Index: /trunk/MagicSoft/Cosy/Changelog =================================================================== --- /trunk/MagicSoft/Cosy/Changelog (revision 8868) +++ /trunk/MagicSoft/Cosy/Changelog (revision 8869) @@ -1,3 +1,53 @@ -*-*- END -*-*- + + 2008/02/21 Thomas Bretz (La Palma) + + * cosy.cc: + - moved instantisation of MDriveCom out of MCosy + - adde options to set the ceco ports + + * candrv/canopen.cc: + - changed logging output + + * devdrv/macs.cc: + - added some more DKC errors + - SetZombie if not armed + - added some debug output + + * devdrv/shaftencoder.cc: + - added some initialisations as suggested by valgrind + + * main/MSlewing.h: + - removed obsolete base class MLog + + * main/MTracking.[h,cc]: + - replaced some fixed numbers by variables + - added forward declaration for MLog + + * tcpip/MCeCoCom.[h,cc]: + - moved fixed port numbers out of the constructor + + * tcpip/MDriveCom.[h,cc]: + - secured called to fQueue with if-conditions + - added Dummy for TPOIN command + - implemented ARM command + - added arm status to drive report + - added summy for sending TPOINT-REPORT + + * tcpip/MTcpIpIO.cc: + - added time to connection messages + - added 0 as backlog for opening the TServerSocket. + This seems to be necessary (why?) + + * videodev/Camera.cc: + - added initialisation of fChannel which was missing + + * videodev/FilterLed.cc: + - changed a detele to an array delete as suggested by valgrind + + * videodev/MVideo.cc: + - initialize qctrl as suggested by valgrind + + 2008/02/20 Thomas Bretz (La Palma) Index: /trunk/MagicSoft/Cosy/candrv/canopen.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/candrv/canopen.cc (revision 8869) @@ -276,5 +276,5 @@ if (ms && t.HasTimedOut()) { - cout << "WaitForSdos timed out." << endl; + gLog << inf << "- CanOpen::WaitForSdos timed out." << endl; rc = false; } @@ -312,5 +312,5 @@ if (ms && t.HasTimedOut()) { - cout << "WaitForSdo Node #" << (int)node << " " << idx << "/" << (int)subidx << " timed out." << endl; + //cout << "WaitForSdo Node #" << (int)node << " " << idx << "/" << (int)subidx << " timed out." << endl; rc = false; } Index: /trunk/MagicSoft/Cosy/cosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/cosy.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/cosy.cc (revision 8869) @@ -14,4 +14,5 @@ #include "MCosy.h" #include "MTime.h" +#include "MDriveCom.h" #include "MLogManip.h" @@ -92,4 +93,6 @@ const TString sps = arg.GetStringAndRemove("--sps=", "sps"); const TString ceco = arg.GetStringAndRemove("--cc=", "ceco"); // ceco + const Int_t ceco_tx = arg.GetIntAndRemove("--cc-tx=", 7314);//7304); + const Int_t ceco_rx = arg.GetIntAndRemove("--cc-rx=", 7414);//7404); const TString pointing = arg.GetStringAndRemove("--pointing-model=", "bending2.txt"); // ceco const TString kConfig = arg.GetStringAndRemove("--config=", ".cosyrc"); // ceco @@ -191,6 +194,11 @@ break; } -*/ - MCosy *cosy = new MCosy(env, ceco, pointing); + */ + + MDriveCom com(ceco, ceco_tx, ceco_rx); + + MCosy *cosy = new MCosy(env, &com, pointing); + + com.SetMsgQueue(cosy); Interface *interface = new Ethernet(sps, 5357, 5358, cosy); @@ -211,4 +219,5 @@ gLog << all << "- Starting Camera." << endl; client=new MStarguider(MObservatory::kMagic1, channel); + //client.SetDriveCom(&com); cosy->SetStarguider(client); client->SetCosy(cosy); @@ -239,4 +248,6 @@ gLog << all << "Deleting cosy at " << MTime(-1) << endl; + //com.SetMsgQueue(NULL); + delete cosy; Index: /trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8869) @@ -85,4 +85,5 @@ case 0xc500: return "Error reset"; case 0xe225: return "Motor overload"; + case 0xe249: return "Positioning command velocity exceeds limit bipolar"; case 0xe250: return "Drive overtemp warning"; case 0xe251: return "Motor overtemp