#include <Tracker.h>

Inheritance diagram for gcp::antenna::control::Tracker:

Protected Types
enum	NextDriveState { IGNORE, HALT, SLEW, WAIT, TARGET, SYNC, SLAVE, REBOOT }

Protected Member Functions
	Tracker (AntennaDrive *parent)

virtual	~Tracker ()

virtual void	processMsg (TrackerMsg *msg)

void	resetMembers ()

void	reset ()

virtual void	initialize ()

void	archiveStatus ()

void	updatePmac (TimeVal &mjd, AxisPositions *current)

void	updateMountLimits ()

void	sourcePosition (gcp::util::TimeVal &mjd)

void	sourcePosition (gcp::util::TimeVal &mjd, Pointing &thisTargetVal)

void	sourcePositionTrack (gcp::util::TimeVal &mjd, double utc)

void	sourcePositionTrack (gcp::util::TimeVal &mjd, double utc, Pointing &thisTargetVal)

void	sourcePositionCenter (gcp::util::TimeVal &mjd)

void	sourcePositionCenter (gcp::util::TimeVal &mjd, Pointing &thisTargetVal)

virtual void	pmacNewPosition (gcp::util::PmacMode::Mode mode, AxisPositions *current, gcp::util::TimeVal &mjd)

void	finalizePointing (double pmra, double pmdec, PointingCorrections f, Pointing p, gcp::util::TimeVal &mjd)

void	finalizePointing (double pmra, double pmdec, PointingCorrections f, Pointing p, gcp::util::TimeVal &mjd, Pointing &thisTargetVal)

void	finalizePointing (gcp::util::TimeVal &mjd)

void	finalizePointing (gcp::util::TimeVal &mjd, Pointing &thisTargetVal)

void	registerRequest (unsigned seq)

virtual void	addTick (TrackerMsg *msg)

virtual void	addTickOvro (TrackerMsg *msg)

void	calCollimation (TrackerMsg *msg)

void	calEncoders (TrackerMsg *msg)

void	calFlexure (TrackerMsg *msg)

void	calTilts (TrackerMsg *msg)

void	changeYear (TrackerMsg *msg)

void	extendEqnEqx (TrackerMsg *msg)

void	extendTrack (TrackerMsg *msg)

void	extendScan (TrackerMsg *msg)

void	extendUt1Utc (TrackerMsg *msg)

void	haltTelescope (TrackerMsg *msg=0)

void	locateSite (TrackerMsg *msg)

void	locateAntenna (TrackerMsg *msg)

void	rebootDrive (TrackerMsg *msg)

void	recordEncoderLimits (TrackerMsg *msg)

void	selectModel (TrackerMsg *msg)

void	setEncoderZero (TrackerMsg *msg)

void	setOffset (TrackerMsg *msg)

void	setSlewRate (TrackerMsg *msg)

void	slewTelescope (TrackerMsg *msg)

void	updateRefraction (TrackerMsg *msg)

void	updateRefraction ()

virtual void	connectPmac ()

virtual void	disconnectPmac ()

bool	okToPoint ()

void	setNextState (NextDriveState state)

void	strobeServo (TrackerMsg *msg)

bool	acknowledgeCompletion ()

void	executeServoCmd (TrackerMsg *msg)

Protected Member Functions inherited from gcp::util::GenericTask< TrackerMsg >
	GenericTask ()

	GenericTask (Thread *thread)

virtual	~GenericTask ()

void	sendTaskMsg (TrackerMsg *msg)

void	startThreads (void *arg)

void	startThread (void *arg, unsigned order)

unsigned	getMinStartOrder ()

bool	threadsNeedStarting ()

void	cancelThreads ()

void	cancelThread (unsigned order)

unsigned	getMinCancelOrder ()

bool	threadsNeedCancelling ()

void	pingThreads (void *arg)

void	raise (std::string name, int sigNo)

Thread *	getThread (std::string name)

bool	threadsAreRunning ()

void	shutdownConnection (int fd)

virtual void	serviceMsgQ (void)

virtual void	restart (void)

virtual void	run (void)

virtual void	processTaskMsg (bool *stop)

virtual void	processMsg (TrackerMsg *msg)

virtual void	respondToHeartBeat ()

virtual void	installTimer (TrackerMsg *msg)

virtual void	installSignal (TrackerMsg *msg)

virtual void	enableTimer (TrackerMsg *msg)

virtual void	addHandler (TrackerMsg *msg)

void	stepCommands ()

