Implements flexure compensation

Config/flexured.cfg.in

@@ -4,7 +4,6 @@
 LOGPATH=/data/logs/               # where to write logs
 BLKPORT=@FLEXURED_BLK_PORT@       # slitd server blocking port
 NBPORT=@FLEXURED_NB_PORT@         # slitd server non-blocking port
-DAEMON=no                         # run as daemon?
 ASYNCPORT=@MESSAGEPORT@           # asynchronous message port
 ASYNCGROUP=239.1.1.234            # asynchronous message broadcast group
 
@@ -19,6 +18,31 @@ SUB_ENDPOINT="tcp://127.0.0.1:@MESSAGE_BROKER_PUB_PORT@"
 #
 EMULATOR_PORT=@FLEXURED_EMULATOR@
 
+# COLLIMATOR_POSITION
+# <chan> <axis> <a> <b> <c>
+#
+POSITION_COEFFICIENTS=(U X 20.962529 -0.037965 1.016758)
+POSITION_COEFFICIENTS=(U Y 0.110335 19.866173 -0.209023)
+POSITION_COEFFICIENTS=(G X 20.092616 0.202743 -0.028325)
+POSITION_COEFFICIENTS=(G Y 0.697003 -21.372195 -1.078488)
+POSITION_COEFFICIENTS=(R X -19.342549 -0.139683 0.497744)
+POSITION_COEFFICIENTS=(R Y 0.173243 20.487537 0.611772)
+POSITION_COEFFICIENTS=(I X -21.177322 0.205141 -0.492189)
+POSITION_COEFFICIENTS=(I Y -0.049052 -22.605129 0.141980)
+
+# FLEXURE_POLYNOMIALS
+# <chan> <axis> < ... > (expected 20 values)
+#
+FLEXURE_POLYNOMIALS=( I X -0.010050 -0.453673 3.922206 -5.996148 3.412802 0.005490 -3.205597 -0.720826 -0.054873 -0.071945 1.848058 -10.817125 25.420519 -25.960362 9.732404 -0.012039 -0.126167 0.450766 -0.302394 0.000000 )
+FLEXURE_POLYNOMIALS=( I Y 0.002736 0.336990 -6.849322 13.060501 -9.703479 0.056297 -1.168824 2.917605 -7.729839 4.986293 2.292288 -2.011299 0.629802 0.000000 0.000000 -0.138345 0.195320 -0.032475 0.000000 0.000000 )
+FLEXURE_POLYNOMIALS=( R X -0.009290 -0.538726 0.119516 0.000000 0.000000 0.031857 1.486486 7.743371 -14.374896 9.870450 2.157921 -7.554184 15.041910 -11.824859 2.810760 -0.028081 0.116145 1.275392 -4.032078 2.742630 )
+FLEXURE_POLYNOMIALS=( R Y 0.051850 -4.060014 24.799761 -43.279609 27.854001 0.069700 -0.253810 9.387602 -17.881394 11.001366 1.091908 3.470392 -22.509011 39.129797 -21.486402 0.063973 -1.368978 7.417551 -14.718536 9.557388 )
+FLEXURE_POLYNOMIALS=( G X 0.029701 1.331934 -8.949185 10.074266 -3.794059 0.111452 -1.386185 7.325222 -4.590153 -0.796477 1.074222 3.459916 -6.013151 3.162186 0.000000 0.115437 -0.885630 0.680245 0.000000 0.000000 )
+FLEXURE_POLYNOMIALS=( G Y 0.023484 0.327449 -6.305071 6.915979 -3.185265 0.043076 -0.308662 8.331641 -9.886829 3.006096 4.718045 -27.106506 74.046080 -84.281823 34.303818 0.004524 -1.747392 9.720284 -19.590870 12.067846 )
+FLEXURE_POLYNOMIALS=( U X 0.029929 -2.366930 2.843202 0.000000 0.000000 0.021643 0.446831 11.575399 -13.130549 5.162279 0.712767 -0.519063 0.220622 0.000000 0.000000 0.017301 2.682137 -10.738551 15.776922 -7.607582 )
+FLEXURE_POLYNOMIALS=( U Y 0.003026 -0.103969 3.620296 -6.585365 4.795205 0.010984 -3.756635 0.463073 -0.858354 0.000000 0.977025 -11.541444 30.074095 -32.763652 12.876655 -0.020034 0.126004 0.000000 0.000000 0.000000 )
+
+
 # For each actuator's controller specify:
 # MOTOR_CONTROLLER="<name> <host> <port> <addr> <axes>"
 #   <name>  name of controller
@@ -42,12 +66,12 @@ MOTOR_CONTROLLER="I @IP_FLEXURE_I@ 50000 1 3"
 #      3 = Y = spatial
 #
 MOTOR_AXIS="U 1    25  225 0 na 100.0"
-MOTOR_AXIS="U 2 -1000 1000 0 na 0.0"
-MOTOR_AXIS="U 3 -1000 1000 0 na 0.0"
+MOTOR_AXIS="U 2 -1000 1000 0 na   0.0"
+MOTOR_AXIS="U 3 -1000 1000 0 na   0.0"
 