warning"; @@ -108,7 +109,7 @@ case 0xf630: return "Negative sw end-switch"; case 0xf634: return "Emergency-Stop"; - case 0xf643: return "Positive hw end-switch"; - case 0xf644: return "Negative hw end-switch"; - case 0xf870: return "24V DC error."; + case 0xf643: return "Positive hardware end-switch activated"; + case 0xf644: return "Negative hardware end-switch activated"; + case 0xf870: return "24V DC error"; case 0xf878: return "Velocity loop error"; } @@ -514,5 +515,5 @@ // REMOVE THIS AND LET CC START THE NODE - //StartNode(); + StartNode(); gLog << inf2 << "- " << GetNodeName() << ": Checking armed status." << endl; @@ -638,8 +639,9 @@ { 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; + SetZombie(); + return; + } + + gLog << dbg << GetNodeName() << ": Starting abolsute positioning to " << (LWORDS_t)pos << " ticks." << endl; SendSDO(0x6004, 1, (LWORD_t)pos); fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO @@ -651,8 +653,9 @@ { 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; + SetZombie(); + return; + } + + gLog << dbg << GetNodeName() << ": Starting relative positioning by " << (LWORDS_t)pos << " ticks." << endl; SendSDO(0x6004, 0, (LWORD_t)pos); fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO Index: /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 8869) @@ -15,9 +15,10 @@ ShaftEncoder::ShaftEncoder(const BYTE_t nodeid, const char *name) : NodeDrv(nodeid, name), - fPos(0), fVel(0), fAcc(0), fTurn(0), fTicks(0), + fPos(0), fVel(0), fAcc(0), fTurn(0), fTicks(0), fTurns(0), fDirection(kUndefined), fHysteresisPos(0), fHysteresisNeg(0), fLabel(NULL), fUpdPos(0), fPosHasChanged(false), fDirHasChanged(false), - fReport(NULL), fMotor(0), fOffset(0), fDirChangedPos(0) + fReport(NULL), fMotor(NULL), + fOffset(0), fDirChangedPos(0), fDirChangedOffset(0) { } Index: /trunk/MagicSoft/Cosy/main/MSlewing.h =================================================================== --- /trunk/MagicSoft/Cosy/main/MSlewing.h (revision 8868) +++ /trunk/MagicSoft/Cosy/main/MSlewing.h (revision 8869) @@ -2,6 +2,6 @@ #define COSY_MSlewing -#ifndef MARS_MLog -#include "MLog.h" +#ifndef ROOT_TROOT +#include #endif @@ -10,5 +10,5 @@ class ZdAz; -class MSlewing : public MLog +class MSlewing { protected: Index: /trunk/MagicSoft/Cosy/main/MTracking.cc =================================================================== --- /trunk/MagicSoft/Cosy/main/MTracking.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/main/MTracking.cc (revision 8869) @@ -269,8 +269,13 @@ const Int_t paz = fCosy->fAz->GetPos(); + const Int_t res1 = fCosy->fZd1->GetPhysRes(); + const Int_t res2 = fCosy->fZd2->GetPhysRes(); + // 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(); + Double_t seposzd1 = ((pzd1+res1/2)%res1)*re.X(); + Double_t seposzd2 = ((pzd2+res2/2)%res2)*re.X(); + //Double_t seposzd1 = pzd1*re.X(); + //Double_t seposzd2 = pzd2*re.X(); + Double_t seposaz = paz *re.Y(); // distance between (To+dt) and To [re] Index: /trunk/MagicSoft/Cosy/main/MTracking.h =================================================================== --- /trunk/MagicSoft/Cosy/main/MTracking.h (revision 8868) +++ /trunk/MagicSoft/Cosy/main/MTracking.h (revision 8869) @@ -10,4 +10,5 @@ #endif +class MLog; class RaDec; class SlaStars; Index: /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 8868) +++ /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 8869) @@ -48,6 +48,6 @@ public: - MCeCoCom(const char *addr, MLog *out) - : MTcpIpIO(addr, 7304, 7404), fOut(out), fStatus(0), fComStat(kNoCmdReceived), + MCeCoCom(const char *addr, const int tx=7304, const int rx=7404, MLog *out=NULL) + : MTcpIpIO(addr, tx, rx), fOut(out), fStatus(0), fComStat(kNoCmdReceived), fHumidity(0), fTemperature(0), fWindSpeed(0), fSolarRadiation(-1), fAlarmCounter(0) @@ -55,4 +55,6 @@ } //virtual bool SendMsg(const char *msg, bool force); + + void SetOutRep(MLog *out) { fOut = out; } bool SendRep(const char *cmd, const char *str, bool force); Index: /trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 8869) @@ -61,5 +61,6 @@ //cout << "MDriveCom - TRACK... start." << endl; - fQueue->PostMsg(WM_TRACK, &rd, sizeof(rd)); + if (fQueue) + fQueue->PostMsg(WM_TRACK, &rd, sizeof(rd)); //cout << "MDriveCom - TRACK... done." << endl; return true; @@ -87,5 +88,6 @@ //cout << "MDriveCom - TRACK... start." << endl; - fQueue->PostMsg(WM_GRB, &rd, sizeof(rd)); + if (fQueue) + fQueue->PostMsg(WM_GRB, &rd, sizeof(rd)); //cout << "MDriveCom - TRACK... done." << endl; return true; @@ -112,5 +114,6 @@ //cout << "MDriveCom - POSITION... start." << endl; - fQueue->PostMsg(WM_POSITION, &za, sizeof(za)); + if (fQueue) + fQueue->PostMsg(WM_POSITION, &za, sizeof(za)); //cout << "MDriveCom - POSITION... done." << endl; return true; @@ -136,6 +139,13 @@ //cout << "MDriveCom - TRACK... start." << endl; - fQueue->PostMsg(WM_PREPS, (void*)str.Data(), str.Length()+1); + if (fQueue) + fQueue->PostMsg(WM_PREPS, (void*)str.Data(), str.Length()+1); //cout << "MDriveCom - TRACK... done." << endl; + return true; +} + +bool MDriveCom::CommandTPOINT(TString &str) +{ + cout << "CC-COMMAND " << MTime(-1) << " TPOIN " << str << endl; return true; } @@ -166,5 +176,6 @@ bool lock = str=="lock"; - fQueue->PostMsg(WM_ARM, &lock, sizeof(lock)); + if (fQueue) + fQueue->PostMsg(WM_ARM, &lock, sizeof(lock)); return true; } @@ -176,5 +187,6 @@ //cout << "MDriveCom - WAIT... start." << endl; cout << "CC-COMMAND " << MTime(-1) << " WAIT" << endl; - fQueue->PostMsg(WM_WAIT); + if (fQueue) + fQueue->PostMsg(WM_WAIT); //cout << "MDriveCom - WAIT... done." << endl; return true; @@ -185,5 +197,6 @@ //cout << "MDriveCom - STOP!... start." << endl; cout << "CC-COMMAND " << MTime(-1) << " STOP!" << endl; - fQueue->PostMsg(WM_STOP); + if (fQueue) + fQueue->PostMsg(WM_STOP); //cout << "MDriveCom - STOP!... done." << endl; return true; @@ -202,4 +215,10 @@ return CommandPREPS(str); + if (cmd==(TString)"TPOIN") + return CommandTPOINT(str); + + if (cmd==(TString)"ARM") + return CommandARM(str); + if (cmd.IsNull() && str.IsNull()) { @@ -223,5 +242,5 @@ } -bool MDriveCom::SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er) +bool MDriveCom::SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er, Bool_t armed) { // rd [rad] @@ -259,5 +278,6 @@ Print(str, is.Az()); str += txt.Print("%08.3f ", er.Zd()); - str += txt.Print("%08.3f", er.Az()); + str += txt.Print("%08.3f ", er.Az()); + str += armed ? "1 " : "0 "; return SendRep("DRIVE-REPORT", str, kFALSE); @@ -303,2 +323,39 @@ return SendRep("STARG-REPORT", str, kTRUE); } + +bool MDriveCom::SendTPoint(UInt_t stat) +{ + /* + // miss [deg] + // nompos [deg] + const MTime t(-1); + + miss *= 60; // [arcmin] + + // Set status flag + if (stat&kError) + SetStatus(0); + if (stat&kStandby) + SetStatus(2); + if (stat&kMonitoring) + SetStatus(4); + + MString txt; + + TString str; + str += txt.Print("%05.3f ", miss.Zd()); //[arcmin] + str += txt.Print("%05.3f ", miss.Az()); //[arcmin] + Print(str, nompos.Zd()); //[deg] + Print(str, nompos.Az()); //[deg] + str += txt.Print("%05.1f ", center.GetX()); //number + str += txt.Print("%05.1f ", center.GetY()); //number + str += txt.Print("%04d ", n); //number of correleated stars + str += txt.Print("%03.1f ", bright); + str += txt.Print("%12.6f ", t.GetMjd()); // mjd + str += txt.Print("%.1f ", x); + str += txt.Print("%.1f ", y); + str += txt.Print("%04d ", num); //number of detected stars + */ + + return SendRep("TPOINT-REPORT", "", kTRUE); +} Index: /trunk/MagicSoft/Cosy/tcpip/MDriveCom.h =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 