Protected Attributes
bool	simPmac_

bool	simGps_

AntennaDrive *	parent_

bool	shutdownPending_

int	year_

NextDriveState	whatNext_

unsigned	archived_

unsigned	lacking_

bool	encoderCalPending_

volatile long	lastReq_

volatile long	lastAck_

gcp::util::TrackingStatus::Status	oldStatus_

gcp::util::TrackingStatus::Status	newStatus_

bool	paramsUpdated_

int	pmacTracking_

Atmosphere	atmos_

Model	model_

ServoCommsSa *	servo_

Pointing	nextTarget_

Pointing	nextTarget1_

Pointing	nextTarget2_

Position	lastCommanded_

Position	prevCommanded_

Position	tertCommanded_

Site	site_

gcp::util::Atmosphere	refracCalculator_

gcp::util::Source	src_

Scan	scan_

gcp::util::TimeVal	currentTick_

gcp::util::TimeVal	lastTick_

TrackerBoard *	tracker_

TrackerOffset	offset_

Protected Attributes inherited from gcp::util::GenericTask< TrackerMsg >
Thread *	thread_

std::vector< Thread * >	threads_

PipeQ< TrackerMsg >	msgq_

gcp::util::FdSet	fdSet_

std::vector< Command * >	commands_

struct timeval *	timeOut_

TimeVal	commandTimeOut_

Friends
class	AntennaDrive

Additional Inherited Members
Public Member Functions inherited from gcp::antenna::control::SpecificTask
	SpecificTask ()

virtual	~SpecificTask ()

SpecificShare *	getShare ()

Public Member Functions inherited from gcp::util::GenericTask< TrackerMsg >
void	sendRestartMsg ()

void	sendStopMsg ()

void	sendHeartBeatMsg ()

virtual void	fwdTaskMsg (TrackerMsg *msg)

Public Attributes inherited from gcp::antenna::control::SpecificTask
SpecificShare *	share_

Detailed Description

Define a class that will handle pointing and tracking for this antenna.

Member Enumeration Documentation

enum gcp::antenna::control::Tracker::NextDriveState

protected

The following identifiers define stages in the state machine that controls the drive.

Constructor & Destructor Documentation

Tracker::Tracker ( AntennaDrive * parent )

protected

Constructor function requires the shared resource object which will maintain pertinent registers of this antenna's state.

Exceptions

Exception ....................................................................... Allocate all of the resources needed by the tracker task. Note that no further resource allocation or re-allocation should be peformed while the task is running. This means that the instrument can be left unattended after start-up without the fear of resource depletion causing unexpected failures.

Input:

parent AntennaDrive * Resources of the parent object.

Tracker::~Tracker ( )

protectedvirtual

Destructor.

....................................................................... Delete the resources of a tracker-task.

Member Function Documentation

void Tracker::addTick ( TrackerMsg * msg )

protectedvirtual

Respond to a tick from the time-code reader ISR by recording the new clock offset. If a resynchronization of the clock has been requested, also check the time against the time-code reader and correct it if necessary.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Respond to a 1-second tick from the time-code reader ISR by recording the new clock offset. If a resynchronization of the clock has been requested, also check the time against the time-code reader and correct it if necessary.

Modification for South African Telescope – need to calculate three positions to send to the telescope

Input:

msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::addTickOvro ( TrackerMsg * msg )

protectedvirtual

OLD ADDTICK....................................................................... Respond to a 1-second tick from the time-code reader ISR by recording the new clock offset. If a resynchronization of the clock has been requested, also check the time against the time-code reader and correct it if necessary.

Input:

msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::archiveStatus ( )

protected

Record the current tracking status (newStatus_) in the archive database and in oldStatus_.

....................................................................... Record the current tracking status (trk->new_status) in the archive database and in trk->old_status.

void Tracker::calCollimation ( TrackerMsg * msg )

protected

Calibrate the collimation of the telescope.

....................................................................... Calibrate the collimation of the telescope.

void Tracker::calEncoders ( TrackerMsg * msg )

protected

Record new encoder offsets and multipliers.

....................................................................... Record new encoder offsets and multipliers.

Input: msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::calFlexure ( TrackerMsg * msg )

protected

Calibrate the gravitational flexure of the telescope.

....................................................................... Calibrate the gravitational flexure of the telescope.

void Tracker::calTilts ( TrackerMsg * msg )

protected

Calibrate the axis tilts of the telescope.

....................................................................... Calibrate the axis tilts of the telescope.

void Tracker::changeYear ( TrackerMsg * msg )

protected

Update the year. Note that the time code reader doesn't supply the year, so the year has to be provided by the control program.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Update the year. Note that the time code reader doesn't supply the year, so the year has to be provided by the control program.

Input:

msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::connectPmac ( )

protectedvirtual

Attempt to connect to the pmac.

