void DoSched(void)
{
time_t t;
double dt;
double d_lon;
double d_lat;
static int last_is = -1;
static int last_s = -1;
static int last_l = -1;
static int last_slot = -1;
static int last_up = -1;
int i_sched, i_point;
int i, index;
struct ScheduleType *S = &_S[CommandData.sucks][CommandData.lat_range];
struct ScheduleEvent event;
i_point = GETREADINDEX(point_index);
d_lat = PointingData[i_point].lat - NOMINAL_LATITUDE;
if (last_up != CommandData.uplink_sched) {
last_up = CommandData.uplink_sched;
last_is = -1;
}
// Check for invalid uplinked schedule file
if (CommandData.uplink_sched) {
if (Uplink_S == 0) {
CommandData.uplink_sched = 0;
} else if (Uplink_S->n_sched<2) {
CommandData.uplink_sched = 0;
}
}
if (CommandData.uplink_sched) {
if (last_slot != CommandData.slot_sched) {
last_slot = CommandData.slot_sched;
last_is = -1;
}
S = Uplink_S;
} else {
/* check our latitude band */
if (CommandData.lat_range == 2) { /* southern band */
if (d_lat > -(LATITUDE_BAND / 2) + LATITUDE_OVERLAP) {
blast_info("Scheduler: Entering middle latitude band. (%g)\n", d_lat);
CommandData.lat_range = 1;
}
} else if (CommandData.lat_range == 1) { /* middle band */
if (d_lat < -(LATITUDE_BAND / 2)) {
blast_info("Scheduler: Entering southern latitude band. (%g)\n", d_lat);
CommandData.lat_range = 2;
} else if (d_lat > (LATITUDE_BAND / 2)) {
blast_info("Scheduler: Entering northern latitude band. (%g)\n", d_lat);
CommandData.lat_range = 0;
}
} else if (CommandData.lat_range == 0) { /* norhtern band */
if (d_lat < (LATITUDE_BAND / 2) - LATITUDE_OVERLAP) {
blast_info("Scheduler: Entering middle latitude band. (%g)\n", d_lat);
CommandData.lat_range = 1;
}
} else {
blast_warn("Scheduler: Unexpected latitude band: %i\n",
CommandData.lat_range);
CommandData.lat_range = 1;
}
S = &_S[CommandData.sucks][CommandData.lat_range];
/* check to see if we've changed schedule files */
if (last_l != CommandData.lat_range) {
last_is = -1;
last_l = CommandData.lat_range;
}
if (last_s != CommandData.sucks) {
last_is = -1;
last_s = CommandData.sucks;
}
}
/* no schedule file case */
if (S->n_sched < 1) {
doing_schedule = 0;
return;
}
/*************************************************************/
/** find local comoving siderial date (in siderial seconds) **/
dt = (PointingData[i_point].t - S->t0) * 1.002737909; /*Ref Siderial Time */
d_lon = PointingData[i_point].lon;
while (d_lon < -170)
d_lon += 360.0;
while (d_lon >= 190.0)
d_lon -= 360.0;
dt -= ((d_lon) * 3600.00 * 24.00 / 360.0); /* add longitude correction */
sched_lst = dt;
t = PointingData[i_point].t;
if (t < CommandData.pointing_mode.t) {
doing_schedule = 0;
last_is = -1;
return;
}
if (PointingData[i_point].at_float && !CommandData.at_float) {
bputs(info, "Scheduler: *** Executing initial float commands. ***\n");
/* el on */
event.command = el_on;
event.is_multi = 0;
ScheduledCommand(&event);
/* unlock */
event.command = unlock;
ScheduledCommand(&event);
/* az on */
event.command = az_on;
ScheduledCommand(&event);
/* point antisolar */
event.command = antisun;
ScheduledCommand(&event);
/* enable hwpr autostepping */
event.command = hwpr_step_on;
ScheduledCommand(&event);
/* pot_valve_open */
event.command = pot_valve_open;
ScheduledCommand(&event);
event.command = pot_valve_on;
ScheduledCommand(&event);
/* turn off lock motor hold current */
event.command = lock_i;
event.is_multi = 1;
event.ivalues[0] = 50;
event.ivalues[1] = 0;
ScheduledCommand(&event);
/* fridge autocylce system active */
event.command = auto_cycle;
event.is_multi = 0;
ScheduledCommand(&event);
// out of sched mode for a while
CommandData.pointing_mode.t = t + 30;
doing_schedule = 0;
/* Remember we're at float */
CommandData.at_float = 1;
bputs(info, "Scheduler: *** Initial float commands complete. ***\n");
return;
}
/******************/
/** find i_sched **/
i_sched = last_is;
if (i_sched < 0)
i_sched = 0;
while ((i_sched < S->n_sched - 1) && (dt > S->event[i_sched].t))
i_sched++;
while ((i_sched > 0) && (dt < S->event[i_sched].t))
i_sched--;
/******************************/
/** Execute initial controls **/
if (!doing_schedule) {
bputs(info, "Scheduler: *** Entering schedule file mode. ***\n"
"Scheduler: *** Running initial schedule controls. ***\n");
/* bias fixed */
event.command = fixed;
event.is_multi = 0;
//ScheduledCommand(&event);
/* cal repeat */
event.command = cal_repeat;
event.is_multi = 1;
event.ivalues[0] = 130; /* ms */
event.ivalues[1] = 600; /* s */
//ScheduledCommand(&event);
bputs(info, "Scheduler: *** Searching for current pointing mode. ***\n");
/* find last pointing command */
for (i = i_sched; i >= 0; --i)
if (S->event[i].is_multi) {
index = MIndex(S->event[i].command);
if (mcommands[index].group & GR_POINT)
break;
} else {
index = SIndex(S->event[i].command);
if (scommands[index].group & GR_POINT)
break;
}
if (i == -1) {
bputs(warning,
"Scheduler: *** No previous pointing mode, turning antisolar. ***\n");
event.command = antisun;
event.is_multi = 0;
ScheduledCommand(&event);
} else if (i == i_sched) {
bputs(info, "Scheduler: *** Pointing mode change imminent. ***\n");
} else {
blast_info( "Scheduler: *** Recovering scheduled pointing mode (event %i). ***\n",
i);
ScheduledCommand(&S->event[i]);
}
}
doing_schedule = 1;
/*******************************/
/** Execute scheduled command **/
dt /= 3600;
if (i_sched != last_is) {
blast_info("Scheduler: Submitting event %i from %s to command "
"subsystem (LST = %i/%f)", i_sched,
filename[CommandData.sucks][CommandData.lat_range], (int)(dt / 24),
fmod(dt, 24));
ScheduledCommand(&S->event[i_sched]);
}
last_is = i_sched;
}
void entity::add_scheduled_command(int cycle, variant cmd)
{
scheduled_commands_.push_back(ScheduledCommand(cycle, cmd));
}
void entity::add_scheduled_command(int cycle, variant cmd)
{
scheduled_commands_.push_back(ScheduledCommand(cycle, cmd));
std::sort(scheduled_commands_.begin(), scheduled_commands_.end());
}
