Index: /trunk/MagicSoft/Cosy/Changelog =================================================================== --- /trunk/MagicSoft/Cosy/Changelog (revision 9438) +++ /trunk/MagicSoft/Cosy/Changelog (revision 9439) @@ -104,4 +104,8 @@ * videodev/FilterLed.[h,cc]: - allow the search boxs to be asymmetric + + * bending_magic2.txt, leds_magic2.txt, stargleds_magic2.txt, + prepos_magic2.txt: + - added Index: /trunk/MagicSoft/Cosy/bending_magic2.txt =================================================================== --- /trunk/MagicSoft/Cosy/bending_magic2.txt (revision 9439) +++ /trunk/MagicSoft/Cosy/bending_magic2.txt (revision 9439) @@ -0,0 +1,26 @@ +MAGIC1 12.04.2009 17:20:57.365 +S 00 000000 000000 0000000 + IA -0.028889482 0.12099407 + IE -0.10075322 0.1777883 + FLOP 0 0 + AN 0 0 + AW 0 0 + NPAE 0.010193065 0.13877966 + CA -0.028210358 0.1726047 + TF 0 0 + TX 0 0 + ECES -0.047483152 0.14349464 + ACES 0 0 + ECEC -0.052801057 0.12315945 + ACEC 0 0 + NRX 0 0 + NRY 0 0 + CRX 0.0075521444 0.010958031 + CRY 0.0041852303 0.012130116 + MAGIC1 -0.01576816 0.012376892 + MAGIC2 0 0 + PX 0 0 + PY 0 0 + DX 0 0 + DY 0 0 +END Index: /trunk/MagicSoft/Cosy/candrv/CandrvLinkDef.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/CandrvLinkDef.h (revision 9438) +++ /trunk/MagicSoft/Cosy/candrv/CandrvLinkDef.h (revision 9439) @@ -5,9 +5,6 @@ #pragma link off all functions; -#pragma link C++ class VmodIcan+; #pragma link C++ class CanOpen+; #pragma link C++ class Network+; -#pragma link C++ class Ethernet+; -//#pragma link C++ class Interface+; #pragma link C++ class NodeDrv+; Index: /trunk/MagicSoft/Cosy/candrv/Makefile =================================================================== --- /trunk/MagicSoft/Cosy/candrv/Makefile (revision 9438) +++ /trunk/MagicSoft/Cosy/candrv/Makefile (revision 9439) @@ -17,5 +17,4 @@ SRCFILES = nodedrv.cc \ - vmodican.cc \ sdolist.cc \ canopen.cc \ Index: /trunk/MagicSoft/Cosy/candrv/canopen.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/canopen.h (revision 9438) +++ /trunk/MagicSoft/Cosy/candrv/canopen.h (revision 9439) @@ -4,4 +4,17 @@ #ifndef ROOT_TCondition #include +#endif + +#ifdef __CINT__ +typedef Byte_t BYTE_t; +typedef UShort_t WORD_t; +typedef Short_t WORDS_t; +typedef UInt_t LWORD_t; +typedef Int_t LWORDS_t; +struct Message; +struct FastMessage; +#else +#include "gendef.h" +#include "dpm.h" #endif @@ -12,9 +25,4 @@ #ifndef COSY_MTimeout #include "MTimeout.h" -#endif - -#ifdef __CINT__ -typedef UInt_t LWORD_t; -typedef Short_t WORDS_t; #endif Index: /trunk/MagicSoft/Cosy/candrv/ethernet.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/candrv/ethernet.cc (revision 9439) @@ -37,5 +37,5 @@ #include -ClassImp(Ethernet); +//ClassImp(Ethernet); #undef DEBUG @@ -56,5 +56,5 @@ // Ethernet::Ethernet(const char *addr, const int tx, const int rx, CanOpen *receiver) - : MTcpIpI(rx),/* MTcpIpO(addr, tx),*/ Interface(receiver), fTxAddress(addr), fTxPort(tx) + : MTcpIpI(rx), /*MTcpIpO(addr, tx),*/ Interface(receiver), fTxAddress(addr), fTxPort(tx) { gLog << inf2 << "- Ethernet initialized." << endl; @@ -68,5 +68,5 @@ Ethernet::~Ethernet() { - CancelThread(); + MTcpIpI::CancelThread(); gLog << inf2 << "- Ethernet stopped." << endl; } @@ -85,5 +85,5 @@ const TString address = MTcpIpO::GetSocketAddress(rx); - while (!IsThreadCanceled()) + while (!MTcpIpI::IsThreadCanceled()) { unsigned char c; @@ -281,4 +281,5 @@ #endif MTcpIpO::SendFrame(fTxAddress, fTxPort, (char*)(msg.data+1), msg.len-1); +// Send((char*)(msg.data+1), msg.len-1); #ifdef DEBUG st.Print(); Index: /trunk/MagicSoft/Cosy/candrv/ethernet.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/ethernet.h (revision 9438) +++ /trunk/MagicSoft/Cosy/candrv/ethernet.h (revision 9439) @@ -20,8 +20,8 @@ // Start/stop communication inherited from Interface - void Start() { RunThread(); } - void Stop() { CancelThread(); } + void Start() { MTcpIpI::RunThread(); } + void Stop() { MTcpIpI::CancelThread(); } - Bool_t HasConnection() const { return IsConnectionEstablished(); } + Bool_t HasConnection() const { return MTcpIpI::IsConnectionEstablished(); } public: @@ -32,5 +32,5 @@ void SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr=0); - ClassDef(Ethernet, 0) // hardware interface to the vmodican can module (Janz) +// ClassDef(Ethernet, 0) // hardware interface to the vmodican can module (Janz) }; Index: /trunk/MagicSoft/Cosy/catalog/SlaPlanets.cc =================================================================== --- /trunk/MagicSoft/Cosy/catalog/SlaPlanets.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/catalog/SlaPlanets.cc (revision 9439) @@ -40,5 +40,5 @@ double ra, dec, diam; - // One can use TT instead of TDB for all plenets + // One can use TT instead of TDB for all planets // (except the moon) // TDB, planet, elong, phi, *ra, *dec, *diam Index: /trunk/MagicSoft/Cosy/catalog/SlaStars.cc =================================================================== --- /trunk/MagicSoft/Cosy/catalog/SlaStars.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/catalog/SlaStars.cc (revision 9439) @@ -49,5 +49,5 @@ 0, 0, // polar motion x, y-coordinate (radians) // 273.155, 1013.25, 0.5, // temp, pressure, humidity - 273.155+20, 1013.25, 0.5, // temp, pressure, humidity + 273.155+10, 780.0, 0.25, // temp, pressure, humidity // 0.2, 0.0065, // wavelength, tropo lapse rate 0.55, 0.0065, // wavelength, tropo lapse rate Index: /trunk/MagicSoft/Cosy/catalog/Slalib.cc =================================================================== --- /trunk/MagicSoft/Cosy/catalog/Slalib.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/catalog/Slalib.cc (revision 9439) @@ -18,12 +18,6 @@ Double_t Slalib::Trunc(Double_t val) { - /* dint(A) - truncate to nearest whole number towards zero (double) */ + // dint(A) - truncate to nearest whole number towards zero (double) return val<0 ? TMath::Ceil(val) : TMath::Floor(val); -} - -Double_t Slalib::Round(Double_t val) -{ - /* dnint(A) - round to nearest whole number (double) */ - return val<0 ? TMath::Ceil(val-0.5) : TMath::Floor(val+0.5); } @@ -40,5 +34,4 @@ SetMjd(fTime.GetMjd()+offset/(24*60*60)); } - ZdAz Slalib::XYZ2ZdAz(double coord[3]) const Index: /trunk/MagicSoft/Cosy/catalog/Slalib.h =================================================================== --- /trunk/MagicSoft/Cosy/catalog/Slalib.h (revision 9438) +++ /trunk/MagicSoft/Cosy/catalog/Slalib.h (revision 9439) @@ -19,5 +19,4 @@ double fAlpha; - static Double_t Round(Double_t val); static Double_t Trunc(Double_t val); Index: /trunk/MagicSoft/Cosy/catalog/StarCatalog.cc =================================================================== --- /trunk/MagicSoft/Cosy/catalog/StarCatalog.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/catalog/StarCatalog.cc (revision 9439) @@ -17,5 +17,5 @@ using namespace std; -StarCatalog::StarCatalog(MObservatory::LocationName_t key) : SlaStars(key), fW(768), fH(576), fAstro(0), /*fSao(NULL), fSrt(NULL), fEntries(0),*/ fSinAngle(0), fCosAngle(1), fBox(768) +StarCatalog::StarCatalog(MObservatory::LocationName_t key) : SlaStars(key), fW(768), fH(576), fAstro(0), /*fSao(NULL), fSrt(NULL), fEntries(0),*/ fSinAngle(0), fCosAngle(1), fBoxX(768), fBoxY(576) { fAstro = new MAstroCatalog; @@ -32,11 +32,12 @@ { // pixsize [arcsec/pixel] - fPixSize = D2PI/360.0*pixsize/3600; // [rad / (deg*pixel)] + fPixSize = TMath::DegToRad()*pixsize/3600; // [rad / (deg*pixel)] fAstro->SetRadiusFOV(pixsize, 768, 576); + // fov = hypot(768, 576)/2*pixsize/3600; } double StarCatalog::GetPixSize() const { - return fPixSize*3600*360.0/D2PI; + return fPixSize*3600*TMath::RadToDeg(); } @@ -55,5 +56,5 @@ void StarCatalog::SetAltAz(const AltAz &altaz) { - fAltAz = altaz * D2PI/360.0; + fAltAz = altaz * TMath::DegToRad(); fRaDec = CalcRaDec(fAltAz); @@ -72,5 +73,5 @@ void StarCatalog::SetRaDec(const RaDec &radec) { - const RaDec rd = fRaDec*360.0/D2PI;; + const RaDec rd = fRaDec*TMath::RadToDeg(); const Bool_t same = @@ -78,5 +79,5 @@ rd.Dec()>radec.Dec()-1e-5 && rd.Dec()GetRadiusFOV()*2); - - // Offsets to shift [-n/2;n/2] to [0;n] and to - // move the stars in the counterdirection of the LEDs - const Int_t offx = 768/2 + xo; - const Int_t offy = 576/2 + yo; + float offx, float offy) const +{ +// const Int_t offx = 768/2 + xo; +// const Int_t offy = 576/2 + yo; // Allow catalog stars to be a bit outside [0.2deg] of the // monitored window. To get the std behaviour set offset=0 - const Int_t offset = TMath::Nint(0.2*TMath::DegToRad()*scale); - const Int_t box = fBox+offset; + const Int_t offset = TMath::Nint(0.2*TMath::DegToRad()/fPixSize); + const Int_t boxx = fBoxX+offset; + const Int_t boxy = fBoxY+offset; // CalcStars flips the picture in X defaultwise now // This defined the box in which stars are really returned + const int x0 = TMath::Max((768-xc)-boxx, -offset); + const int y0 = TMath::Max(yc-boxy, -offset); + const int x1 = TMath::Min((768-xc)+boxx, fW+offset); + const int y1 = TMath::Min(yc+boxy, fH+offset); +/* const int x0 = TMath::Max((768-xc)-box, -offset); - const int y0 = TMath::Max(yc-box, -offset); const int x1 = TMath::Min((768-xc)+box, fW+offset); - const int y1 = TMath::Min(yc+box, fH+offset); - + + const int y0 = TMath::Max(yc-box-100, -offset); + const int y1 = TMath::Min(yc+box+100, fH+offset); + */ + +/* // Align stars into telescope system // (Move the telescope to pointing position) @@ -181,4 +186,8 @@ align.RotateY(-(TMath::Pi()/2-fAltAz.Alt())); align.RotateZ(TMath::Pi()/2); + */ + + TRotation rot; + rot.RotateY(-(TMath::Pi()/2-fAltAz.Alt())); // Get List of stars from catalog @@ -200,4 +209,24 @@ const ZdAz za(CalcZdAz(rd)); + TVector3 v; + //v.SetMagThetaPhi(1., TMath::Pi()/2-za.Alt(), za.Az()-fAltAz.Az()); + v.SetMagThetaPhi(1., za.Zd(), za.Az()-fAltAz.Az()); + v *= rot; + + if (v(2)<0) + continue; + + // Stretch such, that the Z-component is alwas the same. Now + // X and Y contains the intersection point between the star-light + // and the plain of a virtual plain screen (ccd...) + v *= 1./v(2); + + // Do unit conversion to pixels + v *= 1./fPixSize; + + const Double_t x = -v.Y(); + const Double_t y = v.X(); + +/* // Virtually move telescope to pointing position TVector3 loc; @@ -215,13 +244,17 @@ // Do an apropriate unit conversion to pixels - loc *= scale; - + loc *= 1./fPixSize; + + const Double_t x = loc.X(); + const Double_t y = loc.Y(); +*/ // if (loc.Mod2()>fRadiusFOV*fRadiusFOV) // continue; + // Rotate by the rotation angle of the video camera // and add the offsets on both axis - Float_t xx = loc.X()*fCosAngle - loc.Y()*fSinAngle + offx; - Float_t yy = loc.X()*fSinAngle + loc.Y()*fCosAngle + offy; + const Double_t xx = x*fCosAngle - y*fSinAngle + 768 - offx; + const Double_t yy = x*fSinAngle + y*fCosAngle + offy; // Check if the resulting star is in the @@ -235,4 +268,5 @@ } +/* AltAz StarCatalog::CalcAltAzFromPix(Double_t pixx, Double_t pixy) const { @@ -251,2 +285,38 @@ return AltAz(-dec, ha+fAltAz.Az()); } +*/ + +ZdAz StarCatalog::CalcDeltaZdAzFromPix(Double_t dpixx, Double_t dpixy) const +{ + double dx = dpixx*fCosAngle + dpixy*fSinAngle; + double dy = -dpixx*fSinAngle + dpixy*fCosAngle; + + TVector3 loc(dy, -dx, 1./fPixSize); + + loc.RotateY(TMath::Pi()/2-fAltAz.Alt()); + + return ZdAz(loc.Theta()-TMath::Pi()/2+fAltAz.Alt(), -loc.Phi()); + + /* + // Align stars into telescope system + // (Move the telescope to pointing position) + TRotation align; + align.RotateZ(-fAltAz.Az()); + align.RotateY(-(TMath::Pi()/2-fAltAz.Alt())); + align.RotateZ(TMath::Pi()/2); + + + TVector3 loc(dx, dy, 1./fPixSize); + + loc *= align.Inverse(); + + cout << (TMath::Pi()/2-loc.Theta()-alt)*TMath::RadToDeg() << " " << (loc.Phi()-az)*TMath::RadToDeg() << endl; + + + + TVector3 loc(dx, -dy, 1./fPixSize); + + loc *= align.Inverse(); + + return ZdAz(loc.Theta(), loc.Phi());*/ +} Index: /trunk/MagicSoft/Cosy/catalog/StarCatalog.h =================================================================== --- /trunk/MagicSoft/Cosy/catalog/StarCatalog.h (revision 9438) +++ /trunk/MagicSoft/Cosy/catalog/StarCatalog.h (revision 9439) @@ -41,11 +41,13 @@ void SetRaDec(const RaDec &radec); - void SetAltAz(const AltAz &altaz); - int fBox; + int fBoxX; + int fBoxY; public: StarCatalog(MObservatory::LocationName_t key); virtual ~StarCatalog(); + + void SetAltAz(const AltAz &altaz); void GetImg(byte *img, byte *cimg, MStarList &list) const; @@ -65,5 +67,6 @@ double GetPixSize() const; - AltAz CalcAltAzFromPix(Double_t pixx, Double_t pixy) const; + //AltAz CalcAltAzFromPix(Double_t pixx, Double_t pixy) const; + ZdAz CalcDeltaZdAzFromPix(Double_t pixx, Double_t pixy) const; virtual void SetMjd(double mjd); @@ -75,8 +78,9 @@ //void CalcStars(MStarList &list); - void CalcStars(MStarList &list, int xc, int yc, int xo, int yo) const; + void CalcStars(MStarList &list, int xc, int yc, float xo, float yo) const; static void DrawStars(MStarList &list, byte *img); - void SetBox(int box) { fBox = box; } + void SetBox(int box) { fBoxX = fBoxY = box; } + void SetBox(int boxx, int boxy) { fBoxX = boxx; fBoxY=boxy; } ClassDef(StarCatalog, 0) Index: /trunk/MagicSoft/Cosy/cosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/cosy.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/cosy.cc (revision 9439) @@ -74,4 +74,6 @@ return kTRUE; + gLog << all << "- Trying to switch " << (on?"on":"off") << " " << (port==kPortTPoint?"TPoint":"Starguider") << " ccd via " << ip << endl; + TSocket s(ip, 80); if (!s.IsValid()) @@ -160,5 +162,5 @@ const TString ceco = env.GetValue("IpAddressCentralControl", "161.72.130.60"); const TString powerswitch = env.GetValue("IpAddressPowerSwitch", ""); - const TString pointing = env.GetValue("PointingModel", "bending.txt"); + const Int_t telescope = env.GetValue("Telescope", 1); // And move the resource options from the command line to the MEnv @@ -238,7 +240,7 @@ MDriveCom *com = new MDriveCom(ceco, ceco_tx, ceco_rx); - com->SetTelescope(2); - - MCosy *cosy = new MCosy(env, com, pointing); + com->SetTelescope(telescope); + + MCosy *cosy = new MCosy(env, com); com->SetMsgQueue(cosy); @@ -254,5 +256,4 @@ if (kDebugEnv>0) env.PrintUntouched(); - MStarguider *client=0; Index: /trunk/MagicSoft/Cosy/devdrv/dkc.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/dkc.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/devdrv/dkc.cc (revision 9439) @@ -22,8 +22,4 @@ fStatus(0), fStatusDKC(0), fStatusPdo3(0xff), fArmed(false), fReport(NULL),fLabel(NULL),fUpdPos(0) -{ -} - -Dkc::~Dkc() { } @@ -165,15 +161,10 @@ { case 0x1000: - if (subidx==1) - { - gLog << inf2 << "- " << GetNodeName() << ": Node is" << (val?" ":" not ") << "armed." << endl; - fArmed = val==1; - } + gLog << inf2 << "- " << GetNodeName() << ": Node is" << (val?" ":" not ") << "armed." << endl; + fArmed = val==1; return; case 0x1003: // FIXME, see Init - if (subidx!=2) - return; gLog << inf2 << "- " << GetNodeName() << ": Error[0]=" << hex << val << dec << endl; CheckErrorDKC(val); @@ -196,16 +187,13 @@ case 0x6004: - if (subidx==0) - { - fPdoPos1 = (LWORDS_t)val; - fPdoTime1.Set(tv); - fHasChangedPos1 = true; - } - if (subidx==1) - { - fPdoPos2 = (LWORDS_t)val; - fPdoTime2.Set(tv); - fHasChangedPos2 = true; - } + fPdoPos1 = (LWORDS_t)val; + fPdoTime1.Set(tv); + fHasChangedPos1 = true; + return; + + case 0x6005: + fPdoPos2 = (LWORDS_t)val; + fPdoTime2.Set(tv); + fHasChangedPos2 = true; return; @@ -246,44 +234,26 @@ { case 0x1000: - switch (subidx) - { - case 1: - //lout << ddev(MLog::eGui); - gLog << inf2 << "- " << GetNodeName() << ": State of node set." << endl; - //lout << edev(MLog::eGui); - return; - } - break; + gLog << inf2 << "- " << GetNodeName() << ": State of node set." << endl; + return; + + case 0x1001: + gLog << inf2 << "- " << GetNodeName() << ": PDOs requested." << endl; + return; case 0x2002: - //lout << ddev(MLog::eGui); gLog << inf2 << "- " << GetNodeName() << ": Velocity set." << endl; - //lout << edev(MLog::eGui); return; case 0x2003: - //lout << ddev(MLog::eGui); gLog << inf2 << "- " << GetNodeName() << ": Acceleration set." << endl; - //lout << edev(MLog::eGui); return; case 0x3006: - switch (subidx) - { - case 0: - //lout << ddev(MLog::eGui); - gLog << inf2 << "- " << GetNodeName() << ": RPM mode switched." << endl; - //lout << edev(MLog::eGui); - return; - - case 1: - /* - lout << ddev(MLog::eGui); - lout << "- Velocity set (" << GetNodeName() << ")" << endl; - lout << edev(MLog::eGui); - */ - return; - } - break; + gLog << inf2 << "- " << GetNodeName() << ": RPM mode switched." << endl; + return; + + case 0x3007: + //gLog << inf2 << "- Velocity set (" << GetNodeName() << ")" << endl; + return; case 0x4000: @@ -292,36 +262,22 @@ case 0x6000: - //lout << ddev(MLog::eGui); gLog << inf2 << "- " << GetNodeName() << ": Rotation direction set." << endl; - //lout << edev(MLog::eGui); return; case 0x6002: - //lout << ddev(MLog::eGui); - gLog << inf2 << "- " << GetNodeName() << ": Velocitz resolution set." << endl; - //lout << edev(MLog::eGui); + gLog << inf2 << "- " << GetNodeName() << ": Velocity resolution set." << endl; return; case 0x6004: - switch (subidx) - { - case 0: - //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; - - case 1: - //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; - } - break; - - - } + gLog << inf2 << "- " << GetNodeName() << ": Absolute positioning started." << endl; + fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO + return; + + case 0x6005: + gLog << inf2 << "- " << GetNodeName() << ": Relative positioning started." << endl; + fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO + return; + } + NodeDrv::HandleSDOOK(idx, subidx, data, tv); } @@ -348,26 +304,16 @@ } -void Dkc::StartNode() -{ - // - // Switch node from pre-operational state to operational state - // (This is not CANOpen compatible) - // After this the MACS will react on real movement commands. - // - gLog << inf2 << "- " << GetNodeName() << ": Starting Node." << endl; - SendSDO(0x1000, 1, (LWORD_t)1); - WaitForSdo(0x1000, 1); -} - void Dkc::Arm() { - StartNode(); + gLog << inf2 << "- " << GetNodeName() << ": Arming node." << endl; + SendSDO(0x1000, (LWORD_t)1); + WaitForSdo(0x1000); } void Dkc::Disarm() { - gLog << inf2 << "- " << GetNodeName() << ": Stopping Node." << endl; - SendSDO(0x1000, 1, (LWORD_t)0); - WaitForSdo(0x1000, 1); + gLog << inf2 << "- " << GetNodeName() << ": Disarming Node." << endl; + SendSDO(0x1000, (LWORD_t)0); + WaitForSdo(0x1000); } @@ -385,6 +331,6 @@ // gLog << inf2 << "- " << GetNodeName() << ": Requesting Error[0]." << endl; - RequestSDO(0x1003, 2); - WaitForSdo(0x1003, 2); + RequestSDO(0x1003); + WaitForSdo(0x1003); /* @@ -404,11 +350,14 @@ ReqVelMax(); // Init fVelMax + // Request to send all PDOs at least once + ReqPDOs(); + #ifdef EXPERT - StartNode(); + Arm(); #endif gLog << inf2 << "- " << GetNodeName() << ": Checking armed status." << endl; - RequestSDO(0x1000, 1); - WaitForSdo(0x1000, 1); + RequestSDO(0x1000); + WaitForSdo(0x1000); } @@ -422,9 +371,17 @@ } +void Dkc::ReqPDOs() +{ + gLog << inf2 << "- " << GetNodeName() << ": Requesting all PDOs." << endl; + + SendSDO(0x1001, (LWORD_t)1); + WaitForSdo(0x1001); +} + void Dkc::ReqPos1() { gLog << inf2 << "- " << GetNodeName() << ": Requesting position feedback 1." << endl; - RequestSDO(0x6004, 0); - WaitForSdo(0x6004, 0); + RequestSDO(0x6004); + WaitForSdo(0x6004); } @@ -432,6 +389,6 @@ { gLog << inf2 << "- " << GetNodeName() << ": Requesting position feedback 2." << endl; - RequestSDO(0x6004, 1); - WaitForSdo(0x6004, 1); + RequestSDO(0x6005); + WaitForSdo(0x6005); } @@ -460,15 +417,8 @@ { gLog << dbg << "- Setting acceleration to: " << acc << endl; - SendSDO(0x2003, 0, acc); // acceleration - WaitForSdo(0x2003, 0); -} -/* -void Dkc::SetDeceleration(LWORD_t dec) -{ - gLog << dbg << "- Setting deceleration to: " << dec << endl; - SendSDO(0x2003, 1, dec); - WaitForSdo(0x2003, 1); -} -*/ + SendSDO(0x2003, acc); // acceleration + WaitForSdo(0x2003); +} + void Dkc::SetRpmMode(BYTE_t mode) { @@ -476,12 +426,12 @@ // SetRpmMode(FALSE) stop the motor, but lets the position control unit on // - SendSDO(0x3006, 0, mode ? string('s','t','r','t') : string('s','t','o','p')); - WaitForSdo(0x3006, 0); + SendSDO(0x3006, mode ? string('s','t','r','t') : string('s','t','o','p')); + WaitForSdo(0x3006); } void Dkc::SetRpmVelocity(LWORDS_t cvel) { - SendSDO(0x3006, 1, (LWORD_t)cvel); - WaitForSdo(0x3006, 1); + SendSDO(0x3007, (LWORD_t)cvel); + WaitForSdo(0x3007); } @@ -496,5 +446,5 @@ gLog << dbg << GetNodeName() << ": Starting relative positioning by " << (LWORDS_t)pos << " ticks." << endl; - SendSDO(0x6004, 1, (LWORD_t)pos); + SendSDO(0x6005, (LWORD_t)pos); fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO } @@ -510,5 +460,5 @@ gLog << dbg << GetNodeName() << ": Starting absolute positioning to " << (LWORDS_t)pos << " ticks." << endl; - SendSDO(0x6004, 0, (LWORD_t)pos); + SendSDO(0x6004, (LWORD_t)pos); fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO } @@ -526,28 +476,6 @@ gLog << dbg << GetNodeName() << ": Starting absolute positioning to " << p << " ticks." << endl; - SendSDO(0x6004, 0, p); + SendSDO(0x6004, p); fPosActive = kTRUE; // Make sure that the status is set correctly already before the first PDO -} - -void Dkc::StartVelSync() -{ - // - // The syncronization mode is disabled by a 'MOTOR STOP' - // or by a positioning command (POSA, ...) - // - gLog << inf2 << "- " << GetNodeName() << ": Starting RPM Sync Mode." << endl; - SendSDO(0x3007, 0, string('s', 'y', 'n', 'c')); - WaitForSdo(0x3007, 0); -} - -void Dkc::StartPosSync() -{ - // - // The syncronization mode is disabled by a 'MOTOR STOP' - // or by a positioning command (POSA, ...) - // - gLog << inf2 << "- " << GetNodeName() << ": Starting Position Sync Mode." << endl; - SendSDO(0x3007, 1, string('s', 'y', 'n', 'c')); - WaitForSdo(0x3007, 1); } Index: /trunk/MagicSoft/Cosy/devdrv/dkc.h =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/dkc.h (revision 9438) +++ /trunk/MagicSoft/Cosy/devdrv/dkc.h (revision 9439) @@ -73,5 +73,5 @@ public: Dkc(const BYTE_t nodeid, const char *name=NULL); - virtual ~Dkc(); + virtual ~Dkc() { } static LWORD_t string(BYTE_t b0=0, BYTE_t b1=0, BYTE_t b2=0, BYTE_t b3=0) @@ -84,4 +84,5 @@ BYTE_t d3=0, BYTE_t d4=0, BYTE_t d5=0); + void ReqPDOs(); void ReqPos1(); void ReqPos2(); @@ -91,19 +92,13 @@ void ReqVelMax(); void SetAcceleration(LWORD_t acc); - void SetDeceleration(LWORD_t dec); +// void SetDeceleration(LWORD_t dec); void SetVelocity(LWORD_t vel); void SetVelocityRel(Double_t vel); void SetRpmMode(BYTE_t mode=TRUE); void SetRpmVelocity(LWORDS_t cvel); - void SetPDO1On(BYTE_t flag=TRUE); - - void StartVelSync(); - void StartPosSync(); void StartRelPos(LWORDS_t pos); void StartAbsPos(LWORDS_t pos); void StartAbsPosRev(Double_t pos); - - void StartNode(); bool IsArmed() const { return fArmed; } Index: /trunk/MagicSoft/Cosy/gui/MGCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 9439) @@ -318,5 +318,5 @@ } -void MGCosy::CreatePredefinedPos(TGCompositeFrame *tf1) +void MGCosy::CreatePredefinedPos(TGCompositeFrame *tf1, const char *prepos) { TGComboBox *box = new TGComboBox(tf1, kCB_PredefPos); @@ -331,8 +331,8 @@ fList->Add(lay); - ifstream fin("prepos.txt"); + ifstream fin(prepos); if (!fin) { - gLog << err << "ERROR: Predifined positions in 'prepos.txt' not found." << endl; + gLog << err << "ERROR: Predifined positions in '" << prepos << "' not found." << endl; return; } @@ -391,5 +391,5 @@ } -void MGCosy::CreateTabs() +void MGCosy::CreateTabs(const char *prepos) { TGCompositeFrame *tf1 = fTab->AddTab("Position"); @@ -408,5 +408,5 @@ fList->Add(fCZdAz); - CreatePredefinedPos(tf1); + CreatePredefinedPos(tf1, prepos); CreateStarList(tf4); @@ -728,5 +728,5 @@ } -MGCosy::MGCosy(MObservatory::LocationName_t key, MsgQueue *q) +MGCosy::MGCosy(MObservatory::LocationName_t key, const char *prepos, MsgQueue *q) : TGMainFrame(gClient->GetRoot(), 1, 1), fObservatory(key), fQueue(q) { @@ -755,5 +755,7 @@ fAccuracy = new MGAccuracy(f1, 300); - fAccuracy->DrawText("0.5se", "1.0se", "2.0se", "Ctrl Deviation [min]"); + fAccuracy->SetColorScale(1); + fAccuracy->DrawText("1.0'", "2.0'", "3.0'", "Ctrl Deviation [min]"); + //fAccuracy->DrawText("0.5se", "1.0se", "2.0se", ""); fAccuracy->DrawCircles(); @@ -815,5 +817,5 @@ AddFrame(f2, hints2); - CreateTabs(); + CreateTabs(prepos); CreateLabel(frame); Index: /trunk/MagicSoft/Cosy/gui/MGCosy.h =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 9438) +++ /trunk/MagicSoft/Cosy/gui/MGCosy.h (revision 9439) @@ -114,6 +114,6 @@ void CreateMenu(); void CreateLabel(TGCompositeFrame *f); - void CreateTabs(); - void CreatePredefinedPos(TGCompositeFrame *tf1); + void CreateTabs(const char *prepos); + void CreatePredefinedPos(TGCompositeFrame *tf1, const char *prepos); void CreateStarList(TGCompositeFrame *tf1); @@ -133,5 +133,5 @@ public: - MGCosy(MObservatory::LocationName_t key, MsgQueue *q); + MGCosy(MObservatory::LocationName_t key, const char *prepos, MsgQueue *q); ~MGCosy(); Index: /trunk/MagicSoft/Cosy/gui/MGStarg.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGStarg.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/gui/MGStarg.cc (revision 9439) @@ -23,4 +23,6 @@ : MGAccuracy(p, w) { - SetColorScale(1.5); + SetColorScale(1); + DrawText("1.0'", "2.0'", "3.0'", "Mispointing [min]"); + DrawHexagon(); } Index: /trunk/MagicSoft/Cosy/leds_magic2.txt =================================================================== --- /trunk/MagicSoft/Cosy/leds_magic2.txt (revision 9438) +++ /trunk/MagicSoft/Cosy/leds_magic2.txt (revision 9439) @@ -5,4 +5,4 @@ 370 518 0 0 170 405 0 0 -166 174 0 0 -251 87 0 0 +#166 174 0 0 +252 82 0 0 Index: /trunk/MagicSoft/Cosy/main/MCaos.cc =================================================================== --- /trunk/MagicSoft/Cosy/main/MCaos.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/main/MCaos.cc (revision 9439) @@ -354,5 +354,5 @@ // img width height radius sigma - FilterLed f(img, 768, 576, fSizeBox, fCut); + FilterLed f(img, 768, 576, fSizeBox, fSizeBox, fCut); Int_t first=0; @@ -506,5 +506,5 @@ if (IsEnvDefined(env, prefix, "MinNumberLeds", print)) - fMaxRadius = GetEnvValue(env, prefix, "MinNumberLeds", fMinNumberLeds); + fMinNumberLeds = GetEnvValue(env, prefix, "MinNumberLeds", fMinNumberLeds); if (IsEnvDefined(env, prefix, "SizeBox", print)) Index: /trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/main/MCosy.