template<class T , class S >

StateMachineDrive< T, S >::StateMachineDrive ( ostream &  out = cout )

inline

Definition at line 2681 of file drivectrl.cc.

References StateMachineDrive< T, S >::Disconnect(), StateMachineDrive< T, S >::HandleTPoint(), StateMachineDrive< T, S >::HandleWeatherData(), Drive::State::kAllowedRangeExceeded, Drive::State::kArmed, Drive::State::kAvailable, Drive::State::kBlocked, State::kConnected, State::kDisconnected, kEJupiter, kEMars, kEMoon, kESaturn, kEVenus, Drive::State::kInitialized, Drive::State::kInvalidCoordinates, Drive::State::kLocked, BIAS::State::kLocked, Drive::State::kMoving, Drive::State::kOnTrack, Drive::State::kParking, Drive::State::kPositioningFailed, Drive::State::kStopping, Drive::State::kTracking, Drive::State::kUnavailable, StateMachineDrive< T, S >::MoveTo(), StateMachineDrive< T, S >::Orbit(), StateMachineDrive< T, S >::Park(), StateMachineDrive< T, S >::Print(), StateMachineDrive< T, S >::Reconnect(), StateMachineDrive< T, S >::ReloadSources(), StateMachineDrive< T, S >::RequestSdo(), StateMachineDrive< T, S >::ResetError(), StateMachineDrive< T, S >::Screenshot(), StateMachineDrive< T, S >::SendSdo(), StateMachineDrive< T, S >::SetLedBrightness(), StateMachineDrive< T, S >::SetLedsOff(), StateMachineDrive< T, S >::SetVerbosity(), StateMachineDrive< T, S >::StopMovement(), StateMachineDrive< T, S >::TPoint(), StateMachineDrive< T, S >::Track(), StateMachineDrive< T, S >::TrackCelest(), StateMachineDrive< T, S >::TrackOn(), StateMachineDrive< T, S >::TrackOrbit(), StateMachineDrive< T, S >::TrackSource(), StateMachineDrive< T, S >::TrackWobble(), StateMachineDrive< T, S >::Unlock(), and StateMachineDrive< T, S >::Wobble().

                                         :
        StateMachineAsio<T>(out, "DRIVE_CONTROL"), fDrive(*this, *this),
        fTrackingLoop(*this), fSunRise(Time().GetNextSunRise()), fDevBuffer(5)
    {

        T::Subscribe("MAGIC_WEATHER/DATA")
            (bind(&StateMachineDrive::HandleWeatherData, this, placeholders::_1));

        T::Subscribe("TPOINT/DATA")
            (bind(&StateMachineDrive::HandleTPoint, this, placeholders::_1));

        // State names
        T::AddStateName(State::kDisconnected, "Disconnected",
                        "No connection to SPS");
        T::AddStateName(State::kConnected, "Connected",
                        "Connection to SPS, no information received yet");

        T::AddStateName(State::kLocked, "Locked",
                        "Drive system is locked (will not accept commands)");

        T::AddStateName(State::kUnavailable, "Unavailable",
                        "Connected to SPS, no connection to at least one IndraDrives");
        T::AddStateName(State::kAvailable, "Available",
                        "Connected to SPS and to IndraDrives, but at least one drive not in RF");
        T::AddStateName(State::kBlocked, "Blocked",
                        "Drive system is blocked by manual operation or a pressed emergeny button");
        T::AddStateName(State::kArmed, "Armed",
                        "Connected to SPS and IndraDrives in RF, but not yet initialized");
        T::AddStateName(State::kInitialized, "Initialized",
                        "Connected to SPS and IndraDrives in RF and initialized");

        T::AddStateName(State::kStopping, "Stopping",
                        "Stop command sent, waiting for telescope to be still");
        T::AddStateName(State::kParking, "Parking",
                        "Telescope in parking operation, waiting for telescope to be still");
        T::AddStateName(State::kMoving, "Moving",
                        "Telescope moving");
        T::AddStateName(State::kTracking, "Tracking",
                        "Telescope in tracking mode");
        T::AddStateName(State::kOnTrack, "OnTrack",
                        "Telescope tracking stable");

