Changeset 9443 for trunk/MagicSoft/Cosy

Timestamp:

05/11/09 21:49:57 (15 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy

Files:

• .cosyrc_magic1 (added)
• Changelog (modified) (1 diff)
• bending_magic1.txt (added)
• cosy.cc (modified) (4 diffs)
• devdrv/dkc.cc (modified) (3 diffs)
• devdrv/dkc.h (modified) (1 diff)
• leds_magic1.txt (added)
• main/MTracking.cc (modified) (1 diff)
• prepos_magic1.txt (added)
• stargleds_magic1.txt (added)
• tcpip/MTcpIpIO.cc (modified) (2 diffs)
• telesto.cc (modified) (1 diff)

trunk/MagicSoft/Cosy/Changelog

@@ -1 +1 @@
                                                                   -*-*- END -*-*-
+
+ 2009/05/11 Thomas Bretz (La Palma)
+
+   * cosy.cc:
+     - made compatible with newer MARS version
+     - added a connection check to the sps
+     - made ports settable by rc-file
+
+   * telesto.cc:
+     - made compatible with newer MARS version
+
+   * devdrv/dkc.[h,cc]:
+     - disarm when network is shut down
+     - changed acces to armed
+     - set default status to 0xff
+     - added IsRpmActive
+
+   * main/MTracking.cc:
+     - leave tracking loop when sps stopped tracking (e.g. 
+       disarmed)
+
+   * tcpip/MTcpIpIO.cc:
+     - set debug level to get proper outout when MTcpIpO
+       creates a socket
+
+
 
  2009/05/09 Thomas Bretz (La Palma)

trunk/MagicSoft/Cosy/cosy.cc

@@ -115 +115 @@
     // Evaluate arguments
     //
-    MArgs arg(argc, argv, kTRUE);
+    MArgs arg(argc, argv);
     gLog.Setup(arg);
 
@@ -131 +131 @@
     const Bool_t  kDebugMem     = arg.HasOnlyAndRemove("--debug-mem");
     const Bool_t  kDebugThreads = arg.HasOnlyAndRemove("--debug-threads");
-    const Int_t   ceco_tx       = arg.GetIntAndRemove("--cc-tx=", 7314);//7304);
-    const Int_t   ceco_rx       = arg.GetIntAndRemove("--cc-rx=", 7414);//7404);
     const TString kConfig       = arg.GetStringAndRemove("--config=", ".cosyrc"); // ceco
     Int_t  kDebugEnv = arg.HasOnlyAndRemove("--debug-env") ? 1 : 0;
@@ -160 +158 @@
     const Int_t   channel     = env.GetValue("DefaultCameraChannel", 0);
     const TString sps         = env.GetValue("IpAddressSPS", "sps");
-    const TString ceco        = env.GetValue("IpAddressCentralControl", "161.72.130.60");
+    const TString ceco        = env.GetValue("IpAddressCentralControl", "161.72.130.2");
+    const Int_t   ceco_rx     = env.GetValue("PortCentralControlRX", 7404);
+    const Int_t   ceco_tx     = env.GetValue("PortCentralControlTX", 7304);
     const TString powerswitch = env.GetValue("IpAddressPowerSwitch", "");
     const Int_t   telescope   = env.GetValue("Telescope", 1);
@@ -214 +214 @@
     if (kDebugMem)
         TObject::SetObjectStat(kTRUE);
+
+    // Check if a connection can be established
+    const Int_t save = gDebug;
+    gDebug = 1;
+    TSocket test(sps, 5357);
+    gDebug = save;
+    test.Close();
 
     //

trunk/MagicSoft/Cosy/devdrv/dkc.cc

@@ -15 +15 @@
 using namespace std;
 
-#define EXPERT
+//#define EXPERT
 
 Dkc::Dkc(const BYTE_t nodeid, const char *name)
     : NodeDrv(nodeid, name), fMacId(2*nodeid+1),
     fPdoPos1(0), fPdoPos2(0), fPosActive(0), fRpmActive(0),
-    fStatus(0), fStatusDKC(0), fStatusPdo3(0xff), fArmed(false),
+    fStatus(0xff), fStatusDKC(0), fStatusPdo3(0xff), fArmed(false),
     fReport(NULL),fLabel(NULL),fUpdPos(0)
 {
@@ -367 +367 @@
     // FIXME: This isn't called if the initialization isn't done completely!
     //
-
     SetRpmMode(FALSE);
+    Disarm();
 }
 
@@ -515 +515 @@
 void Dkc::HandlePDO3(const BYTE_t *data, const timeval_t &tv)
 {
-    fArmed = data[2]&0x01;
-
     if (fStatus!=data[3])
     {
-                  // data[3]&0x01; // motor not moving
+        fArmed     = data[3]&0x01; // armed status
         fPosActive = data[3]&0x02; // positioning active
         fRpmActive = data[3]&0x04; // RPM mode switched on

trunk/MagicSoft/Cosy/devdrv/dkc.h

@@ -120 +120 @@
 
     bool IsOperative() const { return fStatusPdo3==0xef; }
+    bool IsRpmActive() const { return fRpmActive; }
 
     void HandleError();

trunk/MagicSoft/Cosy/main/MTracking.cc

@@ -363 +363 @@
         //
         usleep(1000000); // 1s
+
+        //
+        // If we would do it in the beginnign of the loop it can happen
+        // that we check before we got the feedback through the pdo
+        //
+        if (!fCosy->fMac1->IsRpmActive() || !fCosy->fMac2->IsRpmActive())
+            break;
     }
 

trunk/MagicSoft/Cosy/tcpip/MTcpIpIO.cc

@@ -15 +15 @@
 
 #undef DEBUG
-//#define DEBUG
 
 using namespace std;
@@ -46 +45 @@
     gLog << all << "- Open send socket to " << addr << ":" << tx << endl;
 
+    const Int_t save = gDebug;
+    gDebug=1;
     fTxSocket = new TSocket(addr, tx);
+    gDebug=save;
     fTxSocket->SetOption(kNoBlock, 1);
 

trunk/MagicSoft/Cosy/telesto.cc

@@ -92 +92 @@
     // Evaluate arguments
     //
-    MArgs arg(argc, argv, kTRUE);
+    MArgs arg(argc, argv);
     gLog.Setup(arg);