....................................................................... Attempt to connect to the pmac.

void Tracker::disconnectPmac ( )

protectedvirtual

A function called when an error occurs talking to the pmac.

....................................................................... This function will be called if an error occurs talking to the pmac.

void Tracker::executeServoCmd ( TrackerMsg * msg )

protected

............................................................ Execute a Servo specific command

void Tracker::extendEqnEqx ( TrackerMsg * msg )

protected

Update the equation-of-the-equinoxes interpolator.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

Exceptions

Exception ....................................................................... Update the equation-of-the-equinoxes interpolator.

void Tracker::extendScan ( TrackerMsg * msg )

protected

Extend the ephemeris of the current scan

....................................................................... Extend the ephemeris of the current scan

Input: msg TrackerMsg* The message received on the Tracker message queue.

Initialize the scan cache fixed members if this is the start of a new scan.

Let the pointing routines know that the current scan is active.

void Tracker::extendTrack ( TrackerMsg * msg )

protected

Extend the ephemeris of the current source.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Extend the ephemeris of the current source.

Input: msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::extendUt1Utc ( TrackerMsg * msg )

protected

Update the UT1-UTC interpolator.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

Exceptions

Exception ....................................................................... Update the UT1-UTC interpolator.

Input: msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::finalizePointing	(	double	pmra,
		double	pmdec,
		PointingCorrections *	f,
		Pointing *	p,
		gcp::util::TimeVal &	mjd
	)

protected

Prototype the functions that implement the various stages of pointing calculations

....................................................................... Compute the final az,el,pa and associated drive rates.

Input:

pmra double The proper motion in Right Ascension (radians/sec). pmdec double The proper motion in Declination (radians/sec). f PointingCorrections * The corrected az,el and latitude.

void Tracker::finalizePointing ( gcp::util::TimeVal & mjd )

protected

....................................................................... Compute the final az,el,pa and associated drive rates.

Input:

pmra double The proper motion in Right Ascension (radians/sec). pmdec double The proper motion in Declination (radians/sec). f PointingCorrections * The corrected az,el and latitude.

void Tracker::haltTelescope ( TrackerMsg * msg = 0 )

protected

Arrange to halt the telescope. If the pmac new_position flag is set this will be done immediately, otherwise it will be postponed to the next 1-second tick.

Parameters

msg	TrackerMsg * If the halt command was received from the control program then this must contain a transaction sequence number. Otherwise send NULL.

....................................................................... Arrange to halt the telescope. If the pmac new_position flag is set this will be done immediately, otherwise it will be postponed to the next 1-second tick.

Input: msg TrackerMsg * If the halt command was received from the control program then this must contain a transaction sequence number. Otherwise send NULL.

void Tracker::initialize ( )

protectedvirtual

Reset non-pointer members of the Tracker object

Exceptions

Exception ....................................................................... Reset non-pointer members of the Tracker object

void Tracker::locateAntenna ( TrackerMsg * msg )

protected

Update the antenna-specific offset

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Update the local and system-wide site-location parameters.

Input:

msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::locateSite ( TrackerMsg * msg )

protected

Update the local and system-wide site-location parameters.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Update the local and system-wide site-location parameters.

Input:

msg TrackerMsg* The message received on the Tracker message queue.

bool Tracker::okToPoint ( )

protected

Return true if we have enough information to roughly point the telescope.

....................................................................... Return true if we have enough information to roughly point the telescope.

void Tracker::pmacNewPosition	(	gcp::util::PmacMode::Mode	mode,
		AxisPositions *	current,
		gcp::util::TimeVal &	mjd
	)

protectedvirtual

Parameters

current AxisPositions * The current position of the telescope, as readPosition().

Exceptions

Exception ....................................................................... Write a given drive command into the drive dual-port-ram. Before invoking this function, the caller must call DriveBoard::isBusy() to see whether the drive is ready for a new command.

Input:

mode PmacMode The command-type to send. current AxisPositions * The current position of the telescope, as

void Tracker::processMsg ( TrackerMsg * msg )

protectedvirtual

Public method to initate a response to a message received on the AntennaDrive message queue

Exceptions

Exception ....................................................................... Process a message received on the Tracker message queue

Input:

msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::rebootDrive ( TrackerMsg * msg )

protected

Arrange to reboot the pmac. If the pmac new_position flag is set this will be done immediately, otherwise it will be postponed to the next 1-second tick.

Parameters

msg	TrackerMsg * If the halt command was received from the control program then this must contain a transaction sequence number. Otherwise send NULL.

....................................................................... Arrange to reboot the drive.

