Commit changes after test on D19

.project

 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>NomadModules</name>
+	<name>nomad-modules</name>
 	<comment></comment>
 	<projects>
 		<project>NomadServer</project>

src/controllers/common/acquisition/KineticExternalCount.cpp

@@ -92,7 +92,8 @@ void KineticExternalCount::updateNbSlices() {
 	log(Level::s_Info) << " ScanFlying slice index " << nbSlices() << endlog;
 
 	//T cout << " KineticExternalCount::preStart nbSlices " << nbSlices() << endl;
-	if ((nbSlices() % 10) == 0) {
+ 	if ((nbSlices() % 20) == 0) {
+ 		//log(Level::s_Info) << " ScanFlying read data  " << nbSlices() << endlog;
 		for (int32 ki = 0; ki < nDetectors(); ++ki) {
 			detectorControllers[ki]->readParallel(false);
 		}

src/controllers/common/acquisition/mode/KineticExternalAcquisitionController.cpp

@@ -172,10 +172,20 @@ void KineticExternalAcquisitionController::updateActualSliceTable() {
 		//Use Drivers 0 to have the table
 		memcpy(m_Slices, m_KineticDrivers[0]->slicesAcq(), totalslices * sizeof(float64));
 	}
-
-	/*for (uint32 i = 0; i < (uint32) totalslices; ++i) {
-		cout << "DBG************ KineticExternalAcquisitionController  slices " << m_Slices[i] << endl;
-	}*/
+	//float64 avrg = 0.0;
+	//float64 stdev = 0.0;
+	//float64 stdev2 = 0.0;
+	//for (uint32 i = 0; i < (uint32) totalslices; ++i) {
+		//cout << "DBG************ KineticExternalAcquisitionController  slices " << m_Slices[i] << endl;
+		//avrg = avrg + m_Slices[i];
+	//}
+	//avrg = avrg / totalslices;
+	//for (int32 j = 0; j < totalslices; ++j) {
+		//stdev2 = stdev2 + pow((m_Slices[j] - avrg), 2.0);
+	//}
+	//stdev = pow((stdev2 / totalslices), 0.5);
+	//cout << "DBG************ KineticExternalAcquisitionController  avrg   " <<  avrg   << endl;
+	//cout << "DBG************ KineticExternalAcquisitionController  stdev  " << stdev  << endl;
 }
 
 void KineticExternalAcquisitionController::updateActualSliceTableTime() {

src/controllers/dif/d19/D19ScanFlying.cpp

@@ -36,8 +36,8 @@ const std::string D19ScanFlying::TYPE = "d19_scan_flying";
 //const float64 D19ScanFlying::DELTA_SUPP = 0.07;
 // normal speed
 const float64 D19ScanFlying::DELTA_SUPP_FAST = 1.28;
-const float64 D19ScanFlying::DELTA_SUPP_MEDIUM = 0.28;
-const float64 D19ScanFlying::DELTA_SUPP_SLOW = 0.10;
+const float64 D19ScanFlying::DELTA_SUPP_MEDIUM = 0.08;
+const float64 D19ScanFlying::DELTA_SUPP_SLOW = 0.02;
 
 const float64   D19ScanFlying::SPEED_FAST=800;
 const float64   D19ScanFlying::SPEED_SLOW=38.4;
@@ -203,6 +203,7 @@ void D19ScanFlying::calculate(float64 fstart, float64 fend, float64 fdelta) {
 
 
 	int32 totalslices = numberOfStepScans() ;
+	 cout  << " D19ScanFlying::calculate " << totalslices << endl;
 	if (m_SlicesOmega){
 		delete[] m_SlicesOmega;
 		m_SlicesOmega = nullptr;
@@ -240,6 +241,27 @@ void D19ScanFlying::calculateFromEnd(float64 fstart, float64 fend, float64 fdelt
 		scanStart.update(lStart);
 	}
 	nbSlices.setpoint.update(numberOfStepScans());
+
+	int32 totalslices = numberOfStepScans() ;
+		 cout  << " D19ScanFlying::calculateFromEnd " << totalslices << endl;
+		if (m_SlicesOmega){
+			delete[] m_SlicesOmega;
+			m_SlicesOmega = nullptr;
+		}
+		m_SlicesOmega = new float64[totalslices];
+
+		if (scanDirection() > 0) {
+			for (uint32 ki = 0; ki < (uint32) totalslices; ++ki) {
+				m_SlicesOmega[ki] = fstart + ki * fdelta;
+			}
+		} else {
+			for (uint32 ki = 0; ki < (uint32) totalslices; ++ki) {
+				m_SlicesOmega[ki] = fend - ki * fdelta;
+			}
+		}
+		omegaSliceAct.update(m_SlicesOmega);
+		omegaSliceAct.setSize(totalslices);
+
 }
 