 MOTOR_AXIS="G 1    25  225 0 na 100.0"
-MOTOR_AXIS="G 2 -1000 1000 0 na 0.0"
-MOTOR_AXIS="G 3 -1000 1000 0 na 0.0"
+MOTOR_AXIS="G 2 -1000 1000 0 na   0.0"
+MOTOR_AXIS="G 3 -1000 1000 0 na   0.0"
 
 MOTOR_AXIS="R 1    25  225 0 na 100.0"
 MOTOR_AXIS="R 2 -1000 1000 0 na   0.0"

acamd/acam_interface.cpp

@@ -1621,17 +1621,17 @@ namespace Acam {
 
     // extract and store values in the class
     //
-    Common::extract_telemetry_value( jmessage, "TCSNAME",           tcsdata.tcsname );
-    Common::extract_telemetry_value( jmessage, "ISOPEN",            tcsdata.is_tcs_open );
+    Common::extract_telemetry_value( jmessage, Key::Tcsd::TCSNAME,  tcsdata.tcsname );
+    Common::extract_telemetry_value( jmessage, Key::Tcsd::ISOPEN,   tcsdata.is_tcs_open );
     Common::extract_telemetry_value( jmessage, Key::Tcsd::CASANGLE, tcsdata.angle_scope );
     Common::extract_telemetry_value( jmessage, Key::Tcsd::TELRA,    tcsdata.ra_scope_hms );
     Common::extract_telemetry_value( jmessage, Key::Tcsd::TELDEC,   tcsdata.dec_scope_dms );
-    Common::extract_telemetry_value( jmessage, "RA",                tcsdata.ra_scope_h );
-    Common::extract_telemetry_value( jmessage, "DEC",               tcsdata.dec_scope_d );
-    Common::extract_telemetry_value( jmessage, "RAOFFSET",          tcsdata.offsetra );
-    Common::extract_telemetry_value( jmessage, "DECLOFFS",          tcsdata.offsetdec );
+    Common::extract_telemetry_value( jmessage, Key::Tcsd::TELRA_H,  tcsdata.ra_scope_h );
+    Common::extract_telemetry_value( jmessage, Key::Tcsd::TELDEC_D, tcsdata.dec_scope_d );
+    Common::extract_telemetry_value( jmessage, Key::Tcsd::RAOFFSET, tcsdata.offsetra );
+    Common::extract_telemetry_value( jmessage, Key::Tcsd::DECLOFFS, tcsdata.offsetdec );
     Common::extract_telemetry_value( jmessage, Key::Tcsd::AZ,       tcsdata.az );
-    Common::extract_telemetry_value( jmessage, "TELFOCUS",          tcsdata.telfocus );
+    Common::extract_telemetry_value( jmessage, Key::Tcsd::TELFOCUS, tcsdata.telfocus );
     Common::extract_telemetry_value( jmessage, Key::Tcsd::AIRMASS,  tcsdata.airmass );
 
