VEXPController.cpp 11.1 KB
Newer Older
legoc's avatar
legoc committed
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
/*
 * Nomad Instrument Control Software
 *
 * Copyright 2011 Institut Laue-Langevin
 *
 * Licensed under the EUPL, Version 1.1 only (the "License");
 * You may not use this work except in compliance with the Licence.
 * You may obtain a copy of the Licence at:
 *
 * http://joinup.ec.europa.eu/software/page/eupl
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the Licence is distributed on an "AS IS" basis,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the Licence for the specific language governing permissions and
 * limitations under the Licence.
 */

#include "VEXPController.h"
#include "controllers/common/family/Families.h"
ics's avatar
ics committed
21
22
23
24
25
#include "contrib/rapidjson/document.h"
#include "contrib/rapidjson/reader.h"
#include "contrib/rapidjson/writer.h"
#include "contrib/rapidjson/stringbuffer.h"
#include "contrib/rapidjson/prettywriter.h"
legoc's avatar
legoc committed
26

legoc's avatar
legoc committed
27
using namespace boost;
ics's avatar
ics committed
28
using namespace std;
legoc's avatar
legoc committed
29

legoc's avatar
legoc committed
30
31
32
33
34
namespace vexp {

const string VEXPController::TYPE = "vexp_controller";

VEXPController::VEXPController(const string& name) :
35
	ExperimentController(name) {
36

legoc's avatar
legoc committed
37
38
	setFamily(family::HIDDEN);

legoc's avatar
legoc committed
39
40
41
42
43
44
45
46
47
48
49
50
	as.init(this, NOSAVE, "as");
	bs.init(this, NOSAVE, "bs");
	cs.init(this, NOSAVE, "cs");
	aa.init(this, NOSAVE, "aa");
	bb.init(this, NOSAVE, "bb");
	cc.init(this, NOSAVE, "cc");
	ax.init(this, NOSAVE, "ax");
	ay.init(this, NOSAVE, "ay");
	az.init(this, NOSAVE, "az");
	bx.init(this, NOSAVE, "bx");
	by.init(this, NOSAVE, "by");
	bz.init(this, NOSAVE, "bz");
legoc's avatar
legoc committed
51
52
53
	u.init(this, NOSAVE, "Umatrix");
	b.init(this, NOSAVE, "Bmatrix");

legoc's avatar
legoc committed
54
55
56
57
58
	qh.init(this, NOSAVE, "qh");
	qk.init(this, NOSAVE, "qk");
	ql.init(this, NOSAVE, "ql");
	en.init(this, NOSAVE, "en");
	qm.init(this, NOSAVE, "qm");
59
	fx.init(this, NOSAVE, "fx");
legoc's avatar
legoc committed
60
61
62
63
64
65
66

	ki.init(this, NOSAVE, "ki");
	kf.init(this, NOSAVE, "kf");

	a1.init(this, NOSAVE, "a1");
	a2.init(this, NOSAVE, "a2");
	a3.init(this, NOSAVE, "a3");
yannick legoc's avatar
yannick legoc committed
67
	a3p.init(this, NOSAVE, "a3p");
legoc's avatar
legoc committed
68
69
70
71
	a4.init(this, NOSAVE, "a4");
	a5.init(this, NOSAVE, "a5");
	a6.init(this, NOSAVE, "a6");

ics's avatar
ics committed
72
73
74
75
76
	calcvalues.init(this, NOSAVE, "calcvalues");

	calca1.init(this, NOSAVE, "calca1");
	calca2.init(this, NOSAVE, "calca2");
	calca3.init(this, NOSAVE, "calca3");
yannick legoc's avatar
yannick legoc committed
77
	calca3p.init(this, NOSAVE, "calca3p");
ics's avatar
ics committed
78
79
80
81
	calca4.init(this, NOSAVE, "calca4");
	calca5.init(this, NOSAVE, "calca5");
	calca6.init(this, NOSAVE, "calca6");

