Changeset 909 for trunk/MagicSoft/Cosy/MCosy.cc

Timestamp:

08/15/01 12:39:04 (23 years ago)

Author:

tbretz

Message:

*** empty log message ***

File:

• trunk/MagicSoft/Cosy/MCosy.cc (modified) (15 diffs)

trunk/MagicSoft/Cosy/MCosy.cc

@@ -14 +14 @@
 
 #include "macs.h"
-#include "timer.h"
+#include "base/timer.h"
 #include "shaftencoder.h"
 
-#include <sys/resource.h>  // PRIO_PROCESS
+#include "MGSkyPosition.h" // FIXME!!!!!!!!!!!!!!!!!
+
+//#include <sys/resource.h>  // PRIO_PROCESS
 
 typedef struct tm tm_t;
@@ -121 +123 @@
         min = dist;
     }
-    cout << "Shortest Zd: " << ret.Zd() << "  Az:" << ret.Az() << endl;
     return ret*(16384.0/360.0);
 }
@@ -347 +348 @@
         {
             lout << "Error 6004 happened" << endl;
-            SkipPendingSdos();
             break;
         }
@@ -393 +393 @@
         {
             lout << "Error 3006 happened" << endl;
-            SkipPendingSdos();
             break;
         }
@@ -525 +524 @@
 }
 
+void *MTGui::Thread()
+{
+    fCosy->GuiThread(this);
+    return NULL;
+}
+
+void *MTTalk::Thread()
+{
+    fCosy->TalkThread();
+    return NULL;
+}
+
 void MCosy::TalkThread()
 {
@@ -530 +541 @@
     // Start the Network
     //
-    Network::Start();
+    cout << "Reading configuration file..." << flush;
+    TEnv env(".cosyrc");
+    cout << "done." << endl;
 
     const int res = fMac3->GetVelRes();
@@ -538 +551 @@
     fMac3->SetDeceleration(res);
 
-    fMac3->SetSyncMode();
-
-    fMac1->SetHome(250000);
-    fMac2->SetHome(250000);
+    fMac3->StartPosSync();
+
+    cout << "Going Home..." << endl;
+    fMac1->SetHome(250000, env.GetValue("Az_MaxTime2ReachHome[s]", 100));
+    fMac2->SetHome(250000, env.GetValue("Zd_MaxTime2ReachHome[s]", 100));
     PostMsg(WM_PRESET, 0, 0);
     PostMsg(WM_WAIT,   0, 0);
@@ -551 +565 @@
     cout << "APOS: " << repos.Zd() << "re, " << repos.Az() << "re" << endl;
 
-    TEnv env(".cosyrc");
-
-    cout << Deg2AzRE(env.GetValue("MinAz[Deg]", -1.0)) << " < Az < "
-        << Deg2AzRE(env.GetValue("MaxAz[Deg]", +1.0)) << "RE" << endl;
-    cout << env.GetValue("MinAz[Deg]", -1.0) << " < Az < "
-        << env.GetValue("MaxAz[Deg]", +1.0) << kDEG << endl;
-    cout << Deg2ZdRE(env.GetValue("MinZd[Deg]", -1.0)) << "RE < Zd < "
-        << Deg2ZdRE(env.GetValue("MaxZd[Deg]", +1.0)) << "RE" << endl;
-
-    fMac1->SetNegEndswitch(Deg2AzRE(env.GetValue("MinAz[Deg]", -1.0)));
-    fMac1->SetPosEndswitch(Deg2AzRE(env.GetValue("MaxAz[Deg]", +1.0)));
+    /*
+     cout << Deg2AzRE(env.GetValue("MinAz[Deg]", -1.0)) << " < Az < "
+     << Deg2AzRE(env.GetValue("MaxAz[Deg]", +1.0)) << "RE" << endl;
+     cout << env.GetValue("MinAz[Deg]", -1.0) << " < Az < "
+     << env.GetValue("MaxAz[Deg]", +1.0) << kDEG << endl;
+     cout << Deg2ZdRE(env.GetValue("MinZd[Deg]", -1.0)) << "RE < Zd < "
+     << Deg2ZdRE(env.GetValue("MaxZd[Deg]", +1.0)) << "RE" << endl;
+     */
+
+    cout << "Setting up software endswitch..." << flush;
+    fMac1->SetNegEndswitch(Deg2AzRE(env.GetValue("Az_Min[Deg]", -1.0)));
+    fMac1->SetPosEndswitch(Deg2AzRE(env.GetValue("Az_Max[Deg]", +1.0)));
+
+    fMac2->SetNegEndswitch(Deg2ZdRE(env.GetValue("Zd_Min[Deg]", -1.0)));
+    fMac2->SetPosEndswitch(Deg2ZdRE(env.GetValue("Zd_Max[Deg]", +1.0)));
+    cout << "done." << endl;
 
