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prsAH_GUIDE.C

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/*******************************************************************************
* E.S.O. - VLT project
*
* "@(#) $Id: prsAH_GUIDE.C 175780 2008-11-14 12:35:27Z landolfa $"
*
* who       when      what
* --------  --------  ----------------------------------------------
* gchiozzi  14/10/99  Removed FingGuideStar. FINDGS command obsolete.
* kwirenst  13/01/99  Delete the 'wait' before sending PRTOGS (not needed
*                     after change of preset sequence)
* kwirenst  03/01/99  Added method 'Stop'
* kwirenst  08/12/98  Changed waiting time for PRTOGS from 2 to 4 sec
* kwirenst  22/11/98  PrbToGuideStar: wait before sending PRTOGS to Auto Guide
* gchiozzi  02/01/98  PrbToGuideStar(): added test for guide star positioning request.
* nttmgr  07/12/96  Modified Preset() to send a setup command
* nttmgr    07/12/96  Added PrbToGuideStar() method
* gchiozzi  07/10/96  Fixed commands with new agwsControl.cdt
* gchiozzi  03/03/95  created
*/

/************************************************************************
*   NAME
*   
*   prsAH_GUIDE - prsAction program, class to comunicate with 
*                 Auto Guide module. Specialized subclasses cope with
*                 actual telescope's guide system (NTT or VLT)
*
*   SYNOPSIS
*   #include "prsAH_GUIDE.h"
*
*   class prsAH_GUIDE : public evhDB_CMD_SERIAL
*   {
*     public:
*       prsAH_GUIDE(const dbSYMADDRESS  dbPoint);
*      ~prsAH_GUIDE();
*
*      ccsCOMPL_STAT Preset(oslxSETUP &setup,
*                            evhDB_SEND_ID *sendId=NULL, 
*                            evhDB_SEND_ID waitId=0); 
*      ccsCOMPL_STAT PrbToGuideStar(oslxSETUP &setup,
*                            evhDB_SEND_ID *sendId=NULL, 
*                            evhDB_SEND_ID waitId=0); 
*      ccsCOMPL_STAT ObjectCenter(oslxSETUP &setup,
*                            evhDB_SEND_ID *sendId=NULL, 
*                            evhDB_SEND_ID waitId=0); 
*      ccsCOMPL_STAT Start(oslxSETUP &setup,
*                            evhDB_SEND_ID *sendId=NULL, 
*                            evhDB_SEND_ID waitId=0); 
*   }
*   
*   PARENT CLASS
*
*   evhDB_CMD_SERIAL
* 
*   DESCRIPTION
*
*   This class is used to send commands to Auto Guide system.
*   Commands are serialized, i.e. they are put in a queue and sent only
*   as soon as the previous one has been succesfully completed.
*   When it is created it registers the callbacks for the supported
*   commands and reads from the online database the configuration parameters.
*   Whenever one of these commands is received, the corresponding action is
*   issued.
*   
*
*   PUBLIC METHODS
*
*   prsAH_GUIDE(const dbSYMADDRESS  dbPoint)
*     
*     The constructor receives as parameter the symbolic address of
*     online database support point for the object, i.e. the point
*     where the object can find configuration and run time values. 
*
*   ~prsAH_GUIDE()
*
*   ccsCOMPL_STAT Preset(oslxSETUP &setup,
*                        evhDB_SEND_ID *sendId=NULL, 
*                        evhDB_SEND_ID waitId=0)
*     The preset method initialize the object for the call of following
*     methods.
*     In this case there is nothing to do. 
*     Sub-classes will implement the real behaviour.
*
*   ccsCOMPL_STAT PrbToGuideStar(oslxSETUP &setup,
*                               evhDB_SEND_ID *sendId=NULL, 
*                               evhDB_SEND_ID waitId=0)
*     This method request the Guide System move the probe to
*     a proper guide star
*
*   ccsCOMPL_STAT ObjectCenter(oslxSETUP &setup,
*                              evhDB_SEND_ID *sendId=NULL, 
*                              evhDB_SEND_ID waitId=0)
*     This method request the Guide System  to perform an object
*     centering on the target object.
*     It prepares the command OBJCNT and uses the inherited Send() method to
*     send the command to the target.
*     Target coordinates are converted in alpha/delta accessing the catalogues
*     if necessary (not implemented).
*
*
*   ccsCOMPL_STAT Start(oslxSETUP &setup,
*                       evhDB_SEND_ID *sendId=NULL, 
*                       evhDB_SEND_ID waitId=0)
*     This method request the Guide System  to start guiding
*     It prepares the command START and uses the inherited Send() method to
*     send the command to the target.
*
*   PUBLIC DATA MEMBERS
*
*
*   PROTECTED METHODS
*
*
*   PROTECTED DATA MEMBERS
*
*
*   PRIVATE METHODS
*
*
*   PRIVATE DATA MEMBERS
*
*   ON LINE DATABASE
*   The following database branch in the preset structure pertains
*   to the instance of prsAH_GUIDE:
*
*            CLASS evhDB_CMS_SERIAL prsAH_GUIDE
*            BEGIN                                              \\
*               ATTRIBUTE  bytes32  autoGuideCmdTarget          \\
*               ATTRIBUTE  bytes32  fieldStabCmdTarget          \\
*            END
*
*   FILES
*
*   ENVIRONMENT
*
*   COMMANDS
*
*   RETURN VALUES
*
*   CAUTIONS 
*   The format for the sent commands if not fully defined
*
*   EXAMPLES
*
*   SEE ALSO
*   evhDB_TASK(4) evhDB_CMD_SERIAL(4)
*
*   BUGS   
* 
*------------------------------------------------------------------------
*/