82
	calculationStatus.init(this, NOSAVE, "calculation_status");
legoc's avatar
legoc committed
83
	errorMessage.init(this, NOSAVE, "error_message");
84
	moveModel.init(this, SAVE, "move_model");
legoc's avatar
legoc committed
85
86
87
88
89
90

	tasSettings.init(this, "tas_settings");
	sample.init(this, "sample");
	scattering.init(this, "scattering");
	incidentBeam.init(this, "incident_beam");
	scatteredBeam.init(this, "scattered_beam");
legoc's avatar
legoc committed
91
92
93
94

	a1Controller.init(this, "A1");
	a2Controller.init(this, "A2");
	a3Controller.init(this, "A3");
yannick legoc's avatar
yannick legoc committed
95
	a3pController.init(this, "A3P");
legoc's avatar
legoc committed
96
97
98
99
100
101
	a4Controller.init(this, "A4");
	a5Controller.init(this, "A5");
	a6Controller.init(this, "A6");
}

VEXPController::VEXPController(const VEXPController& controller) :
102
	ExperimentController(controller) {
legoc's avatar
legoc committed
103
104
105
}

VEXPController::~VEXPController() {
106
}
legoc's avatar
legoc committed
107
108
109
110

void VEXPController::updateUMatrix() {
	u.update(sample->uRef());
	u.setSize(sample->uRef.getSize());
111
	u.sendEvent();
legoc's avatar
legoc committed
112
113
114
115
116
}

void VEXPController::updateBMatrix() {
	b.update(tasSettings->b());
	b.setSize(tasSettings->b.getSize());
117
	b.sendEvent();
legoc's avatar
legoc committed
118
119
}

ics's avatar
ics committed
120
void VEXPController::refreshCalcParameters(const std::string& value) {
121

122
	//cout << "refreshCalcParameters " << value << endl;
123

ics's avatar
ics committed
124
125
126
	// Parse the values.
	rapidjson::Document document;
	document.Parse(value.c_str());
127

ics's avatar
ics committed
128
129
130
131
132
	rapidjson::Value& ki = document["ki"];
	rapidjson::Value& kf = document["kf"];
	rapidjson::Value& qh = document["qh"];
	rapidjson::Value& qk = document["qk"];
	rapidjson::Value& ql = document["ql"];
133
	rapidjson::Value& fx = document["fx"];
134

ics's avatar
ics committed
135
	// Calculate the angles and the status.
136
	calculate(ki.GetDouble(), kf.GetDouble(), qh.GetDouble(), qk.GetDouble(), ql.GetDouble(), fx.GetInt());
137
138
}

139
double toDouble(double value) {
ics's avatar
ics committed
140

141
142
143
	if (isinf(value)) {
		return numeric_limits<double>::max();
	}
ics's avatar
ics committed
144

145
146
147
	if (isnan(value)) {
		return 0.0;
	}
legoc's avatar
legoc committed
148

149
150
	return value;
}
ics's avatar
ics committed
151

152
void VEXPController::refreshFloat64Property(SimpleProperty<float64>& property, float64 value) {
legoc's avatar
legoc committed
153
154
155

	// Update the value.
	property = value;
legoc's avatar
legoc committed
156
157
}

158
159
160
161
162
163
164
165
void VEXPController::refreshFloat64PropertyToMoveModel(SimpleProperty<float64>& property, float64 value) {

	// Update the value only in case moveModel is true.
	if (moveModel()) {
		property = value;
	}
}

ics's avatar
ics committed
166
void VEXPController::updateProperties() {
legoc's avatar
legoc committed
167

legoc's avatar
legoc committed
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
	// Copy the values.
	as.update(tasSettings->as());
	bs.update(tasSettings->bs());
	cs.update(tasSettings->cs());
	aa.update(tasSettings->aa());
	bb.update(tasSettings->bb());
	cc.update(tasSettings->cc());
	ax.update(tasSettings->ax());
	ay.update(tasSettings->ay());
	az.update(tasSettings->az());
	bx.update(tasSettings->bx());
	by.update(tasSettings->by());
	bz.update(tasSettings->bz());

	updateUMatrix();
	updateBMatrix();

ics's avatar
ics committed
185
186
187
188
189
	qh.update(scattering->qh());
	qk.update(scattering->qk());
	ql.update(scattering->ql());
	en.update(scattering->en());
	qm.update(scattering->qm());
190
	fx.update(scattering->fx());
ics's avatar
ics committed
191
192
193
194
195
196
197

	ki.update(incidentBeam->ki());
	kf.update(scatteredBeam->kf());

	a1.update(a1Controller->position());
	a2.update(a2Controller->position());
	a3.update(a3Controller->position());
yannick legoc's avatar
yannick legoc committed
198
	a3p.update(a3pController->position());
ics's avatar
ics committed
199
200
201
202
203
204
	a4.update(a4Controller->position());
	a5.update(a5Controller->position());
	a6.update(a6Controller->position());
}

void VEXPController::postConfiguration() {
205
206
207
208
209
210
211
212
213
214
215
216
217
218