     // save them to the database

camerad/astrocam.cpp

@@ -2805,6 +2805,10 @@ namespace AstroCam {
 
     Common::Header telem;
 
+    // Helper function adds all keys from a table.
+    // The tables are defined in fits_header_defs.h and contain extension
+    // channel name (as appropriate), keyword, value, comment, and type.
+    //
     auto add = [&]( const std::string &topic, const auto &keytable ) {
       auto it = this->live_telemetry.find( topic );
       if ( it != this->live_telemetry.end() ) add_cached_telem( telem, it->second, keytable );

common/common.h

@@ -7,7 +7,9 @@
 
 #pragma once
 
+#include <cstddef>
 #include <climits>
+#include <cstddef>
 #include <sstream>
 #include <queue>
 #include <string>
@@ -233,6 +235,13 @@ namespace Common {
           iface.subscriber_topics.push_back(topic);
         }
 
+        // check subscriber initialization (this would be a programming error)
+        //
+        if (!iface.subscriber) {
+          logwrite(function, "ERROR subscriber object is not initialized");
+          return ERROR;
+        }
+
         try {
           // connect to the message broker and wait for connection to establish
           //

common/fits_header_defs.h

@@ -45,18 +45,18 @@ namespace FitsHeaderKeys {
   };
 
   const Extension FlexureInfoKeys[] = {
-    { "I", Key::Flexured::FLXSPE_I.c_str(), "FLXSPE", "I flexure spectral axis 2 (X) in um", "" },
-    { "I", Key::Flexured::FLXSPA_I.c_str(), "FLXSPA", "I flexure spatial axis 3 (Y) in um", "" },
-    { "I", Key::Flexured::FLXPIS_I.c_str(), "FLXPIS", "I flexure piston axis 1 (Z) in um", "" },
-    { "R", Key::Flexured::FLXSPE_R.c_str(), "FLXSPE", "R flexure spectral axis 2 (X) in um", "" },
-    { "R", Key::Flexured::FLXSPA_R.c_str(), "FLXSPA", "R flexure spatial axis 3 (Y) in um", "" },
-    { "R", Key::Flexured::FLXPIS_R.c_str(), "FLXPIS", "R flexure piston axis 1 (Z) in um", "" },
-    { "G", Key::Flexured::FLXSPE_G.c_str(), "FLXSPE", "G flexure spectral axis 2 (X) in um", "" },
-    { "G", Key::Flexured::FLXSPA_G.c_str(), "FLXSPA", "G flexure spatial axis 3 (Y) in um", "" },
-    { "G", Key::Flexured::FLXPIS_G.c_str(), "FLXPIS", "G flexure piston axis 1 (Z) in um", "" },
-    { "U", Key::Flexured::FLXSPE_U.c_str(), "FLXSPE", "U flexure spectral axis 2 (X) in um", "" },
-    { "U", Key::Flexured::FLXSPA_U.c_str(), "FLXSPA", "U flexure spatial axis 3 (Y) in um", "" },
-    { "U", Key::Flexured::FLXPIS_U.c_str(), "FLXPIS", "U flexure piston axis 1 (Z) in um", "" }
+    { "I", Key::Flexured::FLEX_X_I.c_str(), "FLEX_X", "I flexure axis 2 (X) in um", "" },
+    { "I", Key::Flexured::FLEX_Y_I.c_str(), "FLEX_Y", "I flexure axis 3 (Y) in um", "" },
+    { "I", Key::Flexured::FLEX_Z_I.c_str(), "FLEX_Z", "I flexure axis 1 (Z) in um", "" },
+    { "R", Key::Flexured::FLEX_X_R.c_str(), "FLEX_X", "R flexure axis 2 (X) in um", "" },
+    { "R", Key::Flexured::FLEX_Y_R.c_str(), "FLEX_Y", "R flexure axis 3 (Y) in um", "" },
+    { "R", Key::Flexured::FLEX_Z_R.c_str(), "FLEX_Z", "R flexure axis 1 (Z) in um", "" },
+    { "G", Key::Flexured::FLEX_X_G.c_str(), "FLEX_X", "G flexure axis 2 (X) in um", "" },
+    { "G", Key::Flexured::FLEX_Y_G.c_str(), "FLEX_Y", "G flexure axis 3 (Y) in um", "" },
+    { "G", Key::Flexured::FLEX_Z_G.c_str(), "FLEX_Z", "G flexure axis 1 (Z) in um", "" },
+    { "U", Key::Flexured::FLEX_X_U.c_str(), "FLEX_X", "U flexure axis 2 (X) in um", "" },
+    { "U", Key::Flexured::FLEX_Y_U.c_str(), "FLEX_Y", "U flexure axis 3 (Y) in um", "" },
+    { "U", Key::Flexured::FLEX_Z_U.c_str(), "FLEX_Z", "U flexure axis 1 (Z) in um", "" }
   };
 