/******************************/
/***  IMPLEMENTATION NOTES  ***/
/******************************/

/*

*/

#define _POSIX_SOURCE 1
#include "vltPort.h"

#include <tcs.h>
tcsTCS_RCSID("@(#) $Id: prsAH_GUIDE.C 175780 2008-11-14 12:35:27Z landolfa $")

#include "prsAH_GUIDE.h"

/*****************************/
/***  METHODS DECLARATION  ***/
/*****************************/

//#+
/*                      */
/***  PUBLIC METHODS  ***/
/*                      */
//#-

//#+
prsAH_GUIDE::prsAH_GUIDE(const dbSYMADDRESS  dbPoint) :
    evhDB_CMD_SERIAL(dbPoint, evhDB_COMMAND_CLASS)
{

} /* end prsAH_GUIDE::prsAH_GUIDE() */
//#-


//#+
prsAH_GUIDE::~prsAH_GUIDE()
{

} /* end prsAH_GUIDE::~prsAH_GUIDE() */
//#-


//#+
ccsCOMPL_STAT prsAH_GUIDE::Preset(oslxSETUP &setup,
                              evhDB_SEND_ID *sendId, 
                              evhDB_SEND_ID waitId)
{
//#-
    ccsCOMPL_STAT stat = SUCCESS;
 
    ErrReset();

    eccsLOG_1(("prsAH_GUIDE::Preset")); 

    //#= A setup command must be sent to auto guiding
    //#= to set all te necessary parameters, like guide stars.
    if( Send(tcsSETUP_CMD, setup.SetupMsgBuf(),setup.SetupMsgBufLen(),
             sendId, waitId) == FAILURE)
      {
      ErrAdd(prsMOD,prsERR_SEND_COMMAND,__FILE_LINE__,
             Destination(),tcsSETUP_CMD,setup.SetupMsgBuf());
      errFlag(stat, FAILURE);
      }


    return stat;

//#+
} /* end prsAH_GUIDE::Preset() */
//#-


//#+
ccsCOMPL_STAT prsAH_GUIDE::PrbToGuideStar(oslxSETUP &setup,
                              evhDB_SEND_ID *sendId, 
                              evhDB_SEND_ID waitId)
{
//#-
    ccsCOMPL_STAT stat = SUCCESS;
 
    ErrReset();

    eccsLOG_1(("prsAH_GUIDE::PrbToGuideStar")); 

    vltDOUBLE  minMag = 0;
    vltDOUBLE  maxMag = 0;
    vltBYTES32 viglim = "";
    vltBYTES32 where = "";

    char  msgBuff[80];

    //#= Read from the setup file data the "where are guide stars" keyword
    if(setup.GetKeyword( 
          slxKEYW_NAME(prsSK_CATEGORY,prsSK_SUBS_AG,prsSK_GUIDESTAR))
                                                                  != SUCCESS)
        {
        ErrAdd(prsMOD,prsERR_ACCESS_SETUP,__FILE_LINE__);
        errFlag(stat,FAILURE);
        }
    else
        strcpy((char*)where, setup.CurrKeyword().String());

