template<class T , class S >

int StateMachineDrive< T, S >::HandleTPoint ( const EventImp &  evt )

inlineprivate

Definition at line 1630 of file drivectrl.cc.

References Local::az, PointingModel::CalcPointingPos(), data, RaDec::dec, dev, Drive::DimTPoint::fCenterMag, Drive::DimTPoint::fCenterX, Drive::DimTPoint::fCenterY, Drive::DimTPoint::fDec, Drive::DimTPoint::fDx, Drive::DimTPoint::fDy, Drive::DimTPoint::fFeedbackAz, Drive::DimTPoint::fFeedbackZd, Drive::DimTPoint::fNominalAz, Drive::DimTPoint::fNominalZd, Drive::DimTPoint::fNumLeds, Drive::DimTPoint::fNumRings, Drive::DimTPoint::fPointingAz, Drive::DimTPoint::fPointingZd, Drive::DimTPoint::fRa, Drive::DimTPoint::fRealMag, Drive::DimTPoint::fRotation, Drive::DimTPoint::fStarMag, Drive::DimTPoint::fStarX, Drive::DimTPoint::fStarY, EventImp::GetSize(), EventImp::GetTime(), Source::mag, Time::Mjd(), PointingData::mjd, PointingData::mount, Source::name, Time::NightAsInt(), PointingData::pointing, EventImp::Ptr(), RaDec::ra, PointingData::sky, PointingSetup::source, Time::UnixTime(), and Local::zd.

Referenced by StateMachineDrive< T, S >::StateMachineDrive().

    {
        // Skip disconnect events
        if (evt.GetSize()==0)
            return T::GetCurrentState();

        // skip invalid events
        if (!CheckEventSize(evt.GetSize(), "HandleTPoint", 11*8))
            return T::GetCurrentState();

        // skip event which are older than one minute
        if (Time().UnixTime()-evt.GetTime().UnixTime()>60)
            return T::GetCurrentState();

        // Original code in slaTps2c:
        //
        // From the tangent plane coordinates of a star of known RA,Dec,
        // determine the RA,Dec of the tangent point.

        const double *ptr = evt.Ptr<double>();

        // Tangent plane rectangular coordinates
        const double dx = ptr[0] * M_PI/648000; // [arcsec -> rad]
        const double dy = ptr[1] * M_PI/648000; // [arcsec -> rad]

        const PointingData data = fPointingModel.CalcPointingPos(fPointingSetup, evt.GetTime().Mjd(), fWeather, fWeatherTimeout, true);

        const double x2 =     dx*dx;
        const double y2 = 1 + dy*dy;

        const double sd  = cos(data.sky.zd);//sin(M_PI/2-sky.zd);
        const double cd  = sin(data.sky.zd);//cos(M_PI/2-sky.zd);
        const double sdf = sd*sqrt(x2+y2);
        const double r2  = cd*cd*y2 - sd*sd*x2;

        // Case of no solution ("at the pole") or
        // two solutions ("over the pole solution")
        if (r2<0 || fabs(sdf)>=1)
        {
            T::Warn("Could not determine pointing direction from TPoint.");
            return T::GetCurrentState();
        }

        const double r   = sqrt(r2);
        const double s   = sdf - dy * r;
        const double c   = sdf * dy + r;
        const double phi = atan2(dx, r);

        // Spherical coordinates of tangent point
        const double az = fmod(data.sky.az-phi + 2*M_PI, 2*M_PI);
        const double zd = M_PI/2 - atan2(s, c);

        const Encoder dev = fDrive.GetSePos()*360 - data.mount;

        // --- Output TPoint ---

        const string fname = "tpoints-"+to_string(evt.GetTime().NightAsInt())+".txt";
        //time.GetAsStr("/%Y/%m/%d");

        const bool exist = boost::filesystem::exists(fname);

        ofstream fout(fname, ios::app);
        if (!exist)
        {
            fout << "FACT Model  TPOINT data file" << endl;
            fout << ": ALTAZ" << endl;
            fout << "49 48 0 ";
            fout << evt.GetTime() << endl;
        }
        fout << setprecision(7);
        fout << fmod(az*180/M_PI+360, 360) << " ";
        fout << 90-zd*180/M_PI << " ";
        fout << fmod(data.mount.az+360, 360) << " ";
        fout << 90-data.mount.zd << " ";
        fout << dev.az  << " ";    // delta az
        fout << -dev.zd << " ";    // delta el
        fout << 90-data.sky.zd * 180/M_PI << " ";
        fout << data.sky.az * 180/M_PI << " ";
        fout << setprecision(10);
        fout << data.mjd << " ";
        fout << setprecision(7);
        fout << ptr[6] << " ";  // center.mag
        fout << ptr[9] << " ";  // star.mag
        fout << ptr[4] << " ";  // center.x
        fout << ptr[5] << " ";  // center.y
        fout << ptr[7] << " ";  // star.x
        fout << ptr[8] << " ";  // star.y
        fout << ptr[2] << " ";  // num leds
        fout << ptr[3] << " ";  // num rings
        fout << ptr[0] << " ";  // dx (de-rotated)
        fout << ptr[1] << " ";  // dy (de-rotated)
        fout << ptr[10] << " "; // rotation angle
        fout << fPointingSetup.source.mag << " ";
        fout << fPointingSetup.source.name;
        fout << endl;

        DimTPoint dim;
        dim.fRa         = data.pointing.ra  *  12/M_PI;
        dim.fDec        = data.pointing.dec * 180/M_PI;
        dim.fNominalZd  = data.sky.zd * 180/M_PI;
        dim.fNominalAz  = data.sky.az * 180/M_PI;
        dim.fPointingZd = zd * 180/M_PI;
        dim.fPointingAz = az * 180/M_PI;
        dim.fFeedbackZd = data.mount.zd;
        dim.fFeedbackAz = data.mount.az;
        dim.fNumLeds    = uint16_t(ptr[2]);
        dim.fNumRings   = uint16_t(ptr[3]);
        dim.fCenterX    = ptr[4];
        dim.fCenterY    = ptr[5];
        dim.fCenterMag  = ptr[6];
        dim.fStarX      = ptr[7];
        dim.fStarY      = ptr[8];
        dim.fStarMag    = ptr[9];
        dim.fRotation   = ptr[10];
        dim.fDx         = ptr[0];
        dim.fDy         = ptr[1];
        dim.fRealMag    = fPointingSetup.source.mag;

        fDrive.UpdateTPoint(evt.GetTime(), dim, fPointingSetup.source.name);

        ostringstream txt;
        txt << "TPoint recorded [" << zd*180/M_PI << "/" << az*180/M_PI << " | "
            << data.sky.zd*180/M_PI << "/" << data.sky.az*180/M_PI << " | "
            << data.mount.zd << "/" << data.mount.az << " | "
            << dx*180/M_PI << "/" << dy*180/M_PI << "]";
        T::Info(txt);

        return T::GetCurrentState();
    }

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