carma::control::DriveHandle Class Reference

Manages antenna drive control DO connections. More...

#include <carma/control/DriveHandle.h>

Inheritance diagram for carma::control::DriveHandle:

Public Types
enum	SourceMode { SOURCE_MODE_RA_DEC, SOURCE_MODE_AZ_EL, SOURCE_MODE_IDLE, SOURCE_MODE_INVALID }

Public Member Functions
void	checkModeForEquatOffset (void)
	Check if the drive mode is in an appropriate state for calling setEquatOffset. More...
void	conditionallyUpdateTrackTolerance (const double freq)
	Check to see if the HPBW has changed enough to warrant a threshold update, converting from hpbw to arcsec. More...
	DriveHandle (unsigned short carmaAntNo, const services::Location &coords, monitor::MonitorSystem &monitorSystem, monitor::ControlSubsystemBase::Antenna &antenna)
	Constructor. More...
::std::string	getCarmaAntennaName () const
	Returns antenna name as full carma name. More...
unsigned short	getCarmaAntennaNo () const
services::Ephemeris	getEphemeris () const
services::Location	getLocation () const
	Method to get antenna's location as longitude, latitude, altitude. More...
carma::services::Source	getSource ()
SourceMode	getSourceMode () const
	Method to get source mode of antenna - it can point at nothing, or at a source specified by RA/DEC, or a point in the sky specified by Az/El. More...
::std::string	getSourceName ()
::std::string	getTypedAntennaName () const
	Returns antenna name as full type qualified name. More...
bool	isActionComplete (const monitor::MonitorSystem &monsys, int monDataErrorLimit)
	Compare next sequence number with one returned by the monitor system. More...
void	setAz (double azDegrees, int preferredSequenceNo)
	Set antenna azimuth. More...
void	setAzel (double azDegrees, double elDegrees, int preferredSequenceNo)
	Set antenna azimuth and elevation. More...
void	setAzOffset (double azArcmin, int preferredSequenceNo)
	Set antenna Az offset for astronomy or engineering. More...
void	setBimaMountPointingConstants (::std::vector< double > dazCoefs,::std::vector< double > delCoefs)
	Set BIMA mount pointing constants. More...
void	setEl (double elDegrees, int preferredSequenceNo)
	Set antenna elevation. More...
void	setElOffset (double elArcmin, int preferredSequenceNo)
	Set antenna El offset for astronomy or engineering. More...
void	setEquatOffset (double ra, double dec)
	Defines equatorial offsets in ra and dec from the input source. More...
void	setLocation (const services::Location &location)
	Method to set antenna's absolute location. More...
void	setMountOffset (double azArcmin, double elArcmin, int preferredSequenceNo)
	Set mount offsets. More...
void	setOffset (double azArcmin, double elArcmin, int preferredSequenceNo)
	Set antenna Az/El offsets for astronomy or engineering. More...
void	setOvroMountPointingConstants (double m1, double m2, double m3, double m4, double m5)
	Set OVRO mount pointing constants. More...
void	setSafeRange (float azLow, float azHigh, float elLow, float elHigh)
	Set the azimuth and elevation ranges within which this antenna is safe from collisions with other antennas. More...
void	setSzaEncoderLimits (double azMinEncoderCount, double azMaxEncoderCount, double elMinEncoderCount, double elMaxEncoderCount)
	Set SZA encoder limits. More...
void	setSzaEncoderZeros (double azEncoderZeroDegrees, double elEncoderZeroDegrees)
	Set SZA encoder zeros. More...
