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agInternal.h

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/*******************************************************************************
* E.S.O. - VLT project
*
* "@(#) $Id: agInternal.h,v 1.98 2003/11/11 14:58:39 vltsccm Exp $"
*
* who       when      what
* --------  --------  ----------------------------------------------
* rkarban 2002-02-11 move GetAgId to ag.h
* gchiozzi 2000-11-03 Added errCloseStack() to asTASK_ERROR_RETURN
* tcsmgr2 1999-12-01 Added meanLen to agGUIDE_CONFIG
* tphan     22/03/99  Added pack/unpack to db macros
* gchiozzi  24/02/99  Fixed bug in error macros
* gchiozzi  19/02/99  Removed possibility of writing to logFile (spr 990011)
* tcsmgr  17/10/98  Added handling of SETCVB command
* gchiozzi  01/10/98  Removed piiAlphaOld and piiDeltaOld values. Now they are inside the PII struct
* gchiozzi  30/09/98  Added maxIpFailure
* tcsmgr  17/09/98  Added database definitions for ccdip checking configuration.
* rkarban  05/08/98  add intensity to LAST_CORRECTTION structure
* tcsmgr   12/05/98  Changed times from UINT32 to FLOAT to allow showing also msec 
* tcsmgr  10/05/98  Added starting loop time in statData
* tcsmgr  10/05/98  Added timestamps in lastCorrection
* gchiozzi  09/05/98  Changed priority of agGuiding task from 95 to 25.
* gchiozzi  08/05/98  Added freq attribute in stat data.
* gchiozzi  07/05/98  Grouped guide configuration parameters in one structure.
* gchiozzi  24/04/98  Remove agReplyMode. It is the only mode now.
* rkarban  23/04/98  add member "data" to agGLOBAL
* gchiozzi  23/04/98  Removed errorVectorReady. Not used any more.
* gchiozzi  23/04/98  Removed agUfUsed. Not used any more.
* gchiozzi  22/04/98  Removed agEventMode. Not supported any more. Only semaphore triggering used.
* gchiozzi  20/04/98  Moved global variables allocation in ag.c
* gchiozzi  20/04/98  Replaced lccMODULE_ID with agMOD  in logData and errAdd.
* gchiozzi  31/03/98  Removed root point state attribute. Uses only std.state.
* A.Wallan  13/01/94  First version
* A.Wallan  01/03/96  cmm and new standards
* tphan     10/03/96  Adapted for ag
* awalland  13/12/96  Added variables for PII controller
* tphan     20/01/98  Increased stack size from 40000 to 60000
*/

/************************************************************************
*   NAME
*   
* 
*   SYNOPSIS
*   
* 
*   DESCRIPTION
*
*   FILES
*
*   ENVIRONMENT
*
*   COMMANDS
*
*   RETURN VALUES
*
*   CAUTIONS 
*
*   EXAMPLES
*
*   SEE ALSO
*
*   BUGS   
* 
*------------------------------------------------------------------------
*/

#ifndef AG_INTERNAL_H
#define AG_INTERNAL_H

/*
 * Object ag - Internal Definitions File
 */
#define agRMS_TBL_SIZE            10

/*
 * ag
 */

/*
 * Constants
 */


#define lccMODULE_ID          "ag"       /* LCC ID for the Auto Guide module */ 
#define agMOD             "ag"       /* Name of the module               */
#define agLOG_ID              111        /* log Id for ag TBD               */

/*
 * Task spawn parameters for agServer
 */
 
#define agSERVER_NAME         "agServer"  /* Name of the command interpreter */
                                          /* commands to ag LCU              */
#define agSERVER_PRIORITY 80
#define agSERVER_OPTIONS  VX_FP_TASK
#define agSERVER_STACK    60000
  
/*
 * Task spawn parameters for ag Guiding task
 */
 
#define agTASK_NAME   "agGuiding"
#define agTASK_PRIORITY   25
#define agTASK_OPTIONS    VX_FP_TASK
#define agTASK_STACK    60000
  
  
#define agTIMEOUT   (5*TEN_MSEC)
#define agTIMEOUT_TRK   (10*ONE_SEC)    /* 10 seconds for msgSetFilter*/