 void D19ScanFlying::refreshWantedAxisInOutIndexProperty(int32 value)  {
@@ -319,6 +341,7 @@ void D19ScanFlying::start() {
 
 	m_scan_active = false;
 	log(Level::s_Info) << "End of Flying scan on  " <<  m_axisCurrent->getName()  << endlog;
+	axisOmegaFly->percentSpeed = (int32)( VirtualFlyAxis::SP_FAST );
 	commandStatus.setIdle();
 	commandProgression = 100;
 }
@@ -346,6 +369,7 @@ void D19ScanFlying::stop() {
 	m_scan_active = false;
 	commandStatus.setIdle();
 	commandProgression = 100;
+	axisOmegaFly->percentSpeed = (int32)( VirtualFlyAxis::SP_FAST );
 	log(Level::s_Info) << "stopped" << endlog;
 }
 
@@ -423,7 +447,7 @@ void D19ScanFlying::initMotor() {
 }
 
 void D19ScanFlying::initScan() {
-	//saveData = true;
+	saveData = true;
 	m_KineExtCount->nbSlices.setpoint = nbSlices.setpoint();
 	m_KineExtCount->saveData = saveData();
 	m_KineExtCount->subtitle = subtitle();

src/controllers/dif/d19/DetectorElement.cpp

@@ -100,6 +100,11 @@ DetectorElement::~DetectorElement() {
 		delete[] m_dset2_data;
 	}
 
+	delete[] m_CorrY_Ind ;
+	delete[] 	m_CorrY_A0 ;
+	delete[]		m_CorrY_A1 ;
+	delete[]	m_CorrY_A2;
+
 }
 
 /*
@@ -319,15 +324,15 @@ void DetectorElement::CalibrateOneSlice(int32* ldata,int32 indSlice) {
 				}
 		}
 
-		delete[] new_dataY;
-		delete[] new_dataX;
+		//delete[] new_dataY;
+		//delete[] new_dataX;
 
 	}else if (do_correctionY == true){
 		//cout << " do_correctionY " << endl;
 		for (int32 i = 0; i <  sizeDet ; ++i) {
 					m_LinearData[i] = (int32) round(new_dataY[i]/10000.);
 				}
-				delete[] new_dataY;
+				//delete[] new_dataY;
 
 	}else{
 		//cout << " do_correctionY false " << endl;
@@ -345,6 +350,16 @@ void DetectorElement::CalibrateOneSlice(int32* ldata,int32 indSlice) {
 	//cout << "***                       slice " << indSlice << " lsumCal "<< lsumCal << " lsumRaw  " <<  lsumRaw  <<  endl;
 
 
+	if (new_dataY != nullptr) {
+		delete[] new_dataY;
+		new_dataY = nullptr;
+	}
+
+	if (new_dataX != nullptr) {
+		delete[] new_dataX;
+		new_dataX = nullptr;
+	}
+
 	data.sendEvent();
 	//cout << " Set Data  Time  Copy " << c12.getTime() << endl;
 	//cout << " Set Data  Total Time " << c1.getTime() << endl;
@@ -400,7 +415,7 @@ void DetectorElement::setDataForKinetic() {
 
 
 	data.sendEvent();
-
+    cout << "FRA 01 "<< endl;
 	delete[] tempoData;
 }
 
@@ -655,7 +670,7 @@ void  DetectorElement::createCalibrationY(){
 
 	}
 
-
+	delete[] dset1_data;
 }
 
 void DetectorElement::createCalibrationX() {
@@ -787,8 +802,7 @@ void DetectorElement::createCalibrationX() {
 		//cout << " Files  calibrationXFileName() number of lines = " << nb_lines << "Time " << c1.getTime() << endl;
 		// Debug cout << " Files  calibrationXFileName sumTT1 " << sumTT1 << "sumT1  " << sumT1 << endl;
 	}
-
-}
+ }
 