    //# Do nothing if probe setting should be disabled
    if (strcmp((char*)where,prsGSTAR_NONE)==0 )
        {
        /* No command has to be sent, this is just for sync */
        if( Send(msgNULL_CMD,"",strlen("")+1, sendId, waitId) == FAILURE)
            {
            ErrAdd(prsMOD,prsERR_SEND_COMMAND,__FILE_LINE__,
                   Destination(),"Dummy command","");
            errFlag(stat, FAILURE);
            }
        return stat;
        }

    //#= Read from the setup file data the minimum magnitude
    if(setup.GetKeyword( 
          slxKEYW_NAME(prsSK_CATEGORY,prsSK_SUBS_AG,prsSK_AGMINMAG))
                                                                  != SUCCESS)
        {
        ErrAdd(prsMOD,prsERR_ACCESS_SETUP,__FILE_LINE__);
        errFlag(stat,FAILURE);
        }
    else
        minMag = setup.CurrKeyword().Double();

    //#= Read from the setup file data the max magnitude
    if(setup.GetKeyword( 
          slxKEYW_NAME(prsSK_CATEGORY,prsSK_SUBS_AG,prsSK_AGMAXMAG))
                                                                  != SUCCESS)
        {
        ErrAdd(prsMOD,prsERR_ACCESS_SETUP,__FILE_LINE__);
        errFlag(stat,FAILURE);
        }
    else
        maxMag = setup.CurrKeyword().Double();

    //#= Read from the setup file data the vignetting limit
    if(setup.GetKeyword( 
          slxKEYW_NAME(prsSK_CATEGORY,prsSK_SUBS_AG,prsSK_AGVIGLIM))
                                                                  != SUCCESS)
        {
        ErrAdd(prsMOD,prsERR_ACCESS_SETUP,__FILE_LINE__);
        errFlag(stat,FAILURE);
        }
    else
        strcpy((char*)viglim, setup.CurrKeyword().String());


    //#= If everything is ok, creates the buffer
    if(stat == SUCCESS)
        {
        sprintf(msgBuff,"TRUE,%f,%f,%s",minMag,maxMag,viglim);

        eccsLOG_1(("prsAH_GUIDE::PrbToGuideStar: (%.40s)", msgBuff));

        //#= Send the command for a Probe to Guide Star to Auto Guide
        //#= Wait a little, to make sure the adapter has got the telescope preset command
        //#=        sleep(4);
        if(Send(agPRTOGS_CMD,msgBuff,strlen(msgBuff)+1, 
                sendId, waitId) == FAILURE)
            {
            ErrAdd(prsMOD,prsERR_SEND_COMMAND,__FILE_LINE__,
                   Destination(),agPRTOGS_CMD,setup.SetupMsgBuf());
            errFlag(stat, FAILURE);
            }
        }
    else
        eccsLOG_1(("prsAH_GUIDE::PrbToGuideStar: Error reading setup file"));
        
    return stat;

//#+
} /* end prsAH_GUIDE::PrbToGuideStar() */
//#-


//#+
ccsCOMPL_STAT prsAH_GUIDE::ObjectCenter(oslxSETUP &setup,
                              evhDB_SEND_ID *sendId, 
                              evhDB_SEND_ID waitId)
{
//#-
    //#= Command format uses default parameters
    const char *msgBuff = "";

    ccsCOMPL_STAT stat = SUCCESS;
 
    ErrReset();

    //#= Read from the setup file data the value of the OBJCNT flag
    if(setup.GetKeyword( 
          slxKEYW_NAME(prsSK_CATEGORY,prsSK_SUBS_AG,prsSK_OBJCNT)) 
                                                                  != SUCCESS)
        {
        eccsLOG_1(("prsAH_GUIDE::ObjectCenter: Error reading setup file"));
        ErrAdd(prsMOD,prsERR_ACCESS_SETUP,__FILE_LINE__);
        errFlag(stat, FAILURE);
        return stat;   // <<----- return point
        }

    eccsLOG_1(("prsAH_GUIDE::ObjectCenter: %s = %d (changed = %d,state = %d)", 
               slxKEYW_NAME(prsSK_CATEGORY,prsSK_SUBS_AG,prsSK_OBJCNT),
               setup.CurrKeyword().Logical(),
               setup.CurrKeywordChanged(),
               stat));

