Instrument Control Software Programmer`s Manual
Contents
1. 2 Looking SAM from the ISB X is parallel to the bench and positive right Y is perpendicular to the bench and positive up 13 ICSOFT Programmer Manual Rev 3 0 October 2010 Chapter 5 Atmospheric Dispersion Correction Chapter 5 Atmospheric Dispersion Correction The ADC task is implemented by the icsoft_task_adc_logic VI The VI loops waiting for input in the ADC Task Queue If the MOVE command arrives the task searches for two arguments containing the target positions for the prisms The arguments are used to build the command AOM ADC MOVE ARG1 ARG2 and the resulting string is then sent to the AOMSOFT If the GO command arrives instead the task uses the current telescope elevation EL and Nasmyth rotator mechanical angle ROT as stated by the TCS to obtain the target position for the prisms The process starts in the VI icsoft_calculate_dispersion_angle by obtaining the dispersion orientation angle DA for the ADC see Error Reference source not found Error Reference source not found The dispersion orientation angle along with the zenith distance ZD 90 EL is then passed to the VI icsoft compute adc elements position to obtain the final target positions for the inner element INNER and the outer element OUTER of the ADC as if STRENGTH tan zd 1 ANGLE 90 0 RAD2DEG asin STRENGTH tan zd else ANGLE 90 0 DA DAO SIGN OFFSET INNER DA ANGLE OUTER DA ANGLE The two angles are then2. gt MOVE 0 100 IM INJARM MOVE IN OUT IM DIMMER ON OFF IM DIMMER MOVE 0 100 IM SJOGX 0 1 IM SJOGY 0 1 FOCUS MOVE FP REFBEAM MOVE IN OUT DIMMER ON OFF DIMMER MOVE 0 100 TTER MOVE OPEN CLOSE MOVE IN OUT STOP MOVE INNER OUTER EL MOVE IN OUT N gt ON OFF RESET ON OFF Turn the WFS acquisition camera power on off ON OFF Turn the Pockel Cell high voltage on off US METRY ARG2 Simply returns the arguments back to the originator GET RTC AOMS AOMT RTC RTC RTC RTC RTC RTC AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS RTC FAULT LSFAULT SIMM WFS RGATE RGDELAY STATUS MIN MAX MEAN STDEV ETIME MEANFLUX BIAS BGND AO LOOP LTIME RO V VCM TT LOOP CTLR FULLBW TIME GP1F GP2F GP1W GP2W GP1X GP1Y GP2X GP2Y MOUNT LOOP LLT LOOP CTLR Guider P1 X position pos zpoint status Guider P1 Y position pos zpoint status Guider P2 X position pos zpoint status Guider P2 Y position pos zpoint status Focus Pl position status init Focus P2 position status init G Dimmer P1 power status dimmer G Dimmer P2 power status dimmer Output Selector position status abs position trajectory init TS Ph Screen 1 position status abs position TS Ph Screen 2 position status abs position TS Source Adj X position status abs position TS Source Adj Y position status abs position ICSOFT P
3. used to build the command AOM ADC MOVE INNER OUTER and the resulting string is sent to the AOMSOFT OFFSET SIGN and STRENGTH are user defined parameters obtained from the icsoft ini configuration file When ADC compensation is enabled the GO command executes every TIMEOUT seconds triggered by a loop in the VI icsoft_task_control_manager TIMEOUT is a user defined parameter obtained from the icsoft ini configuration file 15 ICSOFT Programmer Manual Rev 3 0 October 2010 Chapter 6 Telemetry Chapter 6 Telemetry The icsoft_task_telemetry VI runs every second and checks for every test point if LTIME seconds have elapsed since the last check The list of test points to check is defined in the telemetry ini file and LTIME is a test point user defined parameter Each test point in the telemetry ini file has an ID The assignment between ID and telemetry channel is hardwired into the code Table 2 Table 2 Test point ID assignments 17 ID Global Variable Telemetry Keyword 0 TCHANNEL 00 30V Power Supply 1 TCHANNEL 01 30V APD 1 2 TCHANNEL 02 30V APD 2 3 TCHANNEL 03 5V APD 4 TCHANNEL 04 2V APD 5 TCHANNEL 05 Glycol 6 TCHANNEL 06 OAP1 7 TCHANNEL 07 DM 8 TCHANNEL 08 OAP2 9 TCHANNEL 09 ADC 10 TCHANNEL 10 TURSIM 11 TCHANNEL 11 PROSILICA 12V 12 TCHANNEL 12 Pockels Cell High Voltage ICSOFT Programmer Manual Rev 3 0 October 2010 APPENDIX A North East coordinate
4. IC Software Programmer s Manual SOAR Adaptive Module SAM Revision Rev 3 0 October 2010 gt e f NoAO TAR Contents Chapter 1 Titre deh O loas 1 Chapter 2 Software Are nite Cure sa csi deporte eae wesagdee epe dp uie tod caemcaseae e viveret rese ies 3 DISCO COO s arit utes ue buste ni ra e EO cO T 4 2 d ADEXBCUDION A A e Eie carte a desc eu anaes 4 Chapter Scripting lucie 7 SABE Eon ERE Tc 7 3 2Remote COMMA AS soa t pun e Pa tte oiv e a ete e aaa dE dre 11 3 2 Instrument Command Handler cancion be EO e RELY ee PARE Yr E S Gee EARS ela cn 11 3226 WAP iC oman Eandleb cabe Dee i de 11 Chapter 4 Guide Star A CUISINE e dat te ep eae ub ui cec de A AAA 13 Chapter 5 Atmospheric Dispersion Correction eee esses eese eene nenne nnne tnnetnne etate anne set tann seen 15 Chapter 6 APPENDIX e 16 6 1North East coordinates to Up Left coordinates for Gnomonic Projection 16 6 2Up Left coordinates to SAM Guide Probe coordinates esee 18 6 3Dispersion Orientation Angle ui eeu edo asse e a c bee deve nd eee it 20 Chapter 1 Introduction Chapter 1 Introduction The SAM software suite of applications comprises a set of programs that differentiate themselves by the mission the serve SDN 8201 The suite includes the Instrument Control Software ICSOFT the SAM Imager Software SAMI the Motion Control Software AOMSOFT and the Real Tim
5. art by opening the main VI first cd home ao ICsoft labview Icsoft vi 2 1 1 Execution Threads Table 1 lists the ICSOFT VIs and their execution thread and priority The descendant VIs are all marked to run in the execution thread of their parents ICSOFT Programmer s Manual Rev 3 0 October 2010 4 Chapter 2 Software Architecture Table 1 Execution thread and priority assignments Descendants are marked to run in the execution thread of their parents Vi Name Queue Running Thread Priority Description ICsoft 1 Always User Interface Normal Main VI hist_task Always User Interface Normal Log alarms and events parse_task Always User Interface Normal Parse and execute string commands icsoft_task_update_connections Always User Interface Normal Poll for all remote connection status icsoft_task_command_servers 2 3 Always User Interface Normal Incoming connections icsoft_task_adc_logic ADC Always Standard Normal ADC corrections tcs_task_manager_launcher Mq1 Always Data Acquisition Normal TCS manager aom_task_manager_launcher Mq2 Always Data Acquisition Normal AOM manager rtc_task_manager_launcher Mq3 Always Data Acquisition Normal RTC manager lm task manager launcher Mg4 Always Data Acquisition Normal LGS manager 5 ICSOFT Programmer Manual Rev 3 0 October 2010 Chapter 3 Scripting Chapter 3 Scripting The ICSOFT integrates th
6. e Software RTSOFT This manual covers implementation details of the Instrument Control Software ICSOFT The manual is not focused on operational aspects of the software For an operational focus please read the Instrument Control Software User Manual instead 1 ICSOFT Programmer Manual Rev 3 0 October 2010 Chapter 2 Software Architecture Chapter 2 Software Architecture The ICSOFT is a Labview application running as a supervisory control application It is based in several GUIs and managers The GUIs deal with the operator while the managers handle the remote systems and SAM subsystems RTSOFT AOMSOFT LMSOFT and TCS Remote client connections are also allowed by means of communication server tasks SAMI ICSOFT LABVIEW E SOAR TCS A A Eth Eth e few fen LMsoft RTSOFT AOMSOFT 1 ll Figure 1 Block diagram of the Instrument Control Software Managers handle the remote systems and AO subsystems Managers are TCP IP clients using the SOAR Communication Library The managers act as clients using the SOAR Communication Library SCL infrastructure The managers encapsulate all what s specific to each system subsystem status polling loops command routing etc All managers follow the same state machine logic the manager keeps running while connected to its server If the connection is broken the manager enters the re connection
7. e LuaView engine luaview esi cit com to handle scripting For details on the LUA scripting language visit the web site www lua org The LUA interface provides just two commands sam command and sam wait_until_end Read section 3 1 below for a list of the available commands to be passed as arguments to the LUA interface Here is part of the GP1 tune lua script for reference on how to use them cat home ICsoft scripts GPltune lua ok flux sam command GET RTC TT GPIF sam command LOG GP1flux is flux fluxmin 5 if flux 0 lt fluxmin then sam command LOG Flux less than fluxmin returning return end sam command LOG Moving probe to x2 1 y2 sam wait until end AOM GUIDERP1 MOVE x2 y2 25000 ok ex2 sam command GET RTC TT GP1X 3 1 Local Commands ADC MOVE ENABLE DISABLE MOVE Use mount elevation to obtain prism angles MOVE INNER OUTER AOM GUIDERP1 GUIDERP2 TURSIM WFS ESHUTTER ADC OUTSEL APD1 APD2 STATUS TELEMETRY Forwards commands to the AOMSOFT GUIDERP N STOP GUIDERP lt N gt MOVE XP YP lt ZP gt GUIDERP lt N gt DIMMER ON OFF GUIDERP lt N gt DIMMER MOVE 0 100 7 ICSOFT Programmer Manual Rev 3 0 October 2010 Chapter 3 Scripting TURS TURS TURS TURS TURS TURS TURS WFS WFS WFS WFS ESHU ADC ADC OUTS APD lt ACAM HV STAT TELE ECHO ARG1 IM PHSCREEN lt N gt MOVE IN OUT IM PHPLATE lt N
8. n ring pointing to the horizon EL 0 and the Nasmyth rotator ROT at its 0 angle position M3 introduces no change gt X ISB A ISB Changes in elevation introduce a rotation in minus telescope elevation angle The transformation is obtained by multiplying by cos EL sin EL th EL e 0 909 sin EL cos EL El l gt ISB ICSOFT Programmer s Manual Rev 3 0 October 2010 22 A ISB gt X ISB A GP gt X GP 23 APPENDIX B Up Left coordinates to SAM Guide Probe coordinates Changes in rotator position introduce a rotation in plus the rotator angle The transformation is expressed by multiplying by cos ROT sin ROT ith ROT e 0 360 sin ROT cos ROT S49 sud To reference the M4 flat mirror effect we use the reference axes of the SAM guide probes With the elevation ring pointing to the horizon EL 0 and the Nasmyth rotator ROT at its 0 angle position M4 introduces no change ICSOFT Programmer Manual Rev 3 0 October 2010 APPENDIX C Dispersion Orientation Angle APPENDIX C Dispersion Orientation Angle 1 90 180 Figure 5 A final transformation is necessary to match the ADC mechanism convention for its prism angles The dispersion orientation angle DA matches the Down axis of the telescope at all times that is 0 1 in Up Left coordinates Applying the transformations explained in the previous appendix it is possible to obtain its posi
9. posure ldf power readout reset set mancmd exposure stop abort ldf util pci tim power on off readout abort stop idle set set set set set set set set set ECHO binning vall lt val2 gt exposure lt val gt frames lt val gt gs lt vall gt lt val2 gt readout lt val gt size lt vall gt lt val2 gt trigger lt val gt roi lt vall gt lt val2 gt lt val3 gt lt val4 gt panoramic EXEC lt Script gt FLATTEN flatten DM LLT OPEN CLOSE ENABLE DISABLE LOAD apdmap wmat xgrid ygrid filename M3 CLOSE DISABLE ENABLE OPEN MODE TSNGS NGS TSLGS LGS set RTC operation mode MOUNT OPEN CLOSE RMFAULT RNOISE RT SDSU SETREF SLEEP val SYSTEM clear alarms set readout noise value RTCORE interface LEACHIII interface reset references wait a number of milliseconds RTC system command ICSOFT Programmer s Manual Rev 3 0 October 2010 10 Chapter 3 Scripting TCS Forwards command to the TCS 3 2 Remote Commands These are command available only to remote applications connecting to the ICSOFT through one of its three command servers Two of the servers have at their core the parse service instrument command vi The third one is GMAP specific and implemented by the parse service gmap command vi 3 2 1 Instrument Command Handler Default behavior is to forward the command to the ICSOFT command parser in parse task vi and retu
10. r Gnomonic Projection 1 Zx i px in 2 ta Eel l m 1 x gt 030 2n 0 Then the transformation is obtained by multiplying the north east coordinates by the rotation matrix cos 0 sin 0 sin cos 0 19 ICSOFT Programmer Manual Rev 3 0 October 2010 APPENDIX B Up Left coordinates to SAM Guide Probe coordinates APPENDIX B Up Left coordinates to SAM Guide Probe coordinates Up 4 Left Y ise Figure 3 Telescope pointing to the horizon and rotator angle 0 Up 4 The image to the left is an image of the spider The reference axes match the alt azimuth telescope Up and Left reference frame Colored lines has been added to better visualize the flips and rotations introduced by the telescope optical system Left Up The M1 primary mirror introduces a vertical and a horizontal flip and the M2 secondary mirror introduces no change The transformation is 1 0 obtained by multiplying the x y coordinates by i Left 21 ICSOFT Programmer Manual Rev 3 0 October 2010 APPENDIX B Up Left coordinates to SAM Guide Probe coordinates 270 180 90 Figure 4 When the rotator angle is 0 SAM points to the right Changes in rotator position introduce a rotation in plus the rotator angle ROT ROT e 0 360 A ISB To reference the M3 tertiary mirror effect we use reference axes fixed to the ISB Figure 3 With the elevatio
11. r in m WSPEED Estimated wind speed in m s VARCM Variance of corrected modes in rad 2 INSTRMT Name of selected instrument SAMI VISITOR etc DMLOOP DM mirror loop ON or OFF FTIME Frame time in ms WFSFLX WFS flux in Ke s per sub aperture WFSFOC WFS focus in mm M3LOOP M3 mirror loop ON or OFF APDTIME APDs sample time in ms APDHV APDs high voltage ON or OFF PILIGHT Guide probe 1 light ON or OFF P2LIGHT Guide probe 2 light ON or OFF MNTLOOP Mount loop ON or OFF LLTLOOP LLT loop ON or OFF RGPOWER Range gate power ON or OFF RGDELAY Range gate delay in ns LGSDIST Laser guide star distance in Km LQUALTY Laser quality LPOWER Laser power ON or OFF ICSOFT Programmer Manual Rev 3 0 October 2010 Chapter 3 Scripting LOG RTC LSHUT LLTDOOR ADC ADCIN ADCOUT VIFOLD REFLIGHT REFARM TSDISK TSFOLD TSLIGHT MODDOOR Laser intra cavity shutter OPEN or CLOSE Launch laser telescope environmental door OPEN or CLOSE ADC compensation ON or OFF ADC inner element position ADC outer element position Visitor instrument fold IN or OUT WFS reference light ON or OFF WFS reference arm IN or OUT TURSIM disk rotation ON or OFF TURSIM fold IN or OUT TURSIM light ON or OFF Environmental module door OPEN or CLOSE ARG1 ARG2 Log the arguments to the ICSOFT log file and to the Events and Messages display Forwards commands to the RTSOFT AO OPEN CLOSE BGND ON OFF BIAS ON OFF CAMERA ex
12. rn immediately with the response AO OPEN CLOSE Open Close the AO loop by executing the script aoloop close lua and aoloop open lua AOM P1 P2 Return the current X Y coordinates for guide probe 1 or 2 ECHO see section 3 1 above for a complete description GET see section 3 1 above for a complete description INFO see section 3 1 above for a complete description PING replies the string SAM INSTRUMENT CONTROL APPLICATION 3 2 2 GMAP Command Handler ECHO see section 3 1 above for a complete description GC Returns the current RA DEC mount coordinates GP Returns the current Rotator Mechanical Angle P1 XYSTATUS COORDS P2 XYSTATUS COORDS XYSTATUS X Y coordinates of guide probe 1 in arc seconds using the GMAP X Y reference system In that frame Xau is flipped with respect to Xsam The XYSTATUS command account for that flip and returns the correct sign to GMAP COORDS HH MM SS DD MM SS Epoch Set the ICSOFT next object RA DEC 1 Guide Star Selection Tool 11 ICSOFT Programmer Manual Rev 3 0 October 2010 Chapter 3 Scripting EPOCH variables The next object coordinates can be then be used for guide star acquisition see section TBD ICSOFT Programmer s Manual Rev 3 0 October 2010 12 Chapter 4 Guide Star Acquisition Chapter 4 Guide Star Acquisition Guide star acquisition involves transforming RA Dec coordinates to X Y stages coordinates in mm The required functionali
13. rogrammer s Manual Rev 3 0 October 2010 AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMS AOMT AOMT AOMT AOMT AOMT AOMT AOMT INFO Chapter 3 Scripting TS Dimmer power status dimmer TS Phase Plate ph platel status ph platel vel TS Phase Plate ph plate2 status ph plate2 vel TS Phase Screen screenl pos screen2 pos powerl power2 statusl status2 TS Source Adj s adjx status s adjy status sourcex vel sourcey vel TS Inj Arm position power status Filter Wheel position status WFS Focus position status abs position init WFS Ref Beam position power status WFS Dimmer power status dimmer ADC Inner position status init ADC Outer position status init ADC Position position abs position status init Fabri Perot position abs position status init Sam Cover position status SHUTTER position status PowerSupply Telemetry APD1 30V APD2 30V APD 5V APD 2V Reserved 01 PowerSupply Prosilica 12V Prosilica Reserved 03 Control APD1 APD2 PowerSupply Overcurrent APD1 Overcurrent APD2 HV Pockels Power supply HV value HV Error HV status Temperatures Glycol OAP1 area DM area 0AP2 area ADC area Tursim area Temperatures status This command will return a string of the form DONE VAR1 VAL1 VAR2 VAL2 containing status information of the SAM instrument The data included is OPMODE SAM operation mode TSNGS NGS TSLGS or LGS RO Estimated Fried paramete
14. s to Up Left coordinates for Gnomonic Projection APPENDIX A North East coordinates to Up Left coordinates for Gnomonic Projection UR y l lt North 4 0 man gt NC n Left 4 East Figure 2 View of the celestial sphere from the outside O is the angle between the plane containing the major circle of the reference RA and major circle of the reference AZ The east north coordinates is east for the gnomonic projection of an object o 6 near the reference coordinate az 07 is given by cos c sin 9 sin 9 cos cos cos a a _ cos sin o cos c 1 _ sin 9 cos 9 cos sin cos e o cos c To move the above coordinates to the Up Left reference frame they have to be rotated by the angle 0 between the North and Up vectors That angle is obtained using the following algorithm for a given geographic latitud q refence declination 6 z and reference hour angle H Z cos q 0 sin q m cos H cos 6 sin H cos 6 sin 6 p 0 0 1 Vector z is the zenith m is the reference and p is the pole Vector l is the normal vector defining the plane containing the major circle of AZ Vector e is the normal vector defining the plane containing the major circle of RA Using the cross and dot product between the two normal we obtain the tangent of angle 6 ICSOFT Programmer s Manual Rev 3 0 October 2010 18 APPENDIX A North East coordinates to Up Left coordinates fo
15. state until it re connects or the application is terminated The ICSOFT is capable of accepting remote commands from other systems acting as a server using TCP IP under SCL The command interface is of the type lt command gt lt arg1 gt lt arg2 gt lt argN gt 3 ICSOFT Programmer Manual Rev 3 0 October 2010 Chapter 2 Software Architecture The ICSOFT provides several GUIs A command parser routes the local commands from the GUIs and script engine as well as remote commands received by the SCL server to the managers for actions and status information 2 1 Source Code The ICSOFT software can be found in the Instrument Control Computer machine installed in the ao user home directory home ao under root directory ICsoft The Labview application code lives under subdirectory modules with is main VI living alone in the root directory ICsoft Executables and shared libraries produced can be found under directory bin and lib Configuration files data files under directory config Copies of the ICSOFT are kept in the SOAR public repository Access is possible through local accounts on machine ctioll The path to the copies is home public SOAR SAM The following is a tree view of the directory structure of the software Icsoft bin logs modules AOMLib AstroLib HistoryLib ICSoftLib LGSLib ParseLib RTCLib SCLN TCSLib scritps To access the code is recommended to st
16. tion over SAM focal plane in Xc Yc coordinates as DA DA cos ROT sin ROT sin ROT cos ROT cos EL sin EL sin EL cos EL 1 B O 1 0 1 sin ROT EL cos ROT EL Light goes behind the SOAR focal plane reflects in OAP1 then goes down and to the right reflects in the deformable mirror and hits the ADC The net effect is only a small fixed rotation of 2 degrees The dispersion angle can be obtained using an ATAN2 DA DA type of function to obtain a solution in the range 180 180 A final transformation is necessary to match the ADC convention for the prism angles see Figure 5 DA mc 90 DAgp 3 25 ICSOFT Programmer Manual Rev 3 0 October 2010
17. ty for doing the transformations is provided by the ASTROLIB library of VIs The library was contributed by SOAR and is part of the SOAR TCS application suite The ICS accepts target coordinates for the probe expressed in RA Dec plus epoch The transformations are encapsulated in icsoft_general_GRA_GXY vi The VI accepts as input the target RA Dec coordinates and returns as output the X Y coordinates of the guide star An important assumption is made based on the way the other guider stages at SOAR operate When a guide probe is at 0 0 that position matches the telescope pointing after a Zero point calibration This is true for all guiders at SOAR and SAM is consistent with that TBD IF TRUE The process starts by moving the input coordinates to the epoch reported for the TCS telescope coordinates The resulting RA Dec coordinates along with the TCS coordinates are used to obtain the gnomonic projection coordinates and y S is in the east axis and n is in the north axis Then the transformations that account for the optical system of the telescope are applied see Error Reference source not found and below Here those transformation are presented in their matrix form i Finally the coordinates in units of mm are obtained multiplying x and y by the focal length of the telescope cos ROT sin ROT sin ROT cos ROT cos 0 sin 0 sin 0 cos 0 X y cos EL ker 0 sin EL cos EL 0 1
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