        T::AddStateName(State::kPositioningFailed, "PositioningFailed",
                        "Target position was not reached within ten steps");
        T::AddStateName(State::kAllowedRangeExceeded, "OutOfRange",
                        "Telecope went out of range during tracking");
        T::AddStateName(State::kInvalidCoordinates, "InvalidCoordinates",
                        "Tracking coordinates out of range");


        T::AddEvent("REQUEST_SDO", "S:3", State::kArmed)
            (bind(&StateMachineDrive::RequestSdo, this, placeholders::_1))
            ("Request an SDO from the drive"
             "|node[uint32]:Node identifier (1:az, 3:zd)"
             "|index[uint32]:SDO index"
             "|subindex[uint32]:SDO subindex");

        T::AddEvent("SET_SDO", "S:3;X:1", State::kArmed)
            (bind(&StateMachineDrive::SendSdo, this, placeholders::_1))
            ("Request an SDO from the drive"
             "|node[uint32]:Node identifier (1:az, 3:zd)"
             "|index[uint32]:SDO index"
             "|subindex[uint32]:SDO subindex"
             "|value[uint64]:Value");

        // Drive Commands
        T::AddEvent("MOVE_TO", "D:2", State::kInitialized)  // ->ZDAZ
            (bind(&StateMachineDrive::MoveTo, this, placeholders::_1))
            ("Move the telescope to the given local sky coordinates"
             "|Zd[deg]:Zenith distance"
             "|Az[deg]:Azimuth");

        T::AddEvent("TRACK", "D:2", State::kInitialized, State::kTracking, State::kOnTrack)   // ->RADEC/GRB
            (bind(&StateMachineDrive::Track, this, placeholders::_1))
            ("Move the telescope to the given sky coordinates and start tracking them"
             "|Ra[h]:Right ascension"
             "|Dec[deg]:Declination");

        T::AddEvent("WOBBLE", "D:4", State::kInitialized, State::kTracking, State::kOnTrack)   // ->RADEC/GRB
            (bind(&StateMachineDrive::Wobble, this, placeholders::_1))
            ("Move the telescope to the given wobble position around the given sky coordinates and start tracking them"
             "|Ra[h]:Right ascension"
             "|Dec[deg]:Declination"
             "|Offset[deg]:Wobble offset"
             "|Angle[deg]:Wobble angle");

        T::AddEvent("ORBIT", "D:5", State::kInitialized, State::kTracking, State::kOnTrack)   // ->RADEC/GRB
            (bind(&StateMachineDrive::Orbit, this, placeholders::_1))
            ("Move the telescope in a circle around the source"
             "|Ra[h]:Right ascension"
             "|Dec[deg]:Declination"
             "|Offset[deg]:Wobble offset"
             "|Angle[deg]:Starting angle"
             "|Period[min]:Time for one orbit");

        T::AddEvent("TRACK_SOURCE", "D:2;C", State::kInitialized, State::kTracking, State::kOnTrack)   // ->RADEC/GRB
            (bind(&StateMachineDrive::TrackSource, this, placeholders::_1))
            ("Move the telescope to the given wobble position around the given source and start tracking"
             "|Offset[deg]:Wobble offset"
             "|Angle[deg]:Wobble angle"
             "|Name[string]:Source name");

        T::AddEvent("TRACK_WOBBLE", "S:1;C", State::kInitialized, State::kTracking, State::kOnTrack)   // ->RADEC/GRB
            (bind(&StateMachineDrive::TrackWobble, this, placeholders::_1))
            ("Move the telescope to the given wobble position around the given source and start tracking"
             "|Id:Wobble angle id (1 or 2)"
             "|Name[string]:Source name");

        T::AddEvent("TRACK_ORBIT", "D:2;C", State::kInitialized, State::kTracking, State::kOnTrack)   // ->RADEC/GRB
            (bind(&StateMachineDrive::TrackOrbit, this, placeholders::_1))
            ("Move the telescope in a circle around the source"
             "|Angle[deg]:Starting angle"
             "|Period[min]:Time for one orbit"
             "|Name[string]:Source name");

        T::AddEvent("TRACK_ON", "C", State::kInitialized, State::kTracking, State::kOnTrack)   // ->RADEC/GRB
            (bind(&StateMachineDrive::TrackOn, this, placeholders::_1))
            ("Move the telescope to the given position and start tracking"
             "|Name[string]:Source name");