 
 

src/controllers/dif/d19/VirtualFlyAxis.cpp

@@ -35,11 +35,12 @@ const float64 VirtualFlyAxis::TOL = 0.2; //mm
 
 
 const float64  VirtualFlyAxis::SP_FAST   = 4000;
-const float64  VirtualFlyAxis::SP_MEDIUM = 400;
-const float64  VirtualFlyAxis::SP_SLOW   = 4; // 10
+const float64  VirtualFlyAxis::SP_MEDIUM = 20;
+const float64  VirtualFlyAxis::SP_SLOW   = 10; // 10
 
  // 400 1.5
  // 10  60.0006 60.2506
+// 40 10.8
  // 4   151.252  150.752 153.502  149.502
 
 
@@ -54,7 +55,7 @@ VirtualFlyAxis::VirtualFlyAxis(const string& name) :
 // Init property
 	unit.init(this, SAVE | SPY, "unit");
 
-	position.init(this, SAVE | SPY, "actual_position", "wanted_position", "Position");
+	position.init(this, SAVE | SPY | SCAN, "actual_position", "wanted_position", "Position");
 	position.setUnit(unit);
 
 	offsetPosition.init(this, SAVE, "offset_position");
@@ -345,9 +346,9 @@ void VirtualFlyAxis::move(bool blocking) {
 	try {
 		axisTCPAxis->wantedPosition = m_TCPAxis_SetPoint;
 		if (axisTCPAxis->wantedPosition() < axisTCPAxis->actualPosition()  ){
-			axisMACAxis->position.setpoint = m_TCPAxis_SetPoint -5 ;
+			axisMACAxis->position.setpoint = m_TCPAxis_SetPoint  ;
 		} else {
-			axisMACAxis->position.setpoint = m_TCPAxis_SetPoint +5 ;
+			axisMACAxis->position.setpoint = m_TCPAxis_SetPoint  ;
 		}
 
 		if (percentSpeed() == 3) {

src/controllers/dif/d19/gui/d19_scan_flying/d19_scan_flying.properties

@@ -4,7 +4,7 @@ d19_scan_flying.titleScan=Scan
 # ScanPhi
 d19_scan_flying.firstLabel=First
 d19_scan_flying.lastLabel=Last
-d19_scan_flying.deltaLabel=Delta Per step
+d19_scan_flying.deltaLabel=Delta
 
 d19_scan_flying.WantedScanTimeLabel=Time
 d19_scan_flying.WantedStep=WantedStep
@@ -13,7 +13,7 @@ d19_scan_flying.ActualStep=ActualStep
 d19_scan_flying.degreeValue=~degree
 
 
-d19_scan_flying.percentSpeed=Percent Speed
+d19_scan_flying.percentSpeed=Speed
 d19_scan_flying.1SpeedValue=1
 d19_scan_flying.1SpeedLabel=Fast Speed
 

src/controllers/dif/d19/gui/d19_scan_flying/d19_scan_flyingCommandView.xml

@@ -7,6 +7,7 @@
 		<text role="d19_scan_flying1" property="scanStart" prefix="d19_scan_flying.firstLabel" />
 		<text role="d19_scan_flying1" property="scanEnd" prefix="d19_scan_flying.lastLabel" />
 		<text role="d19_scan_flying1" property="scanDelta" prefix="d19_scan_flying.deltaLabel" />
+	    <combo role="d19_scan_flying1" property="percentSpeed" prefix="d19_scan_flying.percentSpeed" valuesAndLabels="d19_scan_flying.1Speed,d19_scan_flying.2Speed,d19_scan_flying.3Speed"/>
 		
 	</group>
 	<newLine/>

src/controllers/dif/d19/gui/virtual_FlyAxis/virtual_FlyAxisCommandView.xml

@@ -4,6 +4,8 @@
 	<number_of_lines nb_lines="1"/>
 	<text role="virtual_FlyAxis1" property="wanted_position" prefix="virtual_FlyAxis.wantedPositionCommandPrefix"/>
 	<label role="virtual_FlyAxis1" property="unit" spaceBefore="false"/>
+	<combo role="virtual_FlyAxis1" property="percentSpeed" prefix="virtual_FlyAxis.percentSpeed" valuesAndLabels="virtual_FlyAxis.1Sp,virtual_FlyAxis.2Sp,virtual_FlyAxis.3Sp"/>
+	
 	<construction>
 		<simple_image prefix="LEFT_TO_RIGHT_ARROW"/>
 		<label role="virtual_FlyAxis1" property="wanted_position"/>

src/drivers/kollmorgen/akd/AkdDriver.cpp

@@ -90,10 +90,10 @@ AkdDriver::AkdDriver(const string& name) :
 
 	useHisto=false;
 
-	registerSpyCommand(COMMAND_READ_DEVICE_CONTAINER, 2);
-	registerSpyCommand(COMMAND_STATUS_DEVICE_CONTAINER, 2);
-	registerObserverCommand(COMMAND_READ_DEVICE_CONTAINER, 1);
-	registerObserverCommand(COMMAND_STATUS_DEVICE_CONTAINER, 1);
+	registerSpyCommand(COMMAND_READ_DEVICE_CONTAINER, 20);
+	registerSpyCommand(COMMAND_STATUS_DEVICE_CONTAINER, 20);
+	registerObserverCommand(COMMAND_READ_DEVICE_CONTAINER, 20);
+	registerObserverCommand(COMMAND_STATUS_DEVICE_CONTAINER, 20);
 }
 
 AkdDriver::~AkdDriver() {

src/drivers/kollmorgen/akd/RealAkdDriver.cpp

@@ -98,7 +98,7 @@ RealAkdDriver::RealAkdDriver(AkdDriver * owner) :
 	m_AkdFileDirectory = "/akd/";
 
 
-
+	m_coef_sens = -1;
 }
 
 RealAkdDriver::~RealAkdDriver() {
@@ -133,7 +133,7 @@ void RealAkdDriver::read() {
 	uint32 actualPos= (uint32)(static_cast<float32>(owner()->readModbus(POSITION_ACTUAL_VALUE_REGISTER)));
 	float32 actualPosFloatContent = *(float32 *) &actualPos;
 	owner()->positionHardware = (float64)(actualPosFloatContent) ; // /  (float64)(owner()->ratio()));
-	owner()->actualPosition = owner()->positionHardware()  /  (owner()->coefEncoderHardware() *  (float64)(owner()->ratio()) );
+	owner()->actualPosition = m_coef_sens * owner()->positionHardware()  /  (owner()->coefEncoderHardware() *  (float64)(owner()->ratio()) );
 	usleep(10000);
 }
 
@@ -298,7 +298,7 @@ void RealAkdDriver::positionMove() {
 	}
 
 	//Using actual_position and wanted_position properties inherited from AxisCommon
-	float32 wantedPosValue = (float32)( owner()->coefEncoderHardware() * owner()->wantedPosition() * (float32)(owner()->ratio()));
+	float32 wantedPosValue = (float32)( m_coef_sens * owner()->coefEncoderHardware() * owner()->wantedPosition() * (float32)(owner()->ratio()));
 	cout << "cons for  pos  " << owner()->wantedPosition() <<  " calc  "  << wantedPosValue << endl;
 	owner()->setPositionHardware = wantedPosValue ;
 
@@ -499,7 +499,7 @@ void RealAkdDriver::readStatus() {
 	// Set status
 	int32 status = owner()->readModbus(STATUS_REGISTER);
 	owner()->status = status;
-	//	cout << " status " << status << endl;
+		//cout << " status " << status << endl;
 
 	if (owner()->execMode() == AkdDriver::SPEED_MODE) {
 		float64 difference = fabs((owner()->wantedSpeed() - owner()->actualSpeed()));

src/drivers/kollmorgen/akd/RealAkdDriver.h

@@ -142,7 +142,7 @@ private:
 	static const int32 VAR_CAM_REGISTER;
 
 	Counter m_TimeCounter; //! Time counter
-
+    int32 m_coef_sens;
 };
 
 }