * starg.cc:
    1316      - echanged to use png reading mode
    1317    
    1318    * caos/Led.[h,cc], caos/Leds.[h,cc], caos/Ring.[h,cc],
    1319      caos/Ring.[h,cc]:
    1320      - added Print
    1321 
    1322    * caos/Led.h:
    1323      - added compare
    1324      - added issortable
    1325 
    1326    * caos/Ring.cc:
    1327      - changed output
    1328 
    1329    * caos/Rings.cc:
    1330      - fixed some minor bugs
    1331 
    1332    * gui/GuiLinkDef.h, gui/Makefile;
    1333      - added MGPngReader.[h,cc]
    1334 
    1335    * gui/MGPngReader.[h,cc]:
    1336      - added
    1337      
    1338    * gui/MGStarguider.cc:
    1339      - release grabbed mouse
    1340      - removed ExitLoop
    1341      
    1342    * gui/MGStarguider.h:
    1343      - changed derivement from Camera to PixClient
    1344 
    1345    * videodev/Camera.[h,cc]:
    1346      - changed to use PixClient
    1347    
    1348    * videodev/Makefile, videodev/VideodevLinkDef.h:
    1349      - added PixClient
    1350 
    1351    * videodev/PixClient.[h,cc]
    1352      - added
    1353 
    1354 
    1355 
    1356  2003/02/27 - Thomas Bretz (LaPalma):
    1357 
    1358    * caos, caos/Makefile, caos/CaosLinKDef.h, caos/CaosIncl.h,
    1359      caos/Led.[h,cc], caos/Leds.[h,cc], caos/Ring.[h,cc],
    1360      caos/Rings.[h,cc], gui/MGMenu.[h,cc]:
    1361      - added
    1362 
    1363 
    1364 
    1365  2003/02/25 - Thomas Bretz (La Palma):
    1366 
    1367    * Makefile
    1368      - changed order of binaries
    1369      - added make links
    1370      - added make magic
    1371      - added make model
    1372    
    1373    * base/timer.cc:
    1374      - corrected calculation of fMs (/1000 missing)
    1375    
    1376    * gui/MGCosy.cc:
    1377      - added new tab Gear
    1378      
    1379    * gui/MGSkyPosition.[h,cc]:
    1380      - fixed memory leak by not changing positions or having object
    1381        outside
    1382      - removed fake-statics
    1383    
    1384    * main/MCosy.[h,cc]:
    1385      - adapted GetSePos to present shaftencoders
    1386      - changed speed to 0.15 and acc to 0.4 in positioning
    1387      - changed tracking cycle from 0.05s to 0.25s
    1388      - added WM_GEAR
    1389      - added WM_DISPLAY
    1390      - fixed displaying the SE offsets
    1391      - added TalkThreadGear
    1392      - changed DisplayHistTestSe
    1393      - added DisplayHistGear
    1394      - added check for second Zd-SE
    1395      - removed lout.SetOutputGui(NULL, kFALSE) because it crashes
    1396        when closing the spplication while tracking
    1397 
    1398 
    1399 
    1400  2003/02/21 - Thomas Bretz (La Palma):
    1401 
    1402    * gui/MGSkyPosition.[h,cc]:
    1403      - some changes trying to get rid of a strange memory leak
    1404 
    1405    * candrv/nodedrv.cc:
    1406      - changed output
    1407 
    1408    * catalog/Slalib.h:
    1409      - added Hms2DegRad and Dms2Rad
    1410 
    1411 
    1412 
    1413  2003/02/16 - Thomas Bretz (La Palma):
    1414 
    1415    * base/MStarList.h:
    1416      - added default for mag to Add
    1417 
    1418    * base/coord.h:
    1419      - replaced kRadDeg by including MAGIC.h
    1420    
    1421    * base/timer.[h,cc]:
    1422      - changed Now to call virtual function SetMjd
    1423 
    1424    * gui/MGAccuracy.cc:
    1425      - fixed a bug causing the display to display error%60
    1426    
    1427    * gui/MGCosy.[h,cc]:
    1428      - added combo box for predifed positions
    1429      - update display of time only when time changed
    1430 
    1431    * gui/MGSkyPosition.[h,cc]:
    1432      - added bright stars
    1433      
    1434    * main/MCosy.[h,cc]:
    1435      - some changes to output
    1436      - replaced HasZombie by a preliminary one
    1437      - changed dT to 3s
    1438      - removed time correction factor in Tracking algorithm
    1439      - PRELIMINARY TalkThreadTracking
    1440 
    1441 
    1442 
    1443  2003/02/14 - Thomas Bretz (La Palma):
    1444  
    1445    * .cosyrc:
    1446      - added prototypes for the telescope allowed range
    1447    
    1448    * Makefile:
    1449      - changed test to testse
    1450    
    1451    * candrv/vmodican.cc:
    1452      - added the possibility to start cosy without the CANbus card
    1453        installed
    1454    
    1455    * catalog/SlaPlanets.cc:
    1456      - fixed the ephemeris configuration
    1457    
    1458    * catalog/SlaStars.cc:
    1459      - added some more comments
    1460    
    1461    * catalog/Slalib.[h,cc]:
    1462      - changed Wuerzburg location to LaPalma location
    1463      - added Height to the data members
    1464    
    1465    * main/MCosy.[h,cc]:
    1466      - added range checks in positioning and tracking
    1467    
    1468    * slalib/Makefile:
    1469      - added rdplan
    1470      - added pvobs
    1471      - added dtt
    1472      - added dat
    1473      - added rcc
    1474 
    1475    * starg.cc, catalog/SlaStars.[h,cc], catalog/Slalib.[h,cc],
    1476      catalog/StarCatalog.[h,cc], devdrv/macs.cc, devdrv/shaftencoder.cc,
    1477      gui/MGCosy.[h,cc], gui/MGSkyPosition.[h,cc], gui/MGStarguider.[h,cc]:
    1478      - changed to use MObservatory
    1479      - changed usage of timer to new style
    1480    
    1481    * catalog/SlaPlanets.[h,cc]:
    1482      - removed old style calculation
    1483      - added fTt
    1484 
    1485    * gui/MGCosy.cc:
    1486      - added new tab for SE Test
    1487 
    1488    * main/MCosy.[h,cc]:
    1489      - don't use second SE when only one is attached
    1490      - added SE Test stuff
    1491 
    1492    * base/BaseLinkDef.h, base/Makefile:
    1493      - added MParContainer
    1494      - added MObservatory
    1495 
    1496    * base/timer.[h,cc]:
    1497      - changed the calculation of the date according to slalib
    1498 
    1499 
    1500      
    1501  2003/01/23 - Thomas Bretz:
    1502  
    1503    * .cosyrc:
    1504      - changed maximum time to reach home from 100 to 150
    1505  
    1506    * Makefile:
    1507      - added devdrv
    1508  
    1509    * Makefile.rules, candrv/Makefile, devdrv/Makefile:
    1510      - changed some ordering
    1511  
    1512    * devdrv/shaftencoder.cc:
    1513      - changed Guarding from 2x125 to 2x175
    1514  
    1515    * main/MCosy.cc:
    1516      - fixed StopWaitingForSDO bug (if this was raised once the
    1517        'shutdown' never waited correctly for an SDo anymore)
    1518      - fixed the usage of the bending correction in some places
    1519 
    1520    * testse.cc:
    1521      - added
    1522 
    1523 
    1524  2003/01/23 - Thomas Bretz:
    1525  
    1526    * cosy.cc:
    1527      - changed baudrate to 125kbps
    1528    
    1529    * base/msgqueue.cc:
    1530      - changed output
    1531      - ignore pending messages
    1532    
    1533    * candrv/canopen.[h,cc]:
    1534      - added Emergency Message
    1535      - added EnableNodeguard
    1536      - added SendNodeguard
    1537      
    1538    * candrv/network.[h,cc]:
    1539      - call handles only if Fnodes[node]!=NULL
    1540      - added time to HandleSDOOK
    1541      - changed output
    1542      - added HandleNodeguard
    1543      - added HandleEmergency
    1544 
    1545    * candrv/nodedrv.[h,cc]:
    1546      - added fTimeout for Nodeguarding
    1547      - Enable Nodeguard and Emergency messages
    1548      - added time to HandleSDOOK
    1549      - added SendNodeguard
    1550      - added StartGuarding
    1551      - added StopGuarding
    1552      - added HandleTimer
    1553      - added HandleNodeguard
    1554      - added SetZombie
    1555 
    1556    * candrv/vmodican.[h,cc]:
    1557      - fixed a typo
    1558      - added rtr to SendCanFrame
    1559    
    1560    * devdrv/macs.[h,cc]:
    1561      - removed guarding stuff (moved to nodedrv)
    1562      - changed 0x4000 handling to 0.63 style
    1563      - added check for software version
    1564      - added time to HandleSDOOk
    1565      - set node to Zombie in case of error
    1566      - don't do any error handling for the moment
    1567      - removed ReqTimeoutTime
    1568      - overload SendNodeguard
    1569      - removed EnableTimeout
    1570      - removed HandleTimer
    1571      - removed ResetTimeout
    1572      - added Start/StopHostGuarding
    1573 
    1574    * devdrv/shaftencoder.[h,cc]:
    1575      - added 0x100c, 0x100d, 0x100e
    1576      - added Start/StopGuarding to Init
    1577 
    1578    * gui/MGCosy.cc:
    1579      - enhanced labels for Offset
    1580      - changed 'soll' to 'nominal'
    1581      - changed the demo mode for tests
    1582    
    1583    * gui/MGSkyPosition.[h,cc]:
    1584      - added saturn
    1585      - changed the colors a bit
    1586 
    1587 
    1588 
    1589  2003/01/20 - Thomas Bretz:
    1590 
    1591    * aposs/Manual.m
    1592      - added support for the elevation axis brake
    1593      - enabled check for operation mode (remote control/pc)     
    1594      - added 'reset' label                                       
    1595      - moved syncv/cstart to setting rf                         
    1596 
    1597 
    1598 
    1599  2003/01/14 - Thomas Bretz:
    1600 
    1601    * cosy.cc:
    1602      - added output
    1603    
    1604    * candrv/network.[cc,h]:
    1605      - small change to Start
    1606      - added CheckConnections
    1607 
    1608    * candrv/nodedrv.[h,cc]:
    1609      - new Init
    1610      - new CheckConnections
    1611      - replaced virtual InitDevice by a common function
    1612      - replaced virtual Reboot by a common function
    1613      - Don't send anything to a Zombie node
    1614      - Delete SDO from list in case of Zombie status instead of waiting
    1615      
    1616    * candrv/vmodican.cc:
    1617      - Don't terminate when having a noisy network
    1618    
    1619    * devdrv/macs.[h,cc], devdrv/shaftencoder.[h,cc]:
    1620      - added fSoftVersion
    1621      - added SDO 0x100b
    1622      - moved init stuff from InitDevice to Init
    1623      - removed InitDevice and Reboot
    1624      - added CheckConnection
    1625 
    1626    * devdrv/shaftencoder.[h,cc]:
    1627      - Don't display something when having Zombie status
    1628    
    1629    * main/MCosy.[h,cc]:
    1630      - reworked all Zombie-stuff
    1631      - implemented checking of network
    1632 
    1633 
    1634 
    1635  2003/01/13 - Thomas Bretz:
    1636 
    1637    * bending.txt:
    1638      - changed to fit the parameters of the model
    1639      
    1640    * cosy.cc:
    1641      - made the 'standard mode' the default
    1642 
    1643    * base/MTimeout.h:
    1644      - fixed the change of the base member function name of Notify
    1645 
    1646    * candrv/network.[h,cc]:
    1647      - don't set fNodes[i] to NULL if Node is Zombie
    1648      - implemented HasZombie and RebootZomies
    1649      
    1650    * candrv/nodedrv.[h,cc]:
    1651      - implemented a base function Reboot
    1652      - set node to Zombie status if waitforsdo timed out
    1653 
    1654    * candrv/vmodican.cc:
    1655      - added more precise output for CTXcon
    1656    
    1657    * devdrv/macs.[h,cc]:
    1658      - if first waitforsdo fails set don't go on
    1659      - implemented fStatus
    1660      - implemented enum for fStatus
    1661 
    1662    * gui/MGAccuracy.cc, gui/MGSkyPosition.cc, gui/MGVelocity.cc:
    1663      - call SetNoContextMenu in constructor
    1664      
    1665    * gui/MGCosy.[h,cc]:
    1666      - some new labels
    1667      - implemented SetLabelColor
    1668      
    1669    * gui/MGEmbeddedCanvas.[h,cc]:
    1670      - implemented SetNoContextMenu
    1671 
    1672    * main/MCosy.cc:
    1673      - exchanged all conditionals for the pointers to the nodes
    1674        by IsZombieNode
    1675      - implemented check for zombies in Proc
    1676 
    1677 
    1678 
    1679  2003/01/10 - Thomas Bretz:
    1680 
    1681    * candrv/network.cc, devdrv/macs.cc, devdrv/shaftencoder.cc:
    1682      - changed output
    1683    
    1684    * devdrv/macs.[h,cc]:
    1685      - request encoder resolution when starting
    1686    
    1687    * devdrv/shaftencoder.cc:
    1688      - some fixed in HandleSDO output
    1689      - fixed a missing return in HandleSDO
    1690    
    1691    * gui/MGAccuracy.cc, gui/MGVelocity.cc:
    1692      - set label offset
    1693 
    1694    * gui/MGCosy.[h,cc]:
    1695      - added some new gui elements and its handling
    1696 
    1697    * main/MCosy.[h,cc]:
    1698      - impemented fZdAzSoll
    1699      - slight changes to the output
    1700      - implemented WM_HOME
    1701      - fixed workaround for the encoder resolutions of the MACS
    1702 
    1703    * base/MGLIst.h
    1704      - removed (use the one from Mars)
    1705 
    1706 
    1707 
    1708  2003/01/08 - Thomas Bretz:
    1709  
    1710    * bending.txt:
    1711      - added (preliminary)
    1712 
    1713    * .cosyrc:
    1714      - added
    1715         > Az_GearRatio[U_mot/U_tel]: 5891.7
    1716         > Zd_GearRatio[U_mot/U_tel]: 2475.6
    1717         > Az_ResRE[re/U_mot]: 500
    1718         > Zd_ResRE[re/U_mot]: 500
    1719         > Az_Id-MAC1: 1
    1720         > Az_Id-MAC2: 3
    1721         > Zd_Id-MAC:  2
    1722         > Zd_Id-MAC1: 4
    1723         > Zd_Id-MAC2: 5
    1724         > Az_Id-MAC:  6
    1725 
    1726    * Makefile:
    1727      - removed cosy.so
    1728 
    1729    * Makefile.conf.linux-gnu:
    1730      - removed optimization (causes problems) --> TO BE FIXED
    1731 
    1732    * candrv/canopen.h:
    1733      - added return value to WaitForSDO
    1734 
    1735    * devdrv/macs.cc:
    1736      - fixed a typo
    1737 
    1738    * gui/MGCosy.cc:
    1739      - added 'Reset Bending'
    1740 
    1741    * main/MBending.[h,cc]
    1742      - added Reset
    1743      - fixed a problem with the units in the correction
    1744      - added CorrectBack functions
    1745 
    1746    * main/MCosy.[h,cc]:
    1747      - changed the bahaviour in case no MAC3 is found
    1748      - fixed that the MAC3 didn't synchronize anymore
    1749      - added the bending correction to the displayed position
    1750      - added a workaround for the wrong (0) Gear Ratios --> TO BE FIXED
    1751      - added Reset Bending
    1752      - changed the MAC and SE Id to be a resource value (from .cosyrc)

  • trunk/MagicSoft/Cosy/caos/Ring.h

    r4357 r7297  
    2626    Double_t sqr(Double_t x) { return x*x; }
    2727
    28     void Swap(int *m, int *n)
     28    void Swap(int &m, int &n)
    2929    {
    30         int dummy = *m;
    31         *m = *n;
    32         *n = dummy;
     30        int dummy = m;
     31        m = n;
     32        n = dummy;
    3333    }
    3434

  • trunk/MagicSoft/Cosy/caos/Rings.cc

    r4892 r7297  
    1616    int nPoints = leds.GetEntries();
    1717
    18     if (nPoints<fMinNumberLeds)
     18    // A minimum of at least 3 points is mandatory!
     19    if (nPoints<fMinNumberLeds || nPoints<3)
    1920        return;
    2021

  • trunk/MagicSoft/Cosy/caos/Rings.h

    r4865 r7297  
    2121
    2222public:
    23     Rings() : TClonesArray("Ring", 1)
    24         {
    25             fMinNumberLeds=5;
    26         }
     23    Rings() : TClonesArray("Ring", 1) : fMinNumberLeds(5) { }
    2724
    2825    void SetMinNumberLeds(Short_t n) { fMinNumberLeds=n; }

  • trunk/MagicSoft/Cosy/devdrv/shaftencoder.h

    r7230 r7297  
    8080    Int_t    GetDirChangedOffset() const { return fDirChangedOffset; }
    8181
     82    Int_t GetPosDirCorrected() const
     83    {
     84        return DirHasChanged() ? GetDirChangedPos() : GetPos();
     85    }
     86    Int_t GetOffsetDirCorrected() const
     87    {
     88        return DirHasChanged() ? GetDirChangedOffset() : GetOffset();
     89    }
     90
    8291    void     SetOffset(Int_t off) { fOffset = off; }
    8392
    … …  
    98107    void SetHysteresisPos(Float_t f) { fHysteresisPos = f; }
    99108
    100     Float_t GetPosCorrected() const {
    101       switch (fDirection) {
    102       case kUndefined:
    103         return GetPos();
    104       case kForward:
    105         return GetPos()-fHysteresisPos;
    106       case kBackward:
    107         return GetPos()+fHysteresisNeg;
    108       }
     109    Float_t GetPosCorrected() const
     110    {
     111        switch (fDirection)
     112        {
     113        case kUndefined:
     114            return GetPos();
     115        case kForward:
     116            return GetPos()-fHysteresisPos;
     117        case kBackward:
     118            return GetPos()+fHysteresisNeg;
     119        }
    109120    }
    110121

  • trunk/MagicSoft/Cosy/main/MStarguider.cc

    r7230 r7297  
    498498    fStargCaos = new MCaos;
    499499    fStargCaos->ReadResources("stargleds.txt");
    500     fStargCaos->SetMinNumberRings(2);
     500    fStargCaos->SetMinNumberRings(3);
    501501    fStargCaos->SetRadii(158,164);
    502502
    … …  
    12061206    f.FindStarCircle(leds, (Int_t)center.GetX(), (Int_t)center.GetY());
    12071207
     1208    if (leds.GetEntries()<0)
     1209        return ZdAz(0, 0);
     1210
    12081211    // Check whether star found
    12091212    Led *star = (Led*)leds.At(0);
    1210     if (!star || leds.GetEntries()<1)
     1213    if (!star)
    12111214        return ZdAz(.0,.0);
    12121215

  • trunk/MagicSoft/Cosy/main/MTracking.cc

    r7230 r7297  
    247247     const XY re = fCosy->kGearTot/fCosy->kResSE; //[re/se]
    248248
     249     // Check wether moving direction has changed
    249250     const bool bool1 = fCosy->fZd1->DirHasChanged();
    250251     const bool bool2 = fCosy->fZd2->DirHasChanged();
    251252
    252      if (bool1 && bool2) {
    253        fCosy->fZd1->ResetDirHasChanged();
    254        fCosy->fZd2->ResetDirHasChanged();
     253     // If both directions have changed reset the flags
     254     if (bool1 && bool2)
     255     {
     256         fCosy->fZd1->ResetDirHasChanged();
     257         fCosy->fZd2->ResetDirHasChanged();
    255258     }
    256  
    257      Int_t pzd1 = !bool1 ? fCosy->fZd1->GetPos() : fCosy->fZd1->GetDirChangedPos();
    258      Int_t pzd2 = !bool2 ? fCosy->fZd2->GetPos() : fCosy->fZd2->GetDirChangedPos();
    259      Int_t paz  =          fCosy->fAz->GetPos();
    260  
     259
     260     // Get shaftencoder positions
     261     // Ignore the shaftencoder which has not yet changed its value
     262     const Int_t pzd1 = fCosy->fZd1->GetPosDirCorrected();
     263     const Int_t pzd2 = fCosy->fZd2->GetPosDirCorrected();
     264     const Int_t paz  = fCosy->fAz->GetPos();
     265
    261266     // Get current shaftencoder position of the telescope
    262267     Double_t seposzd1 = ((pzd1+8192)%16384)*re.X();
    263268     Double_t seposzd2 = ((pzd2+8192)%16384)*re.X();
    264269     Double_t seposaz  =   paz              *re.Y();
    265  
     270
    266271     // distance between (To+dt) and To [re]
    267272     // position time difference < 5usec
    … …  
    269274     // Shaft- and the rotary encoders
    270275     const ZdAz repos = pdo ? fCosy->GetRePosPdo() : fCosy->GetRePos();
    271  
    272      const Int_t offset1 = !bool1 ? fCosy->fZd1->GetOffset() : fCosy->fZd1->GetDirChangedOffset();
    273      const Int_t offset2 = !bool2 ? fCosy->fZd2->GetOffset() : fCosy->fZd2->GetDirChangedOffset();
    274  
     276
     277     // Get rotary encoder positions
     278     // Get stored offset if one SE has not changed its direction yet
     279     const Int_t offset1 = fCosy->fZd1->GetOffsetDirCorrected();
     280     const Int_t offset2 = fCosy->fZd2->GetOffsetDirCorrected();
     281
    275282     // Calculate the part of one SE which the motors moved
    276283     // since the last SE has changed its value
    … …  
    278285     const Double_t offzd2 = repos.Zd() - offset2;
    279286     const Double_t offaz  = repos.Az() - fCosy->fAz->GetOffset();
    280  
     287
    281288     // Correct for the direction in which the motor is moving
    282289     // (in which the shaftencoders should change its values)
    … …  
    287294     if (offzd2<0)
    288295         seposzd2 += re.X();
    289  
     296
     297     // If the correction exceeds one shaftencoder step stop interpolation
     298     // of shaftencoder positions using rotary encoder values.
     299     //ofstream fout("offsets.log", ios::app);
     300     //fout << MTime(-1) << " " << offaz << " " << offzd1 << " " << offzd2 << endl;
     301     /*
     302      if (TMath::Abs(offaz)>re.Y())
     303         offaz = TMath::Sign(re.Y(), offaz);
     304      if (TMath::Abs(offzd1)>re.X())
     305         offzd1 = TMath::Sign(re.X(), offzd1);
     306      if (TMath::Abs(offzd2)>re.X())
     307         offzd2 = TMath::Sign(re.X(), offzd2);
     308         */
     309
    290310     // and interpolate the shaftencoder steps using the motor
    291311     // encoder positon (Be carefull the minus-sign is important)
    … …  
    293313     seposzd2 -= offzd2;
    294314     seposaz  += offaz;
    295  
    296 
    297315
    298316     return ZdAz((seposzd1-seposzd2)/2, seposaz);
    299317}
    300 /*
    301     if (fCosy->fZd1->DirHasChanged() != fCosy->fZd2->DirHasChanged())
    302     {
    303         pzd1 -= fCosy->fZd1->GetDirection();
    304         pzd2 -= fCosy->fZd2->GetDirection();
    305     }
    306     else
    307     {
    308         fCosy->fZd1->ResetDirHasChanged();
    309         fCosy->fZd2->ResetDirHasChanged();
    310     }
    311   */
    312318
    313319void MTracking::TrackPosition(const RaDec &dst) // ra, dec [rad]

