merged dev into dev-sim

magao-x · Oct 29, 2024 · 56918fe · 56918fe
2 parents c4649e5 + 8f39396
commit 56918fe
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Showing 25 changed files with 4,777 additions and 3,752 deletions.
diff --git a/apps/alignLoop/alignLoop.hpp b/apps/alignLoop/alignLoop.hpp
@@ -73,6 +73,9 @@ class alignLoop : public MagAOXApp<true>, public dev::shmimMonitor<alignLoop>
    mx::improc::eigenImage<float> m_intMat;
 
    mx::improc::eigenImage<float> m_measurements;
+   float m_delta0 {0};
+   float m_delta1 {0};
+
    mx::improc::eigenImage<float> m_commands;
 
    float m_ggain {0};
@@ -130,6 +133,8 @@ class alignLoop : public MagAOXApp<true>, public dev::shmimMonitor<alignLoop>
 
    //INDI 
 
+   pcf::IndiProperty m_indiP_deltas;
+
    pcf::IndiProperty m_indiP_ggain;
    pcf::IndiProperty m_indiP_ctrlEnabled;
 
@@ -229,6 +234,12 @@ int alignLoop::appStartup()
       }
    }
 
+   CREATE_REG_INDI_RO_NUMBER( m_indiP_deltas, "deltas", "Deltas", "Deltas");
+   m_indiP_deltas.add(pcf::IndiElement("delta0"));
+   m_indiP_deltas["delta0"] = 0;
+   m_indiP_deltas.add(pcf::IndiElement("delta1"));
+   m_indiP_deltas["delta1"] = 0;
+
    m_gains.resize(m_defaultGains.size());
    for(size_t n=0; n < m_defaultGains.size(); ++n) m_gains[n] = m_defaultGains[n];
 
@@ -367,6 +378,8 @@ int alignLoop::processImage( void* curr_src,
    }
 
 
+   m_delta0 = m_measurements(0,0);
+   m_delta1 = m_measurements(1,0);
 
    std::cout << "measurements: ";
    for(int cc = 0; cc < m_measurements.rows(); ++cc)
@@ -379,6 +392,8 @@ int alignLoop::processImage( void* curr_src,
 
    m_commands.matrix() = m_intMat.matrix() * m_measurements.matrix();
 
+
+
    std::cout << "delta commands:    ";
    for(int cc = 0; cc < m_measurements.rows(); ++cc)
    {
@@ -398,14 +413,18 @@ int alignLoop::processImage( void* curr_src,
    std::cout << "\n";
 
    //And send commands.
+   int rv;
    if(m_ctrlEnabled)
    {
-      return sendCommands(commands);
+      rv = sendCommands(commands);
    }
    else 
    {
-      return 0;
+      rv = 0;
    }
+
+   updateIfChanged(m_indiP_deltas, std::vector<std::string>({"delta0", "delta1"}), std::vector<float>({m_delta0, m_delta1}));
+   return rv;
 }
 
 inline

diff --git a/apps/closedLoopIndi/closedLoopIndi.hpp b/apps/closedLoopIndi/closedLoopIndi.hpp
@@ -71,6 +71,9 @@ class closedLoopIndi : public MagAOXApp<true>
 
     int64_t m_counter = -1; ///< The latest value of the loop counter
     mx::improc::eigenImage<float> m_measurements; ///< The latest value of the measurements
+    float m_delta0 {0};
+    float m_delta1 {0};
+
     mx::improc::eigenImage<float> m_commands; ///< The latest commands
 
     float m_ggain {0}; ///< The global gain
@@ -126,6 +129,8 @@ class closedLoopIndi : public MagAOXApp<true>
 
     //INDI 
 
+    pcf::IndiProperty m_indiP_deltas;
+
     pcf::IndiProperty m_indiP_reference0;
     INDI_NEWCALLBACK_DECL(closedLoopIndi, m_indiP_reference0);
 
@@ -301,6 +306,12 @@ int closedLoopIndi::appStartup()
 {
     REG_INDI_SETPROP(m_indiP_inputs, m_inputDevice, m_inputProperty);
 
+    CREATE_REG_INDI_RO_NUMBER( m_indiP_deltas, "deltas", "Deltas", "Deltas");
+    m_indiP_deltas.add(pcf::IndiElement("delta0"));
+    m_indiP_deltas["delta0"] = 0;
+    m_indiP_deltas.add(pcf::IndiElement("delta1"));
+    m_indiP_deltas["delta1"] = 0;
+
     CREATE_REG_INDI_NEW_NUMBERF( m_indiP_reference0, "reference0", -1e15, 1e15, 1, "%g", "reference0", "references");
     m_indiP_reference0["current"] = m_references(0,0);
     m_indiP_reference0["target"] = m_references(0,0);
@@ -436,6 +447,9 @@ int closedLoopIndi::updateLoop()
         return 0;
     }
 
+    m_delta0 = m_measurements(0,0) - m_references(0,0);
+    m_delta1 = m_measurements(1,0) - m_references(1,0);
+
     m_commands.matrix() = m_intMat.matrix() * (m_measurements - m_references).matrix();
 
     std::vector<float> commands;
@@ -447,14 +461,18 @@ int closedLoopIndi::updateLoop()
     }
 
     //And send commands.
+    int rv;
     if(m_loopClosed)
     {
-        return sendCommands(commands);
+        rv = sendCommands(commands);
     }
     else 
     {
-        return 0;
+        rv = 0;
     }
+
+    updateIfChanged(m_indiP_deltas, std::vector<std::string>({"delta0", "delta1"}), std::vector<float>({m_delta0, m_delta1}));
+    return rv;
 }
 
 inline