Index: trunk/MagicSoft/Cosy/Changelog =================================================================== --- trunk/MagicSoft/Cosy/Changelog (revision 9540) +++ trunk/MagicSoft/Cosy/Changelog (revision 9550) @@ -1,3 +1,33 @@ -*-*- END -*-*- + 2010/02/23 Thomas Bretz + + * catalog/SlaStars.[h,cc]: + - added ApplayOffsetAltAz + - added ApplayOffsetZdAz + + * main/CosyMainLinkDef.h, main/Makefile: + - added MMoonPointing + + * main/MMoonPointing.[h,cc]: + - added + + * main/MCosy.[h,cc]: + - added TrackMoon + - added more options to TrackPlanet + - in msg-queue use break in switch-statement and return + message id by default + + * main/MTracking.[h,cc]: + - implemented adding of moon shadow offset into UpdateSlalib + - added data members for fWobbleOffset wnd fWobbleAngle + - added setter for new data members + - added new function TrackMoon + + * tcpip/MDriveCom.[h,cc]: + - added new arguments to CELEST command + - added new MOON command + + + 2009/12/01 Thomas Bretz Index: trunk/MagicSoft/Cosy/catalog/SlaStars.cc =================================================================== --- trunk/MagicSoft/Cosy/catalog/SlaStars.cc (revision 9540) +++ trunk/MagicSoft/Cosy/catalog/SlaStars.cc (revision 9550) @@ -21,4 +21,10 @@ { fAltAz = AltAz(TMath::Pi()/2-zdaz.Zd(), zdaz.Az()) * TMath::DegToRad(); + fRaDec = CalcRaDec(fAltAz); +} + +void SlaStars::ApplyOffsetAltAz(const AltAz &offset) +{ + fAltAz += offset; fRaDec = CalcRaDec(fAltAz); } Index: trunk/MagicSoft/Cosy/catalog/SlaStars.h =================================================================== --- trunk/MagicSoft/Cosy/catalog/SlaStars.h (revision 9540) +++ trunk/MagicSoft/Cosy/catalog/SlaStars.h (revision 9550) @@ -61,4 +61,7 @@ ZdAz CalcZdAzFast (const RaDec &radec) const; + void ApplyOffsetAltAz(const AltAz &offset); + void ApplyOffsetZdAz(const ZdAz &offset) { ApplyOffsetAltAz(AltAz(-offset.Zd(), offset.Az())); } + ClassDef(SlaStars, 0) }; Index: trunk/MagicSoft/Cosy/main/CosyMainLinkDef.h =================================================================== --- trunk/MagicSoft/Cosy/main/CosyMainLinkDef.h (revision 9540) +++ trunk/MagicSoft/Cosy/main/CosyMainLinkDef.h (revision 9550) @@ -11,4 +11,5 @@ #pragma link C++ class MSlewing+; #pragma link C++ class MTracking+; +#pragma link C++ class MMoonPointing+; #endif Index: trunk/MagicSoft/Cosy/main/MCosy.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.cc (revision 9540) +++ trunk/MagicSoft/Cosy/main/MCosy.cc (revision 9550) @@ -351,5 +351,5 @@ } -void MCosy::TrackPlanet(const Int_t &p) // ra, dec [rad] +void MCosy::TrackPlanet(Int_t id, Double_t offset, Double_t angle) { MTracking track(this); @@ -360,8 +360,9 @@ track.SetTrackAcc(0.01, 0.01); - track.TrackPlanet((ePlanets_t)p); -} - -void MCosy::TrackPosition(const RaDec &dst) // ra, dec [rad] + track.SetWobble(offset, angle); + track.TrackPlanet((ePlanets_t)id); +} + +void MCosy::TrackMoon(Double_t wobble, Double_t offset) { MTracking track(this); @@ -372,4 +373,17 @@ track.SetTrackAcc(0.01, 0.01); + track.TrackMoon(wobble, offset); +} + +void MCosy::TrackPosition(const RaDec &dst) // 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.SetWobbleOffset(offset, angle); track.TrackPosition(dst); } @@ -386,4 +400,5 @@ track.SetTrackAcc(0.01, 0.01); + //track.SetWobbleOffset(offset, angle); track.TrackPosition(dst); } @@ -530,15 +545,15 @@ //cout << "WM_TPoint: done. (return 0xaffe)" << endl; } - return 0xca1b; + break; case WM_STARGTPOINT: if (fStarguider) fStarguider->StartTPoint((char*)mp); - return 0xca1c; + break; case WM_STARGMODE: if (fStarguider) fStarguider->StartStarguider(*((bool*)mp)); - return 0xca1c; + break; case WM_TRACKPOS: @@ -559,5 +574,5 @@ } //cout << "WM_TrackPosition: done. (return 0xabcd)" << endl; - return 0xabcd; + break; case WM_ARM: @@ -580,5 +595,5 @@ } //cout << "WM_Position: done. (return 0x7777)" << endl; - return 0x9999; + break; case WM_POSITION: @@ -592,5 +607,5 @@ } //cout << "WM_Position: done. (return 0x7777)" << endl; - return 0x7777; + break; case WM_POSITION1: @@ -604,5 +619,5 @@ } //cout << "WM_Position: done. (return 0x7777)" << endl; - return 0x7777; + break; case WM_PREPS: @@ -644,5 +659,5 @@ } //cout << "WM_Track: done. (return 0x8888)" << endl; - return 0x7878; + break; /* case WM_TESTSE: @@ -678,17 +693,38 @@ } //cout << "WM_Track/GRB: done. (return 0x8888)" << endl; - return 0x8888; - - case WM_PLANET: + break; + + case WM_CELEST: //cout << "WM_PLANET: START" << endl; { - const Int_t p = ((Int_t*)mp)[0]; if (!CheckNetwork()) return 0xebb1; - TrackPlanet(p); + const Double_t *d = (Double_t*)mp; + + const Int_t id = TMath::Nint(d[0]); + const Double_t offset = d[1]; + const Double_t angle = d[2]; + + TrackPlanet(id, offset, angle); } //cout << "WM_PLANET: done. (return 0x8889)" << endl; - return 0x8889; + break; + + case WM_MOON: + //cout << "WM_PLANET: START" << endl; + { + if (!CheckNetwork()) + return 0xebb1; + + const Double_t *d = (Double_t*)mp; + + const Double_t wobble = d[0]; + const Double_t offset = d[1]; + + TrackMoon(wobble, offset); + } + //cout << "WM_PLANET: done. (return 0x8889)" << endl; + break; /* case WM_NEWTRACK: @@ -702,5 +738,5 @@ fBending.Load("bending.txt"); //cout << "WM_LoadBending: done. (return 0xbe0d)" << endl; - return 0xbe0d; + break; case WM_RESETBENDING: @@ -708,5 +744,5 @@ fBending.Reset(); //cout << "WM_ResetBending: done. (return 0xbe0e)" << endl; - return 0xbe0e; + break; case WM_CALCALTAZ: @@ -737,5 +773,5 @@ cout << "SE bended: " << a2.Zd() << " " << a2.Az() << endl; } - return 0xa17a; + break; case WM_ENDSWITCH: @@ -747,6 +783,5 @@ cout << pos.Az() << "°" << endl; } - - return 0x1010; + break; case WM_QUIT: @@ -759,8 +794,12 @@ TerminateApp(); cout << "WM_Quit: done." << endl; - return 0xaaaa; - } - cout << "MCosy::Proc: Unknown message 0x" << msg << endl; - return 0xffffffff; + break; + + default: + cout << "MCosy::Proc: Unknown message 0x" << msg << endl; + return 0xffffffff; + } + + return msg; } Index: trunk/MagicSoft/Cosy/main/MCosy.h =================================================================== --- trunk/MagicSoft/Cosy/main/MCosy.h (revision 9540) +++ trunk/MagicSoft/Cosy/main/MCosy.h (revision 9550) @@ -46,5 +46,6 @@ #define WM_STARGTPOINT 0x1014 #define WM_STARGMODE 0x1015 -#define WM_PLANET 0x1016 +#define WM_CELEST 0x1016 +#define WM_MOON 0x1017 class Dkc; @@ -103,5 +104,6 @@ int SetPosition(const ZdAz &dst, Bool_t track=kFALSE); - void TrackPlanet(const Int_t &p); + void TrackPlanet(Int_t id, Double_t offset, Double_t angle); + void TrackMoon(Double_t wobble, Double_t offset); void TrackPosition(const RaDec &dst); // ra, dec [rad] void TrackPositionGRB(const RaDec &dst); // ra, dec [rad] Index: trunk/MagicSoft/Cosy/main/MMoonPointing.