/****************************************************************************/ /* */ /* state_mgr.c */ /* */ /* PURPOSE: This file contains a set of fuctions for keeping a model */ /* of the internal stae of the Mk4 system. */ /* The current pointing possition, temperature and so on */ /* of the system is maintained by finctions in this file */ /* */ /* Every time a command is send to the Mk4 a call to a */ /* "set_state" function must be made as well. This function */ /* will record and timestamp the the command. Later we */ /* can call a "get_state" function. This will use rate */ /* information and the "delta t" between the set and get to */ /* compute by dead reconning the state at the requested time */ /* */ /* The state table is never to be directly accessed. Always */ /* use the functions in this file. */ /* */ /****************************************************************************/ /* Used by RCS and ident */ char state_mgr_rcsid[] = "$Id: state_mgr.c,v 1.1 1998/08/04 05:08:47 chris Exp $"; #include #include #include #include "MLog.h" #include "state_mgr.h" #include "time_funct.h" /****************************************************************************/ /* */ /* Attribute Table */ /* */ /* PURPOSE: */ /* This table contains one entry per value that we want to track as */ /* part of our state model. */ /* */ /****************************************************************************/ /* Attribute Table Entry */ typedef struct { int Attribute; /* code for specific state attribute */ int CanSet; /* May be set (step rate) or not (coolent temp) */ char Name[32]; /* Name, used for display */ double MinValue; /* Lowest valid value */ double MaxValue; /* Highest valid value */ double MinRate; /* Lowest valid rate */ double MaxRate; /* Highest valid rate */ } AttribEntryTyp; /* Attribute table */ static AttribEntryTyp AT[MAX_ATTRIBUTE] = { /* Can Value Rate */ /* Attribute Set Name min max min max */ {RA_STEP_COUNT, 1, "RA Step Count", 0.0, 20000.0, -200.0, 200.0}, {DEC_STEP_COUNT, 1, "DEC Step Count", 0.0, 20000.0, -200.0, 200.0}, {WATER_TEMP, 0, "Water Temp", 0.0, 40000.0, -1.0, 1.0}, {CCD_TEMP, 0, "CCD Temp", 0.0, 40000.0, -1.0, 1.0} }; /****************************************************************************/ /* */ /* State Table >>> Should be circular list <<< */ /* */ /****************************************************************************/ /* State Table Entry */ typedef struct { double value; /* In Mk4 native units i.e. steps */ double rate; /* Change per second */ double time_stamp; /* Time at which Value & Rate was set */ } StateEntryTyp; /* State table */ /* For now we only hold one sample of each attribute. Later we will */ /* expand this if we need to. (uncomment below and patch code) */ /*#define ST_MEMSIZE 20 */ /*static StateEntryTyp ST[MAX_ATTRIBUTE][ST_MEMSIZE]; */ /*static int ST_next[MAX_ATTRIBUTE]; Next free slot in ST*/ static StateEntryTyp ST[MAX_ATTRIBUTE]; /****************************************************************************/ /* */ /* set_state_current */ /* */ /* PURPOSE: Sets the current state of an attribute in the ST (State */ /* Table.) */ /* */ /* RETURNS: 0 = All is OK */ /* -1 = Error */ /* */ /****************************************************************************/ int set_state_current(int Attrib, double Value, double Rate) { ml_printf(ML_DEBUG, ML_INFORMATION, "set_state_current called.\n"); return set_state_at(Attrib, get_epoc(), Value, Rate); } /****************************************************************************/ /* */ /* set_state_at */ /* */ /* PURPOSE: Sets the state of an attribute in the ST (StateTable.) */ /* with a specified effective time */ /* */ /* RETURNS: 0 = All is OK */ /* -1 = Error */ /* */ /* */ /****************************************************************************/ int set_state_at(int Attrib, double TimeStamp, double Value, double Rate) { ml_printf(ML_DEBUG, ML_INFORMATION, "set_state_at called.\n"); ST[Attrib].value = Value; ST[Attrib].rate = Rate; ST[Attrib].time_stamp = TimeStamp; return 0; } /****************************************************************************/ /* */ /* get_state_current */ /* */ /* PURPOSE: Gets the current state of an attribute in the ST (State */ /* Table.) */ /* */ /* RETURNS: 0 = All is OK */ /* -1 = Error */ /* */ /****************************************************************************/ int get_state_current(int Attrib, double *Value) { ml_printf(ML_DEBUG, ML_INFORMATION, "get_state_current called.\n"); return get_state_at(Attrib, get_epoc(), Value); } /****************************************************************************/ /* */ /* get_state_at */ /* */ /* PURPOSE: Sets the state of an attribute in the ST (StateTable.) */ /* with a specified effective time */ /* */ /* LIMITATIONS: */ /* The current implementation stores at most only one entry */ /* for each attribute. So, we can only get the state for */ /* time _after_ the entry's time stamp. */ /* */ /* RETURNS: 0 = All is OK */ /* -1 = Error */ /* */ /* */ /****************************************************************************/ int get_state_at(int Attrib, double TimeStamp, double *Value) { double delta_t; ml_printf(ML_DEBUG, ML_INFORMATION, "get_state_at called.\n"); if (ST[Attrib].time_stamp > TimeStamp) { /* we can not determine state _before_ time_stamp */ ml_print(ML_MANDATORY, ML_ERROR, "ERROR get_state_at cannot determine state before time_stamp\n"); return -1; } delta_t = TimeStamp - ST[Attrib].time_stamp; *Value = ST[Attrib].value + (ST[Attrib].rate * delta_t); return 0; }