    if(setup.CurrKeyword().Logical() == TRUE)
        {
        if( Send(agOBJCNT_CMD,msgBuff,strlen(msgBuff)+1, sendId, waitId) 
                                                                == FAILURE)
            {
            ErrAdd(prsMOD,prsERR_SEND_COMMAND,__FILE_LINE__,
                   Destination(),agOBJCNT_CMD,msgBuff);
            errFlag(stat, FAILURE);
            }
        }
    else
        {
        /* No command has to be sent, this is just for sync */
        if( Send(msgNULL_CMD,"",strlen("")+1, sendId, waitId) == FAILURE)
            {
            ErrAdd(prsMOD,prsERR_SEND_COMMAND,__FILE_LINE__,
                   Destination(),"Dummy command","");
            errFlag(stat, FAILURE);
            }
        }

    return stat;

//#+
} /* end prsAH_GUIDE::ObjectCenter() */
//#-


ccsCOMPL_STAT prsAH_GUIDE::Start(oslxSETUP &setup,
                              evhDB_SEND_ID *sendId, 
                              evhDB_SEND_ID waitId)
{
    //#= No data in the command buffer (uses default values)
    const char *msgBuff = "";

    ccsCOMPL_STAT stat = SUCCESS;

    const char *startKeyword = 
        slxKEYW_NAME(prsSK_CATEGORY,prsSK_SUBS_AG,prsSK_START);
 
    ErrReset();

    //#= Send the command for a Focus Correction to active
    //#= optics. The parameters for the command are not defined yet
    eccsLOG_1(("prsAH_GUIDE::Start")); 

    //#= Read from the setup file data the value of the START flag
    //#= This is a special case: the keyword where to find if the
    //#= module must be started is prepared internally by Preset.
    //#= This allows for different type of guiding, selected in Preset
    //#= (like Auto Giode and Field Stabilization)
    if(setup.GetKeyword(startKeyword) != SUCCESS)
        {
        eccsLOG_1(("prsAH_GUIDE::Start: Error reading setup file")); 
        ErrAdd(prsMOD,prsERR_ACCESS_SETUP,__FILE_LINE__);
        errFlag(stat, FAILURE);
        return stat;       //   <<---- return point
        }

    eccsLOG_1(("prsAH_GUIDE::Start: %s = %d (changed = %d,state = %d)", 
               startKeyword,
               setup.CurrKeyword().Logical(),
               setup.CurrKeywordChanged(),
               stat));

    if(setup.CurrKeyword().Logical() == TRUE)
        {
        if( Send(agSTART_CMD,msgBuff,strlen(msgBuff)+1, sendId, waitId) 
                                                                  == FAILURE)
            {
            ErrAdd(prsMOD,prsERR_SEND_COMMAND,__FILE_LINE__,
                   Destination(),agSTART_CMD,msgBuff);
            errFlag(stat, FAILURE);
            }
        }
    else
        {
        /* No command has to be sent, this is just for sync */
        if( Send(msgNULL_CMD,"",strlen("")+1, sendId, waitId) == FAILURE)
            {
            ErrAdd(prsMOD,prsERR_SEND_COMMAND,__FILE_LINE__,
                   Destination(),"Dummy command","");
            errFlag(stat, FAILURE);
            }
        }

    return stat;

} /* end prsAH_GUIDE::Start() */

ccsCOMPL_STAT prsAH_GUIDE::Stop(evhDB_SEND_ID *sendId, 
                              evhDB_SEND_ID waitId)
{
    //#= No data in the command buffer 
    const char *msgBuff = "";

    ccsCOMPL_STAT stat = SUCCESS;
 
    ErrReset();

    eccsLOG_1(("prsAH_GUIDE::Stop")); 

    if( Send(agSTOP_CMD,msgBuff,strlen(msgBuff)+1, sendId, waitId) 
                                                                  == FAILURE)
         {
         ErrAdd(prsMOD,prsERR_SEND_COMMAND,__FILE_LINE__,
                Destination(),agSTOP_CMD,msgBuff);
         errFlag(stat, FAILURE);
         }

    return stat;

} /* end prsAH_GUIDE::Stop() */


/*                         */
/***  PROTECTED METHODS  ***/
/*                         */

---