   const Extension FocusInfoKeys[] = {
@@ -92,12 +92,15 @@ namespace FitsHeaderKeys {
   };
 
   const Primary TcsInfoKeys[] = {
+    { Key::Tcsd::PA.c_str(),       "", "position angle in deg" },
     { Key::Tcsd::CASANGLE.c_str(), "", "TCS reported Cassegrain angle in deg", "FLOAT" },
     { Key::Tcsd::HA.c_str(),       "", "hour angle" },
     { Key::Tcsd::RAOFFSET.c_str(), "", "offset Right Ascension" },
     { Key::Tcsd::DECLOFFS.c_str(), "", "offset Declination" },
     { Key::Tcsd::TELRA.c_str(),    "", "TCS reported Right Ascension" },
     { Key::Tcsd::TELDEC.c_str(),   "", "TCS reported Declination" },
+    { Key::Tcsd::TELRA_H.c_str(),  "", "TCS reported RA in decimal hours", "DOUBLE" },
+    { Key::Tcsd::TELDEC_D.c_str(), "", "TCS reported DEC in decimal deg", "DOUBLE" },
     { Key::Tcsd::AZ.c_str(),       "", "TCS reported azimuth" },
     { Key::Tcsd::ZENANGLE.c_str(), "", "TCS reported Zenith angle", "FLOAT" },
     { Key::Tcsd::DOMEAZ.c_str(),   "", "TCS reported dome azimuth", "FLOAT" },

common/message_keys.h

@@ -121,12 +121,17 @@ namespace Key {
   namespace Tcsd {
     inline const std::string TELRA    = "TELRA";
     inline const std::string TELDEC   = "TELDEC";
+    inline const std::string TELRA_H  = "TELRA_H";
+    inline const std::string TELDEC_D = "TELDEC_D";
     inline const std::string ALT      = "ALT";
     inline const std::string AZ       = "AZ";
     inline const std::string AIRMASS  = "AIRMASS";
     inline const std::string CASANGLE = "CASANGLE";
     inline const std::string MOTION   = "MOTION";
+    inline const std::string ISOPEN   = "ISOPEN";
+    inline const std::string TCSNAME  = "TCSNAME";
     inline const std::string HA       = "HA";
+    inline const std::string PA       = "PA";
     inline const std::string RAOFFSET = "RAOFFSET";
     inline const std::string DECLOFFS = "DECLOFFS";
     inline const std::string ZENANGLE = "ZENANGLE";
@@ -151,18 +156,22 @@ namespace Key {
   }
 
