Index: /trunk/MagicSoft/Cosy/Changelog =================================================================== --- /trunk/MagicSoft/Cosy/Changelog (revision 8864) +++ /trunk/MagicSoft/Cosy/Changelog (revision 8865) @@ -1,3 +1,33 @@ -*-*- END -*-*- + + 2008/02/20 Thomas Bretz (La Palma) + + * candrv/ethernet.[h,cc]: + - return kFALSE even if RecvRaw return a value <0 + + * devdrv/macs.[h,cc]: + - added setting and reseeting of an armed state disallowing + all movements + - set fPosActive if positiong has been started to prevent lags + in the program flow + - added fArmed to PDO1 + - added some debug output + + * gui/MGCosy.[h,cc]: + - added "Arm" button to the display in expert mode + - added armed state to the Update member function + + * main/MCosy.[h,cc]: + - commented out all accesses to the third MACS + - added code to allow the armed state to be set from the gui + - pipe the armed state to the gui + + * tcpip/MTcpIpIO.[h,cc]: + - added a timeout to MTcpIpI when waiting for new data + which is set to 5s by default + - return kFALSE even if RecvRaw return a value <0 + - wait for new connection in case of timeout + + 2008/02/17 Thomas Bretz (La Palma) Index: /trunk/MagicSoft/Cosy/candrv/ethernet.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 8864) +++ /trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 8865) @@ -90,13 +90,10 @@ const Int_t len = rx.RecvRaw(&c, 1); - // No data received (non-blocking mode) - if (len<0) - { - usleep(1); - continue; - } - - // Data received with zero length! (Connection lost) - if (len==0) + // For details see TSocket::RecvRaw + // -1: // ERROR + // EINVAL, EWOULDBLOCK + // -5: // EPIPE || ECONNRESET = Pipe broken or connection reset by peer + // 0: Data received with zero length! (Connection lost/call interrupted) + if (len<=0) return kFALSE; @@ -112,5 +109,5 @@ if (c>=MSGLEN) { - cout << "Data received from " << address << " too long (> " << MSGLEN << ")" << endl; + gLog << err << "Data received from " << address << " too long (> " << MSGLEN << ")" << endl; continue; } Index: /trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8864) +++ /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8865) @@ -34,5 +34,5 @@ : NodeDrv(nodeid, name), fMacId(2*nodeid+1), fPos(0), fPdoPos(0), fPosActive(0), fRpmActive(0), - fStatusPdo3(0xff) + fStatusPdo3(0xff), fArmed(false) { // fTimeout = new TTimer(this, 100); //, kFALSE); // 100ms, asynchronous @@ -72,5 +72,5 @@ case 0xa149: return "Drive controlled interpolated relative positioning lagless with encoder 2"; case 0xa150: return "Drive controlled positioning with encoder 1"; - case 0xa151: return "Drive controlled positioning with encoder 2"; + case 0xa151: return "Drive controlled positioning with encoder 1, lagless"; case 0xa208: return "Jog mode positive"; case 0xa218: return "Jog mode negative"; @@ -91,4 +91,5 @@ case 0xe264: return "Target position out of numerical range"; case 0xe834: return "Emergency-Stop"; + case 0xe842: return "Both end-switches activated"; case 0xe843: return "Positive end-switch activated"; case 0xe844: return "Negative end-switch activated"; @@ -150,4 +151,12 @@ switch (idx) { + case 0x1000: + if (subidx==1) + { + gLog << inf2 << "- " << GetNodeName() << ": Node is" << (val?" ":" not ") << "armed." << endl; + fArmed = val==1; + } + return; + case 0x1003: // FIXME, see Init @@ -382,4 +391,5 @@ //lout << ddev(MLog::eGui); gLog << inf2 << "- " << GetNodeName() << ": Absolute positioning started." << endl; + fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO //lout << edev(MLog::eGui); return; @@ -388,4 +398,5 @@ //lout << ddev(MLog::eGui); gLog << inf2 << "- " << GetNodeName() << ": Relative positioning started." << endl; + fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO //lout << edev(MLog::eGui); return; @@ -428,4 +439,16 @@ gLog << inf2 << "- " << GetNodeName() << ": Starting Node." << endl; SendSDO(0x1000, 1, (LWORD_t)1); + WaitForSdo(0x1000, 1); +} + +void Macs::Arm() +{ + StartNode(); +} + +void Macs::Disarm() +{ + gLog << inf2 << "- " << GetNodeName() << ": Stopping Node." << endl; + SendSDO(0x1000, 1, (LWORD_t)0); WaitForSdo(0x1000, 1); } @@ -490,5 +513,10 @@ //StartHostGuarding(); - StartNode(); + // REMOVE THIS AND LET CC START THE NODE + //StartNode(); + + gLog << inf2 << "- " << GetNodeName() << ": Checking armed status." << endl; + RequestSDO(0x1000, 1); + WaitForSdo(0x1000, 1); } /* @@ -571,21 +599,21 @@ void Macs::SetVelocity(LWORD_t vel) { + gLog << dbg << "- Setting velocity to: " << vel << endl; SendSDO(0x2002, vel); // velocity WaitForSdo(0x2002, 0); - cout << "SET VEL: " << vel << endl; } void Macs::SetAcceleration(LWORD_t acc) { + gLog << dbg << "- Setting acceleration to: " << vel << endl; SendSDO(0x2003, 0, acc); // acceleration WaitForSdo(0x2003, 0); - cout << "SET ACC: " << acc << endl; } void Macs::SetDeceleration(LWORD_t dec) { - SendSDO(0x2003, 1, dec); // acceleration + gLog << dbg << "- Setting deceleration to: " << vel << endl; + SendSDO(0x2003, 1, dec); WaitForSdo(0x2003, 1); - cout << "SET DEC: " << dec << endl; } @@ -607,12 +635,25 @@ void Macs::StartRelPos(LWORDS_t pos) { + if (!fIsArmed) + { + gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl; + return; + } + + gLog << dbg << GetNodeName() << ": Starting abolsute positioning to " << (LWORD_t)pos << " ticks." << endl; SendSDO(0x6004, 1, (LWORD_t)pos); - cout << "REL POS: " << (LWORD_t)pos << endl; + fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO } void Macs::StartAbsPos(LWORDS_t pos) { + if (!fIsArmed) + { + gLog << err << GetNodeName() << ": ERROR - Moving without being armed is not allowed." << endl; + return; + } + gLog << dbg << GetNodeName() << ": Starting relative positioning by " << (LWORD_t)pos << " ticks." << endl; SendSDO(0x6004, 0, (LWORD_t)pos); - cout << "ABS POS: " << (LWORD_t)pos << endl; + fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO } @@ -681,4 +722,6 @@ fInControl = data[3]&0x40; // motor uncontrolled // data[3]&0x80; // axis resetted (after errclr, motor stop, motor on) + + fArmed = data[2]&kIsArmed==kIsArmed; fStatus = data[3]; Index: /trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 8864) +++ /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 8865) @@ -34,4 +34,6 @@ BYTE_t fStatusPdo3; + + bool fArmed; void Init(); @@ -73,4 +75,5 @@ enum { + kIsArmed = BIT(0), // Macs will accept movement commands kNotMoving = BIT(0), // motor not moving kPosActive = BIT(1), // positioning active @@ -121,4 +124,8 @@ void StartNode(); + bool IsArmed() const { return fArmed; } + void Arm(); + void Disarm(); + int IsPositioning() const { return fPosActive; } BYTE_t GetStatus() const { return fStatus; } Index: /trunk/MagicSoft/Cosy/gui/MGCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 8864) +++ /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 8865) @@ -58,4 +58,5 @@ kPB_TPOINT, kPB_ENDSWITCH, + kPB_ARM, kPB_START, kPB_DISPLAY1, @@ -529,4 +530,14 @@ #ifdef EXPERT + but = new TGTextButton(tf1, "Arm", kPB_ARM); + but->MoveResize(204, 213, 62, 25); + but->SetToolTipText("Arm the telescop (allow for movement)."); + but->Associate(this); + fList->Add(but); + + ULong_t col; + gClient->GetColorByName("Magenta", col); + but->SetBackgroundColor(col); + but= new TGTextButton(tf1, "New Position", kPB_SavePreDef); but->MoveResize(165, 197, 80, 25); @@ -554,5 +565,5 @@ but = new TGTextButton(tf4, "Load", kPB_LoadBending); - but->ResizeMove(151, 185, 50, 25); + but->MoveResize(151, 185, 50, 25); but->SetToolTipText("Load bending corrections from file 'bending.txt'"); but->Associate(this); @@ -1030,5 +1041,5 @@ void MGCosy::Update(ZdAz pos, ZdAz acc, ZdAz vel, /*ZdAz off,*/ RaDec radec, - ZdAz soll, UInt_t stat, UInt_t stat2) + ZdAz soll, UInt_t stat, UInt_t stat2, Bool_t armed) { // acc [rad] @@ -1058,5 +1069,5 @@ SetLabelColor(fAvailSe3, stat2&0x20); - EnableLabel(fArmed, 1);//stat2&0x40); + EnableLabel(fArmed, armed);//stat2&0x40); if (stat&MDriveCom::kTracking) @@ -1502,4 +1513,7 @@ StartTrackPos(); return kTRUE; + case kPB_ARM: + fQueue->PostMsg(WM_ARM); + return kTRUE; case kPB_DISPLAY1: case kPB_DISPLAY2: Index: /trunk/MagicSoft/Cosy/gui/MGCosy.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 8864) +++ /trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 8865) @@ -137,5 +137,5 @@ MGImage *GetImage() { return fImage; } - void Update(ZdAz pos, ZdAz acc, ZdAz vel, /*ZdAz off,*/ RaDec radec, ZdAz soll, UInt_t stat, UInt_t stat2); + void Update(ZdAz pos, ZdAz acc, ZdAz vel, /*ZdAz off,*/ RaDec radec, ZdAz soll, UInt_t stat, UInt_t stat2, Bool_t armed); void UpdateWeather(const MCeCoCom &com); Index: /trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/main/MCosy.cc (revision 8864) +++ /trunk/MagicSoft/Cosy/main/MCosy.cc (revision 8865) @@ -406,6 +406,6 @@ //#ifdef EXPERT -// point.SetAccDec(0.4, 0.4); -// point.SetVelocity(0.2); // fast: 0.6, slow: 0.2 + //point.SetPointAccDec(0.3, 0.3); + //point.SetPointVelocity(0.3); //#else @@ -413,13 +413,8 @@ // point.SetPointAccDec(0.2, 0.1); - point.SetPointVelocity(0.1); //#endif - -// point.SetPointAccDec(0.4, 0.4); -// point.SetPointVelocity(0.4); - // original @@ -428,7 +423,4 @@ // test // return point.SetPosition(dst, kTRUE); - - - } @@ -565,6 +557,6 @@ fMac1->HandleError(); fMac2->HandleError(); - if (fMac3) - fMac3->HandleError(); + //if (fMac3) + // fMac3->HandleError(); if (HasError() || HasZombie()) return false; @@ -700,28 +692,28 @@ //cout << "WM_TrackPosition: done. (return 0xabcd)" << endl; return 0xabcd; -/* + case WM_ARM: //cout << "WM_Position: start." << endl; { if (!CheckNetwork()) - return (void*)0xebb0; - - const bool arm = *((bool*)mp); - if (arm) - { + return 0xebb0; + + //const bool arm = *((bool*)mp); + //if (arm) + //{ fMac1->Arm(); fMac2->Arm(); - cout << "ARMED" << endl; - } - else - { - fMac1->Disarm(); - fMac2->Disarm(); - cout << "DISARMED" << endl; - } + //cout << "ARMED" << endl; + //} + //else + //{ + // fMac1->Disarm(); + // fMac2->Disarm(); + //cout << "DISARMED" << endl; + //} } //cout << "WM_Position: done. (return 0x7777)" << endl; - return (void*)0x9999; - */ + return 0x9999; + case WM_POSITION: //cout << "WM_Position: start." << endl; @@ -963,5 +955,5 @@ Bool_t mac1 = fMac1 && !fMac1->IsZombieNode(); Bool_t mac2 = fMac2 && !fMac2->IsZombieNode(); - Bool_t mac3 = fMac3 && !fMac3->IsZombieNode(); + //Bool_t mac3 = fMac3 && !fMac3->IsZombieNode(); Bool_t zd1 = fZd1 && !fZd1->IsZombieNode(); @@ -971,5 +963,6 @@ Double_t x = 0; Double_t y = 0; - y = mac1 ? fMac1->GetRes() : (mac3 ? fMac3->GetRes() : env.GetValue("Az_ResRE[re/U_mot]", 1500)); +// y = mac1 ? fMac1->GetRes() : (mac3 ? fMac3->GetRes() : env.GetValue("Az_ResRE[re/U_mot]", 1500)); + y = mac1 ? fMac1->GetRes() : env.GetValue("Az_ResRE[re/U_mot]", 1500); x = mac2 ? fMac2->GetRes() : env.GetValue("Zd_ResRE[re/U_mot]", 1500); kResRE.Set(x,y); @@ -1278,5 +1271,5 @@ avail |= (fMac1 && !fMac1->IsZombieNode()) ? 0x01 : 0; avail |= (fMac2 && !fMac2->IsZombieNode()) ? 0x02 : 0; - avail |= (fMac3 && !fMac3->IsZombieNode()) ? 0x04 : 0; + //avail |= (fMac3 && !fMac3->IsZombieNode()) ? 0x04 : 0; avail |= (fZd1 && !fZd1->IsZombieNode()) ? 0x08 : 0; avail |= (fZd2 && !fZd2->IsZombieNode()) ? 0x10 : 0; @@ -1284,4 +1277,9 @@ // avail |= (!(fStatus&MDriveCom::kError) && 1 ? 0x40 : 0; + Bool_t armed = kTRUE; + + armed &= fMac1 && fMac1->IsArmed(); + armed &= fMac2 && fMac2->IsArmed(); + if (HasError()) SetStatus(MDriveCom::kError); @@ -1296,5 +1294,5 @@ fWin->UpdateWeather(*fCom); fWin->Update(bendist, fTrackingError, fVelocity, /*fOffset,*/ - fRaDec, fZdAzSoll, fStatus, avail); + fRaDec, fZdAzSoll, fStatus, avail, armed); gLog.UpdateGui(); @@ -1497,6 +1495,6 @@ fMac1=new Macs(id1, "Mac/Az"); fMac2=new Macs(id3, "Mac/Zd"); - if (id2>=0) - fMac3=new Macs(id2, "Mac/Az-Sync"); + //if (id2>=0) + // fMac3=new Macs(id2, "Mac/Az-Sync"); fZd1=new ShaftEncoder(id4, "SE/Zd1"); @@ -1519,6 +1517,6 @@ SetNode(fMac1); SetNode(fMac2); - if (id2>=0) - SetNode(fMac3); + //if (id2>=0) + // SetNode(fMac3); SetNode(fZd1); SetNode(fZd2); @@ -1618,5 +1616,5 @@ MCosy::MCosy(MEnv &env, const char *addr, const char *pointing) : Network(), fObservatory(MObservatory::kMagic1), fStarguider(NULL), -fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), fMac3(0), +fZd1(0), fZd2(0), fAz(0), fMac1(0), fMac2(0), /*fMac3(0),*/ fBackground(kBgdNone), fTriggerDisplay(kFALSE), fStatus(MDriveCom::kStopped), fOutTp(0), fOutRep(0) @@ -1721,6 +1719,6 @@ delete fMac1; delete fMac2; - if (fMac3) - delete fMac3; + //if (fMac3) + // delete fMac3; gLog << inf2 << "Deleting MGCosy." << endl; Index: /trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- /trunk/MagicSoft/Cosy/main/MCosy.h (revision 8864) +++ /trunk/MagicSoft/Cosy/main/MCosy.h (revision 8865) @@ -87,5 +87,5 @@ Macs *fMac1; Macs *fMac2; - Macs *fMac3; + //Macs *fMac3; MGCosy *fWin; Index: /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 8864) +++ /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 8865) @@ -12,4 +12,5 @@ #include "MString.h" +#include "MTimeout.h" #undef DEBUG @@ -84,20 +85,20 @@ } - const Int_t l = tx.SendRaw(msg, len); - if (l<0) - { - gLog << err << "ERROR - Sending TCP/IP frame to " << GetSocketAddress(tx) << endl; - return false; - } - - if (l!=len) - { - gLog << err << "ERROR - Sent wrong number (" << l << ") of bytes to " << GetSocketAddress(tx) << endl; - return false; - } - #ifdef DEBUG cout << "Tx: " << msg << flush; #endif + + const Int_t l = tx.SendRaw(msg, len); + if (l<0) + { + gLog << err << "ERROR - Sending TCP/IP frame to " << GetSocketAddress(tx) << endl; + return false; + } + + if (l!=len) + { + gLog << err << "ERROR - Sent wrong number (" << l << ") of bytes to " << GetSocketAddress(tx) << endl; + return false; + } return true; @@ -164,14 +165,11 @@ const Int_t len = rx.RecvRaw(&c, 1); - // No data received (non-blocking mode) - if (len<0) - { - usleep(1); - continue; - } - - // Data received with zero length! (Connection lost) - if (len==0) - return kFALSE; // This break is for TEST PURPOSE FIXME!!! + // For details see TSocket::RecvRaw + // -1: // ERROR + // EINVAL, EWOULDBLOCK + // -5: // EPIPE || ECONNRESET = Pipe broken or connection reset by peer + // 0: Data received with zero length! (Connection lost/call interrupted) + if (len<=0) + return kFALSE; // Data received @@ -208,4 +206,6 @@ fConnectionEstablished = kTRUE; + MTimeout timeout; + // Get connection on port fPortRx and redirected while (!IsThreadCanceled()) @@ -220,7 +220,15 @@ return kFALSE; } - - // *FALLTHROUGH* + timeout.Start(fTimeout); + + // Go on waiting for new data + continue; + case kFALSE: // Time out, no data yet, go on waiting + if (timeout.HasTimedOut()) + { + gLog << warn << "WARNING - Connection to " << MTcpIpO::GetSocketAddress(sock) << " timed out." << endl; + return kFALSE; + } // Go on waiting for new data @@ -248,4 +256,5 @@ while (!IsThreadCanceled()) { + // Wait for a new connection on RX port socket = server.Accept(); @@ -271,4 +280,6 @@ if ((Long_t)socket<=0) return; + + gLog << all << "Connection established to " << MTcpIpO::GetSocketAddress(*socket) << "..." << endl; if (!WaitForData(*socket)) Index: /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 8864) +++ /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 8865) @@ -18,5 +18,7 @@ { private: - Int_t fPortRx; + Int_t fPortRx; // Port on which to listen for connections + Int_t fTimeout; // [ms] Timeout to listen for data to be received + Bool_t fConnectionEstablished; @@ -29,5 +31,5 @@ public: - MTcpIpI(Int_t rx) : MThread(Form("MTcpIpI::%d", rx)), fPortRx(rx), fConnectionEstablished(kFALSE) { /*RunThread();*/ } + MTcpIpI(Int_t rx, UInt_t timeout=5000) : MThread(Form("MTcpIpI::%d", rx)), fPortRx(rx), fTimeout(timeout), fConnectionEstablished(kFALSE) { /*RunThread();*/ } ~MTcpIpI() { CancelThread(); }