/*
 * Types
 */
typedef struct
{
    vltDOUBLE x[agRMS_TBL_SIZE];
    vltDOUBLE y[agRMS_TBL_SIZE];
} agRMS_TBL;

typedef struct
{
    vltINT32  nbrErrorVectors;
    vltINT32  nbrUsedErrorVectors;
    vltUINT32   startTime;      /* Time (sec)  of start of loop (start of first wipe) */
    vltUINT32   startTimeUsec;  /* Time (usec) of start of loop (start of first wipe) */
    vltDOUBLE   freq;
    vltINT32  errorTypeEncountered;
    vltDOUBLE errRaRms;    /* Rms of x-component of error vector over time (all images) */
    vltDOUBLE errDeclRms;  /* Rms of y-component of error vector over time (all images) */
} agSTAT_DATA;

/*
 * This structure contins all data necessary
 * to fully characterize exsposure and processing performances.
 * all times are expressed in ms
 *      wipeStart    is the time of the wipe start with
 *                   respect to the wipeStart of the previous iteration
 *      wipeTime     is the time used for the wipe
 *      expTime      is the actual exposure time
 *      readTime     is the actual readout time
 *      procTime     is the time spent in the CCD and ag/fs processes
 *                   to process data up to the send of corrections
 *      totalTime    sum of all previous time intervals  
 */
typedef struct
{
    vltFLOAT  wipeStart;
    vltFLOAT  wipeTime; 
    vltFLOAT  expTime;  
    vltFLOAT  readTime;   
    vltFLOAT  procTime;   
    vltFLOAT  totalTime;  
 
    vltDOUBLE deltaRa;   /* ra(alpha) component of error vector in arcsec */
    vltDOUBLE deltaDecl; /* decl (delta) component of error vector in arcsec */
    vltDOUBLE errRa;    /* x component of error vector in pixel */
    vltDOUBLE errDecl;  /* y component of error vector in pixel */

    vltDOUBLE xFWHM;
    vltDOUBLE yFWHM;
    vltDOUBLE xRms; /* Rms of x over the integration time of the last image */
    vltDOUBLE yRms; /* Rms of y over the integration time of the last image */

    vltDOUBLE   intensity; 
} agLAST_CORRECTION;


typedef struct
{
    char    conversionFuncName[64];
    char    sendOffsetFuncName[64];

    FUNCPTR   conversionFuncPtr;
    FUNCPTR   sendOffsetFuncPtr;

    vltDOUBLE   sendFreq;   /* used sendPeriodMsec instead */
    vltINT32    sendPeriodMsec;
    vltINT32    errorVectorValues;
    vltINT32    meanLen;
    vltDOUBLE   errorVectorMin;
    vltDOUBLE   offsetMax;
    vltINT32    maxIpFailure;

    ccdipCVBUF          cvb;
    vltINT32            rejectionLimit;

    agPII               pii;
    agPII_HISTORY       piiAlpha;
    agPII_HISTORY       piiDelta;
    
} agGUIDE_CONFIG;


typedef struct
{
    char    ccdName[64];
    dbSYMADDRESS  dbRoot;
    
    /* DB */
    vltINT32    trkAxisListUsed;
    agTRK_AXIS_LIST trkAxisList;
    
    agLAST_CORRECTION lastCorrection;
    agSTAT_DATA   statData;
    
    vltINT32    guidingActive;
    vltINT32    guidingNullCorr;
    vltINT32    guidingNonFatalErrorCtr;
    ccsERROR    guidingErrorStack;

    /* Guide configuration */
    agGUIDE_CONFIG      config;

    /* control */
    SEM_ID    mutexSem;
    
    vltLOGICAL    simulation;
    
    /* For Frequency of offset msg */
    vltINT32    evtAccumulatedForMsgCtr;
    agERROR_VECTOR  errorAccumulatedForMsg;
    
    /* For Periodic replies */
    vltINT32    replyCtr;
    agOFFSET    offsetAccumulatedForReply;
    
    /* For CCD database */
    dbDIRADDRESS  ipXCenDirAddr;
    dbDIRADDRESS  ipYCenDirAddr;