   namespace Flexured {
-    inline const std::string FLXSPE_I = "FLXSPE_I";
-    inline const std::string FLXSPA_I = "FLXSPA_I";
-    inline const std::string FLXPIS_I = "FLXPIS_I";
-    inline const std::string FLXSPE_R = "FLXSPE_R";
-    inline const std::string FLXSPA_R = "FLXSPA_R";
-    inline const std::string FLXPIS_R = "FLXPIS_R";
-    inline const std::string FLXSPE_G = "FLXSPE_G";
-    inline const std::string FLXSPA_G = "FLXSPA_G";
-    inline const std::string FLXPIS_G = "FLXPIS_G";
-    inline const std::string FLXSPE_U = "FLXSPE_U";
-    inline const std::string FLXSPA_U = "FLXSPA_U";
-    inline const std::string FLXPIS_U = "FLXPIS_U";
+    inline const std::string AxisX = "FLEX_X_";
+    inline const std::string AxisY = "FLEX_Y_";
+    inline const std::string AxisZ = "FLEX_Z_";
+
+    inline const std::string FLEX_X_U = "FLEX_X_U";
+    inline const std::string FLEX_Y_U = "FLEX_Y_U";
+    inline const std::string FLEX_Z_U = "FLEX_Z_U";
+    inline const std::string FLEX_X_G = "FLEX_X_G";
+    inline const std::string FLEX_Y_G = "FLEX_Y_G";
+    inline const std::string FLEX_Z_G = "FLEX_Z_G";
+    inline const std::string FLEX_X_R = "FLEX_X_R";
+    inline const std::string FLEX_Y_R = "FLEX_Y_R";
+    inline const std::string FLEX_Z_R = "FLEX_Z_R";
+    inline const std::string FLEX_X_I = "FLEX_X_I";
+    inline const std::string FLEX_Y_I = "FLEX_Y_I";
+    inline const std::string FLEX_Z_I = "FLEX_Z_I";
   }
 
   namespace Focusd {

common/tcs_constants.h

@@ -30,7 +30,7 @@ inline static const char TCS_LAMPNAME_ULTRA[] = "ULTRA"; const int TCS_LAMPNUM_U
 inline static const char TCS_SUCCESS_STR[] = "success";
 inline static const char TCS_UNRECOGNIZED_COMMAND_STR[] = "tcs_unrecognized_command";
 inline static const char TCS_INVALID_PARAMETER_STR[] = "tcs_bad_param";
-inline static const char TCS_UNABLE_TO_EXECUTE_STR[] = "tcs_already_moving";
+inline static const char TCS_UNABLE_TO_EXECUTE_STR[] = "tcs_unable_to_execute";
 inline static const char TCS_HOST_UNAVAILABLE_STR[] = "tcs_unavailable";
 inline static const char TCS_UNDEFINED_STR[] = "tcs_undefined";
 

flexured/CMakeLists.txt

@@ -4,6 +4,8 @@
 # @author  David Hale <dhale@caltech.edu>
 # ----------------------------------------------------------------------------
 
+# add_compile_options( -O0 -g -march=native -DNDEBUG)
+
 cmake_minimum_required( VERSION 3.12 )
 
 set( FLEXURED_DIR ${PROJECT_BASE_DIR}/flexured )
@@ -16,10 +18,16 @@ include_directories( ${PROJECT_BASE_DIR}/common )
 
 link_directories( ${PROJECT_BASE_DIR}/lib )
 
+# ZeroMQ
+#
+find_library( ZMQPP_LIB zmqpp NAMES libzmqpp PATHS /usr/local/lib )
+find_library( ZMQ_LIB zmq NAMES libzmq PATHS /usr/local/lib )
+
 add_executable(flexured 
         ${FLEXURED_DIR}/flexured.cpp 
         ${FLEXURED_DIR}/flexure_server.cpp 
         ${FLEXURED_DIR}/flexure_interface.cpp 
+        ${FLEXURED_DIR}/flexure_compensator.cpp
         )
 
 target_link_libraries(flexured
@@ -29,6 +37,8 @@ target_link_libraries(flexured
         logentry
         utilities
         ${CMAKE_THREAD_LIBS_INIT}
+        ${ZMQPP_LIB}
+        ${ZMQ_LIB}
         )
 
 # -- Port Definitions ----------------------------------------------------------