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/main/MCosy.cc (revision 9439) @@ -219,5 +219,5 @@ if (d.Zd()fMax.Zd()) { - gLog << err << "ERROR: Requested Zenith Angle behind positive endswitch." << endl; + gLog << err << "ERROR: Requested Zenith Angle " << d.Zd()*TMath::RadToDeg() << " behind positive endswitch " << fMax.Zd()*TMath::RadToDeg() << endl; return kFALSE; } @@ -231,5 +231,8 @@ if (d.Az()fMax.Az()) { - gLog << err << "ERROR: Requested Azimuth Angle behind positive endswitch." << endl; + gLog << err << "ERROR: Requested Azimuth Angle " << d.Az()*TMath::RadToDeg() << " behind positive endswitch " << fMax.Az()*TMath::RadToDeg() << endl; + if (TMath::Abs(d.Zd())<1) + gLog << " Remember that there is a small inaccessible region around zenith!" << endl; return kFALSE; } @@ -336,6 +341,10 @@ // Default: point.SetPointAcc(0.03, 0.01); + // Default: point.SetPointVelocity(0.3); point.SetPointAcc(0.03, 0.01); point.SetPointVelocity(0.3); + + //point.SetPointAcc(0.09, 0.03); + //point.SetPointVelocity(1.0); return point.SetPosition(dst, track); @@ -513,10 +522,10 @@ case WM_STARGTPOINT: if (fStarguider) - fStarguider->StartTPoint(); + fStarguider->StartTPoint((char*)mp); return 0xca1c; case WM_STARGMODE: if (fStarguider) - fStarguider->StartStarguider(); + fStarguider->StartStarguider(*((bool*)mp)); return 0xca1c; @@ -594,8 +603,8 @@ cout << "Preposition command to " << preps << " received." << endl; - ifstream fin("prepos.txt"); + ifstream fin(fFilePrepos); if (!fin) { - cout << "ERROR: cannot open prepos.txt." << endl; + cout << "ERROR: cannot open " << fFilePrepos << endl; return 0xebb1; } @@ -817,5 +826,6 @@ { tout.Start(999); - fCom->SendReport(fStatus, fRaDec, fZdAzSoll, bendist, fTrackingError, armed); + fCom->SendReport(fStatus, fRaDec, fZdAzSoll, bendist, fTrackingError, armed, + fStarguider ? fStarguider->GetStarguiderMode() : 0); } @@ -876,58 +886,4 @@ } -// -------------------------------------------------------------------------- -// -// Disable the synchronization by using a negative CAN Id for id2. -// -void MCosy::Constructor(Int_t id1, Int_t id2) -{ - // - // Create Nodes - // - gLog << inf << "- Setting up network." << endl; - - fMac1=new Dkc(id1, "DKC/Az"); - fMac2=new Dkc(id2, "DKC/Zd"); - - fMac1->SetReport(fOutRep); - fMac2->SetReport(fOutRep); - - gLog << inf << "- Connecting devices to network." << endl; - - // - // Connect the devices to the network - // - SetNode(fMac1); - SetNode(fMac2); - - // - // Create Gui Event timer and Gui - // - gLog << inf << "- Initializing GUI Timer." << endl; - fUpdateGui = new TTimer(this, 100); // 100ms - - gLog << all << "- Starting GUI." << endl; - fWin=new MGCosy(fObservatory, this); -} - -/* -void MCosy::ConstructorDemo() -{ - // - // Create Nodes - // - gLog << "- Setting up network." << endl; - - // - // Create Gui Event timer and Gui - // - gLog << "- Initializing GUI Timer." << endl; - fUpdateGui = new TTimer(this, 100); // 100ms - - gLog << "- Starting GUI." << endl; - fWin=new MGCosy(fObservatory, this, gClient->GetRoot(), 1, 1); -} -*/ - TString MCosy::GetFileName(const char *path, const char *name, const char *ext) { @@ -963,5 +919,5 @@ } -MCosy::MCosy(MEnv &env, MDriveCom *com, const char *pointing) +MCosy::MCosy(MEnv &env, MDriveCom *com) : Network(), fObservatory(MObservatory::kMagic1), fStarguider(NULL), fMac1(0), fMac2(0), fStatus(MDriveCom::kStopped), fOutTp(0), fOutRep(0) @@ -969,4 +925,6 @@ const Int_t id1 = env.GetValue("Az_Id", 1); const Int_t id2 = env.GetValue("Zd_Id", 3); + + fFilePrepos = env.GetValue("FilePredefinedPositions", "prepos.txt"); TString name = GetFileName("rep", "cosy", "rep"); @@ -978,27 +936,39 @@ *fOutRep << "[Reports]" << endl; -/* - gLog << "- Program in "; - switch (mode) - { - case 0: - gLog << "<>" << endl;*/ - gLog << all << "Reading pointing model from " << pointing << "..." << endl; - if (fBending.Load(pointing)) - gLog << all << "Reading pointing model from " << pointing << " successfull." << endl; - else - gLog << err << "ERROR - Reading pointing model from " << pointing << endl; - Constructor(id1, id2);/* - break; - case 1: - gLog << "<>" << endl; - fBending.Load("bending.txt"); - ConstructorSE(id4, id5, id6); - break; - default: - gLog << "<>" << endl; - ConstructorDemo(); - } -*/ + const TString pointing = env.GetValue("PointingModel", "bending.txt"); + + gLog << all << "Reading pointing model from " << pointing << "..." << endl; + if (fBending.Load(pointing)) + gLog << all << "Reading pointing model from " << pointing << " successfull." << endl; + else + gLog << err << "ERROR - Reading pointing model from " << pointing << endl; + + // + // Create Nodes + // + gLog << inf << "- Setting up network." << endl; + + fMac1=new Dkc(id1, "DKC/Az"); + fMac2=new Dkc(id2, "DKC/Zd"); + + fMac1->SetReport(fOutRep); + fMac2->SetReport(fOutRep); + + gLog << inf << "- Connecting devices to network." << endl; + + // + // Connect the devices to the network + // + SetNode(fMac1); + SetNode(fMac2); + + // + // Create Gui Event timer and Gui + // + gLog << inf << "- Initializing GUI Timer." << endl; + fUpdateGui = new TTimer(this, 100); // 100ms + + gLog << all << "- Starting GUI." << endl; + fWin=new MGCosy(fObservatory, fFilePrepos, this); gLog.SetOutputGui(fWin->GetLog(), kTRUE); Index: /trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- /trunk/MagicSoft/Cosy/main/MCosy.h (revision 9438) +++ /trunk/MagicSoft/Cosy/main/MCosy.h (revision 9439) @@ -91,4 +91,6 @@ MLog *fOutRep; + TString fFilePrepos; + ZdAz AlignTrackingPos(ZdAz pointing) const; Bool_t CheckRange(const ZdAz &d) const; @@ -122,5 +124,5 @@ public: - MCosy(MEnv &env, MDriveCom *com, const char *pointing); + MCosy(MEnv &env, MDriveCom *com); ~MCosy(); Index: /trunk/MagicSoft/Cosy/main/MStarguider.cc =================================================================== --- /trunk/MagicSoft/Cosy/main/MStarguider.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/main/MStarguider.cc (revision 9439) @@ -1,3 +1,2 @@ -#undef EXPERT #undef EXPERT @@ -307,6 +306,4 @@ fGStarg = new MGStarg(this, 235); - fGStarg->DrawText("0.75'", "1.50'", "3.00'", "Mispointing [min]"); - fGStarg->DrawHexagon(); fGStarg->Move(530,596+5); fList->Add(fGStarg); @@ -342,12 +339,14 @@ fTPoint = new TGTextButton(this, "TPoint"); - fTPoint->Move(4, fMenu->GetDefaultHeight()+785); + //fTPoint->Move(4, fMenu->GetDefaultHeight()+785); + fTPoint->Move(170, fMenu->GetDefaultHeight()+785); fTPoint->AllowStayDown(kTRUE); AddFrame(fTPoint); - - fStargTPoint = new TGTextButton(this, "StargTPoint"); - fStargTPoint->Move(170, fMenu->GetDefaultHeight()+785); - fStargTPoint->AllowStayDown(kTRUE); - AddFrame(fStargTPoint); + /* + fStargTPoint = new TGTextButton(this, "StargTPoint"); + fStargTPoint->Move(170, fMenu->GetDefaultHeight()+785); + fStargTPoint->AllowStayDown(kTRUE); + AddFrame(fStargTPoint); + */ fFps = new TGLabel(this, "---fps"); @@ -448,5 +447,5 @@ MapSubwindows(); fTPoint->UnmapWindow(); - fStargTPoint->UnmapWindow(); + //fStargTPoint->UnmapWindow(); fGStarg->UnmapWindow(); fGNumStars->UnmapWindow(); @@ -479,10 +478,11 @@ fOutTp(0), fOutStargTp(0), - fOutRq(0), +// fOutRq(0), fDx((768-kZOOM)/2), fDy((512-kZOOM)/2), fStatus(MDriveCom::kStandby), fRadius(200), - fTPointFromCC(0) + fTPointFromCC(-1), + fFindStarCut(3.0), fFindStarBox(70) { gLog << warn << " #### FIXME: Make MCaos Thread safe!" << endl; @@ -557,4 +557,15 @@ fRadius = env.GetValue("Leds.Radius", fRadius); + + fStarguiderW = env.GetValue("Starguider.Width", fStarguiderW); + fStarguiderH = env.GetValue("Starguider.Height", fStarguiderH); + fStarguiderX = env.GetValue("Starguider.X", fStarguiderX); + fStarguiderY = env.GetValue("Starguider.Y", fStarguiderY); + + fSkyOffsetX = env.GetValue("Starguider.SkyOffsetX", fSkyOffsetX); + fSkyOffsetY = env.GetValue("Starguider.SkyOffsetY", fSkyOffsetY); + + fFindStarBox = env.GetValue("FindStar.SizeBox", fFindStarBox); + fFindStarCut = env.GetValue("FindStar.CleaningLevel", fFindStarCut); } @@ -583,6 +594,6 @@ delete fOutStargTp; - if (fOutRq) - delete fOutRq; +// if (fOutRq) +// delete fOutRq; gLog << inf2 << "Camera Display destroyed." << endl; @@ -649,8 +660,9 @@ } +/* void MStarguider::ToggleFindStar() { if (fDisplay->IsEntryChecked(IDM_kFindStar) && fCosy) - fTPoint->MapWindow(); + fTPoint->MapWindow(); else { @@ -659,5 +671,5 @@ } } - +*/ void MStarguider::ToggleStarguider() { @@ -671,5 +683,5 @@ fOperations->EnableEntry(IDM_kStargAnalysis); - fStargTPoint->MapWindow(); + //fStargTPoint->MapWindow(); fPZdAz->MapWindow(); @@ -703,5 +715,4 @@ SwitchOff(fChannel, IDM_kChannel2); fChannel->CheckEntry(IDM_kChannel1); - } else @@ -709,6 +720,6 @@ fStatus = MDriveCom::kStandby; - fStargTPoint->UnmapWindow(); - fStargTPoint->SetDown(kFALSE); + //fStargTPoint->UnmapWindow(); + //fStargTPoint->SetDown(kFALSE); fPZdAz->UnmapWindow(); @@ -772,5 +783,5 @@ MapSubwindows(); // maps everything, but we don't want that fTPoint->UnmapWindow(); - fStargTPoint->UnmapWindow(); + //fStargTPoint->UnmapWindow(); fGStarg->UnmapWindow(); fGNumStars->UnmapWindow(); @@ -863,5 +874,4 @@ //tpoint SwitchOff(fDisplay, IDM_kFindStar); - ToggleFindStar(); SwitchOff(fDisplay, IDM_kCaosFilter); ToggleCaosFilter(); @@ -874,8 +884,10 @@ //check needed items - fDisplay->CheckEntry(IDM_kStretch); + fDisplay->UnCheckEntry(IDM_kStretch); fDisplay->CheckEntry(IDM_kStargCaosFilter); fDisplay->CheckEntry(IDM_kStarguider); ToggleStarguider(); + + fTPoint->MapWindow(); } else @@ -885,4 +897,5 @@ fDisplay->UnCheckEntry(IDM_kStargCaosFilter); fDisplay->UnCheckEntry(IDM_kStarguider); + fTPoint->UnmapWindow(); ToggleStarguider(); @@ -922,9 +935,9 @@ //checking needed items - fDisplay->CheckEntry(IDM_kStretch); + fDisplay->UnCheckEntry(IDM_kStretch); fDisplay->CheckEntry(IDM_kCaosFilter); ToggleCaosFilter(); fDisplay->CheckEntry(IDM_kFindStar); - ToggleFindStar(); + fTPoint->MapWindow(); } else @@ -946,5 +959,5 @@ ToggleCaosFilter(); fDisplay->UnCheckEntry(IDM_kFindStar); - ToggleFindStar(); + fTPoint->UnmapWindow(); } return kTRUE; @@ -956,5 +969,5 @@ case IDM_kFindStar: Toggle(fDisplay, IDM_kFindStar); - ToggleFindStar(); + //ToggleFindStar(); return kTRUE; @@ -1293,4 +1306,6 @@ #endif + return fSao->CalcDeltaZdAzFromPix(mx, my)*TMath::RadToDeg(); +/* AltAz pos0 = fSao->CalcAltAzFromPix(768/2, 576/2)*kRad2Deg; AltAz pos1 = fSao->CalcAltAzFromPix(768/2+mx, 576/2+my)*kRad2Deg; @@ -1298,15 +1313,24 @@ pos1 -= pos0; - return ZdAz(-pos1.Alt(), pos1.Az()); -} - -Int_t MStarguider::CalcTrackingError(Leds &leds, MStarList &stars, - ZdAz &d, MTime &t, double &bright, Int_t &num) -{ + ZdAz res2 = ZdAz(-pos1.Alt(), pos1.Az()); + + return res1; +*/ +} + +Int_t MStarguider::CalcTrackingError(const Leds &leds, MStarList &stars, + ZdAz &d, const MTime &t, const double &bright, + Int_t &num, const Ring ¢er, Int_t numleds, Int_t numrings) +{ + // Get tracking coordinates + const XY xy = fCRaDec->GetCoordinates(); + num = leds.GetEntries(); if (num < 3) //was 1 { gLog << warn << "Sorry, less than 3 detected spot in FOV!" << endl; - fStargTPoint->SetDown(kFALSE); + if (fTPoint->IsDown() && fCosy && fCosy->GetDriveCom()) + fCosy->GetDriveCom()->SendTPoint(false, 'S', fTPointStarMag, fTPointStarName, AltAz(), ZdAz(), xy, 0, 0, t, center, Led(), numleds, numrings, num); // Report + fTPoint->SetDown(kFALSE); return 0; } @@ -1315,5 +1339,7 @@ { gLog << warn << "Sorry, less than 3 stars in FOV!" << endl; - fStargTPoint->SetDown(kFALSE); + if (fTPoint->IsDown() && fCosy && fCosy->GetDriveCom()) + fCosy->GetDriveCom()->SendTPoint(false, 'S', fTPointStarMag, fTPointStarName, AltAz(), ZdAz(), xy, 0, 0, t, center, Led(), numleds, numrings, num); // Report + fTPoint->SetDown(kFALSE); return 0; } @@ -1375,5 +1401,7 @@ if (numcor<1) { - fStargTPoint->SetDown(kFALSE); + fTPoint->SetDown(kFALSE); + if (fTPoint->IsDown() && fCosy && fCosy->GetDriveCom()) + fCosy->GetDriveCom()->SendTPoint(false, 'S', fTPointStarMag, fTPointStarName, AltAz(), ZdAz(), xy, 0, 0, t, center, Led(), numleds, numrings, num, numcor); // Report return 0; } @@ -1388,7 +1416,7 @@ // Check StargTPoint data set request - if (!fStargTPoint->IsDown()) + if (!fDisplay->IsEntryChecked(IDM_kStarguiderMode) || !fTPoint->IsDown()) return numcor; - fStargTPoint->SetDown(kFALSE); + fTPoint->SetDown(kFALSE); // If no file open: open new file @@ -1406,6 +1434,4 @@ } - // Get tracking coordinates - const XY xy = fCRaDec->GetCoordinates(); const RaDec rd(xy.X()*MAstro::HorToRad(), xy.Y()*TMath::DegToRad()); @@ -1430,9 +1456,7 @@ // Write real pointing position - //cout << " Alt/Az: " << za0.Alt() << "° " << za0.Az() << "°" << endl; *fOutStargTp << setprecision(7) << za0.Az() << " " << za0.Alt() << " "; // Write system pointing position - //cout << " SE-Pos: " << 90-cpos.Zd() << "° " << cpos.Az() << "°" << endl; *fOutStargTp << fmod(cpos.Az()+360, 360) << " " << 90-cpos.Zd(); @@ -1440,15 +1464,41 @@ *fOutStargTp << " " << d.Zd() << " " << d.Az(); *fOutStargTp << " " << setprecision(11) << t.GetMjd(); - *fOutStargTp << " " << num; - *fOutStargTp << " " << bright; + *fOutStargTp << " " << setprecision(4) << center.GetMag(); + *fOutStargTp << " " << star->GetMag(); + *fOutStargTp << " " << center.GetX() << " " << center.GetY(); + *fOutStargTp << " 0 0"; + *fOutStargTp << " " << numleds << " " << numrings; + *fOutStargTp << " " << num << " " << numcor << " " << bright; *fOutStargTp << endl; + gLog << all << "Starguider TPoint successfully taken." << endl; + fTimeFromTp.Clear(); + if (!fCosy) + return numcor; + + MDriveCom *com = fCosy->GetDriveCom(); + if (!com) + return numcor; + + com->SendTPoint(true, 'S', fTPointStarMag, fTPointStarName, za0, cpos, xy, d.Zd(), d.Az(), t, center, Led(), numleds, numrings, num, numcor); // Report + return numcor; } -void MStarguider::FindStar(FilterLed &f, FilterLed &f2, Ring ¢er, MTime &t) -{ +void MStarguider::FindStar(const FilterLed &f, const FilterLed &f2, const Ring ¢er, const MTime &t, Int_t numleds, Int_t numrings) +{ + // Get tracking coordinates + const XY xy = fCRaDec->GetCoordinates(); // [h, deg] + + if (center.GetX()<=0 && center.GetY()<=0) + { + gLog << warn << "Couldn't determine center of the camera." << endl; + if (fTPoint->IsDown() && fCosy && fCosy->GetDriveCom()) + fCosy->GetDriveCom()->SendTPoint(false, 'T', fTPointStarMag, fTPointStarName, AltAz(), ZdAz(), xy, 0, 0, t, center, Led(), numleds, numrings); // Report + return; + } + // Try to find the star Leds leds; @@ -1459,9 +1509,7 @@ if (!star) { - if (fTPoint->IsDown()) - { - fTPoint->SetDown(kFALSE); - gLog << warn << "No star found. Couldn't take a tpoint." << endl; - } + gLog << warn << "No star found." << endl; + if (fTPoint->IsDown() && fCosy && fCosy->GetDriveCom()) + fCosy->GetDriveCom()->SendTPoint(false, 'T', fTPointStarMag, fTPointStarName, AltAz(), ZdAz(), xy, 0, 0, t, center, Led(), numleds, numrings); // Report return; } @@ -1470,4 +1518,6 @@ star->Print(); f2.MarkPoint(star->GetX(), star->GetY(), 2<<2); + + const RaDec rd(xy.X()*MAstro::HorToRad(), xy.Y()*TMath::DegToRad()); // Initialize Star Catalog on the camera plane @@ -1478,9 +1528,4 @@ ac.SetObservatory(*fSao); ac.SetTime(t); - - // Get tracking coordinates - const XY xy = fCRaDec->GetCoordinates(); // [h, deg] - const RaDec rd(xy.X()*MAstro::HorToRad(), xy.Y()*TMath::DegToRad()); - ac.SetRaDec(rd.Ra(), rd.Dec()); @@ -1500,8 +1545,6 @@ // Check TPoint data set request - if (!fTPoint->IsDown()) + if (!fDisplay->IsEntryChecked(IDM_kTpointMode) || !fTPoint->IsDown()) return; - - fTPoint->SetDown(kFALSE); // If no file open: open new file @@ -1539,4 +1582,5 @@ const ZdAz za1 = fCosy->GetSePos()*360; // [deg] + // Write real pointing position //cout << " Alt/Az: " << za0.Alt() << "° " << za0.Az() << "°" << endl; @@ -1552,5 +1596,11 @@ *fOutTp << " " << setprecision(4) << center.GetMag(); *fOutTp << " " << star->GetMag(); + *fOutTp << " " << center.GetX() << " " << center.GetY(); + *fOutTp << " " << star->GetX() << " " << star->GetY(); + *fOutTp << " " << numleds << " " << numrings; + *fOutTp << " 0 0 0"; *fOutTp << endl; + + gLog << all << "TPoint successfully taken." << endl; /* MLog &outrep = *fCosy->GetOutRep(); @@ -1570,4 +1620,13 @@ // return zdaz; + + if (!fCosy) + return; + + MDriveCom *com = fCosy->GetDriveCom(); + if (!com) + return; + + com->SendTPoint(true, 'T', fTPointStarMag, fTPointStarName, za0, za1, xy, -dzd, -daz, t, center, *star, numleds, numrings); // Report } @@ -1624,14 +1683,56 @@ } -void MStarguider::StartStarguider() +void MStarguider::StartTPoint(char *cmd) +{ + fTPointStarName = "Dummy"; + fTPointStarMag = 0; + + TString str(cmd); + + TObjArray *arr = str.Tokenize(' '); + + if (arr->GetEntries()==2) + { + fTPointStarName = (*arr)[0]->GetName(); + fTPointStarMag = atof((*arr)[1]->GetName()); + } + + delete arr; + + if (fTPointFromCC<0) + fTPointFromCC=0; +} + +void MStarguider::StartStarguider(bool on) { // Switch to starguider mode - cout << " * Switching to Starguider mode" << endl; - fMode->UnCheckEntry(IDM_kStarguiderMode); - ProcessMessage(MK_MSG(kC_COMMAND, kCM_MENU), IDM_kStarguiderMode, 0); + if (on) + { + cout << " * Switching Starguider mode on" << endl; + fMode->UnCheckEntry(IDM_kStarguiderMode); + ProcessMessage(MK_MSG(kC_COMMAND, kCM_MENU), IDM_kStarguiderMode, 0); + } + else + { + cout << " * Switching Starguider mode off" << endl; + fMode->CheckEntry(IDM_kStarguiderMode); + ProcessMessage(MK_MSG(kC_COMMAND, kCM_MENU), IDM_kStarguiderMode, 0); + } +} + +Int_t MStarguider::GetStarguiderMode() const +{ + return fMode->IsEntryChecked(IDM_kStarguiderMode) ? 