	// Register the property updaters.
	registerPropertyCopierByUpdate(tasSettings->as, as);
	registerPropertyCopierByUpdate(tasSettings->bs, bs);
	registerPropertyCopierByUpdate(tasSettings->cs, cs);
	registerPropertyCopierByUpdate(tasSettings->aa, aa);
	registerPropertyCopierByUpdate(tasSettings->bb, bb);
	registerPropertyCopierByUpdate(tasSettings->cc, cc);
	registerPropertyCopierByUpdate(tasSettings->ax, ax);
	registerPropertyCopierByUpdate(tasSettings->ay, ay);
	registerPropertyCopierByUpdate(tasSettings->az, az);
	registerPropertyCopierByUpdate(tasSettings->bx, bx);
	registerPropertyCopierByUpdate(tasSettings->by, by);
	registerPropertyCopierByUpdate(tasSettings->bz, bz);
legoc's avatar
legoc committed
219
220
221
222

	registerUpdater(sample->uRef, &VEXPController::updateUMatrix, this);
	registerUpdater(sample->b, &VEXPController::updateBMatrix, this);

ics's avatar
ics committed
223
224
225
226
227
	registerPropertyCopierByUpdate(scattering->qh, qh);
	registerPropertyCopierByUpdate(scattering->qk, qk);
	registerPropertyCopierByUpdate(scattering->ql, ql);
	registerPropertyCopierByUpdate(scattering->en, en);
	registerPropertyCopierByUpdate(scattering->qm, qm);
228
	registerPropertyCopierByUpdate(scattering->fx, fx);
ics's avatar
ics committed
229
230
231
232
233
234
235

	registerPropertyCopierByUpdate(incidentBeam->ki, ki);
	registerPropertyCopierByUpdate(scatteredBeam->kf, kf);

	registerPropertyCopierByUpdate(a1Controller->position, a1);
	registerPropertyCopierByUpdate(a2Controller->position, a2);
	registerPropertyCopierByUpdate(a3Controller->position, a3);
yannick legoc's avatar
yannick legoc committed
236
	registerPropertyCopierByUpdate(a3pController->position, a3p);
ics's avatar
ics committed
237
238
239
240
241
242
243
244
245
	registerPropertyCopierByUpdate(a4Controller->position, a4);
	registerPropertyCopierByUpdate(a5Controller->position, a5);
	registerPropertyCopierByUpdate(a6Controller->position, a6);


	// To calculate the angles.
	registerRefresher(calcvalues, &VEXPController::refreshCalcParameters, this);

	// To move the model.
246
247
248
	registerRefresher(calca1, &VEXPController::refreshFloat64PropertyToMoveModel, this, a1Controller->position);
	registerRefresher(calca2, &VEXPController::refreshFloat64PropertyToMoveModel, this, a2Controller->position);
	registerRefresher(calca3, &VEXPController::refreshFloat64PropertyToMoveModel, this, a3Controller->position);
yannick legoc's avatar
yannick legoc committed
249
	registerRefresher(calca3p, &VEXPController::refreshFloat64PropertyToMoveModel, this, a3pController->position);
250
251
252
	registerRefresher(calca4, &VEXPController::refreshFloat64PropertyToMoveModel, this, a4Controller->position);
	registerRefresher(calca5, &VEXPController::refreshFloat64PropertyToMoveModel, this, a5Controller->position);
	registerRefresher(calca6, &VEXPController::refreshFloat64PropertyToMoveModel, this, a6Controller->position);
ics's avatar
ics committed
253
254
255
256

	updateProperties();
}

ics's avatar
ics committed
257
258
259
260
261
262
263
264
265
266
267
void VEXPController::checkAxisLimits(ControllerPtr<axis::AxisController>& axis, float64 value) throw (CannotSetValue) {

	if ((value - axis->maxPosition()) > 0.0000001) {
		cerr << "vEXP out of limits for " << axis->getName() << endl;
		throw CannotSetValue();
	} else if ((value - axis->minPosition()) < -0.0000001) {
		cerr << "vEXP out of limits for " << axis->getName() << endl;
		throw CannotSetValue();
	}
}