        T::AddEvent("MOON", State::kInitialized, State::kTracking, State::kOnTrack)
            (bind(&StateMachineDrive::TrackCelest, this, kEMoon))
            ("Start tracking the moon");
        T::AddEvent("VENUS", State::kInitialized, State::kTracking, State::kOnTrack)
            (bind(&StateMachineDrive::TrackCelest, this, kEVenus))
            ("Start tracking Venus");
        T::AddEvent("MARS", State::kInitialized, State::kTracking, State::kOnTrack)
            (bind(&StateMachineDrive::TrackCelest, this, kEMars))
            ("Start tracking Mars");
        T::AddEvent("JUPITER", State::kInitialized, State::kTracking, State::kOnTrack)
            (bind(&StateMachineDrive::TrackCelest, this, kEJupiter))
            ("Start tracking Jupiter");
        T::AddEvent("SATURN", State::kInitialized, State::kTracking, State::kOnTrack)
            (bind(&StateMachineDrive::TrackCelest, this, kESaturn))
            ("Start tracking Saturn");

        // FIXME: What to do in error state?
        T::AddEvent("PARK", State::kInitialized, State::kMoving, State::kTracking, State::kOnTrack)
            (bind(&StateMachineDrive::Park, this))
            ("Park the telescope");

        T::AddEvent("STOP")(State::kUnavailable)(State::kAvailable)(State::kArmed)(State::kInitialized)(State::kStopping)(State::kParking)(State::kMoving)(State::kTracking)(State::kOnTrack)
            (bind(&StateMachineDrive::StopMovement, this))
            ("Stop any kind of movement.");

        T::AddEvent("RESET", State::kPositioningFailed, State::kAllowedRangeExceeded)
            (bind(&StateMachineDrive::ResetError, this))
            ("Acknoledge an internal error (PositioningFailed, AllowedRangeExceeded)");

        T::AddEvent("TPOINT", State::kOnTrack)
            (bind(&StateMachineDrive::TPoint, this))
            ("Take a TPoint");

        T::AddEvent("SCREENSHOT", "B:1;C")
            (bind(&StateMachineDrive::Screenshot, this, placeholders::_1))
            ("Take a screenshot"
             "|color[bool]:False if just the gray image should be saved."
             "|name[string]:Filename");

        T::AddEvent("SET_LED_BRIGHTNESS", "I:2")
            (bind(&StateMachineDrive::SetLedBrightness, this, placeholders::_1))
            ("Set the LED brightness of the top and bottom leds"
             "|top[au]:Allowed range 0-32767 for top LEDs"
             "|bot[au]:Allowed range 0-32767 for bottom LEDs");

        T::AddEvent("LEDS_OFF")
            (bind(&StateMachineDrive::SetLedsOff, this))
            ("Switch off TPoint LEDs");

        T::AddEvent("UNLOCK", Drive::State::kLocked)
            (bind(&StateMachineDrive::Unlock, this))
            ("Unlock locked state.");

        // Verbosity commands
        T::AddEvent("SET_VERBOSITY", "S:1")
            (bind(&StateMachineDrive::SetVerbosity, this, placeholders::_1))
            ("Set verbosity state"
             "|verbosity[uint16]:disable or enable verbosity for received data (yes/no), except dynamic data");

        // Conenction commands
        T::AddEvent("DISCONNECT", State::kConnected)
            (bind(&StateMachineDrive::Disconnect, this))
            ("disconnect from ethernet");

        T::AddEvent("RECONNECT", "O", State::kDisconnected, State::kConnected)
            (bind(&StateMachineDrive::Reconnect, this, placeholders::_1))
            ("(Re)connect Ethernet connection to SPS, a new address can be given"
             "|[host][string]:new ethernet address in the form <host:port>");


        T::AddEvent("PRINT")
            (bind(&StateMachineDrive::Print, this))
            ("Print source list.");

        T::AddEvent("RELOAD_SOURCES", State::kDisconnected, State::kConnected, State::kArmed, State::kInitialized, State::kLocked)
            (bind(&StateMachineDrive::ReloadSources, this))
            ("Reload sources from database after database has changed..");


        //fDrive.SetUpdateStatus(std::bind(&StateMachineDrive::UpdateStatus, this, placeholders::_1, placeholders::_2));
        fDrive.StartConnect();
    }

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