void	setSzaMountPointingConstants (double azEncoderCountsPerTurn, double elEncoderCountsPerTurn, double azMinEncoderCount, double azMaxEncoderCount, double elMinEncoderCount, double elMaxEncoderCount, double azEncoderZeroDegrees, double elEncoderZeroDegrees, double haTiltDegrees, double latTiltDegrees, double elTiltDegrees, double opticalXCollimationDegrees, double opticalYCollimationDegrees, double opticalFlexureSinDegrees, double opticalFlexureCosDegrees, double radioXCollimationDegrees, double radioYCollimationDegrees, double radioFlexureSinDegrees, double radioFlexureCosDegrees)
	Set SZA mount pointing constants. More...
void	setSzaTilts (double haTiltDegrees, double latTiltDegrees, double elTiltDegrees)
	Set SZA tilts. More...
void	startTrack (const ::std::string source, const carma::control::MjdTriplet mjdTriplet, const ::std::string userCatalog, const carma::control::AzWrapMode azWrapMode, double time, int preferredSequenceNo)
	For use the first time this drive tracks a given object. More...
void	startTrackX (const carma::services::Source source, const carma::control::MjdTriplet mjdTriplet, const carma::control::AzWrapMode azWrapMode, double time, int preferredSequenceNo)
	Version of startTrack that takes a Source object instead of a source name and catalog. More...
void	stop ()
	Stop the antenna at its current azimuth and elevation. More...
void	stow (antenna::common::DriveControl::Position position, int preferredSequenceNo)
	Move the antenna one of the stow positions (zenith, service, safe). More...
void	test (double aSeconds, double bSeconds, long whichTest)
void	trackCurrentSourceWithOffsets (const carma::control::MjdTriplet mjdTriplet, const ::std::string userCatalog, carma::control::AzWrapMode azWrapMode, int preferredSequenceNo)
	Continue tracking the current source with new equatorial offsets. More...
void	trackCurrentSourceWithOffsets (const carma::control::MjdTriplet mjdTriplet, carma::control::AzWrapMode azWrapMode, int preferredSequenceNo)
void	trackingThreshold (float hpbw)
	Set the tracking threshold. More...
void	updateTracking (double mjd)
	Updates tracking information to antenna,. More...
void	updateTrackTolerance (const float tolerance, const double freq)
	Set the tracking threshold to the antennas. More...
void	updateWeather (double mjd, const services::Temperature &airTemp, const services::Pressure &atmPressure, double relhumid, const services::Temperature &dewpointTemp, const services::Velocity &windSpeed, const services::Angle &windDirection, bool logGoodSend)
	Updates weather information to drive. More...
Public Member Functions inherited from carma::control::RemoteObjHandleT< T >
template<typename S >
S::_var_type	narrowedRemoteObj () const
	Returns remote object handle as var. More...
T::_var_type	remoteObj () const
	Returns remote object handle as var. More...
	RemoteObjHandleT (const ::std::string &doName, monitor::MonitorPointBool *mpReachable, const monitor::MonitorSubsystem *subsystem, monitor::MonitorSystem *system, bool defaultLogIfNotReachable, bool defaultLogSentCommands)
	Constructor. More...
virtual	~RemoteObjHandleT ()
	Destructor. More...
Public Member Functions inherited from carma::control::RemoteObjHandleBase
bool	attemptToReconnectIfNeeded ()
	Try reconnect to the DO if needed. More...
::std::string	doName () const
	get the DO name More...
void	forceFullReconnect ()
	Force a full re-lookup of the DO by name. More...
bool	isObjReachable ()
	If state is 'not reachable' and monitor system is current, tries to reconnect. More...
bool	isObjReachable (bool logIfNotReachable)
	RemoteObjHandleBase (const ::std::string &doName, monitor::MonitorPointBool *mpReachable, const monitor::MonitorSubsystem *subsystem, monitor::MonitorSystem *system, bool defaultLogIfNotReachable, bool defaultLogSentCommands)
	Constructor. More...
virtual	~RemoteObjHandleBase ()
	Destructor. More...