    /* For User function database */
    
    vltDOUBLE   xPixelSize;
    vltDOUBLE   yPixelSize;
    
    SEM_ID              errorVectorSynchroSem;
    
    vltDOUBLE   imageScale;   /* to be tuned */
    vltINT32    focusType;
                                                /* In different foci, the  different
               number of mirrors, and so of reflections, 
               accounts for different signs in the
               conversion from (X,Y) to (alpha,delta)
               This is done in agConversion()
             */

    
    /* cai tables for DB access */
    char    *attrVector;
    char                *configVector;

    void                *data; /* general purpose pointer to extend the structure */
    
} agGLOBAL;


/*
 * Global data (allocated in ag.c)
 */
extern char agVersion[];

extern char agRecCmdStr[];
extern char agExeCmdStr[];

extern agGLOBAL  agGlobal;
extern agGLOBAL *agGlobalPtr;

extern agCcdipAGBUF agUfBuff;

extern agRMS_TBL  agRmsCorrectionTbl;
extern agRMS_TBL  agRmsErrorVectorTbl;

/*
 * CCS Macro
 */
#define agREGISTER_CCS()                      \
{                                             \
    char vxProcName[6];                       \
    ccsPROCNAME ccsProcName;                  \
                                              \
/*                                            \
 * get first 5 chars of vx procname and       \
 * mangle with taskId to get unique           \
 * ccs proc name                              \
 */                                           \
    strncpy(vxProcName,taskName(taskIdSelf()),5);                \
    vxProcName[5] = 0;                                           \
    sprintf(ccsProcName,"%s%x",vxProcName,taskIdSelf());         \
    if (ccsInit(ccsProcName,0,NULL,NULL,error) != SUCCESS)       \
        return FAILURE;                                          \
}

#define agEXIT_CCS()            \
{                               \
    ccsERROR     error2;        \
                                \
    errResetStack(&error2);     \
    ccsExit(&error2);           \
}

/*
 * Misc macro
 */
#define agVERBOSE_CMD(str) \
{ \
    if (lcuVerbose(msg, str, error) != SUCCESS) \
        return FAILURE; \
}

/* Macro to compensate "bug" in lcc.
 * When a function returns a FAILURE without any errAdd, i.e. errorNumber null,
 * instead of an expected Error reply, no reply is sent back to the sender of
 * the command 
 */
#define agCHECK_FAILURE \
{ \
    if ((status == FAILURE) && (error->errorNumber == 0))\
        agERROR_ADD(agERR_INTERNAL, "%s", \
        "Known lcc bug: return FAILURE but errorNumber still 0"); \
}

/*
 * error macro
 */
#ifdef __FILE_LINE__
#undef __FILE_LINE__
#endif

#define _ag_tostr(a) #a
#define _ag_tostr_pass2(a) _ag_tostr(a)

#define __FILE_LINE__   __FILE__ "(" _ag_tostr_pass2(__LINE__) ")"

#define agERROR_ADD(errNum,format,args...) \
    { \
    /*printf("ERROR_ADD %s(%d): ",__FILE__,__LINE__);*/\
    /*printf(format, ##args);*/ \
    /*printf("\n");*/ \
    errAdd(error,agMOD,errNum,__FILE_LINE__,NULL,##args); \
    }                                                             
 
#define agERROR_RETURN(errNum,format,args...) \
    { \
    printf("ERROR_RETURN %s(%d): ",__FILE__,__LINE__);\
    printf(format, ##args); \
    printf("\n"); \
    errAdd(error,agMOD,errNum,__FILE_LINE__,NULL,##args); \
    return FAILURE; \
    }                                                             
  
#define agTASK_ERROR_RETURN(errNum,format,args...) \
    { \
    ptr->statData.errorTypeEncountered = errNum; \
    printf("ERROR_RETURN %s(%d): ",__FILE__,__LINE__);\
    printf(format, ##args); \
    printf("\n"); \
    errAdd(error,agMOD,errNum,__FILE_LINE__,NULL,##args); \
    errCloseStack(error); \
    return FAILURE; \
    }                                                             
  