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MMoonPointing.cc (revision 9550) +++ trunk/MagicSoft/Cosy/main/MMoonPointing.cc (revision 9550) @@ -0,0 +1,143 @@ +#include "MMoonPointing.h" + +#include + +ClassImp(MMoonPointing); + +using namespace std; + +class MPositionOffsetCalc +{ +private: + Double_t fCosOffset; + Double_t fSinOffset; + + Double_t fCosAngle; + Double_t fSinAngle; + +public: + MPositionOffsetCalc(Double_t offset) : + fCosOffset(offset<=0?0:TMath::Cos(offset*TMath::DegToRad())), + fSinOffset(offset<=0?0:TMath::Sin(offset*TMath::DegToRad())), + fCosAngle(0), fSinAngle(0) + { + } + + MPositionOffsetCalc(Double_t offset, Double_t angle) : + fCosOffset(offset<=0?0:TMath::Cos(offset*TMath::DegToRad())), + fSinOffset(offset<=0?0:TMath::Sin(offset*TMath::DegToRad())), + fCosAngle(TMath::Cos(angle*TMath::DegToRad())), + fSinAngle(TMath::Sin(angle*TMath::DegToRad())) + { + } + + MPositionOffsetCalc(Double_t offset, Double_t cos, Double_t sin) : + fCosOffset(offset<=0?0:TMath::Cos(offset*TMath::DegToRad())), + fSinOffset(offset<=0?0:TMath::Sin(offset*TMath::DegToRad())), + fCosAngle(cos), fSinAngle(sin) + { + } + + void SetAngle(Double_t c, Double_t s) { fCosAngle=c; fSinAngle=s; } + void SetAngle(Double_t a) { fCosAngle=TMath::Cos(a*TMath::DegToRad()); fSinAngle=TMath::Sin(a*TMath::DegToRad()); } + + ZdAz Calc(const ZdAz &pos, Double_t *sn=0, Double_t *cs=0) const + { + if (fCosOffset==0 && fSinOffset==0) + { + if (sn) + *sn = fSinAngle; + if (cs) + *cs = fCosAngle; + return pos; + } + + const Double_t coszd = TMath::Cos(pos.Zd()); + const Double_t sinzd = TMath::Sin(pos.Zd()); + + if (sinzd<=0) + return ZdAz(); + + const Double_t costheta = coszd*fCosOffset + sinzd*fSinOffset*fCosAngle; + if (costheta*costheta >= 1) + return ZdAz(); + + const Double_t sintheta = TMath::Sqrt(1 - costheta*costheta); + + const Double_t cosdeltaaz = (fCosOffset - coszd*costheta)/(sinzd*sintheta); + const Double_t sindeltaaz = fSinAngle*fSinOffset/sintheta; + + if (sn) + *sn = fSinAngle*coszd*sindeltaaz - cosdeltaaz*fCosAngle; + if (cs) + *cs = fSinAngle*sinzd/sintheta; + + return ZdAz(TMath::ACos(costheta), TMath::ATan2(sindeltaaz, cosdeltaaz) + pos.Az()); + } + + ZdAz GetOffset(const ZdAz &pos, Double_t *sn=0, Double_t *cs=0) const + { + return Calc(pos, sn, cs) - pos; + } +}; + +MMoonPointing::MMoonPointing(const char *filename) : fOffsetShadow(-1), fOffsetWobble(-1) +{ + if (TString(filename).IsNull()) + { + MakeZombie(); + return; + } + + TFile f(filename); + if (f.IsZombie()) + { + MakeZombie(); + return; + } + + if (fCos.Read("cosAngle")<=0) + { + MakeZombie(); + return; + } + + if (fSin.Read("sinAngle")<=0) + { + MakeZombie(); + return; + } + + fCos.SetDirectory(0); + fSin.SetDirectory(0); +} + +// position of the moon [rad] +// position of the Moon Shadow [rad] +// position of telescope pointing [rad] +Bool_t MMoonPointing::CalcPosition(const ZdAz &moon, ZdAz &srcpos, ZdAz &pointpos) const +{ + const Double_t fcos = const_cast(fCos).Interpolate(moon.Az(), moon.Zd()); + const Double_t fsin = const_cast(fSin).Interpolate(moon.Az(), moon.Zd()); + if (fcos*fcos + fsin*fsin<0.98) + return kFALSE; + + // Calculate Moon Shadow Position: + Double_t sn=fsin; + Double_t cs=fcos; + + const MPositionOffsetCalc calc1(fOffsetShadow, fcos, fsin); + srcpos = calc1.Calc(moon, &sn, &cs); + if (srcpos.Zd()==0) + return kFALSE; + + // Calaculate Telescope pointing position: + const MPositionOffsetCalc calc2(fOffsetWobble, cs, sn); + pointpos = calc2.Calc(srcpos); + if (pointpos.Zd()==0) + return kFALSE; + + return kTRUE; +} + + Index: trunk/MagicSoft/Cosy/main/MMoonPointing.h =================================================================== --- trunk/MagicSoft/Cosy/main/MMoonPointing.h (revision 9550) +++ trunk/MagicSoft/Cosy/main/MMoonPointing.h (revision 9550) @@ -0,0 +1,31 @@ +#ifndef COSY_MMoonPointing +#define COSY_MMoonPointing + +#ifndef ROOT_TGraph2D +#include +#endif + +#ifndef MARS_MPointing +#include "MPointing.h" +#endif + +class MMoonPointing : public TObject +{ + TGraph2D fCos; + TGraph2D fSin; + + Double_t fOffsetShadow; // [deg] distance of the Moon shadow from the Moon + Double_t fOffsetWobble; // [deg] wobble offset + +public: + MMoonPointing(const char *filename); + + void SetOffsetShadow(Double_t off=-1) { fOffsetShadow=off; } + void SetOffsetWobble(Double_t off=-1) { fOffsetWobble=off; } + + Bool_t CalcPosition(const ZdAz &moon, ZdAz &srcpos, ZdAz &pointpos) const; + + ClassDef(MMoonPointing, 0) +}; + +#endif Index: trunk/MagicSoft/Cosy/main/MTracking.cc =================================================================== --- trunk/MagicSoft/Cosy/main/MTracking.cc (revision 9540) +++ trunk/MagicSoft/Cosy/main/MTracking.cc (revision 9550) @@ -12,4 +12,6 @@ #include "MDriveCom.h" +#include "MMoonPointing.h" + ClassImp(MTracking); @@ -21,5 +23,5 @@ MTracking::MTracking(MCosy *cosy) : MSlewing(cosy), MThread("MTracking"), fSlalib(fCosy->fObservatory), - fTrackAcc(0, 0), fOut(0) + fTrackAcc(0, 0), fWobbleOffset(-1), fWobbleAngle(0), fOut(0) { } @@ -221,8 +223,40 @@ sla.Set(fTrackPos/TMath::DegToRad()); else - sla.SetPlanet((ePlanets_t)fTrackType); - -// if (fCosy->fStarguider) -// fCosy->fStarguider->SetPointingPosition(sla.GetRaDec()); + sla.SetPlanet((ePlanets_t)(fTrackType&0xff)); + + if (fTrackType==(kEMoon|0x100)) + { + MMoonPointing moon("MoonShadowOffsets.root"); + if (moon.IsZombie()) + { + gLog << warn << "WARNING - Calculation of moon shadow failed." << endl; + return; + } + + moon.SetOffsetShadow(fWobbleAngle); + moon.SetOffsetWobble(fWobbleOffset); + + ZdAz srcpos, pointpos; + + const ZdAz za = sla.GetZdAzRad(); + const ZdAz offset = moon.CalcPosition(za, srcpos, pointpos); + sla.ApplyOffsetZdAz(pointpos-za); + + // Ra/Dec, Zd/Az from pointpos + // NEW: Source pos from srcpos + } + /* + else + if (fWobbleOffset>0) + { + MPositionOffsetCalc calc(fWobbleOffset, fWobbleAngle); + const ZdAz offset = calc.GetOffset(sla.GetZdAzRad()); + //if (srcpos.Zd()==0) + // return kFALSE; + sla.ApplyOffsetAltAz(offset); + } + */ + // if (fCosy->fStarguider) + // fCosy->fStarguider->SetPointingPosition(sla.GetRaDec()); } @@ -288,4 +322,16 @@ fTrackPos = RaDec(); fTrackType = planet; + + // Start tracking + Track(); +} + +void MTracking::TrackMoon(Double_t wobble, Double_t offset) +{ + fTrackPos = RaDec(); + fTrackType = kEMoon|0x100; + + fWobbleOffset = wobble; + fWobbleAngle = offset; // Start tracking Index: trunk/MagicSoft/Cosy/main/MTracking.h =================================================================== --- trunk/MagicSoft/Cosy/main/MTracking.h (revision 9540) +++ trunk/MagicSoft/Cosy/main/MTracking.h (revision 9550) @@ -28,4 +28,7 @@ RaDec fTrackPos; + Double_t fWobbleOffset; + Double_t fWobbleAngle; + MLog *fOut; @@ -42,4 +45,6 @@ Int_t Thread(); + ZdAz GetZdAzRad(const Slalib &sla); + public: MTracking(MCosy *cosy); @@ -47,5 +52,8 @@ void TrackPosition(const RaDec &dst); // ra, dec [rad] void TrackPlanet(ePlanets_t planet); // ra, dec [rad] + void TrackMoon(Double_t wobble, Double_t offset); void SetTrackAcc(Float_t zd, Float_t