1 : 2; + } Bool_t MStarguider::DoTPoint() { + if (fTPoint->IsDown() && fTPointFromCC<0) + { + fTPointFromCC = 0; + fTPoint->SetDown(kFALSE); + } + if (fTPointFromCC<0) return kTRUE; @@ -1650,14 +1751,15 @@ case 2: + case 3: cout << " * Waiting one frame" << endl; // Wait one frame return kFALSE; - case 3: + case 4: cout << " * Taking TPoint" << endl; fTPoint->SetDown(); // kTRUE return kTRUE; - case 4: + case 5: if (!fTimeFromTp) // TPoint failed break; @@ -1669,16 +1771,24 @@ return kFALSE; - case 5: + case 6: + case 7: cout << " * Waiting one frame" << endl; // Wait one frame return kFALSE; - case 6: + case 8: cout << " * Taking Starguider TPoint" << endl; - fStargTPoint->SetDown(); // kTRUE + fTPoint->SetDown(); // kTRUE return kTRUE; - case 7: - cout << " * Send Report" << endl; +// case 9: +// cout << " * Send Report" << endl; +// return kTRUE; + + case 9: + cout << " * Switching to TPoint mode" << endl; + // Switch to tpoint mode + fMode->UnCheckEntry(IDM_kTpointMode); + ProcessMessage(MK_MSG(kC_COMMAND, kCM_MENU), IDM_kTpointMode, 0); break; } @@ -1686,5 +1796,5 @@ // Send report fTPointFromCC = -1; - +/* if (!fCosy) return kTRUE; @@ -1702,5 +1812,5 @@ //fNumStarsCorrelated = rc; com->SendTPoint(fNumStarsCorrelated>0); - +*/ return kTRUE; } @@ -1736,5 +1846,5 @@ if (!fWritePictures->IsEntryEnabled(IDM_kStart) && (!(n%fWrtRate) || fWriteType->IsEntryChecked(IDM_kOnce))) - { + { if (fFileType->IsEntryChecked(IDM_kPNG)) @@ -1752,5 +1862,6 @@ f.Execute(); - DoTPoint(); + if (!DoTPoint()) + return; Int_t numleds = 0; @@ -1758,5 +1869,6 @@ // Find Center of Camera for Caos and Tpoints - Ring center(768/2, 576/2); +// Ring center;//(-1, -1); + Ring center(5, 5);//(-1, -1); if (fDisplay->IsEntryChecked(IDM_kCaosFilter)) { @@ -1774,12 +1886,11 @@ // Find Star at Center---for Tpoint Procedure - if (fDisplay->IsEntryChecked(IDM_kFindStar) && - center.GetX()>0 && center.GetY()>0) + if (fDisplay->IsEntryChecked(IDM_kFindStar)) { // Set search Paremeters (FIXME: Get them from user input!) - f.SetCut(3.0); - f.SetBox(70); - - FindStar(f, f2, center, t); + f.SetCut(fFindStarCut); + f.SetBox(fFindStarBox); + + FindStar(f, f2, center, t, numleds, numrings); } @@ -1788,5 +1899,5 @@ // Position corresponding to the camera center (53.2, 293.6) - Ring sgcenter(53.2, 293.6); // Center of camera in SG picture [px] + Ring sgcenter;//(-1, -1); // Center of camera in SG picture [px] // Find Center of Camera in Starfield Camera picture @@ -1817,11 +1928,8 @@ fCZdAz->SetCoordinates(fSao->GetZdAz()); - fSao->SetBox(230); // Region of interest around center + fSao->SetBox(fStarguiderW, fStarguiderH); // 280 Region of interest around center // If center of camera cannot be determined sgcenter is (0,0) const Bool_t centerisvalid = sgcenter.GetX()>0 && sgcenter.GetY()>0; -// if (centerisvalid) -// skycenter.SetXY(sgcenter.GetX() - 53.2, -// sgcenter.GetY() - 293.6); // We determine the ideal starfield using camera sagging info @@ -1830,15 +1938,19 @@ // 53.2 and 293.6 are the "preliminary" camera center // -9 and 28.5 are the offsets of the pointing position in the sky - const XY off(sgcenter.GetX()- 53.2-9, - sgcenter.GetY()-293.6+28.5); - - // we obtain stars in the effective star FOV and draw them. - // coordinates are video frame coords. - MStarList stars; - fSao->CalcStars(stars, 530, 292, TMath::FloorNint(off.X()), TMath::FloorNint(off.Y())); - fSao->DrawStars(stars, cimg); - - // Position around which the circles are drawn. - const Ring skycenter(768/2-off.X(), 576/2+off.Y()); + //const XY off(sgcenter.GetX()- 53.2-9, + // sgcenter.GetY()-293.6+28.5); + + // Skycenter + const XY off(sgcenter.GetX() + fSkyOffsetX, + sgcenter.GetY() + fSkyOffsetY); + + MStarList stars; + if (centerisvalid) + { + // we obtain stars in the effective star FOV and draw them. + // coordinates are video frame coords. + fSao->CalcStars(stars, fStarguiderX, fStarguiderY, off.X(), off.Y()); + fSao->DrawStars(stars, cimg); + } // There are two corrections to the mispointing @@ -1853,9 +1965,9 @@ Leds spots; - f.SetBox(230); + f.SetBox(fStarguiderW, fStarguiderH); // 280 f.SetCut(cut); double bright; - f.ExecuteAndMark(spots, 530, 292, bright); + f.ExecuteAndMark(spots, fStarguiderX, fStarguiderY, bright); ULong_t color; @@ -1878,5 +1990,5 @@ Int_t numstars = 0; - const Int_t rc = CalcTrackingError(spots, stars, fD, t, bright, numstars); + const Int_t rc = CalcTrackingError(spots, stars, fD, t, bright, numstars, sgcenter, numleds, numrings); const Bool_t monitoring = brightnessisvalid && centerisvalid && fNumStarsCorrelated>2; @@ -1907,4 +2019,7 @@ if (centerisvalid && fNumStarsCorrelated>2) { + // Position around which the circles are drawn. + const Ring skycenter(off.X(), off.Y()); + f2.DrawCircle(skycenter, 2.0, 0x0a); @@ -1917,4 +2032,7 @@ } //CalcStars + + if (fTPoint->IsDown()) + fTPoint->SetDown(kFALSE); // Draw Circles around center of Camera @@ -1948,5 +2066,5 @@ void MStarguider::UpdatePosZoom() { - MString txt; + MString txt;/* if (fDisplay->IsEntryChecked(IDM_kCatalog)) { @@ -1958,5 +2076,5 @@ txt.Form("(%d, %d) %.1fd/%.1fd", fDx, fDy, -aa.Alt(), aa.Az()-180); } - else + else*/ txt.Form("(%d, %d)", fDx, fDy); fPosZoom->SetText(txt); Index: /trunk/MagicSoft/Cosy/main/MStarguider.h =================================================================== --- /trunk/MagicSoft/Cosy/main/MStarguider.h (revision 9438) +++ /trunk/MagicSoft/Cosy/main/MStarguider.h (revision 9439) @@ -98,5 +98,5 @@ TGButton *fTPoint; - TGButton *fStargTPoint; +// TGButton *fStargTPoint; ZdAz fPos; @@ -121,5 +121,5 @@ ofstream *fOutTp; ofstream *fOutStargTp; - ofstream *fOutRq; +// ofstream *fOutRq; Int_t fDx; @@ -135,16 +135,30 @@ Int_t fTPointFromCC; + + Int_t fStarguiderW; + Int_t fStarguiderH; + Int_t fStarguiderX; + Int_t fStarguiderY; + + Float_t fSkyOffsetX; // Offset between camera center and sky position + Float_t fSkyOffsetY; // Offset between camera center and sky position + + Float_t fFindStarCut; + Int_t fFindStarBox; + + TString fTPointStarName; + Float_t fTPointStarMag; void Toggle(TGPopupMenu *p, UInt_t id); void SwitchOff(TGPopupMenu *p, UInt_t id); void ToggleStargAnalysis(); - void ToggleFindStar(); +// void ToggleFindStar(); void ToggleStarguider(); void ToggleCaosFilter(); void SetChannel(); - Int_t CalcTrackingError(Leds &, MStarList &, ZdAz &, MTime &, double &bright, Int_t &num); + Int_t CalcTrackingError(const Leds &, MStarList &, ZdAz &, const MTime &, const double &bright, Int_t &num, const Ring ¢er, Int_t numleds, Int_t numrings); ZdAz TrackingError(TArrayF &alt, TArrayF &az, TArrayF &mag, Int_t &num) const; bool Interpolate(const unsigned long n, byte *img) const; - void FindStar(FilterLed &f, FilterLed &f2, Ring ¢er, MTime &t); + void FindStar(const FilterLed &f, const FilterLed &f2, const Ring ¢er, const MTime &t, Int_t numleds, Int_t numrings); void InitGui(Int_t channel); @@ -188,6 +202,8 @@ void Print(Option_t *o) const { } - void StartTPoint() { if (fTPointFromCC<0) fTPointFromCC=0; } - void StartStarguider(); + void StartTPoint(char *cmd=0);// { if (fTPointFromCC<0) fTPointFromCC=0; } + void StartStarguider(bool on); + + Int_t GetStarguiderMode() const; ClassDef(MStarguider, 0) Index: /trunk/MagicSoft/Cosy/main/MTracking.cc =================================================================== --- /trunk/MagicSoft/Cosy/main/MTracking.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/main/MTracking.cc (revision 9439) @@ -33,12 +33,12 @@ // Send the new velocities for both axes. // - fCosy->fMac2->SendSDO(0x3006, 1, (LWORD_t)(v.Zd()*vrzd)); // SetRpmVelocity [re/min] - fCosy->fMac1->SendSDO(0x3006, 1, (LWORD_t)(v.Az()*vraz)); // SetRpmVelocity [re/min] + fCosy->fMac2->SendSDO(0x3007, (LWORD_t)(v.Zd()*vrzd)); // SetRpmVelocity [re/min] + fCosy->fMac1->SendSDO(0x3007, (LWORD_t)(v.Az()*vraz)); // SetRpmVelocity [re/min] // // Wait for the objects to be acknoledged. // - fCosy->fMac2->WaitForSdo(0x3006, 1, 100); - fCosy->fMac1->WaitForSdo(0x3006, 1, 100); + fCosy->fMac2->WaitForSdo(0x3007, 0, 100); + fCosy->fMac1->WaitForSdo(0x3007, 0, 100); // @@ -272,5 +272,12 @@ { /* - sla.Now(1); + // Code for position control mode + // Set: S-0-0001 + // Set: S-0-0002 + // Set: P-0-0099 + // Set: P-0-0187 (Spline) + // Replace S-0-0258 by S-0-0047 in communication + + sla.Now(); const ZdAz pointing = sla.CalcZdAz(fCosy->fRaDec); // [rad] ZdAz dest = fCosy->AlignTrackingPos(pointing); // fix ambiguity @@ -279,7 +286,7 @@ break; dest *= 1./TMath::TwoPi(); //[rev] - fCosy->fMac2->SendSDO(0x6004, 0, (LWORD_t)(dest.Zd()*fCosy->fMac2->GetPosRes()+.5), false); - fCosy->fMac1->SendSDO(0x6004, 0, (LWORD_t)(dest.Az()*fCosy->fMac1->GetPosRes()+.5), false); - usleep(100000); // 1s + fCosy->fMac2->SendSDO(0x6004, (LWORD_t)(dest.Zd()*fCosy->fMac2->GetPosRes()+.5), false); + fCosy->fMac1->SendSDO(0x6004, (LWORD_t)(dest.Az()*fCosy->fMac1->GetPosRes()+.5), false); + usleep(10000); // 