#define agTASK_ERROR_RETURN_NC(errNum,format,args...) \
    { \
    ptr->statData.errorTypeEncountered = errNum; \
    printf("ERROR_RETURN %s(%d): ",__FILE__,__LINE__);\
    printf(format, ##args); \
    printf("\n"); \
    errAdd(error,agMOD,errNum,__FILE_LINE__,NULL,##args); \
    semGive(*syncSem); \
    return FAILURE; \
    }                                                             
/*
 * DB macro
 */
#define agMEMCPY(s) \
{ \
    memcpy(ptr,&s,sizeof s); ptr += sizeof s; \
}

#define agDBWRITE_STAT() \
{                                             \
    char bStream[sizeof(agSTAT_DATA)]; \
    char *ptr = bStream; \
    \
    agMEMCPY(agGlobalPtr->statData.nbrErrorVectors); \
    agMEMCPY(agGlobalPtr->statData.nbrUsedErrorVectors); \
    agMEMCPY(agGlobalPtr->statData.startTime); \
    agMEMCPY(agGlobalPtr->statData.startTimeUsec); \
    agMEMCPY(agGlobalPtr->statData.freq); \
    agMEMCPY(agGlobalPtr->statData.errorTypeEncountered); \
    agMEMCPY(agGlobalPtr->statData.errRaRms); \
    agMEMCPY(agGlobalPtr->statData.errDeclRms); \
    \
    if (caiWriteTable(agGlobalPtr->attrVector, agDB_STAT_DATA, \
        (void *)bStream, 0, 0, -1,-1, error) != SUCCESS) \
        agERROR_RETURN(agERR_DBWRITE,"%s", "caiWriteTable Statistic");\
}

#define agDBWRITE_LAST_CORRECTION() \
{                                             \
    char bStream[sizeof(agLAST_CORRECTION)]; \
    char *ptr = bStream; \
    \
    agMEMCPY(agGlobalPtr->lastCorrection.wipeStart); \
    agMEMCPY(agGlobalPtr->lastCorrection.wipeTime); \
    agMEMCPY(agGlobalPtr->lastCorrection.expTime); \
    agMEMCPY(agGlobalPtr->lastCorrection.readTime); \
    agMEMCPY(agGlobalPtr->lastCorrection.procTime); \
    agMEMCPY(agGlobalPtr->lastCorrection.totalTime); \
    agMEMCPY(agGlobalPtr->lastCorrection.deltaRa); \
    agMEMCPY(agGlobalPtr->lastCorrection.deltaDecl); \
    agMEMCPY(agGlobalPtr->lastCorrection.errRa); \
    agMEMCPY(agGlobalPtr->lastCorrection.errDecl); \
    agMEMCPY(agGlobalPtr->lastCorrection.xFWHM); \
    agMEMCPY(agGlobalPtr->lastCorrection.yFWHM); \
    agMEMCPY(agGlobalPtr->lastCorrection.xRms); \
    agMEMCPY(agGlobalPtr->lastCorrection.yRms); \
    agMEMCPY(agGlobalPtr->lastCorrection.intensity); \
    \
    if (caiWriteTable(agGlobalPtr->attrVector, agDB_LAST_CORRECTION, \
        (void *)bStream, 0, 0, -1,-1, error) != SUCCESS) \
        agERROR_RETURN(agERR_DBWRITE,"%s", "caiWriteTable Last Correction");\
}

/*
 * mutex semaphore macro
 */
#define MUTEX_ENTER \
{ \
if(semTake(agGlobalPtr->mutexSem, 1) != OK) \
    { \
    agERROR_RETURN(agERR_VXWORKS, "Take Semaphore %d", errnoGet()) \
    }  \
}

#define MUTEX_EXIT \
{ \
if(semGive(agGlobalPtr->mutexSem) != OK) \
    agERROR_RETURN(agERR_VXWORKS, "Give Semaphore %d", errnoGet()) \
}


/*
 * Function prototypes
 */ 
 
ccsCOMPL_STAT agStdOff (
  IN  const char *moduleId,
  OUT ccsERROR *error);
 