Additional Inherited Members
Protected Member Functions inherited from carma::control::RemoteObjHandleT< T >
virtual bool	resolveObjRef ()
Protected Member Functions inherited from carma::control::RemoteObjHandleBase
bool	getDefaultLogIfNotReachable () const
bool	getDefaultLogSentCommands () const
void	invalidateObjRef ()
void	invalidateObjRefIfNeededForCaught ()
void	logException (const ::std::string &callString, const ::std::string &exString) const
void	logSentCommand (const ::std::string &callString, const double mjd) const
void	logSentCommand (const ::std::string &callString, const double mjd, const ::std::string &subDoName) const
void	logSentCommandIfNeeded (const ::std::string &callString, const double mjd) const
void	logSentCommandIfNeeded (const ::std::string &callString, const double mjd, const ::std::string &subDoName) const
void	markObjRefValid ()
void	processException (const ::std::string &callString, const ::CORBA::Exception &corbaException)
void	throwBadRemoteObjAccess () const
void	throwIfObjRefIsNotValid () const

Detailed Description

Manages antenna drive control DO connections.

Definition at line 55 of file DriveHandle.h.

Constructor & Destructor Documentation

carma::control::DriveHandle::DriveHandle	(	unsigned short	carmaAntNo,
		const services::Location &	coords,
		monitor::MonitorSystem &	monitorSystem,
		monitor::ControlSubsystemBase::Antenna &	antenna
	)

Constructor.

Parameters

carmaAntNo	const long - CARMA antenna number
coords	antenna location coordinates
monitorSystem	carma monitor system Allows antenna to get a reference to its own monitor stream.
antenna	const monitor::ControlSubsystemBase::Antenna& antenna control monitor system, which contains control and monitor points set by the control subsystem.

Member Function Documentation

void carma::control::DriveHandle::checkModeForEquatOffset

(

void

)

Check if the drive mode is in an appropriate state for calling setEquatOffset.

This method will throw an exception if the drive mode is wrong. This method is necessary to inform observers what they did wrong, since firing off setEquatOffset in a WorkerPool swallows the exception message. So call this first in a iterative loop, before doing WorkerPool magic.

This method is not expensive since the call stays inside the drive handle and never goes to the DO.

void carma::control::DriveHandle::conditionallyUpdateTrackTolerance

(

const double

freq

)

Check to see if the HPBW has changed enough to warrant a threshold update, converting from hpbw to arcsec.

We use a 3% change criterion. If it has, then update the threshold to the antennas. This is used when the frequency is updated.

Parameters

The	current LO freq in GHz (used in conversion to arcsec).

::std::string carma::control::DriveHandle::getCarmaAntennaName

(

)

const

Returns antenna name as full carma name.

For OVRO antenna 3 returns "carma3".

Returns

std::string full, carma name of antenna

unsigned short carma::control::DriveHandle::getCarmaAntennaNo

(

)

const

Returns

the antenna number associated with this drive.

services::Ephemeris carma::control::DriveHandle::getEphemeris

(

)

const

Returns

a copy of this DriveHandle's ephemeris object.

services::Location carma::control::DriveHandle::getLocation

(

)

const

Method to get antenna's location as longitude, latitude, altitude.

Parameters

none

Returns

Location

SourceMode carma::control::DriveHandle::getSourceMode

(

)

const

Method to get source mode of antenna - it can point at nothing, or at a source specified by RA/DEC, or a point in the sky specified by Az/El.

Parameters

none

Returns

const enum SourceMode mode for antenna

See Also

SourceMode

::std::string carma::control::DriveHandle::getSourceName

(

)

Returns

the name of the source this antenna is tracking.

::std::string carma::control::DriveHandle::getTypedAntennaName

(

)

const

Returns antenna name as full type qualified name.

For OVRO antenna 3 returns "ovro3".

Returns

std::string full, type qualified name of antenna

bool carma::control::DriveHandle::isActionComplete	(	const monitor::MonitorSystem &	monsys,
		int	monDataErrorLimit
	)

Compare next sequence number with one returned by the monitor system.

If they are the same then the last drive action is complete.

Parameters

monsys	monitor system from which to retrieve completion
monitorDataErrorLimit	number of consecutive monitor data invalid limit before thowing an exception

Returns

true if last action is complete

Exceptions

if	number of consecutive monitor data errors is exceeed

void carma::control::DriveHandle::setAz	(	double	azDegrees,
		int	preferredSequenceNo
	)

Set antenna azimuth.

Parameters

azDegrees	azimuth
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::setAzel	(	double	azDegrees,
		double	elDegrees,
		int	preferredSequenceNo
	)

Set antenna azimuth and elevation.

Parameters

azDegrees	azimuth
elDegrees	elevation
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::setAzOffset	(	double	azArcmin,
		int	preferredSequenceNo
	)

Set antenna Az offset for astronomy or engineering.

Parameters

azArcmin	offset (arcmin)
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::setBimaMountPointingConstants	(	::std::vector< double >	dazCoefs,
		::std::vector< double >	delCoefs
	)

Set BIMA mount pointing constants.

Note

The vector argument is passed by value so we can safely insure that it is fully and deeply copied across the thread barrier when this method is forked out to the worker pool

void carma::control::DriveHandle::setEl	(	double	elDegrees,
		int	preferredSequenceNo
	)

Set antenna elevation.

Parameters

elDegrees	elevation
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::setElOffset	(	double	elArcmin,
		int	preferredSequenceNo
	)

Set antenna El offset for astronomy or engineering.

Parameters

elArcmin	offset (arcmin)
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::setEquatOffset	(	double	ra,
		double	dec
	)

Defines equatorial offsets in ra and dec from the input source.

Note that these are sky offsets, not coordinate offsets; to convert an ra coord offset to a sky offset, multiply by cos(dec) Has no effect if not in equatorial mode. These offsets are set to zero when a new track command is given.

void carma::control::DriveHandle::setLocation

(

const services::Location &

location

)

Method to set antenna's absolute location.

Parameters

location

The longitude, latitude, and altitude, represented by a Location object. The input is expected to be in the geocentric coordinate system (ECEF), but gets changed to WGS84 before it is sent to the antennas. Baselines and interferometry geometry are done in ECEF but antennas are pointed in WGS84.

void carma::control::DriveHandle::setMountOffset	(	double	azArcmin,
		double	elArcmin,
		int	preferredSequenceNo
	)

Set mount offsets.

Parameters

azArcmin	Azimuth offset in arcminutes on the sky.
elArcmin	Elevation offset in arcminutes on the sky.
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::setOffset	(	double	azArcmin,
		double	elArcmin,
		int	preferredSequenceNo
	)

Set antenna Az/El offsets for astronomy or engineering.

Parameters

azArcmin	offset (arcmin)
elArcmin	offset (arcmin)
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::setOvroMountPointingConstants	(	double	m1,
		double	m2,
		double	m3,
		double	m4,
		double	m5
	)

Set OVRO mount pointing constants.

void carma::control::DriveHandle::setSafeRange	(	float	azLow,
		float	azHigh,
		float	elLow,
		float	elHigh
	)

Set the azimuth and elevation ranges within which this antenna is safe from collisions with other antennas.

Note: an invocation DriveControl::stow(SAFE) must throw an exception if valid safe ranges have not been set with this command beforehand.

Parameters

azLow	- the low end of the safe azimuth range, in degrees.
azHigh	- the high end of the safe azimuth range, in degrees.
elLow	- the low end of the safe elevation range, in degrees.
elHigh	- the high end of the safe elevation range, in degrees.
carmaAntNoSeq	Sequence of carma antenna numbers. A sequence of the single value zero means all subarray antennas.

See Also

antenna::common::DriveControl::setSafeRange()

void carma::control::DriveHandle::setSzaEncoderLimits	(	double	azMinEncoderCount,
		double	azMaxEncoderCount,
		double	elMinEncoderCount,
		double	elMaxEncoderCount
	)

Set SZA encoder limits.

void carma::control::DriveHandle::setSzaEncoderZeros	(	double	azEncoderZeroDegrees,
		double	elEncoderZeroDegrees
	)

Set SZA encoder zeros.

void carma::control::DriveHandle::setSzaMountPointingConstants	(	double	azEncoderCountsPerTurn,
		double	elEncoderCountsPerTurn,
		double	azMinEncoderCount,
		double	azMaxEncoderCount,
		double	elMinEncoderCount,
		double	elMaxEncoderCount,
		double	azEncoderZeroDegrees,
		double	elEncoderZeroDegrees,
		double	haTiltDegrees,
		double	latTiltDegrees,
		double	elTiltDegrees,
		double	opticalXCollimationDegrees,
		double	opticalYCollimationDegrees,
		double	opticalFlexureSinDegrees,
		double	opticalFlexureCosDegrees,
		double	radioXCollimationDegrees,
		double	radioYCollimationDegrees,
		double	radioFlexureSinDegrees,
		double	radioFlexureCosDegrees
	)

Set SZA mount pointing constants.

void carma::control::DriveHandle::setSzaTilts	(	double	haTiltDegrees,
		double	latTiltDegrees,
		double	elTiltDegrees
	)

Set SZA tilts.

void carma::control::DriveHandle::startTrack	(	const ::std::string	source,
		const carma::control::MjdTriplet	mjdTriplet,
		const ::std::string	userCatalog,
		const carma::control::AzWrapMode	azWrapMode,
		double	time,
		int	preferredSequenceNo
	)

For use the first time this drive tracks a given object.

This method calls track() three times to send a full triplet to the drives. All tracking offsets are set to zero.

Parameters

source	The source name
Triplet	of MJDs aligned to the antenna update cycle.
userCatalog	- The fully qualified name of the user source catalog to search for the source, before looking in the system catalog.
azWrapMode	- The azimuth wrap mode, one of ZERO, ADD, SUB, TIME

See Also

carma::control::AzWrapMode

Parameters

time	when azWrapMode==TIME, an az wrap will be requested that allows the source to be tracked for 'time' minutes. Ignored if azWrapMode != TIME.
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::startTrackX	(	const carma::services::Source	source,
		const carma::control::MjdTriplet	mjdTriplet,
		const carma::control::AzWrapMode	azWrapMode,
		double	time,
		int	preferredSequenceNo
	)

Version of startTrack that takes a Source object instead of a source name and catalog.

This avoids multiple file system reads, which can cause command timeouts if the filesystem is under stress. See bug 906

void carma::control::DriveHandle::stop

(

)

Stop the antenna at its current azimuth and elevation.

void carma::control::DriveHandle::stow	(	antenna::common::DriveControl::Position	position,
		int	preferredSequenceNo
	)

Move the antenna one of the stow positions (zenith, service, safe).

Parameters

position	Stow position to move to.
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

void carma::control::DriveHandle::trackCurrentSourceWithOffsets	(	const carma::control::MjdTriplet	mjdTriplet,
		const ::std::string	userCatalog,
		carma::control::AzWrapMode	azWrapMode,
		int	preferredSequenceNo
	)

Continue tracking the current source with new equatorial offsets.

This method will send a new triplet to the drive DO.

Parameters

Triplet	of MJDs aligned to the antenna update cycle.
userCatalog	- The fully qualified name of the user source catalog to search for the source, before looking in the system catalog.
azWrapMode	- The azimuth wrap mode, one of ZERO, ADD, SUB, TIME
preferredSequenceNo	will be used unless it is already the one returned by the monitor system, in which case one that is ten greater will be used.

See Also

carma::control::AzWrapMode

void carma::control::DriveHandle::trackingThreshold

(

float

hpbw

)

Set the tracking threshold.

Parameters

threshold

tracking threshold in HPBW (halfpower beam widths)

void carma::control::DriveHandle::updateTracking

(

double

mjd

)

Updates tracking information to antenna,.

Parameters

mjdAnt

Timestamp for antenna tracking

void carma::control::DriveHandle::updateTrackTolerance	(	const float	tolerance,
		const double	freq
	)

Set the tracking threshold to the antennas.

Parameters

tolerance	The tracking threshold in HPBW.
freq	The current LO freq in GHz (used in conversion to arcsec).

void carma::control::DriveHandle::updateWeather	(	double	mjd,
		const services::Temperature &	airTemp,
		const services::Pressure &	atmPressure,
		double	relhumid,
		const services::Temperature &	dewpointTemp,
		const services::Velocity &	windSpeed,
		const services::Angle &	windDirection,
		bool	logGoodSend
	)

Updates weather information to drive.

Parameters

mjd,double,time	instant for which tracking info is to be updated
airTemp	Ambient temperature
atmPressure	Atmospheric pressure
relHumid	Relative humidity, percent (a number between 0 and 100)
dewPointTemp	Dew point temperature
windspeed	Wind speed
windDirection	Wind direction, 0 degrees = north, 90 = east

---

The documentation for this class was generated from the following file:

• carma/control/DriveHandle.h