Input: msg TrackerMsg * If the halt command was received from the control program then this must contain a transaction sequence number. Otherwise send NULL.

void Tracker::recordEncoderLimits ( TrackerMsg * msg )

protected

Record new encoder limits.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Record new encoder limits.

Input:

msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::registerRequest ( unsigned seq )

protected

Register the receipt of a control-program command that needs to be acknowledged when has taken effect. Also mark the tracking parameters as modified.

Input: seq unsigned The sequence number assigned to the command by the control program.

....................................................................... Register the receipt of a control-program command that needs to be acknowledged when has taken effect. Also mark the tracking parameters as modified.

Input: seq unsigned The sequence number assigned to the command by the control program.

void Tracker::reset ( )

protected

This function is called by new_Tracker() and ini_Tracker() to clear legacy pointing model terms before the thread is next run. It assumes that all pointers either point at something valid or have been set to NULL.

....................................................................... This function is called by new_Tracker() and ini_Tracker() to clear legacy pointing model terms before the thread is next run. It assumes that all pointers either point at something valid or have been set to NULL.

void Tracker::resetMembers ( )

protected

....................................................................... Reset non-pointer members of the Tracker object

void Tracker::selectModel ( TrackerMsg * msg )

protected

Select between the optical and radio pointing models.

....................................................................... Select between the optical and radio pointing models.

void Tracker::setEncoderZero ( TrackerMsg * msg )

protected

Install new encoder offsets.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Install new encoder offsets.

Input: msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::setOffset ( TrackerMsg * msg )

protected

Adjust the tracking offsets of specified drive axes, and round them into the range -pi..pi.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Adjust the tracking offsets of specified drive axes, and round them into the range -pi..pi.

Input: msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::setSlewRate ( TrackerMsg * msg )

protected

Install new slew rates.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Install new slew rates.

Input: msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::slewTelescope ( TrackerMsg * msg )

protected

Arrange to slew the telescope to a given az,el,dk coordinate.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Arrange to slew the telescope to a given az,el,dk coordinate.

Input: msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::sourcePosition ( gcp::util::TimeVal & mjd )

protected

Compute the encoder positions and rates needed to track a given source at a given utc.

Parameters

mjd	int The day component of the MJD utc at which coordinates are required.
sec	int The MJD utc time of day, in seconds.

....................................................................... Compute the encoder positions and rates needed to track a given source at a given utc.

Input: mjd int The day component of the MJD utc at which coordinates are required. sec int The MJD utc time of day, in seconds.

void Tracker::sourcePosition	(	gcp::util::TimeVal &	mjd,
		Pointing &	thisTargetVal
	)

protected

....................................................................... Compute the encoder positions and rates needed to track a given source at a given utc.

Input: mjd int The day component of the MJD utc at which coordinates are required. target to modify sec int The MJD utc time of day, in seconds.

void Tracker::updateMountLimits ( )

protected

Update the mount-angle limits that correspond to revised values of model.{az,el,dk}.{per_turn,per_radian,zero,min,max}, and mark them as unarchived.

....................................................................... Update the mount-angle limits that correspond to revised values of model.{az,el,dk}.{per_turn,per_radian,zero,min,max}, and mark them as unarchived.

void Tracker::updatePmac	(	TimeVal &	mjd,
		AxisPositions *	current
	)

protected

....................................................................... This is a private function of Tracker::addTick() used to update the pmac on each one second tick when PmacBoard::isBusy() returns false.

Input:

mjd TimeVal& The Julian Date (utc). current AxisPositions* The current position of the telescope.

void Tracker::updateRefraction ( TrackerMsg * msg )

protected

Record new refraction coefficients received from the weather station task.

Parameters

msg	TrackerMsg* The message received on the AntennaDrive message queue.

....................................................................... Record new refraction coefficients received from the weather station task.

Input:

msg TrackerMsg* The message received on the Tracker message queue.

void Tracker::updateRefraction ( )

protected

....................................................................... Update the refraction

Member Data Documentation

gcp::util::TimeVal gcp::antenna::control::Tracker::currentTick_

protected

The time of the last time-code-reader interrupt

TrackerOffset gcp::antenna::control::Tracker::offset_

protected

The current mount tracking offsets

AntennaDrive* gcp::antenna::control::Tracker::parent_

protected

Pointer to the resources of the parent task.

bool gcp::antenna::control::Tracker::shutdownPending_

protected

True when a shutdown request has been received.

TrackerBoard* gcp::antenna::control::Tracker::tracker_

protected

A virtual board of tracker registers

The documentation for this class was generated from the following files:

gcpCbass/antenna/control/cbass/Tracker.h
gcpCbass/antenna/control/cbass/Tracker.cc

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation