AGC (Az,Gr,Ch) idl routines

Last modified: Wed Oct 25 13:19:32 2017.


List of Routines


Routine Descriptions

AGCINP - INPUT AGC RECORDS FROM A LOG FILE.

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NAME:
agcinp - input agc records from a log file.
SYNTAX: pnts=agcinp(lun,b,nptsreq,cb=cb,fb=fb,onekind=onekind)
ARGS:
       lun:    long    lun for file to read from
   nptsreq:    long    number of recs to read in. if <=0 or not supplied
                       then read to end of file.
       b[] :   {cbfb}  return cblock,fblock info here, if cb or fb set then
                       structure will only be cb or fb    
      pnts :    long   return the number of points input.

KEYWORDS:
   cb   : if set, only input cblock
   fb   : if set, only input fblock
  onekind: if set then the datafile only has the cb, or fb specified
DESCRIPTION:
   agcinp is normally called from agcmoninp or agcinpday.

(See /pkg/rsi/local/libao/phil/agc/agcinp.pro)


AGCINPDAY - INPUT ALL THE AGC INFO FOR 1 DAY.

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NAME:
agcinpday - input all the agc info for 1 day.
SYNTAX: npts=agcinpday(date,b,cb=cb,fb=fb,onekind=onekind,raw=raw,dirL=dirL)
ARGS:
       date:   long yymmdd file to input
       b[] :   {cbfb}  return cblock,fblock info here, if cb or fb set then
                       structure will only be cb or fb    
       npts:   long    number of samples found
KEYWORDS:
   cb   : if set, only input cblock
   fb   : if set, only input fblock
   raw  : return raw struct as read from vertex.
  onekind: if set then the datafile only has the cb, or fb specified
  dirL[]: string  list of extra directories to search for files
RETURNS:
     npts: long number of samples found for this day.
DESCRIPTION:
   agcinpday will input all of the agc data for the requested day.
The array B[] will typically have 86400 entries (1 per second). The data
structure is described in agcIntro above.

(See /pkg/rsi/local/libao/phil/agc/agcinpday.pro)


AGCINPRAW - INPUT RAW AGC RECORDS FROM A LOG FILE.

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NAME:
agcinpraw - input raw agc records from a log file.
SYNTAX: pnts=agcinp(lun,b,nptsreq,cb=cb,fb=fb,onekind=onekind)
ARGS:
       lun:    long    lun for file to read from
   nptsreq:    long    number of recs to read in. if <=0 or not supplied
                       then read to end of file.
       b[] :   {cbfb}  return cblock,fblock info here, if cb or fb set then
                       structure will only be cb or fb    
      pnts :    long   return the number of points input.

KEYWORDS:
   cb   : if set, only input cblock
   fb   : if set, only input fblock
  onekind: if set then the datafile only has the cb, or fb specified
DESCRIPTION:
   agcinp is normally called from agcmoninp or agcinpday.

(See /pkg/rsi/local/libao/phil/agc/agcinpraw.pro)


AGCINTRO - INTRO/EXAMPLES FOR AGC ROUTINES.

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NAME:
agcintro - intro/examples for agc routines.

   The main telescope drive systems (Az,Gr,Ch or AGC) were designed and 
built by vertex antenna company. There are two status blocks:Critical and
Full blocks that are logged to disc once a second. The files are kept by
day with the filenames cbFbyymmdd.dat in the directory /share/obs1/pnt/log.
The last 6 months of data is normally kept on disc (data before this is
backed up to tape).
   The idl routine agcinpday allows you to input and manipulate this data. 
The data is returned as an array of idl structures eg:

IDL> npts=agcinpday(020605,b)
IDL> help,b
     B  STRUCT    = -> CBFB Array[86399]
IDL> help,b,/st
** Structure CBFB, 2 tags, length=288:
   CB              STRUCT    -> CB Array[1] .. this is the critical block
   FB              STRUCT    -> FB Array[1] .. this is the full block

The critical block contains:
DL> help,b.cb,/st
** Structure CB, 8 tags, length=56:
   TIME        DOUBLE        .013 .. seconds from midnite 
   TMOFFSETPT  FLOAT      0.00000 .. time offset for program track
   FREEPTPOS   UINT           127 .. free queue locations for prgmtrk
   GENSTAT     UINT            64 .. generic status (bitmap)
   MODE        UINT      Array[3] .. axis mode bitmaps (az,gr,ch)
   STAT        UINT      Array[3] .. axis status bitmaps (az,gr,ch)
   VEL         FLOAT     Array[3] .. motor velocity deg/sec (az,gr,ch)
   POS         FLOAT     Array[3] .. encoder pos deg (az,gr,ch)

The full block contains:

IDL> help,b.fb,/st
** Structure FB, 19 tags, length=232:
   TIME          DOUBLE 0.08400   .. seconds from midnite
   AX            STRUCT -> FBAXISINFO Array[3].. axis info struct(az,gr,ch)
   AZENCDIF      FLOAT -0.0295564 ..  azEnc1-azEnc2 (deg) (dome-ch)
   TQAZ          FLOAT Array[8]   .. az torques in ftlbs.
                                     motor order:11,12,51,52,41,42,81,82 
   TQGR          FLOAT Array[8]   .. gregorian torques in ftlbs.
                                     motor order:11,12,21,22,31,32,41,42
   TQCH          FLOAT Array[2]   .. carriage house torques in ftlbs.
                                     motor order:1,2
   PLCINPSTAT    BYTE  Array[20]  .. input status block from plc
   PLCOUTSTAT    BYTE  Array[24]  .. output status block from plc
   POSSETPNT     FLOAT Array[3]   .. position set point az,gr,ch (deg)
   VELSETPNT     FLOAT Array[3]   .. velocity setpoint deg/sec (az,gr,ch)
   BENDINGCOMPAZ INT         21   .. bending compensation for az
   TORQUEBIASGR  INT         31   .. torque bias for gr (ftlbs)
   GRAVITYCOMPGR INT        -26   .. gravity compensation gr (ftlbs)
   TORQUEBIASCH  INT          0   .. torque bias ch
   GRAVITYCOMPCH INT          0   .. gravity compensation ch (ftlbs)
   POSLIM        FLOAT Array[2, 3].. poslim [upper,lower],[az,gr,ch] deg
   ENCCOR        FLOAT Array[3]   .. encoder correction [deg] (az,gr,ch)
   TMOUTNOHOSTSEC INT        20   .. timeout for vme system (secs)
   TMELAPSEDSEC  LONG  24650888   .. elapsed time in seconds.

Somethings to watch out for.
   1. times:
       The cblock and fblock have slightly different time stamps since
       they are sampled serially. Occasionally the 1st time of 
       a file is 86400.003 rather than .003. You need to fix this if it
       messes up plotting versus time.
   2. positions/velocities:
       The positions cb.pos[] are the encoder values and are extremely
       accurate. The velocities cb.vel[]  are derived from the amplifiers.
       Each amplifier has a voltage readback that is proportional to the
       speed. cb.vel[1] is the average of the eight dome amplifiers. If
       you want an exact velocity, use the difference of encoder positions
       divided by the time difference between readings.
       
       The position setpoint b.fb.setpoint[] is the last preset position 
       requested. When running in program track mode (normal operation),
       this value does not reflect the current location of the dome.

       The velocity setpoint b.fb.velsetpnt is the velocity setpoint in
       degrees per second that is passed to the analog circuitry by
       the plc. The bias voltages (torque,gravity, delta velocity) are then 
       added to this value to drive the PI loop.    
       
   3. torques.
      The ch and gr torques are calibrated via hagens torque
      wrench. We need to do this for the azimuth motors too. The
      bending compensation, torquebias, gravity compensation are
      from vertex and they need to be double checked. 

   4. The last 12 bytes of plcoutstat have been replaced in the lcu
      with the irig clock time monitor.

EXAMPLES:

   1. Input a days worth of data.
      npts=agcinpday(020611,b)
   2. fixup the time to be hour of the day
      tm=b.cb.time/3600.
      tm[0]=tm[1]      ; fix up the 86400. junk
   3. plot dome position versus hour 
       plot,tm,b.cb.pos[1]
   4. grab the dome torques into a separate array and
      reorder from [8,86400] to [86400,8] to make it easier to plot
      then do a strip plot versus time with each tq a separate color.
      (see generic idl routines stripsxy)
      tqgr=transpose(b.fb.tqgr)
      stripsxy,tm,tqgr,0,0,/step
   5. monitor the torques on the dome for the current day:
      agcmon,-1

(See /pkg/rsi/local/libao/phil/agc/agcintro.pro)


AGCLABMOT - LABEL THE MOTOR COLORS

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NAME:
agclabmot - label the motor colors
SYNTAX: agclabmot,axis,ln=ln,scl=scl,xpos1=xpos1,xpos2=xpos2,xposhb=xposhb,
			cs=cs,grp=grp,font=font
ARGS:
axis : string  'az','gr', or 'ch'

KEYWORDS:
   ln: int line number to start 0..31, default=2
 step: float line step. Default=1.
xpos1: float xpos start of first col. 0..1 . def:.02
xpos2: float xpos start of 2nd   col. 0..1 . def:xpos1  + .1
xposHB:float xpos for hydraulic brake labels (def:xpos + .1)
   cs: float charsize scaling. default=1.
 grp : int   if 1 or 2 , then only label groups 1 or 2
 font: int   font to use . 0 normal, 1=truetype

RETURNS:

DESCRIPTION:
   Label the colors used for the various motors.

(See /pkg/rsi/local/libao/phil/agc/agclabmot.pro)


AGCMON - MONITOR THE DRIVE MOTOR TORQUES.

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NAME:
agcmon - monitor the drive motor torques. 
SYNTAX: agcmon,yymmdd,axis=axis,disp=disp,win=win,mlab=mlab,$
               magpnts=magpnts,msmo=msmo,delay=delay,hshift=hshift,$
               smo=smo,debug=debug,veldaily=veldaily,hortm=hortm,$
               highres=highres
ARGS:
   yymmdd: long    date to display. -1 --> current day
 
KEYWORDS:
     axis :    string axis for torques. az,gr, ch. default is 'gr'
     disp :    int  1 ->upper magnified display only
                    2 ->lower daily display only
                    default both
       win:    long window number to display in. This allows the user to
                    setup the window dimensions and position before
                    calling this routine. The default is 0. Window 4
                    is used for the pixwin, so do not use it as the 
                    display window number.
  mlab[6]:   float  specify motor label text position
					 [0] - line 0..31   def 2.5
					 [1] - line step    def  .7
					 [2] - xpos 1st col def  .02
					 [3] - xpos 2nd col def  .12
					 [4] - xpos HB      def  .22
					 [5] - charsize     def 1.3
 highres:           if set then stop after each magpnts display
                    so use can inspect it.

(See /pkg/rsi/local/libao/phil/agc/agcmon.pro)


AGCMONINP - INPUT THE MONITOR DATA.

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NAME:
agcmoninp - input the monitor data.

SYNTAX: newrecs=agcmoninp,yymmdd,b,curpos=curpos,daynum=daynum,year=year,$
				 append=append,inprecsize=inprecsize
DESCRIPTION:
   This routine is called by agcmon to input the next set of monitor
data.

(See /pkg/rsi/local/libao/phil/agc/agcmoninp.pro)


AGCOPEN - OPEN LOG FILE

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NAME:
agcopen - open log file
SYNTAX: lun=agcopen(yymmdd,dirL=dirL,dirUsed=dirUsed,fnameUsed=fnameUsed)
ARGS:
    yymmdd:    long    data to open
    dirL[]:  string   list of directories to include in default search path
RETURNS:
lun    : long   lun for open file. -1 if open failed
dirUsed: string  directory used (with trailing /)
fnameUsed: string basename used
 
DESCRIPTION:
   agcinp is normally called from agcmoninp or agcinpday.

(See /pkg/rsi/local/libao/phil/agc/agcopen.pro)


AGCPLOTSUM - PLOT A SUMMARY OF THE AGC DATA.

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NAME:
agcplotsum - plot a summary of the agc data.
SYNTAX: agcplotsum,b,az=az,gr=gr,ch=ch,title=title,loff=loff,$
                   vaz=vaz,vdaz=vdaz,vtq=vtq,tqinc=tqinc,tqsmo=tqsmo,$
                   win=win,/wait,page=page,fl=fl
ARGS:
       b[] :   {cbfb}  data read via agcinp,or agcinpday to plot

KEYWORDS:
   az   : if set plot az info (def)
   gr   : if set plot gr info
   ch   : if set plot ch info
   title: string title for each plot (eg date..)'
  loff  : float  offset for labels on left side of page
                 units are fraction of x scale. The default
                 is .06 which is good for interactive viewing.
                 For hardcopy use loff=.15
  vaz[2]: float  min max for az vs time
 vdaz[2]: float  min max for az encoder difference
  vtq[2]: float  min max for torque plots
  tqinc : float  display offset between each motor tq plot. def=0
 tqsmo : int	 number of seconds to smooth motor tqs. def=1 (no smoothing)
   win[]:        window numbers to plot each page in..
   wait :        if set then wait for user to hit a key between each 
                 plot
  fl[]: float  list of hours to flag
  page : int    plot just one page of the info. default is all

DESCRIPTION:
   Plot the agc data input via agcinp or agcinpday. If you want a 
range of the array, use where before calling this routine. The keywords
select which axis to plot: az, gr or ch. By default the az data is plotted.
If more than one keyword is set then the plot is determined by : az,gr,ch.

To send the data to a ps file use:
 pscol,'junk.ps',/full
 agcplotsum,b
 hardcopy
 x

NOTE:
   only azimuth plotting has been implemented.. When something in the
gr breaks, i'll probably implement it too...

(See /pkg/rsi/local/libao/phil/agc/agcplotsum.pro)


AGCPLTTQAVG - AVG THEN PLOT THE TORQUES

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NAME:
agcplttqavg - avg then plot the torques
SYNTAX: agcplttqavg,b,nbinsVel,axis=axis,minV=minV,maxV=maxV,velbin=velbin,$
                      cntbin=cntbin,tqavg=tqavg,vtq=vtq,usespd=usespd,fl=fl)
ARGS:
    b[npnt]:  {cbfb} struct returned from agcinpday
     nbinsVel:  long number of velocity bins to use.

KEYWORDS:
 minV   : float min value for the histogram (default is find min)
 maxV   : float max value for the histogram (default is find max)
 axis   : int   1=az,2=gr,3=ch
 vtq[2] : float if specified, then the vertical scale for the torque
usespd  :       if set use motor speed readout rather than 
                encoder to compute the velocity.
fl      : []    flag  these locations in plots

RETURNS:
 tqavg[nbins,nmot]: float averaged data
 velbin[nbin]: float array holding the velocity bins.
 cntbin[nbin]: float number of counts we had in each velocity bin

DESCRIPTION:
   Compute the velocity from the encoder positions and then make
a histogram of the velocity. For each motor find all the points that fall
in each velocity bin and average them. Return a binned avg of the torques
for each motor. plot the data and return the results.
EXAMPLE: ;

 average the azimuth torques.
 npnts=agcinpday(yymmmdd,b)

 agcplttqavg(b,51,minV=-.5,maxV=.5,axis=1,tqavg=tqavg,velbin=velbin,$
                 cntbin=cntbin)

(See /pkg/rsi/local/libao/phil/agc/agcplttqavg.pro)


AGCTQAVG - AVG THE TORQUES USING VEL HISTOGRAM

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NAME:
agctqavg - avg the torques using vel histogram
SYNTAX: tqavg=agctqavg(b,nbinsVel,axis=axis,minV=minV,maxV=maxV,velbin=velbin,$
                      cntbin=cntbin)
ARGS:
    b[npnt]:  {cbfb} struct returned from agcinpday
     nbinsVel:  long number of velocity bins to use.

KEYWORDS:
 minV   : float min value for the histogram (default is find min)
 maxV   : float max value for the histogram (default is find max)
 axis   : int   1=az,2=gr,3=ch

RETURNS:
 tqavg[nbins,nmot]: float averaged data
 velbin[nbin]: float array holding the velocity bins.
 cntbin[nbin]: float number of counts we had in each velocity bin

DESCRIPTION:
   Compute the velocity from the encoder positions and then make
a histogram of the velocity. For each motor find all the points that fall
in each velocity bin and average them. Return a binned avg of the torques
for each motor.
EXAMPLE: ; 

 average the azimuth torques.
 npnts=agcinpday(yymmmdd,b)
 
 tqAvg=agctqavg(b,51,minV=-.5,maxV=.5,axis=1)
history:
01feb08 - switched axis 1,2,4 to 1,2,3
11feb08 - added usespd option
          computed velenc correctly (needed to add days so interp worked)
          switch mean to median for histbin averaging to get rid of
          outliers.

(See /pkg/rsi/local/libao/phil/agc/agctqavg.pro)