 /*
@@ -567 +586 @@
     fMac2->SetPosEndswitch(Deg2ZdRE(env.GetValue("MaxZd[Deg]", +1.0)));
 */
-    fMac3->SetSyncMode();
+//    fMac3->StartVelSync();
 /*
     cout << "PostMsg(WM_PRESET)" << endl;
@@ -588 +607 @@
     // dest = AltAz(-46.0, 210);
     // SetPosition(dest);
-    setpriority(PRIO_PROCESS, 0, 10);
 
     Slalib sla;
@@ -675 +693 @@
 }
 
-void *MCosy::MapTalkThread(void *arg)
-{
-    pthread_detach(pthread_self());
-
-    MCosy *cosy = (MCosy*)arg;
-
-    cosy->TalkThread();
-
-    cosy->lout << "- Sending Thread done." << endl;
-
-    return NULL;
-}
-
-int MCosy::StopWaitingForSDO()
-{
-    return Break() || fMac1->HasError() || fMac2->HasError();
+void MCosy::GuiThread(MTGui *t)
+{
+    MGSkyPosition *disp = fWin->GetSkyDisplay();
+    while (!t->HasStopFlag())
+    {
+        usleep(100000); // 0.1s
+
+        fAlt1->DisplayVal();
+        fAlt2->DisplayVal();
+        fAz->DisplayVal();
+
+        // gSystem->ProcessEvents();
+
+        ZdAz ist = GetSePos()*(360.0/16384.0); // [se]
+        disp->DrawPosition(ist);
+    }
+    cout << "Not running anymore." << endl;
+}
+
+int MCosy::StopWaitingForSDO() const
+{
+    return Break() || HasError(); //fMac1->HasError() || fMac2->HasError();
 }
 
 void MCosy::Start()
 {
-    if (fTxThrd)
-    {
-        cout << "Error: tx thread already started." << endl;
-        return;
-    }
-
-    lout << "- Starting sending Thread." << endl;
-
-    fTxThrd = new pthread_t;
-    pthread_create(fTxThrd, NULL, MapTalkThread, this);
+    // Don't call this function twice!
+    Network::Start();
+
+    lout << "- Starting TX Thread." << endl;
+    fTTalk = new MTTalk(this);
+
+    lout << "- Starting GUI Thread." << endl;
+    fTGui = new MTGui(this);
 }
 
 void MCosy::Stop()
 {
-    if (!fTxThrd)
-        return;
-
-    pthread_cancel(*fTxThrd);
-
-    delete fTxThrd;
-    fTxThrd = NULL;
-
-    lout << "- Sending Thread stopped." << endl;
-
-    SkipPendingSdos();
+    delete fTGui;
+    lout << "- GUI Thread stopped." << endl;
+
+    delete fTTalk;
+    lout << "- TX Thread stopped." << endl;
 
     Network::Stop();
@@ -725 +741 @@
 
 MCosy::MCosy(const char *dev, const int baud, ostream &out)
-: Network(dev, baud, out), fTxThrd(NULL), fTracking(kFALSE)
+: Network(dev, baud, out), fTracking(kFALSE)
 {
     //
@@ -747 +763 @@
     SetNode(fAz);
 
-    MGCosy *fWin=new MGCosy(this, gClient->GetRoot(), 1, 1);
+    fWin=new MGCosy(this, gClient->GetRoot(), 1, 1);
 
     fAz->SetDisplay(fWin->GetLabel1());
@@ -756 +772 @@
 void MCosy::TerminateApp()
 {
-   gSystem->ExitLoop();
+    cout << "MCosy::TerminateApp()" << endl;
+    gApplication->Terminate(0);
 }
 
 MCosy::~MCosy()
 {
+    cout << "Deleting Nodes." << endl;
+
     delete fAz;
     delete fAlt2;
@@ -768 +787 @@
     delete fMac3;
 
+    cout << "Deleting MGCosy." << endl;
+
     delete fWin;
-}
+
+    cout << "MGCosy deleted." << endl;
+}