  • trunk/MagicSoft/Mars/Changelog

    r7292 r7297  
    1818
    1919                                                 -*-*- END OF LINE -*-*-
     20
     21 2005/08/22 Thomas Bretz
     22
     23   * mgeom/MGeomPix.h:
     24     - added new function GetDist returning the distance between two
     25       pixels
     26
     27   * mhist/MHCamera.h:
     28     - added new function (also to context menu) SetMinMax
     29
     30   * mhist/MHEvent.[h,cc]:
     31     - added the possibility to set min and max values for the displayed
     32       data
     33     - added a new option to display the arrival time after cleaning
     34
     35   * mmain/MEventDisplay.cc:
     36     - added the arrival time after cleaning to display
     37     - set the min value in some displays to 0
     38
     39   * msignal/MSignalCam.cc:
     40     - added the possibility to return the arrival time after cleaning
     41
     42
     43
    2044 2005/08/18
    2145

  • trunk/MagicSoft/Mars/mgeom/MGeomCam.cc

    r6338 r7297  
    141141// --------------------------------------------------------------------------
    142142//
     143// Returns the distance between the pixels i and j. -1 if an index
     144// doesn't exist. The default for j is 0. Assuming that 0 is the index
     145// for a central pixel you can get the distance to the camera center.
     146//
     147Float_t MGeomCam::GetDist(UShort_t i, UShort_t j) const
     148{
     149    if (i>=fNumPixels || j>=fNumPixels)
     150        return -1;
     151
     152    return (*this)[i].GetDist((*this)[j]);
     153}
     154
     155// --------------------------------------------------------------------------
     156//
    143157//  Set the kIsOuterRing flag for all pixels which have a outermost pixel
    144158//  as Next Neighbor and don't have the kIsOutermostRing flag itself.

  • trunk/MagicSoft/Mars/mgeom/MGeomPix.h

    r5429 r7297  
    6363    UInt_t  GetSector() const { return fSector; }
    6464
     65    Float_t GetDist(const MGeomPix & pix) const  { return TMath::Hypot(fX-pix.fX, fY-pix.fY); }
     66
    6567    Float_t GetA() const    { return fA; /*fD*fD*gsTan60/2;*/ }
    6668    Int_t   GetAidx() const { return fAidx; }

  • trunk/MagicSoft/Mars/mhist/MHCamera.h

    r7001 r7297  
    221221    void     SetInvDeepBlueSeaPalette(); // *MENU*
    222222
    223     void     SetAutoScale() { fMinimum = fMaximum = -1111; } // *MENU*
    224 
    225223    void     SetFreezed(Bool_t f=kTRUE) { f ? SetBit(kFreezed) : ResetBit(kFreezed); } // *TOGGLE* *GETTER=IsFreezed
    226224    Bool_t   IsFreezed() const { return TestBit(kFreezed); }
    … …  
    228226
    229227    void     SetAbberation(Float_t f=0.0713) { fAbberation=f; } // *MENU*
     228
     229    void     SetAutoScale() { fMinimum = fMaximum = -1111; } // *MENU*
     230    void     SetMinMax(Double_t min=-1111, Double_t max=-1111) { SetMinimum(min); SetMaximum(max); } // *MENU*
    230231
    231232    void     AddNotify(TObject *event);

  • trunk/MagicSoft/Mars/mhist/MHEvent.cc

    r7180 r7297  
    7171// --------------------------------------------------------------------------
    7272//
    73 MHEvent::MHEvent(EventType_t type) : fHist(NULL), fType(type)
     73MHEvent::MHEvent(EventType_t type) : fHist(NULL), fType(type),
     74    fMinimum(-1111), fMaximum(-1111)
    7475{
    7576    fName = "MHEvent";
    … …  
    121122    fHist = new MHCamera(*cam);
    122123    fHist->AddNotify(fClone);
     124
     125    fHist->SetMinimum(fMinimum);
     126    fHist->SetMaximum(fMaximum);
    123127
    124128    switch (fType)
    … …  
    167171        break;
    168172     case kEvtArrTime:
     173     case kEvtArrTimeCleaned:
    169174        fHist->SetName("Arrival Time");
    170175        fHist->SetYTitle("t [slice id]");
    … …  
    241246    case kEvtArrTime:
    242247        fHist->SetCamContent(*event, 6);
     248        break;
     249    case kEvtArrTimeCleaned:
     250        fHist->SetCamContent(*event, 8);
    243251        break;
    244252    case kEvtTrigPix:

  • trunk/MagicSoft/Mars/mhist/MHEvent.h

    r7180 r7297  
    2525        kEvtPedPhot, kEvtPedPhotRMS,
    2626        kEvtCleaningLevels, kEvtCleaningData,
    27         kEvtIdxMax, kEvtArrTime, kEvtTrigPix, kEvtIslandIndex
     27        kEvtIdxMax, kEvtArrTime, kEvtArrTimeCleaned,
     28        kEvtTrigPix, kEvtIslandIndex
    2829    };
    2930
    … …  
    4546    EventType_t fType;
    4647
     48    Double_t fMinimum;
     49    Double_t fMaximum;
     50
    4751    TH1 *GetHistByName(const TString name) const { return (TH1*)fHist; }
    4852
    … …  
    5357    MHEvent(EventType_t type=kEvtSignalRaw);
    5458    ~MHEvent();
     59
     60    void SetMinimum(Double_t min=-1111) { fMinimum=min; }
     61    void SetMaximum(Double_t max=-1111) { fMaximum=max; }
    5562
    5663    MHCamera *GetHist() { return fHist; }

  • trunk/MagicSoft/Mars/mmain/MEventDisplay.cc

    r7188 r7297  
    223223    MHEvent *evt07 = new MHEvent(MHEvent::kEvtIdxMax);
    224224    MHEvent *evt08 = new MHEvent(MHEvent::kEvtArrTime);
     225    MHEvent *evt09 = new MHEvent(MHEvent::kEvtArrTimeCleaned);
    225226    //MHEvent *evt09 = new MHEvent(MHEvent::kEvtTrigPix);
    226227    MHEvent *evt10 = new MHEvent(MHEvent::kEvtIslandIndex);
    … …  
    228229    evt01->SetName("Signal");
    229230    evt02->SetName("Cleaned");
    230     evt03->SetName("Pedestal");
     231    evt03->SetName("Ped");
    231232    evt04->SetName("PedRMS");
    232233    evt06a->SetName("CleanData");
    233     evt06b->SetName("CleanLevels");
    234     evt07->SetName("Max Slice Idx");
    235     evt08->SetName("Arrival Time");
    236     //evt09->SetName("Trigger");
     234    evt06b->SetName("Levels");
     235    evt07->SetName("MaxSliceIdx");
     236    evt08->SetName("ArrTime");
     237    evt09->SetName("Time");
    237238    evt10->SetName("Islands");
     239
     240    evt01->SetMinimum(0);
     241    evt03->SetMinimum(0);
     242    evt04->SetMinimum(0);
     243    evt06a->SetMinimum(0);
    238244
    239245    // This makes sure, that the containers are deleted...
    … …  
    246252    plist->AddToList(evt07);
    247253    plist->AddToList(evt08);
    248     //plist->AddToList(evt09);
     254    plist->AddToList(evt09);
    249255    plist->AddToList(evt10);
    250256
    … …  
    336342    {
    337343        MFillH *fill08 = new MFillH(evt08, "MSignalCam", "MFillH8");
     344        MFillH *fill09 = new MFillH(evt09, "MSignalCam", "MFillH9");
    338345        tlist->AddToList(fill08);
     346        tlist->AddToList(fill09);
    339347    }
    340348    tlist->AddToList(hcalc);

  • trunk/MagicSoft/Mars/msignal/MSignalCam.cc

    r6856 r7297  
    600600    MSignalPix *pix = GetPixById(idx);
    601601
    602     if ((!pix || !pix->IsPixelUsed()) && type<6)
     602    if ((!pix || !pix->IsPixelUsed()) && (type<6 || type==8))
    603603        return kFALSE;
    604604
    … …  
    632632        val = pix->GetArrivalTime();
    633633        break;
     634    case 8:
     635        val = pix->GetArrivalTime();
     636        break;
    634637    default:
    635638        val = pix->GetNumPhotons()*ratio;
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