268
void VEXPController::calculate(float64 ki, float64 kf, float64 qh, float64 qk, float64 ql, int32 fx) {
ics's avatar
ics committed
269
270
271
272

	// Reset status.
	calculationStatus.setIdle();

ics's avatar
ics committed
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
	try {
		// Ki.
		incidentBeam->calcki = ki;

		// calca1, calca2, calcStatus are calculated.
		incidentBeam->calculate(tas::Beam::K_MODE);

		calca1 = toDouble(incidentBeam->calca1());
		calca2 = toDouble(incidentBeam->calca2());

		checkAxisLimits(a1Controller, calca1());
		checkAxisLimits(a2Controller, calca2());

	//	cout << "calc A1 " << calca1() << endl;
	//	cout << "calc A2 " << calca2() << endl;
	//	cout << "calc A3 " << calca3() << endl;
	//	cout << "calc A3P " << calca3p() << endl;
	//	cout << "calc A4 " << calca4() << endl;
	//	cout << "calc A5 " << calca5() << endl;
	//	cout << "calc A6 " << calca6() << endl << endl;

		// Manage the status.
		if (incidentBeam->calcStatus.isError()) {
			calculationStatus.setError();
		}
		else if (incidentBeam->calcStatus.isWarning()) {
			calculationStatus.setWarning();
		}

		//cout << "Ki -> status " << incidentBeam->calcStatus() << endl;

		// Kf.
		scatteredBeam->calckf = kf;

		// calca1, calca2, calcStatus are calculated.
		scatteredBeam->calculate(tas::Beam::K_MODE);

		calca5 = toDouble(scatteredBeam->calca5());
		calca6 = toDouble(scatteredBeam->calca6());

		checkAxisLimits(a5Controller, calca5());
		checkAxisLimits(a6Controller, calca6());

		// Manage the status.
		if (scatteredBeam->calcStatus.isError()) {
			calculationStatus.setError();
		}
		else if (scatteredBeam->calcStatus.isWarning() && !calculationStatus.isError()) {
			calculationStatus.setWarning();
		}

		//cout << "Kf -> status " << scatteredBeam->calcStatus() << endl;

		// Q.
		scattering->calcqh = qh;
		scattering->calcqk = qk;
		scattering->calcql = ql;
		scattering->calcen = 2.072 * (ki * ki - kf * kf);
		scattering->calcki = ki;
		scattering->calckf = kf;

		// Calculate by fixing Ki.
335
		scattering->calculate(tas::Beam::K_MODE, fx);
ics's avatar
ics committed
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359

		calca3 = toDouble(scattering->calca3());
		calca3p = toDouble(scattering->calca3p());
		calca4 = toDouble(scattering->calca4());

		checkAxisLimits(a3Controller, calca3());
		checkAxisLimits(a3pController, calca3p());
		checkAxisLimits(a4Controller, calca4());

	//	cout << "calc A1 " << calca1() << endl;
	//	cout << "calc A2 " << calca2() << endl;
	//	cout << "calc A3 " << calca3() << endl;
	//	cout << "calc A4 " << calca4() << endl;
	//	cout << "calc A5 " << calca5() << endl;
	//	cout << "calc A6 " << calca6() << endl << endl;

		// Manage the status.
		if (scattering->calcStatus.isError()) {
			calculationStatus.setError();
		}
		else if (scattering->calcStatus.isWarning() && !calculationStatus.isError()) {
			calculationStatus.setWarning();
			cerr << "Warning: Calculated Kf are different" << endl;
		}
ics's avatar
ics committed
360
	}
ics's avatar
ics committed
361
	catch (...) {
ics's avatar
ics committed
362
363
364
365
		calculationStatus.setError();
	}

	//cout << "Q -> status " << scattering->calcStatus() << endl;
legoc's avatar
legoc committed
366
367
368
}

}