/*
 * agDbReadConfig.c
 */

ccsCOMPL_STAT agDbReadConfig (
  OUT agGLOBAL  *ptr,
  OUT ccsERROR    *error);

ccsCOMPL_STAT agDbReadConfigParams (
  IN  char            *configVector,
  OUT agGUIDE_CONFIG  *config,
  OUT ccsERROR        *error);

ccsCOMPL_STAT agDbReadErrVecParams (IN  char            *configVector,
            OUT agGUIDE_CONFIG  *config,
            OUT ccsERROR        *error);

ccsCOMPL_STAT agDbWriteErrVecParams (OUT  char          *configVector,
             OUT agGUIDE_CONFIG *config,
             OUT ccsERROR        *error);
/*
 *
 */
ccsCOMPL_STAT agWaitErrorVector (
  OUT vltLOGICAL    *newErrorVector,
  OUT ccsERROR    *error
  );
ccsCOMPL_STAT agExitErrorVectorHook (
  OUT ccsERROR    *error
  );
ccsCOMPL_STAT agInitErrorVectorHook (
  OUT ccsERROR    *error
  );

ccsCOMPL_STAT agStdGetState(
    OUT lccDEV_MODE *agState,
    OUT ccsERROR    *error
            );
ccsCOMPL_STAT agStdSetState(
                IN  lccDEV_MODE  agState,
    OUT ccsERROR     *error
            );
/*
 * agGuidingTask.c
 */
ccsCOMPL_STAT agGuidingTaskLoop (IN  agGLOBAL   *ptr,
         OUT ccsERROR *error);

ccsCOMPL_STAT agGuidingTask (IN   SEM_ID         *syncSem,
           OUT  ccsCOMPL_STAT  *initStatus,
           IN   vltDOUBLE  *rotAngle,
           IN   agGLOBAL   *ptr);
/*
 * agSendPeriodicReply.c
 */
ccsCOMPL_STAT agSendPeriodicReply (
      IN  msgMSG  *msg,
  IN  vltDOUBLE repFrq,
  OUT ccsERROR  *error);

/*
 * agDbWriteGuidingActive.c
 */
ccsCOMPL_STAT agDbWriteGuidingActive (
  OUT vltINT32  active,
  OUT ccsERROR    *error
  );

/*
 * agDbReadRotAngle.c
 */
ccsCOMPL_STAT agDbWriteRotAngle (OUT vltDOUBLE  rotAngle,
         OUT ccsERROR   *error);

/*
 * agDbRWPIIParams.c
 */

ccsCOMPL_STAT agDbReadPIIParams (IN  char      *configVector,
         OUT agPII     *pii,
         OUT ccsERROR  *error);
  
ccsCOMPL_STAT agDbWritePIIParams (IN  char      *configVector,
          IN  agPII *pii,
          OUT ccsERROR  *error);

/*
 * agConfigPIIParams.c
 */

ccsCOMPL_STAT agConfigPIIParams ( IN  agPII_CMD   *pii,
          OUT ccsERROR    *error);
  
/*
 * agDbRWCcdipParams.c
 */

ccsCOMPL_STAT agDbReadCcdipParams (IN  char       *configVector,
           OUT ccdipCVBUF *cvb,
           OUT vltINT32   *pRejectionLimit,
           OUT ccsERROR   *error);

ccsCOMPL_STAT agDbWriteCcdipParams (IN  char       *configVector,
            IN  ccdipCVBUF *cvb,
            IN  vltINT32    rejectionLimit,
            OUT ccsERROR   *error);

/*
 * agConfigCcdipParams.c
 */

ccsCOMPL_STAT agConfigCcdipParams ( IN  ccdipCVBUF *cvb,
            IN  vltINT32    rejectionLimit,
            OUT ccsERROR   *error);
  
/*
 * agConfig.c
 */
/* GCH - 30/11/1999
 * Here also the meanLen should be handled.
 * We do not do it now, since we do now want yet to modify the CONFIG command
 * adding a new parameter.
 */
ccsCOMPL_STAT agConfig (
  IN  vltDOUBLE errorVectorMin,
  IN  vltDOUBLE offsetMax,
  IN  vltDOUBLE sendFreq,
  IN  vltINT32  errorVectorValues,
  OUT ccsERROR  *error);

#endif /* !AG_INTERNAL_H */

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