8868) +++ /trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 8869) @@ -28,4 +28,5 @@ bool CommandPREPS(TString &str); bool CommandARM(TString &str); + bool CommandTPOINT(TString &str); public: @@ -41,8 +42,13 @@ }; - MDriveCom(MsgQueue *q, const char *addr, MLog *out) : MCeCoCom(addr, out), fQueue(q) {} + MDriveCom(MsgQueue *q, const char *addr, const int tx, const int rx, MLog *out=NULL) : MCeCoCom(addr, tx, rx, out), fQueue(q) {} + MDriveCom(const char *addr, const int tx, const int rx, MLog *out=NULL) : MCeCoCom(addr, tx, rx, out), fQueue(NULL) {} - bool SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er); + void SetMsgQueue(MsgQueue *q) { fQueue = q; } + + + bool SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er, Bool_t armed); bool SendStargReport(UInt_t stat, ZdAz miss, ZdAz nompos, Ring center, Int_t num, Int_t n, Double_t bright, Double_t mjd, Double_t x, Double_t y); + bool SendTPoint(UInt_t stat); bool SendStatus(const char *stat); }; Index: /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 8869) @@ -217,5 +217,5 @@ if (!ReadSocket(sock)) { - gLog << warn << "WARNING - Connection lost to " << MTcpIpO::GetSocketAddress(sock) << endl; + gLog << warn << MTime(-1) << " WARNING - Connection lost to " << MTcpIpO::GetSocketAddress(sock) << endl; return kFALSE; } @@ -228,5 +228,5 @@ if (timeout.HasTimedOut()) { - gLog << warn << "WARNING - Connection to " << MTcpIpO::GetSocketAddress(sock) << " timed out." << endl; + gLog << warn << MTime(-1) << " WARNING - Connection to " << MTcpIpO::GetSocketAddress(sock) << " timed out." << endl; return kFALSE; } @@ -245,9 +245,7 @@ void MTcpIpI::WaitForConnection(TServerSocket &server) { - gLog << all << " Wait for connection" << endl; - while (!IsThreadCanceled()) { - gLog << all << "Listening for new connection on port " << fPortRx << "..." << endl; + gLog << all << MTime(-1) << " Listening for new connection on port " << fPortRx << "..." << endl; // Check for a connection request (reminder: we are in non-blocking mode) @@ -256,4 +254,5 @@ while (!IsThreadCanceled()) { + //cout << (int) IsThreadCanceled() << endl; // Wait for a new connection on RX port socket = server.Accept(); @@ -281,5 +280,5 @@ return; - gLog << all << "Connection established to " << MTcpIpO::GetSocketAddress(*socket) << "..." << endl; + gLog << all << MTime(-1) << " Connection established to " << MTcpIpO::GetSocketAddress(*socket) << "..." << endl; if (!WaitForData(*socket)) @@ -296,5 +295,5 @@ while (!IsThreadCanceled()) { - TServerSocket *server=new TServerSocket(fPortRx, kTRUE); + TServerSocket *server=new TServerSocket(fPortRx, kTRUE, 0); server->SetOption(kNoBlock, 1); Index: /trunk/MagicSoft/Cosy/videodev/Camera.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Camera.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/videodev/Camera.cc (revision 8869) @@ -34,5 +34,5 @@ using namespace std; -Camera::Camera(PixClient &client, Int_t nch) : MThread("Camera"), fClient(client), fVideo(0), fNumFrame(0) +Camera::Camera(PixClient &client, Int_t nch) : MThread("Camera"), fClient(client), fVideo(0), fNumFrame(0), fChannel(nch) { fVideo = new MVideo; Index: /trunk/MagicSoft/Cosy/videodev/FilterLed.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/FilterLed.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/videodev/FilterLed.cc (revision 8869) @@ -92,5 +92,5 @@ ~ClusterFinder() { - delete fImg; + delete [] fImg; } Double_t GetSumX() const { return fSumX; } Index: /trunk/MagicSoft/Cosy/videodev/MVideo.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/MVideo.cc (revision 8868) +++ /trunk/MagicSoft/Cosy/videodev/MVideo.cc (revision 8869) @@ -185,4 +185,5 @@ { struct v4l2_queryctrl qctrl; + memset(&qctrl, 0, sizeof(qctrl)); qctrl.id = id;