az) { fTrackAcc.Zd(zd); fTrackAcc.Az(az); } + + void SetWobble(Double_t offset, Double_t angle=0) { fWobbleOffset=offset; fWobbleAngle=angle; } void SetOut(MLog *fout) { fOut = fout; } Index: trunk/MagicSoft/Cosy/main/Makefile =================================================================== --- trunk/MagicSoft/Cosy/main/Makefile (revision 9540) +++ trunk/MagicSoft/Cosy/main/Makefile (revision 9550) @@ -18,9 +18,10 @@ #------------------------------------------------------------------------------ -SRCFILES = MStarguider.cc \ - MStargHistograms.cc \ - MSlewing.cc \ +SRCFILES = MSlewing.cc \ MTracking.cc \ + MMoonPointing.cc \ MCaos.cc \ + MStarguider.cc \ + MStargHistograms.cc \ MCosy.cc Index: trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 9540) +++ trunk/MagicSoft/Cosy/tcpip/MDriveCom.cc (revision 9550) @@ -135,7 +135,7 @@ } - Int_t id, len; // Starguider switched on or not - Float_t dra, ddec; - Int_t n=sscanf(str.Data(), "%d %f %f %n", &id, &dra, &ddec, &len); + Int_t id, len; + Float_t offset, angle; + Int_t n=sscanf(str.Data(), "%d %f %f %n", &id, &offset, &angle, &len); if (n!=3) { @@ -153,5 +153,5 @@ } - gLog << all << "CC-COMMAND " << MTime(-1) << " CELEST ID=" << id << " dRa=" << dra << "deg dDec=" << ddec << "deg" << endl; + gLog << all << "CC-COMMAND " << MTime(-1) << " CELEST ID=" << id << " WobbleOffset=" << offset << "deg WobbleAngle=" << angle << "deg" << endl; if (id==0) @@ -167,13 +167,48 @@ } - // Moon; - id = 3; - - gLog << warn << "WARNING - Tracking the moon's center forced." << endl; - - //cout << "MDriveCom - POSITION... start." << endl; - if (fQueue) - fQueue->PostMsg(WM_PLANET, &id, sizeof(id)); - //cout << "MDriveCom - POSITION... done." << endl; + Double_t data[3] = { id, offset, angle }; + + //cout << "MDriveCom - CELEST... start." << endl; + if (fQueue) + fQueue->PostMsg(WM_CELEST, data, sizeof(Double_t)*3); + //cout << "MDriveCom - CELEST... done." << endl; + return true; +} + +bool MDriveCom::CommandMOON(TString &str) +{ + str = str.Strip(TString::kBoth); + if (str.IsNull()) + { + gLog << err << "ERROR - MOON command empty." << endl; + return false; + } + + Int_t len; + Float_t wobble, offset; + Int_t n=sscanf(str.Data(), "%f %f %n", &wobble, &offset, &len); + if (n!=2) + { + gLog << warn << "WARNING - Not enough argmuents (MOON)." << endl; + return kCONTINUE; + } + + str.Remove(0, len); + str = str.Strip(TString::kBoth); + + if (!str.IsNull()) + { + gLog << err << "ERROR - Too many bytes in command MOON" << endl; + return false; + } + + gLog << all << "CC-COMMAND " << MTime(-1) << " MOON WobbleOffset=" << wobble << "deg ShadowOffset=" << offset << "deg" << endl; + + Double_t data[2] = { wobble, offset }; + + //cout << "MDriveCom - MOON... start." << endl; + if (fQueue) + fQueue->PostMsg(WM_MOON, data, sizeof(Double_t)*2); + //cout << "MDriveCom - MOON... done." << endl; return true; } @@ -300,4 +335,7 @@ if (cmd==(TString)"CELEST") return CommandCELEST(str); + + if (cmd==(TString)"MOON") + return CommandMOON(str); if (cmd==(TString)"PREPS") Index: trunk/MagicSoft/Cosy/tcpip/MDriveCom.h =================================================================== --- trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 9540) +++ trunk/MagicSoft/Cosy/tcpip/MDriveCom.h (revision 9550) @@ -31,4 +31,5 @@ bool CommandZDAZ(TString &str); bool CommandCELEST(TString &str); + bool CommandMOON(TString &str); bool CommandPREPS(TString &str); bool CommandARM(TString &str);