Changeset 9516 for trunk/MagicSoft/Cosy/main

Timestamp:

10/21/09 10:49:36 (15 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/main

Files:

• MCosy.cc (modified) (5 diffs)
• MCosy.h (modified) (4 diffs)
• MTracking.cc (modified) (15 diffs)
• MTracking.h (modified) (2 diffs)

trunk/MagicSoft/Cosy/main/MCosy.cc

@@ -349 +349 @@
 
     return point.SetPosition(dst, track);
+}
+
+void MCosy::TrackPlanet(const Int_t &p) // ra, dec [rad]
+{
+    MTracking track(this);
+    track.SetOut(fOutRep);
+
+    track.SetPointAcc(0.03, 0.01);
+    track.SetPointVelocity(0.3);
+    track.SetTrackAcc(0.01, 0.01);
+
+    track.TrackPlanet((ePlanets_t)p);
 }
 
@@ -657 +669 @@
         {
             RaDec dest = ((RaDec*)mp)[0];
-            if (fStarguider)
-                fStarguider->SetPointingPosition(((RaDec*)mp)[1]);
             if (!CheckNetwork())
                 return 0xebb0;
@@ -670 +680 @@
         return 0x8888;
 
+    case WM_PLANET:
+        //cout << "WM_PLANET: START" << endl;
+        {
+            const Int_t p = ((Int_t*)mp)[0];
+            if (!CheckNetwork())
+                return 0xebb1;
+
+            TrackPlanet(p);
+        }
+        //cout << "WM_PLANET: done. (return 0x8889)" << endl;
+        return 0x8889;
+/*
     case WM_NEWTRACK:
         //cout << "WM_NewTrack: START" << endl;
@@ -675 +697 @@
         //cout << "WM_NewTrack: done. (return 0x9999)" << endl;
         return 0x9999;
-
+*/
     case WM_LOADBENDING:
         //cout << "WM_LoadBending: START" << endl;
@@ -826 +848 @@
     {
         tout.Start(999);
-        fCom->SendReport(fStatus, fRaDec, fZdAzSoll, bendist, fTrackingError, armed,
+        fCom->SendReport(fStatus, fRaDec, fHourAngle, fZdAzSoll, bendist, fTrackingError, armed,
                          fStarguider ? fStarguider->GetStarguiderMode() : 0);
     }

trunk/MagicSoft/Cosy/main/MCosy.h

@@ -30 +30 @@
 //#define WM_CALIB        0x1004
 #define WM_TPOINT       0x1005
-#define WM_NEWTRACK     0x1006
+//#define WM_NEWTRACK     0x1006
 #define WM_LOADBENDING  0x1007
 #define WM_RESETBENDING 0x1008
@@ -46 +46 @@
 #define WM_STARGTPOINT  0x1014
 #define WM_STARGMODE    0x1015
+#define WM_PLANET       0x1016
 
 class Dkc;
@@ -77 +78 @@
     TMutex fMutexGui;
 
-    ZdAz  fTrackingError; // [rad] Tracking Offset between SE and calc-pos
-    ZdAz  fZdAzSoll;      // [rad] Soll position when moving
-    RaDec fRaDec;         // Position to track
-    ZdAz  fAccuracy;      // Actual accuracy of Tracking
-    ZdAz  fMin;
-    ZdAz  fMax;
+    ZdAz     fTrackingError; // [rad] Tracking Offset between SE and calc-pos
+    ZdAz     fZdAzSoll;      // [rad] Soll position when moving
+    RaDec    fRaDec;         // Position to track
+    Double_t fHourAngle;     // Hour Angle of Position to track
+    ZdAz     fAccuracy;      // Actual accuracy of Tracking
+    ZdAz     fMin;
+    ZdAz     fMax;
 
     MPointing fBending;
@@ -101 +103 @@
 
     int  SetPosition(const ZdAz &dst, Bool_t track=kFALSE);
+    void TrackPlanet(const Int_t &p);
     void TrackPosition(const RaDec &dst);    // ra, dec [rad]
     void TrackPositionGRB(const RaDec &dst); // ra, dec [rad]

trunk/MagicSoft/Cosy/main/MTracking.cc

@@ -4 +4 @@
 
 #include "dkc.h"
-//#include "shaftencoder.h"
+
+#include "SlaStars.h"
 
 #include "MCosy.h"
-#include "SlaStars.h"
+#include "MStarguider.h"
 
 #include "MDriveCom.h"
@@ -17 +18 @@
 //#define EXPERT
 #undef EXPERT
+
+MTracking::MTracking(MCosy *cosy)
+    : MSlewing(cosy), MThread("MTracking"), fSlalib(fCosy->fObservatory),
+    fTrackAcc(0, 0), fOut(0)
+{
+}
 
 // --------------------------------------------------------------------------
@@ -146 +153 @@
 // velocities are limited to the maximum velocity.
 //
-Bool_t MTracking::LimitSpeed(const ZdAz &vt, const SlaStars &sla) const
+Bool_t MTracking::LimitSpeed(const ZdAz &vt) const
 {
     // vt [deg/min]
@@ -159 +166 @@
 
     // Calculate approximate velocity of both axis
-    ZdAz vcalc = sla.GetApproxVel(fCosy->fRaDec);  // [rad/rad]
+    ZdAz vcalc = fSlalib.GetApproxVel(fCosy->fRaDec);  // [rad/rad]
 
     //vcalc *= 1./(24*60);          // [U_tel/min]
@@ -209 +216 @@
 }
 
-void MTracking::TrackPosition(const RaDec &dst) // ra, dec [rad]
-{
-    SlaStars sla(fCosy->fObservatory);
-
-    //
-    // Position to actual position
-    //
-    sla.Now();
-    ZdAz dest = sla.CalcZdAz(dst);
-
-    gLog << all << sla.GetTime() << ": Track Position " << dst.Ra()*kRad2Deg/15 << "h, " << dst.Dec()*kRad2Deg <<"deg" << endl;
+void MTracking::UpdateSlalib(SlaPlanets &sla)
+{
+    if (fTrackType<0)
+        sla.Set(fTrackPos);
+    else
+        sla.SetPlanet((ePlanets_t)fTrackType);
+
+    if (fCosy->fStarguider)
+        fCosy->fStarguider->SetPointingPosition(sla.GetRaDec());
+}
+
+void MTracking::UpdateSlalib(Double_t dt=0)
+{
+    fSlalib.Now(dt);
+    UpdateSlalib(fSlalib);
+
+    fCosy->fRaDec     = fSlalib.GetRaDec();
+    fCosy->fHourAngle = fSlalib.GetHourAngle();
+}
+
+void MTracking::UpdateSlalib(SlaPlanets &sla, Double_t mjd)
+{
+    sla.SetMjd(mjd);
+    UpdateSlalib(sla);
+}
+
+bool MTracking::Move()
+{
+    const RaDec &dst = fSlalib.GetRaDec();
+
+    ZdAz dest = fSlalib.GetZdAz();//fSlalib.CalcZdAz(dst);
+
+    gLog << all << fSlalib.GetTime() << ": Track Position " << dst.Ra()*kRad2Deg/15 << "h, " << dst.Dec()*kRad2Deg <<"deg" << endl;
 
     // If the star is culminating behind the zenith (South) we want to
@@ -225 +254 @@
     // culminating before the zenith (north) we want the star to be
     // aligned between -180 and 180deg (which is the default of CalcZdAz)
-    if (sla.GetPhi()>dst.Dec() && dest.Az()<0)
+    if (fSlalib.GetPhi()>dst.Dec() && dest.Az()<0)
     {
         // align az from -180/180 to 0/360
@@ -238 +267 @@
     {
         gLog << err << "ERROR - Cannot start tracking, positioning failed." << endl;
+        return false;
+    }
+
+    return true;
+}
+
+void MTracking::TrackPosition(const RaDec &dst)
+{
+    fTrackPos  = dst;
+    fTrackType = -1;
+
+    // Start tracking
+    Track();
+}
+
+void MTracking::TrackPlanet(ePlanets_t planet)
+{
+    fTrackPos  = RaDec();
+    fTrackType = planet;
+
+    // Start tracking
+    Track();
+}
+
+void MTracking::Track() // ra, dec [rad]
+{
+    // Position to corrent nominal position
+    UpdateSlalib();
+
+    if (!Move())
         return;
-    }
+
+    //fCosy->fRaDec = fSlalib.GetRaDec();
 
     // Initialize Tracker (slalib or starguider)
-    fCosy->fRaDec = dst;
-
     RunThread();
 
@@ -256 +314 @@
 
     // Get current nominal local position
-    sla.Now();
-    ZdAz pos = sla.CalcZdAz(fCosy->fRaDec);
+    UpdateSlalib();
+    //fCosy->fRaDec = fSlalib.GetRaDec();
+
+    ZdAz pos = fSlalib.GetZdAz();//fSlalib.CalcZdAz(fSlalib.GetRaDec());
 
     // Some output
-    XY xy(TMath::RadToDeg()*dst.Ra()*24/360, TMath::RadToDeg()*dst.Dec());
-    gLog << all << sla.GetTime() << " - Start Tracking: Ra=" << xy.X() << "h Dec=";
+    XY xy(TMath::RadToDeg()*fCosy->fRaDec.Ra()/15, TMath::RadToDeg()*fCosy->fRaDec.Dec());
+    gLog << all << fSlalib.GetTime() << " - Start Tracking: Ra=" << xy.X() << "h Dec=";
     gLog << xy.Y() << "\xb0 @ Zd=" << pos.Zd()*kRad2Deg <<"deg Az=" << pos.Az()*kRad2Deg <<"deg" << endl;
 
@@ -295 +355 @@
         // Request Target position for Now+dt
         //
-        sla.Now(dt);
+        UpdateSlalib();
+        //fCosy->fRaDec = fSlalib.GetRaDec();
 
         //
         // Request nominal position for this time in the future (To+dt)
         //
-        const ZdAz pointing = sla.CalcZdAz(fCosy->fRaDec); // [rad]
+        const ZdAz pointing = fSlalib.GetZdAz(); //fSlalib.CalcZdAz(fSlalib.GetRaDec()); // [rad]
         ZdAz dest = fCosy->AlignTrackingPos(pointing);     // fix ambiguity
 
@@ -329 +390 @@
         //v.Az(v.Az()*(1+TMath::Min(0.3, kpAz)));
 
-        if (LimitSpeed(v, sla))
+        if (LimitSpeed(v))
         {
             gLog << dbg << "vt: " << v.Zd() << " " << v.Az() << "re/min" << endl;
@@ -372 +433 @@
     }
 
-    sla.Now();
+    fSlalib.Now();
 
     CancelThread();
@@ -379 +440 @@
     fCosy->StopMovement();
 
-    gLog << all << sla.GetTime() << " - Tracking stopped @ Zd=";
+    gLog << all << fSlalib.GetTime() << " - Tracking stopped @ Zd=";
     gLog << fCosy->fZdAzSoll.Zd()*TMath::RadToDeg() <<"deg Az=";
     gLog << fCosy->fZdAzSoll.Az()*TMath::RadToDeg() <<"deg" << endl;
@@ -391 +452 @@
     gLog << inf2 << "- Tracking Thread started (" << MTime(-1) << ")" << endl;
 
-    SlaStars sla(fCosy->fObservatory);
-    sla.Now();
-
-    ZdAz soll = sla.CalcZdAz(fCosy->fRaDec); // [rad]
+    SlaPlanets sla(fSlalib.GetObservatoryKey());
+
+    UpdateSlalib(sla);
+
+    //ZdAz soll = sla.GetZdAz(); //sla.CalcZdAz(sla.GetRaDec()); // [rad]
 
     //
@@ -434 +496 @@
         if (phca1)
         {
-            ZdAz dummy = sla.CalcZdAz(fCosy->fRaDec, mjdzd);
+            UpdateSlalib(sla, mjdzd);
+
+            ZdAz dummy = sla.GetZdAz();//sla.CalcZdAz(radec, mjdzd);
             dummy = fCosy->AlignTrackingPos(dummy);
             fCosy->fZdAzSoll.Zd(dummy.Zd());
-            soll.Zd(fCosy->fBending(dummy).Zd()); // [rad]
-
-            fCosy->fTrackingError.Zd(soll.Zd()-istse.Zd());
+            fCosy->fTrackingError.Zd(fCosy->fBending(dummy).Zd()-istse.Zd());
 
             TThread::CancelPoint();
@@ -445 +507 @@
         if (phcaz)
         {
-            ZdAz dummy = sla.CalcZdAz(fCosy->fRaDec, mjdaz);
+            UpdateSlalib(sla, mjdaz);
+
+            ZdAz dummy = sla.GetZdAz();//sla.CalcZdAz(radec, mjdaz);
             dummy = fCosy->AlignTrackingPos(dummy);
             fCosy->fZdAzSoll.Az(dummy.Az());
-            soll.Az(fCosy->fBending(dummy).Az()); // [rad]
-
-            fCosy->fTrackingError.Az(soll.Az()-istse.Az());
+            fCosy->fTrackingError.Az(fCosy->fBending(dummy).Az()-istse.Az());
 
             TThread::CancelPoint();

trunk/MagicSoft/Cosy/main/MTracking.h

@@ -4 +4 @@
 #ifndef COSY_MSlewing
 #include "MSlewing.h"
+#endif
+
+#ifndef COSY_SlaPlanets
+#include "SlaPlanets.h"
 #endif
 
@@ -17 +21 @@
 {
 private:
+    SlaPlanets fSlalib;
+
     ZdAz fTrackAcc;
+
+    Int_t fTrackType;
+    RaDec fTrackPos;
 
     MLog   *fOut;
 
+    void UpdateSlalib(SlaPlanets &sla);
+    void UpdateSlalib(Double_t dt);
+    void UpdateSlalib(SlaPlanets &sla, Double_t mjd);
+
     bool SetVelocity(const ZdAz &v);
-    bool LimitSpeed(const ZdAz &vt, const SlaStars &sla) const;
+    bool LimitSpeed(const ZdAz &vt) const;
     bool InitTracking();
+    bool Move();
+    void Track();
 
     Int_t Thread();
 
 public:
-    MTracking(MCosy *cosy) : MSlewing(cosy), MThread("MTracking"), fTrackAcc(0, 0), fOut(0) { }
+    MTracking(MCosy *cosy);
 
     void TrackPosition(const RaDec &dst); // ra, dec [rad]
+    void TrackPlanet(ePlanets_t planet);  // ra, dec [rad]
     void SetTrackAcc(Float_t zd, Float_t az) { fTrackAcc.Zd(zd); fTrackAcc.Az(az); }