10ms continue; */ Index: /trunk/MagicSoft/Cosy/prepos_magic2.txt =================================================================== --- /trunk/MagicSoft/Cosy/prepos_magic2.txt (revision 9438) +++ /trunk/MagicSoft/Cosy/prepos_magic2.txt (revision 9439) @@ -1,1 +1,1 @@ -93.724 0.0 Park +93.62 0.0 Park Index: /trunk/MagicSoft/Cosy/stargleds_magic2.txt =================================================================== --- /trunk/MagicSoft/Cosy/stargleds_magic2.txt (revision 9438) +++ /trunk/MagicSoft/Cosy/stargleds_magic2.txt (revision 9439) @@ -1,4 +1,5 @@ -35 139 0 0 -90 195 0 0 -113 271 0 0 -34 402 0 0 +91 136 0 0 +148 192 0 0 +169 267 0 0 +91 400 0 0 +20 420 0 0 Index: /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.cc (revision 9439) @@ -104,5 +104,6 @@ cout << "Zd/Az: " << zd << "/" << az << " "; cout << "Ra/Dec: " << ra/15 << "h/" << dec << " "; - cout << "SolRad: " << solar << "W/m²" << endl; + //cout << "SolRad: " << solar << "W/m²"; + cout << endl; fComStat = kCmdReceived; @@ -122,22 +123,22 @@ return InterpreteReport(str); - const bool rc = InterpreteCmd(cmd, str.Strip(TString::kBoth)); - fComStat = rc ? kCmdReceived : kComProblem; - return rc; + return InterpreteCmd(cmd, str.Strip(TString::kBoth)); } bool MCeCoCom::SendRep(const char *cmd, const char *str, bool force) { - MTime t; - t.Now(); UShort_t y1, y2, ms1, ms2; Byte_t mon1, mon2, d1, d2, h1, h2, m1, m2, s1, s2; + fT.GetDate(y2, mon2, d2); + fT.GetTime(h2, m2, s2, ms2); + + MTime t(-1); t.GetDate(y1, mon1, d1); t.GetTime(h1, m1, s1, ms1); - fT.GetDate(y2, mon2, d2); - fT.GetTime(h2, m2, s2, ms2); + if (t-fT>20) + fComStat = kComProblem; const TString msg = @@ -152,5 +153,4 @@ // Send report to CC const bool rc = Send(msg.Data(), msg.Length()); - fComStat = rc ? kNoCmdReceived : kComProblem; // Write report to stream Index: /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 9438) +++ /trunk/MagicSoft/Cosy/tcpip/MCeCoCom.h (revision 9439) @@ -19,7 +19,6 @@ enum ComStatus_t { - kCmdReceived, - kNoCmdReceived, - kComProblem + kCmdReceived = 1, + kComProblem = 2 }; @@ -52,5 +51,5 @@ MCeCoCom(const char *addr, const int tx=7304, const int rx=7404, MLog *out=NULL) : MTcpIpIO(addr, tx, rx), fOut(out), fStatus(0), - fTelescope(1), fComStat(kNoCmdReceived), + fTelescope(1), fComStat(kComProblem), fHumidity(0), fTemperature(0), fWindSpeed(0), fSolarRadiation(-1), fAlarmCounter(0) Index: /trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 9439) @@ -7,4 +7,8 @@ #include "MString.h" #include "Ring.h" +#include "Led.h" + +#include "MLog.h" +#include "MLogManip.h" using namespace std; @@ -45,14 +49,14 @@ if (!ReadPosition(str, ra, dec)) { - cout << "ERROR - Reading position from RADEC" << endl; + gLog << err << "ERROR - Reading position from RADEC" << endl; return false; } if (!str.IsNull()) { - cout << "ERROR - Too many bytes in command RADEC" << endl; - return false; - } - - cout << "CC-COMMAND " << MTime(-1) << " RADEC " << ra << "h " << dec << "d '" << str << "'" << endl; + gLog << err << "ERROR - Too many bytes in command RADEC" << endl; + return false; + } + + gLog << all << "CC-COMMAND " << MTime(-1) << " RADEC " << ra << "h " << dec << "d '" << str << "'" << endl; ra *= 15; // h -> deg @@ -72,14 +76,14 @@ if (!ReadPosition(str, ra, dec)) { - cout << "ERROR - Reading position from GRB" << endl; + gLog << err << "ERROR - Reading position from GRB" << endl; return false; } if (!str.IsNull()) { - cout << "ERROR - Too many bytes in command GRB" << endl; - return false; - } - - cout << "CC-COMMAND " << MTime(-1) << " GRB " << ra << "h " << dec << "d '" << str << "'" << endl; + gLog << err << "ERROR - Too many bytes in command GRB" << endl; + return false; + } + + gLog << all << "CC-COMMAND " << MTime(-1) << " GRB " << ra << "h " << dec << "d '" << str << "'" << endl; ra *= 15; // h -> deg @@ -99,5 +103,5 @@ if (!ReadPosition(str, zd, az)) { - cout << "ERROR - Reading position from ZDAZ" << endl; + gLog << err << "ERROR - Reading position from ZDAZ" << endl; return false; } @@ -105,9 +109,9 @@ if (!str.IsNull()) { - cout << "ERROR - Too many bytes in command ZDAZ" << endl; - return false; - } - - cout << "CC-COMMAND " << MTime(-1) << " ZDAZ " << zd << "deg " << az << "deg" << endl; + gLog << err << "ERROR - Too many bytes in command ZDAZ" << endl; + return false; + } + + gLog << all << "CC-COMMAND " << MTime(-1) << " ZDAZ " << zd << "deg " << az << "deg" << endl; ZdAz za(zd, az); @@ -125,10 +129,10 @@ if (str.IsNull()) { - cout << "ERROR - No identifier for preposition (PREPS) given." << endl; + gLog << err << "ERROR - No identifier for preposition (PREPS) given." << endl; return false; } if (str.First(' ')>=0) { - cout << "ERROR - PREPS command syntax error (contains whitespaces)." << endl; + gLog << err << "ERROR - PREPS command syntax error (contains whitespaces)." << endl; return false; } @@ -136,5 +140,5 @@ str.ToLower(); - cout << "CC-COMMAND " << MTime(-1) << " PREPS '" << str << "'" << endl; + gLog << all << "CC-COMMAND " << MTime(-1) << " PREPS '" << str << "'" << endl; //cout << "MDriveCom - TRACK... start." << endl; @@ -147,8 +151,19 @@ bool MDriveCom::CommandTPOINT(TString &str) { - cout << "CC-COMMAND " << MTime(-1) << " TPOIN " << str << endl; - - if (fQueue) - fQueue->PostMsg(WM_TPOINT);//, (void*)str.Data(), str.Length()+1); + gLog << all << "CC-COMMAND " << MTime(-1) << " TPOIN " << str << endl; + + TObjArray *arr = str.Tokenize(' '); + + if (arr->GetEntries()!=2) + { + delete arr; + gLog << err << "ERROR - Wrong number of arguments in TPOIN command" << endl; + return false; + } + + delete arr; + + if (fQueue) + fQueue->PostMsg(WM_STARGTPOINT, (void*)str.Data(), str.Length()+1);//, (void*)str.Data(), str.Length()+1); return true; @@ -157,8 +172,10 @@ bool MDriveCom::CommandSTGMD(TString &str) { - cout << "CC-COMMAND " << MTime(-1) << "STGMD" << endl; - - if (fQueue) - fQueue->PostMsg(WM_STARGMODE);//, (void*)str.Data(), str.Length()+1); + gLog << all << "CC-COMMAND " << MTime(-1) << " STGMD " << str << endl; + + bool on = str=="ON"; + + if (fQueue) + fQueue->PostMsg(WM_STARGMODE, &on, sizeof(bool));//, (void*)str.Data(), str.Length()+1); return true; @@ -170,10 +187,10 @@ if (str.IsNull()) { - cout << "ERROR - No identifier for ARM command." << endl; + gLog << err << "ERROR - No identifier for ARM command." << endl; return false; } if (str.First(' ')>=0) { - cout << "ERROR - ARM command syntax error (contains whitespaces)." << endl; + gLog << err << "ERROR - ARM command syntax error (contains whitespaces)." << endl; return false; } @@ -182,9 +199,9 @@ if (str!="lock" && str!="unlock") { - cout << "ERROR - ARM command syntax error (neither LOCK nor UNLOCK)." << endl; - return false; - } - - cout << "CC-COMMAND " << MTime(-1) << " ARM '" << str << "'" << endl; + gLog << err << "ERROR - ARM command syntax error (neither LOCK nor UNLOCK)." << endl; + return false; + } + + gLog << all << "CC-COMMAND " << MTime(-1) << " ARM '" << str << "'" << endl; bool lock = str=="lock"; @@ -200,5 +217,5 @@ { //cout << "MDriveCom - WAIT... start." << endl; - cout << "CC-COMMAND " << MTime(-1) << " WAIT" << endl; + gLog << all << "CC-COMMAND " << MTime(-1) << " WAIT" << endl; if (fQueue) fQueue->PostMsg(WM_WAIT); @@ -210,5 +227,5 @@ { //cout << "MDriveCom - STOP!... start." << endl; - cout << "CC-COMMAND " << MTime(-1) << " STOP!" << endl; + gLog << all << "CC-COMMAND " << MTime(-1) << " STOP!" << endl; if (fQueue) fQueue->PostMsg(WM_STOP); @@ -240,9 +257,9 @@ if (cmd.IsNull() && str.IsNull()) { - cout << "CC-COMMAND " << MTime(-1) << " Empty command (single '\\n') received." << endl; - return false; - } - - cout << "CC-COMMAND " << MTime(-1) << " Syntax error: '" << cmd << "':'" << str << "'" << endl; + gLog << all << "CC-COMMAND " << MTime(-1) << " Empty command (single '\\n') received." << endl; + return false; + } + + gLog << err << "CC-COMMAND " << MTime(-1) << " Syntax error: '" << cmd << "':'" << str << "'" << endl; return false; } @@ -258,5 +275,5 @@ } -bool MDriveCom::SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er, Bool_t armed) +bool MDriveCom::SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er, Bool_t armed, Int_t stargmd) { // rd [rad] @@ -294,4 +311,5 @@ str += MString::Format("%08.3f ", er.Az()); str += armed ? "1 " : "0 "; + str += MString::Format("%d ", stargmd); // Starguider mode: 0=none, 1=starguider, 2=starguider off return SendRep("DRIVE-REPORT", str.Data(), kFALSE); @@ -336,25 +354,41 @@ } -bool MDriveCom::SendTPoint(UInt_t stat) -{ - //const MTime t(-1); - +bool MDriveCom::SendTPoint(bool stat, char type, Float_t mag, const char *name, const AltAz &za0, const ZdAz &za1, + const TVector2 &xy, Float_t dzd, Float_t daz, const MTime &t, + const Ring ¢er, const Led &star, Int_t numleds, Int_t numrings, + Int_t numstars, Int_t numcor, Float_t bright) +{ SetStatus(stat); - /* - TString str; - str += name; // star name - str += " "; - str += nominalaz; - str += nominalel; - str += realaz; - str += realel; - str += nomra; - str += nomdec; - str += diffaz; - str += diffel; - str += mjd; - str += numleds; - str += artmag; - */ - return SendRep("TPOINT-REPORT", "", kTRUE); -} + + TString str = type; + str += MString::Format(" %8.4f ", za0.Az()); + str += MString::Format("%8.4f ", za0.Alt()); + str += MString::Format("%8.4f ", fmod(za1.Az()+360, 360)); + str += MString::Format("%8.4f ", 90-za1.Zd()); + str += MString::Format("%8.4f ", xy.X()); + str += MString::Format("%8.4f ", xy.Y()); + str += MString::Format("%8.4f ", dzd); + str += MString::Format("%8.4f ", daz); + str += MString::Format("%12.6f ", t.GetMjd()); + str += MString::Format("%f ", center.GetMag()); + str += MString::Format("%f ", star.GetMag()); + str += MString::Format("%f ", center.GetX()); + str += MString::Format("%f ", center.GetY()); + str += MString::Format("%f ", star.GetX()); + str += MString::Format("%f ", star.GetY()); + str += numleds; + str += " "; + str += numrings; + str += " "; + str += numstars; + str += " "; + str += numcor; + str += " "; + str += bright; + str += " "; + str += mag; + str += " "; + str += name; + + return SendRep("TPOINT-REPORT", str, kTRUE); +} Index: /trunk/MagicSoft/Cosy/tcpip/MDriveCom.h =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 9438) +++ /trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 9439) @@ -7,8 +7,12 @@ class RaDec; +class AltAz; class ZdAz; class MsgQueue; class Ring; +class Led; class MLog; +class MTime; +class TVector2; class MDriveCom : public MCeCoCom @@ -49,7 +53,11 @@ - bool SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er, Bool_t armed); + bool SendReport(UInt_t stat, RaDec rd, ZdAz so, ZdAz is, ZdAz er, Bool_t armed, Int_t stargmd); bool SendStargReport(UInt_t stat, ZdAz miss, ZdAz nompos, Ring center, Int_t num, Int_t n, Double_t bright, Double_t mjd, Int_t numleds, Int_t numrings); - bool SendTPoint(UInt_t stat); +// bool SendTPoint(char type); + bool SendTPoint(bool stat, char type, Float_t mag, const char *name, const AltAz &za0, const ZdAz &za1, + const TVector2 &xy, Float_t dzd, Float_t daz, const MTime &t, + const Ring ¢er, const Led &star, Int_t numleds, Int_t numrings, + Int_t numstars=0, Int_t numcor=0, Float_t bright=0); bool SendStatus(const char *stat); }; Index: /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc (revision 9439) @@ -43,10 +43,17 @@ MTcpIpO::MTcpIpO(const char *addr, Int_t tx) : fPortTx(tx) { - gLog << inf2 << "- Open send socket to " << addr << ":" << tx << endl; + // was "inf2" but nobody knows what the prg is doing if it times out + gLog << all << "- Open send socket to " << addr << ":" << tx << endl; + fTxSocket = new TSocket(addr, tx); + fTxSocket->SetOption(kNoBlock, 1); + + MTcpIpO::RunThread(); } MTcpIpO::~MTcpIpO() { + CancelThread(); + // Now delete all TCP/IP objects delete fTxSocket; @@ -55,5 +62,5 @@ MTcpIpIO::MTcpIpIO(const char *addr, Int_t tx, Int_t rx) : MTcpIpI(rx), MTcpIpO(addr, tx) { - RunThread(); + MTcpIpI::RunThread(); } @@ -74,16 +81,15 @@ } +/* TString MTcpIpO::GetSocketAddress() const { + TLockGuard guard(const_cast(&fMutex)); return GetSocketAddress(*fTxSocket); } - +*/ bool MTcpIpO::SendFrame(TSocket &tx, const char *msg, int len) { if (!tx.IsValid()) - { - //gLog << warn << "WARNING - No transmission to " << GetSocketAddress(tx) << " possible." << endl; return false; - } #ifdef DEBUG @@ -91,5 +97,14 @@ #endif - const Int_t l = tx.SendRaw(msg, len); + const Int_t l = tx.SendRaw(msg, len, kDontBlock); + + // Frame not sent, EWOULDBLOCK + if (l==-4) + { + gLog << err << "ERROR - Sending to " << GetSocketAddress(tx) << " would block." << endl; +/*--->*/ tx.Close(); // ????? + return false; + } + if (l<0) { @@ -100,5 +115,5 @@ if (l!=len) { - gLog << err << "ERROR - Sent wrong number (" << l << ") of bytes to " << GetSocketAddress(tx) << endl; + gLog << err << "ERROR - Could only sent " << l << " out of " << len << " bytes to " << GetSocketAddress(tx) << endl; return false; } @@ -109,5 +124,4 @@ bool MTcpIpO::SendFrame(const char *addr, int port, const char *msg, int len) { - // R__LOCKGUARD2(myMutex); #ifdef DEBUG cout << "Connecting to " << addr << ":" << port << endl; @@ -117,49 +131,68 @@ TSocket tx(addr, port); return SendFrame(tx, msg, len); -/* - if (!tx.IsValid()) - { - gLog << warn << "WARNING - No transmission to " << addr << ":" << port << " possible." << endl; +} + +bool MTcpIpO::Send(const char *msg, Int_t len) +{ + const Int_t mtx = fMutex.TryLock(); + if (mtx==13) + gLog << warn << "MTcpIpO::Send - mutex is already locked by this thread." << endl; + + // If Mutex cannot be locked, i.e. we are currently reopening + // the send socket we cannot wait, because we would block the + // executing threrad. + if (mtx) return false; - } - - gLog << dbg << "Sending to " << addr << ":" << port << endl; - - const Int_t l = tx.SendRaw(msg, len, kDontBlock); - if (l<0) - { - gLog << err << "ERROR - Sending TCP/IP frame to " << addr << ":" << port << endl; - return false; - } - - if (l!=len) - { - gLog << err << "ERROR - Sent wrong number (" << l << ") of bytes to " << addr << ":" << port << endl; - return false; - } - -#ifdef DEBUG - cout << "Tx: " << msg << flush; -#endif - - return true; - */ -} - -bool MTcpIpO::Send(const char *msg, Int_t len) -{ - if (!fTxSocket->IsValid()) - { - const TInetAddress &a = fTxSocket->GetInetAddress(); - if (!a.IsValid()) - return false; + + const bool rc = SendFrame(*fTxSocket, msg, len); + + fMutex.UnLock(); + + return rc; +} + +Int_t MTcpIpO::Thread() +{ + const TInetAddress &a = fTxSocket->GetInetAddress(); + if (!a.IsValid()) + { + gLog << err << "ERROR: Send socket address invalid." << endl; + return 0; + } + + Int_t wait = 1000; /// Wait a ms + + while (!IsThreadCanceled()) + { + if (fTxSocket->IsValid()) + { + MThread::Sleep(1000); // Wait a ms + wait = 1000; + continue; + } + + #ifdef DEBUG cout << "- Reopen send socket to " << a.GetHostAddress() << ":" << fPortTx << endl; #endif + + fMutex.Lock(); + delete fTxSocket; + fTxSocket = new TSocket(a.GetHostAddress(), fPortTx); - } - - return SendFrame(*fTxSocket, msg, len); + fTxSocket->SetOption(kNoBlock, 1); + + fMutex.UnLock(); + + if (fTxSocket->IsValid()) + continue; + + MThread::Sleep(wait); // Wait a ms + if (wait<30000000) // 30s + wait *= 2; + } + + return 1; } @@ -174,5 +207,5 @@ TString str; - while (!IsThreadCanceled()) + while (!MTcpIpI::IsThreadCanceled()) { char c; Index: /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h =================================================================== --- /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 9438) +++ /trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.h (revision 9439) @@ -2,9 +2,12 @@ #define COSY_MTcpIpIO -#ifndef MARS_MThread -#include "MThread.h" +#ifndef COSY_MsgQueue +#include "msgqueue.h" #endif #ifndef MARS_MTime #include "MTime.h" +#endif +#ifndef ROOT_TMutex +#include #endif @@ -22,4 +25,6 @@ Bool_t fConnectionEstablished; + + MTime fLast; Bool_t WaitForData(TSocket &sock); @@ -39,10 +44,13 @@ // A generalized class for sending over tcp/ip -class MTcpIpO +class MTcpIpO : public MThread { private: TSocket *fTxSocket; + TMutex fMutex; Int_t fPortTx; + + Int_t Thread(); public: @@ -54,6 +62,5 @@ static bool SendFrame(const char *addr, int port, const char *msg, int len); - TString GetSocketAddress() const; - bool Send(const char *msg, int len); + bool Send(const char *msg, int len); }; Index: /trunk/MagicSoft/Cosy/videodev/FilterLed.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/FilterLed.cc (revision 9438) +++ /trunk/MagicSoft/Cosy/videodev/FilterLed.cc (revision 9439) @@ -247,5 +247,6 @@ int FilterLed::GetMeanPosition(const int x, const int y, - const int box, float &mx, float &my, unsigned int &sum) const + const int boxx, const int boxy, + float &mx, float &my, unsigned int &sum) const { unsigned int sumx=0; @@ -253,6 +254,6 @@ sum=0; - for (int dx=x-box; dx=fW*fH || fImg[pos]h?w:h), fCut(cut) + : fImg(img), fW(w), fH(h), fBoxX(w), fBoxY(h), fCut(cut) { } - FilterLed(byte *img, int w, int h, int box, double cut=2.5) - : fImg(img), fW(w), fH(h), fBox(box), fCut(cut) + FilterLed(byte *img, int w, int h, int boxx, int boxy, double cut=2.5) + : fImg(img), fW(w), fH(h), fBoxX(boxx), fBoxY(boxy), fCut(cut) { } virtual ~FilterLed() { } - void SetBox(int box) { fBox = box; } + void SetBox(int box) { fBoxX = fBoxY = box; } + void SetBox(int boxx, int boxy) { fBoxX = boxx; fBoxY = boxy; } void SetCut(float cut) { fCut = cut; } void FindStar(Leds &leds, int xc, int yc, bool circle=false) const;